+ python -m lidar_slam --no-model /working/f55c6d08-0cf5-4c88-a38a-f543fe0e8899 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/f55c6d08-0cf5-4c88-a38a-f543fe0e8899 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 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 0.019115933 Adjusted end_distance from 9.223372036854776e+18 to 152.845835933 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019115933 meters 0.08134919029381624 Centerline is valid? [0, True] SLAMing on 0.079115933 meters 0.03572241402674898 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.00, Z:-0.02 [[ 9.96317892e-01 -8.47253172e-02 -1.31255136e-02 -6.02916989e-02] [ 8.47483702e-02 9.96401652e-01 1.20921041e-03 -5.58226314e-04] [ 1.29758327e-02 -2.31712386e-03 9.99913126e-01 -1.73309568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139115933 meters 0.029727087421542342 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.00, Z:0.00 [[ 9.95403386e-01 -9.49833808e-02 -1.22578769e-02 -1.21730602e-01] [ 9.50042399e-02 9.95476227e-01 1.12944169e-03 -2.94813455e-04] [ 1.20951469e-02 -2.28880036e-03 9.99924232e-01 9.33786605e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.199115933 meters 0.028149355550715287 Centerline is valid? [True, True] Translation: X:-0.19, Y:-0.06, Z:0.02 [[ 0.99710574 -0.06752576 -0.03493457 -0.18832452] [ 0.0676789 0.99770196 0.00321849 -0.05909248] [ 0.03463695 -0.00557351 0.99938442 0.02355139] [ 0. 0. 0. 1. ]] SLAMing on 0.259115933 meters 0.027272652250225297 Centerline is valid? [True, True] Translation: X:-0.25, Y:-0.06, Z:0.04 [[ 0.99744933 -0.06326526 -0.03305058 -0.24968422] [ 0.06340005 0.99798355 0.00304529 -0.06446538] [ 0.03279128 -0.00513293 0.99944904 0.04103408] [ 0. 0. 0. 1. ]] SLAMing on 0.31911593299999996 meters 0.02426249742026548 Centerline is valid? [True, True] Translation: X:-0.31, Y:-0.07, Z:0.05 [[ 0.99778835 -0.05858764 -0.03139913 -0.31076528] [ 0.05870705 0.99827106 0.00289369 -0.06526308] [ 0.03117531 -0.00473064 0.99950274 0.04981076] [ 0. 0. 0. 1. ]] SLAMing on 0.379115933 meters 0.026108442133795436 Centerline is valid? [True, True] Translation: X:-0.37, Y:-0.07, Z:0.07 [[ 0.9978314 -0.0566046 -0.03359205 -0.37177863] [ 0.05674026 0.99838417 0.00309823 -0.07381681] [ 0.0333624 -0.00499754 0.99943083 0.0651324 ] [ 0. 0. 0. 1. ]] SLAMing on 0.43911593299999996 meters 0.025769336673767067 Centerline is valid? [True, True] Translation: X:-0.43, Y:-0.07, Z:0.08 [[ 0.99783392 -0.05693456 -0.03295333 -0.43087752] [ 0.05706546 0.9983658 0.00304492 -0.07456664] [ 0.03272612 -0.00491882 0.99945225 0.07680643] [ 0. 0. 0. 1. ]] SLAMing on 0.499115933 meters 0.02615119673174203 Centerline is valid? [True, True] Translation: X:-0.49, Y:-0.08, Z:0.09 [[ 0.9974403 -0.06230027 -0.03509312 -0.49167642] [ 0.06245209 0.99804269 0.00324565 -0.07634371] [ 0.03482223 -0.00542899 0.99937878 0.08633893] [ 0. 0. 0. 1. ]] SLAMing on 0.5591159330000001 meters 0.025262817353562905 Centerline is valid? [True, True] Translation: X:-0.55, Y:-0.07, Z:0.10 [[ 0.9972941 -0.06367391 -0.03674393 -0.55113999] [ 0.06384141 0.99795426 0.00340214 -0.07342928] [ 0.03645213 -0.00573872 0.99931892 0.09552214] [ 0. 0. 0. 1. ]] SLAMing on 0.619115933 meters 0.026135769994580497 Centerline is valid? [True, True] Translation: X:-0.61, Y:-0.07, Z:0.10 [[ 0.997042 -0.06721532 -0.03727387 -0.61130187] [ 0.06739027 0.99772071 0.00345572 -0.07472195] [ 0.03695664 -0.0059574 0.99929911 0.10304624] [ 0. 0. 0. 1. ]] SLAMing on 0.679115933 meters 0.025546399208429854 Centerline is valid? [True, True] Translation: X:-0.67, Y:-0.06, Z:0.11 [[ 0.99687547 -0.06774821 -0.04061383 -0.66950655] [ 0.06795667 0.99768114 0.00377262 -0.06473589] [ 0.04026407 -0.00652081 0.9991678 0.10978221] [ 0. 0. 0. 1. ]] SLAMing on 0.739115933 meters 0.025891736776098465 Centerline is valid? [True, True] Translation: X:-0.73, Y:-0.06, Z:0.11 [[ 0.99701774 -0.06630994 -0.03947928 -0.72786659] [ 0.06650618 0.99777924 0.00367691 -0.06046574] [ 0.03914779 -0.00629156 0.99921362 0.11354805] [ 0. 0. 0. 1. ]] SLAMing on 0.7991159330000001 meters 0.025414971905422034 Centerline is valid? [True, True] Translation: X:-0.79, Y:-0.05, Z:0.12 [[ 0.99734048 -0.05948471 -0.04211327 -0.78826631] [ 0.05970225 0.99820851 0.00392577 -0.05152702] [ 0.04180431 -0.00642959 0.99910513 0.11896883] [ 0. 0. 0. 1. ]] SLAMing on 0.859115933 meters 0.02448679723144074 Centerline is valid? [True, True] Translation: X:-0.85, Y:-0.04, Z:0.13 [[ 0.99766495 -0.05262355 -0.04353628 -0.84849595] [ 0.05284967 0.99859423 0.00405834 -0.04270362] [ 0.04326152 -0.00634975 0.9990436 0.12694319] [ 0. 0. 0. 1. ]] SLAMing on 0.9191159329999999 meters 0.02258769172558145 Centerline is valid? [True, True] Translation: X:-0.91, Y:-0.03, Z:0.13 [[ 0.99817227 -0.04284187 -0.04262263 -0.90794548] [ 0.0430499 0.99906502 0.00397452 -0.03202395] [ 0.0424125 -0.00580215 0.99908334 0.13227222] [ 0. 0. 0. 1. ]] SLAMing on 0.979115933 meters 0.023384352510888613 Centerline is valid? [True, True] Translation: X:-0.97, Y:-0.03, Z:0.14 [[ 0.99817538 -0.04236923 -0.04302036 -0.96711575] [ 0.04258173 0.99908484 0.00403482 -0.02715135] [ 0.04281003 -0.00585934 0.99906605 0.13595766] [ 0. 0. 0. 1. ]] SLAMing on 1.039115933 meters 0.021744746968016065 Centerline is valid? [True, True] Translation: X:-1.03, Y:-0.02, Z:0.14 [[ 0.99840799 -0.03341521 -0.04544136 -1.02698804] [ 0.03364367 0.99942476 0.00427175 -0.0159536 ] [ 0.04527248 -0.00579376 0.99895787 0.14248316] [ 0. 0. 0. 1. ]] SLAMing on 1.099115933 meters 0.021128548370067467 Centerline is valid? [True, True] Translation: X:-1.09, Y:-0.01, Z:0.15 [[ 0.99851196 -0.02897767 -0.04619699 -1.08725814] [ 0.02920912 0.99956389 0.00434273 -0.01044171] [ 0.046051 -0.00568564 0.99892291 0.14895579] [ 0. 0. 0. 1. ]] SLAMing on 1.1591159329999998 meters 0.02156582776253808 Centerline is valid? [True, True] Translation: X:-1.15, Y:-0.00, Z:0.15 [[ 0.99847856 -0.02597893 -0.04863799 -1.14583757] [ 0.02623332 0.99964527 0.00459915 -0.00496531] [ 0.04850126 -0.00586809 0.99880588 0.15057358] [ 0. 0. 0. 1. ]] SLAMing on 1.2191159329999999 meters 0.02217248226649119 Centerline is valid? [True, True] Translation: X:-1.21, Y:-0.00, Z:0.16 [[ 0.99845378 -0.0266712 -0.04877192 -1.20516201] [ 0.02692961 0.99962652 0.00464875 -0.00124184] [ 0.04862972 -0.00595497 0.99879912 0.15517163] [ 0. 0. 0. 1. ]] SLAMing on 1.279115933 meters 0.021374814690883176 Centerline is valid? [True, True] Translation: X:-1.27, Y:0.01, Z:0.16 [[ 0.99819405 -0.02908599 -0.05256094 -1.26515059] [ 0.02939011 0.9995554 0.00502236 0.00504366] [ 0.05239149 -0.00655807 0.99860509 0.15732078] [ 0. 0. 0. 1. ]] SLAMing on 1.3391159329999998 meters 0.023063032991008592 Centerline is valid? [True, True] Translation: X:-1.33, Y:0.00, Z:0.16 [[ 0.99811592 -0.03302485 -0.05171043 -1.3255846 ] [ 0.03332454 0.99943236 0.00494387 0.00474367] [ 0.05151781 -0.00665778 0.99864988 0.16079922] [ 0. 0. 0. 1. ]] SLAMing on 1.3991159329999998 meters 0.022988771707684777 Centerline is valid? [True, True] Translation: X:-1.39, Y:0.01, Z:0.16 [[ 0.99796222 -0.03549986 -0.05302048 -1.38545347] [ 0.03581865 0.99934542 0.00507407 0.0079478 ] [ 0.05280565 -0.00696286 0.99858053 0.16323008] [ 0. 0. 0. 1. ]] SLAMing on 1.4591159329999999 meters 0.02435182601538553 Centerline is valid? [True, True] Translation: X:-1.45, Y:0.01, Z:0.17 [[ 0.99765118 -0.04067361 -0.05511601 -1.44612119] [ 0.041026 0.99914415 0.0052768 0.00921529] [ 0.05485422 -0.0075256 0.99846601 0.17099304] [ 0. 0. 0. 1. ]] SLAMing on 1.519115933 meters 0.02392704469041923 Centerline is valid? [True, True] Translation: X:-1.51, Y:0.01, Z:0.17 [[ 0.9975039 -0.04286003 -0.05611585 -1.50611107] [ 0.04322899 0.99905072 0.00537728 0.00989855] [ 0.05583211 -0.00778969 0.99840978 0.17355042] [ 0. 0. 0. 1. ]] SLAMing on 1.579115933 meters 0.02479976782262342 Centerline is valid? [True, True] Translation: X:-1.57, Y:0.01, Z:0.18 [[ 0.99728502 -0.04521083 -0.05812541 -1.56636957] [ 0.0456111 0.9989437 0.00557748 0.0104433 ] [ 0.05781185 -0.0082135 0.99829371 0.17962505] [ 0. 0. 0. 1. ]] SLAMing on 1.6391159329999998 meters 0.025260084470265464 Centerline is valid? [True, True] Translation: X:-1.63, Y:0.01, Z:0.18 [[ 0.99711299 -0.04824625 -0.05863428 -1.62719738] [ 0.04865916 0.99879955 0.00563415 0.00978167] [ 0.05829207 -0.00847098 0.99826363 0.18386303] [ 0. 0. 0. 1. ]] SLAMing on 1.6991159329999999 meters 0.02529101774726781 Centerline is valid? [True, True] Translation: X:-1.69, Y:0.01, Z:0.19 [[ 0.99698448 -0.04980328 -0.05951113 -1.68636835] [ 0.05023206 0.99872114 0.00572987 0.00899202] [ 0.05914966 -0.00870196 0.9982112 0.18588775] [ 0. 0. 0. 1. ]] SLAMing on 1.759115933 meters 0.02729308715616547 Centerline is valid? [True, True] Translation: X:-1.75, Y:0.00, Z:0.19 [[ 0.99664224 -0.05421332 -0.06136092 -1.74801775] [ 0.05467761 0.99848656 0.00591166 0.00419866] [ 0.06094756 -0.00924688 0.99809814 0.19254996] [ 0. 0. 0. 1. ]] SLAMing on 1.8191159329999997 meters 0.02680522862696035 Centerline is valid? [True, True] Translation: X:-1.81, Y:0.01, Z:0.19 [[ 0.99678411 -0.05056369 -0.06216712 -1.80852312] [ 0.05103356 0.99867896 0.00599261 0.00524377] [ 0.06178199 -0.00914595 0.99804776 0.19424396] [ 0. 0. 0. 1. ]] SLAMing on 1.8791159329999998 meters 0.025137901306822176 Centerline is valid? [True, True] Translation: X:-1.87, Y:0.01, Z:0.20 [[ 0.99707528 -0.04689977 -0.0603432 -1.86841049] [ 0.04733609 0.99886206 0.00582079 0.01264395] [ 0.06000154 -0.00866018 0.99816072 0.19865824] [ 0. 0. 0. 1. ]] SLAMing on 1.9391159329999998 meters 0.02455227709132362 Centerline is valid? [True, True] Translation: X:-1.93, Y:0.01, Z:0.20 [[ 0.99726966 -0.03944688 -0.06242728 -1.9292505 ] [ 0.03989974 0.99918553 0.0060238 0.01307939] [ 0.06213882 -0.00849819 0.99803134 0.19703223] [ 0. 0. 0. 1. ]] SLAMing on 1.999115933 meters 0.024376113629644133 Centerline is valid? [True, True] Translation: X:-1.99, Y:0.01, Z:0.21 [[ 0.99719335 -0.03905667 -0.06387488 -1.98908509] [ 0.03953249 0.99919904 0.00620195 0.01177977] [ 0.06358149 -0.00870967 0.99793864 0.20594909] [ 0. 0. 0. 1. ]] SLAMing on 2.059115933 meters 0.026001594547872053 Centerline is valid? [True, True] Translation: X:-2.05, Y:0.01, Z:0.21 [[ 0.99705638 -0.04208448 -0.06408963 -2.04974202] [ 0.04257042 0.99907401 0.00623502 0.01143344] [ 0.06376789 -0.00894499 0.99792467 0.21038659] [ 0. 0. 0. 1. ]] SLAMing on 2.1191159330000002 meters 0.02526668568355838 Centerline is valid? [True, True] Translation: X:-2.11, Y:0.01, Z:0.22 [[ 0.99712576 -0.03793107 -0.06558549 -2.11000395] [ 0.03843146 0.99924084 0.00638437 0.01017883] [ 0.06529354 -0.00888657 0.99782653 0.21528968] [ 0. 0. 0. 1. ]] SLAMing on 2.1791159330000003 meters 0.021876645289560993 Centerline is valid? [True, True] Translation: X:-2.17, Y:0.01, Z:0.22 [[ 0.99731722 -0.03762481 -0.06279128 -2.16935039] [ 0.03808508 0.99925558 0.00614897 0.01048792] [ 0.06251318 -0.00852389 0.99800774 0.22026613] [ 0. 0. 0. 1. ]] SLAMing on 2.239115933 meters 0.024473756229702524 Centerline is valid? [True, True] Translation: X:-2.23, Y:0.01, Z:0.23 [[ 0.99737337 -0.03754866 -0.06193915 -2.22883445] [ 0.03799919 0.99925908 0.00611139 0.00712587] [ 0.06166378 -0.00844898 0.99806122 0.22542821] [ 0. 0. 0. 1. ]] SLAMing on 2.299115933 meters 0.023816558976085013 Centerline is valid? [True, True] Translation: X:-2.29, Y:0.00, Z:0.22 [[ 0.9970468 -0.03191503 -0.06985067 -2.28843881] [ 0.03247841 0.99944831 0.0069443 0.0048346 ] [ 0.06959051 -0.00919244 0.99753329 0.21894527] [ 0. 0. 0. 1. ]] SLAMing on 2.359115933 meters 0.02397961032797483 Centerline is valid? [True, True] Translation: X:-2.35, Y:0.00, Z:0.22 [[ 0.99733954 -0.03100353 -0.06597436 -2.34823874] [ 0.03150515 0.99948196 0.00657618 0.00449174] [ 0.06573629 -0.00863721 0.99779965 0.22364213] [ 0. 0. 0. 1. ]] SLAMing on 2.419115933 meters 0.024630046970916402 Centerline is valid? [True, True] Translation: X:-2.41, Y:-0.00, Z:0.22 [[ 9.96674497e-01 -2.38228449e-02 -7.79257286e-02 -2.40787920e+00] [ 2.45056926e-02 9.99669119e-01 7.81816805e-03 -1.81551588e-03] [ 7.77136934e-02 -9.70179266e-03 9.96928512e-01 2.19405907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.479115933 meters 0.022672887621992165 Centerline is valid? [True, True] Translation: X:-2.47, Y:-0.00, Z:0.22 [[ 9.96981073e-01 -1.54357082e-02 -7.60951998e-02 -2.46852361e+00] [ 1.60636250e-02 9.99841733e-01 7.64653739e-03 -1.78904115e-04] [ 7.59651267e-02 -8.84581780e-03 9.97071237e-01 2.20074643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.539115933 meters 0.021460018241307274 Centerline is valid? [True, True] Translation: X:-2.53, Y:-0.01, Z:0.22 [[ 0.99704109 -0.00864168 -0.0763832 -2.5294166 ] [ 0.00925508 0.99992768 0.00768021 -0.00605296] [ 0.0763113 -0.00836442 0.99704896 0.21942126] [ 0. 0. 0. 1. ]] SLAMing on 2.599115933 meters 0.02146248749089345 Centerline is valid? [True, True] Translation: X:-2.59, Y:-0.02, Z:0.23 [[ 9.97025387e-01 -5.19705509e-04 -7.70720923e-02 -2.59082405e+00] [ 1.12055245e-03 9.99969318e-01 7.75286700e-03 -1.82237755e-02] [ 7.70656983e-02 -7.81616854e-03 9.96995379e-01 2.25827730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.659115933 meters 0.016226548119490893 Centerline is valid? [True, True] Translation: X:-2.65, Y:-0.03, Z:0.23 [[ 0.99725412 0.01952654 -0.07143488 -2.65171162] [-0.01906119 0.99979246 0.00719028 -0.02619801] [ 0.07156045 -0.0058089 0.99741935 0.22733811] [ 0. 0. 0. 1. ]] SLAMing on 2.719115933 meters 0.016271998324138677 Centerline is valid? [True, True] Translation: X:-2.71, Y:-0.03, Z:0.23 [[ 0.99701738 0.02326936 -0.07358593 -2.71191729] [-0.02278218 0.99971267 0.00745306 -0.03358133] [ 0.07373821 -0.00575438 0.99726103 0.23251906] [ 0. 0. 0. 1. ]] SLAMing on 2.779115933 meters 0.016692483974287197 Centerline is valid? [True, True] Translation: X:-2.77, Y:-0.03, Z:0.22 [[ 0.99551809 0.03050087 -0.08951775 -2.77231426] [-0.02980663 0.99951442 0.00908221 -0.03484976] [ 0.0897513 -0.00637328 0.99594382 0.21713408] [ 0. 0. 0. 1. ]] SLAMing on 2.839115933 meters 0.01537906695359418 Centerline is valid? [True, True] Translation: X:-2.83, Y:-0.04, Z:0.21 [[ 0.99482556 0.04167707 -0.09265599 -2.83195846] [-0.04098027 0.99911563 0.009411 -0.03543248] [ 0.09296627 -0.00556523 0.99565371 0.21263307] [ 0. 0. 0. 1. ]] SLAMing on 2.899115933 meters 0.015236065780225284 Centerline is valid? [True, True] Translation: X:-2.89, Y:-0.03, Z:0.22 [[ 0.99445652 0.04652576 -0.09429517 -2.89093097] [-0.04581988 0.99890322 0.0096384 -0.03328014] [ 0.09464019 -0.00526437 0.99549762 0.21629177] [ 0. 0. 0. 1. ]] SLAMing on 2.959115933 meters 0.015404859758785066 Centerline is valid? [True, True] Translation: X:-2.95, Y:-0.03, Z:0.21 [[ 0.99395656 0.04668103 -0.09935407 -2.95072127] [-0.04589594 0.99889441 0.01017423 -0.0313243 ] [ 0.09971917 -0.0055528 0.99500013 0.20688449] [ 0. 0. 0. 1. ]] SLAMing on 3.019115933 meters 0.0150492966545791 Centerline is valid? [True, True] Translation: X:-3.01, Y:-0.03, Z:0.20 [[ 0.99323203 0.0535868 -0.10304654 -3.00882556] [-0.05277095 0.99855007 0.01062923 -0.03043028] [ 0.10346672 -0.00511943 0.99461974 0.20197433] [ 0. 0. 0. 1. ]] SLAMing on 3.079115933 meters 0.015027514928057619 Centerline is valid? [True, True] Translation: X:-3.07, Y:-0.03, Z:0.20 [[ 0.99371963 0.05158855 -0.09929708 -3.06836581] [-0.05081391 0.99865486 0.01031631 -0.02994695] [ 0.09969571 -0.00520585 0.99500435 0.20302193] [ 0. 0. 0. 1. ]] SLAMing on 3.1391159330000002 meters 0.01557785008582069 Centerline is valid? [True, True] Translation: X:-3.13, Y:-0.03, Z:0.20 [[ 0.99296512 0.05202924 -0.10636368 -3.12826478] [-0.05114057 0.99863014 0.01106741 -0.03000389] [ 0.10679381 -0.00555005 0.9942657 0.19831074] [ 0. 0. 0. 1. ]] SLAMing on 3.199115933 meters 0.01706724050000737 Centerline is valid? [True, True] Translation: X:-3.19, Y:-0.02, Z:0.19 [[ 0.99231047 0.04355495 -0.11585725 -3.1879397 ] [-0.04243577 0.9990258 0.01211023 -0.02410492] [ 0.11627184 -0.00710062 0.99319205 0.18992998] [ 0. 0. 0. 1. ]] SLAMing on 3.259115933 meters 0.017714124099418357 Centerline is valid? [True, True] Translation: X:-3.25, Y:-0.01, Z:0.17 [[ 0.99150896 0.0428621 -0.12277139 -3.24723751] [-0.04159688 0.99905182 0.01285134 -0.01471961] [ 0.12320582 -0.00763531 0.99235177 0.17441785] [ 0. 0. 0. 1. ]] SLAMing on 3.319115933 meters 0.01982284693689317 Centerline is valid? [True, True] Translation: X:-3.31, Y:-0.01, Z:0.17 [[ 0.99116672 0.03460303 -0.12802795 -3.30656009] [-0.03315596 0.99936012 0.01341741 -0.00698134] [ 0.12841031 -0.009054 0.9916798 0.17355951] [ 0. 0. 0. 1. ]] SLAMing on 3.379115933 meters 0.01878906103170361 Centerline is valid? [True, True] Translation: X:-3.37, Y:-0.00, Z:0.16 [[ 0.98931452 0.04465344 -0.13879065 -3.36654795] [-0.04303911 0.99896652 0.01461244 -0.00416836] [ 0.13929971 -0.00848287 0.99021393 0.15606811] [ 0. 0. 0. 1. ]] SLAMing on 3.439115933 meters 0.019765475553427413 Centerline is valid? [True, True] Translation: X:-3.43, Y:-0.00, Z:0.16 [[ 9.89798140e-01 3.70409891e-02 -1.37577641e-01 -3.42662385e+00] [-3.53698264e-02 9.99268037e-01 1.45727759e-02 -1.11402661e-03] [ 1.38016729e-01 -9.55800921e-03 9.90383778e-01 1.62612233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.499115933 meters 0.018812946695991418 Centerline is valid? [True, True] Translation: X:-3.49, Y:-0.00, Z:0.15 [[ 0.98846829 0.04977204 -0.14301463 -3.48657297] [-0.04808165 0.99872693 0.01525362 -0.00490868] [ 0.14359177 -0.00820134 0.98960302 0.14670312] [ 0. 0. 0. 1. ]] SLAMing on 3.559115933 meters 0.02040904197476591 Centerline is valid? [True, True] Translation: X:-3.55, Y:-0.01, Z:0.15 [[ 0.98772116 0.05090633 -0.14770057 -3.54696525] [-0.04910034 0.99866808 0.01585019 -0.00513977] [ 0.14831072 -0.00840342 0.98890511 0.15087098] [ 0. 0. 0. 1. ]] SLAMing on 3.619115933 meters 0.017828993161423428 Centerline is valid? [True, True] Translation: X:-3.61, Y:-0.01, Z:0.14 [[ 0.98687421 0.06233642 -0.14897471 -3.60718786] [-0.06061554 0.99803184 0.01606867 -0.0072829 ] [ 0.14968316 -0.00682757 0.98871044 0.14400435] [ 0. 0. 0. 1. ]] SLAMing on 3.679115933 meters 0.017268645175289376 Centerline is valid? [True, True] Translation: X:-3.67, Y:-0.01, Z:0.14 [[ 0.98676593 0.0670477 -0.14764011 -3.6670057 ] [-0.06540586 0.99773121 0.01595299 -0.00717338] [ 0.14837476 -0.00608534 0.98891248 0.14082841] [ 0. 0. 0. 1. ]] SLAMing on 3.739115933 meters 0.01604025212405953 Centerline is valid? [True, True] Translation: X:-3.73, Y:-0.01, Z:0.15 [[ 0.98930656 0.06778814 -0.12914061 -3.72769178] [-0.06653063 0.99768571 0.01403176 -0.0081167 ] [ 0.12979292 -0.00528991 0.99152701 0.15305502] [ 0. 0. 0. 1. ]] SLAMing on 3.799115933 meters 0.017924695110580622 Centerline is valid? [True, True] Translation: X:-3.79, Y:-0.01, Z:0.17 [[ 0.99198953 0.04581971 -0.11771713 -3.78741314] [-0.04461607 0.99892167 0.01284117 -0.01353379] [ 0.11817857 -0.00748623 0.99296414 0.17181089] [ 0. 0. 0. 1. ]] SLAMing on 3.859115933 meters 0.022741208501178934 Centerline is valid? [True, True] Translation: X:-3.85, Y:-0.01, Z:0.15 [[ 0.98988417 0.03197532 -0.13822776 -3.8472822 ] [-0.03017351 0.99943044 0.01511146 -0.00997446] [ 0.13863222 -0.01078778 0.99028518 0.1500429 ] [ 0. 0. 0. 1. ]] SLAMing on 3.919115933 meters 0.02224408703231042 Centerline is valid? [True, True] Translation: X:-3.91, Y:0.00, Z:0.14 [[ 9.89327188e-01 2.98274017e-02 -1.42625525e-01 -3.90639642e+00] [-2.78737425e-02 9.99488517e-01 1.56766767e-02 2.97853196e-03] [ 1.43020169e-01 -1.15338553e-02 9.89652566e-01 1.40246896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.979115933 meters 0.02481196738094173 Centerline is valid? [True, True] Translation: X:-3.97, Y:0.01, Z:0.13 [[ 0.98824801 0.01968662 -0.15158596 -3.96557858] [-0.01734535 0.99970921 0.0167521 0.00929037] [ 0.15187167 -0.01392592 0.98830211 0.1251183 ] [ 0. 0. 0. 1. ]] SLAMing on 4.039115933 meters 0.024929771073028975 Centerline is valid? [True, True] Translation: X:-4.03, Y:0.01, Z:0.12 [[ 0.98751863 0.02164635 -0.15600766 -4.0257934 ] [-0.01917399 0.99966587 0.01733529 0.01159955] [ 0.15633077 -0.01412763 0.98760372 0.1209597 ] [ 0. 0. 0. 1. ]] SLAMing on 4.099115933 meters 0.02486929757216711 Centerline is valid? [True, True] Translation: X:-4.08, Y:0.02, Z:0.11 [[ 0.98601942 0.03782702 -0.16228007 -4.08471515] [-0.03535849 0.99921124 0.01807389 0.01600662] [ 0.16283575 -0.01208323 0.9865792 0.11141289] [ 0. 0. 0. 1. ]] SLAMing on 4.159115933 meters 0.022066674987689584 Centerline is valid? [True, True] Translation: X:-4.14, Y:0.01, Z:0.10 [[ 0.98520819 0.04615686 -0.16502836 -4.14444549] [-0.04369946 0.99887356 0.01849256 0.00962794] [ 0.16569602 -0.01100737 0.98611544 0.10059064] [ 0. 0. 0. 1. ]] SLAMing on 4.219115933 meters 0.05839304840289181 Centerline is valid? [True, True] Translation: X:-4.17, Y:0.34, Z:0.15 [[ 0.98068923 -0.14385977 -0.13248771 -4.16712457] [ 0.14709124 0.98901094 0.01488371 0.34289533] [ 0.12889063 -0.03408408 0.99107289 0.1499771 ] [ 0. 0. 0. 1. ]] SLAMing on 4.279115933 meters 0.05524251434593445 Centerline is valid? [True, True] Translation: X:-4.22, Y:0.37, Z:0.15 [[ 0.98016288 -0.15104664 -0.12831852 -4.2247736 ] [ 0.15413423 0.98794462 0.01442453 0.36671693] [ 0.12459281 -0.03391667 0.9916281 0.15219899] [ 0. 0. 0. 1. ]] SLAMing on 4.339115933 meters 0.05420415882437867 Centerline is valid? [True, True] Translation: X:-4.29, Y:0.37, Z:0.15 [[ 0.98128529 -0.14945643 -0.12141642 -4.28513761] [ 0.15220732 0.98825426 0.01365431 0.3679991 ] [ 0.11794957 -0.03187924 0.99250774 0.15262697] [ 0. 0. 0. 1. ]] SLAMing on 4.399115933 meters 0.05869656216519939 Centerline is valid? [True, True] Translation: X:-4.35, Y:0.35, Z:0.15 [[ 0.98182268 -0.14228343 -0.1256171 -4.34720585] [ 0.14517546 0.98930504 0.01412903 0.35396736] [ 0.1222633 -0.03210872 0.99197818 0.14580075] [ 0. 0. 0. 1. ]] SLAMing on 4.459115933 meters 0.05521209932611231 Centerline is valid? [True, True] Translation: X:-4.41, Y:0.35, Z:0.16 [[ 0.98553193 -0.12483301 -0.11464524 -4.40875889] [ 0.12712788 0.99180245 0.01289979 0.3471284 ] [ 0.11209511 -0.02728777 0.99332274 0.1591003 ] [ 0. 0. 0. 1. ]] SLAMing on 4.519115933 meters 0.05212735019803668 Centerline is valid? [True, True] Translation: X:-4.47, Y:0.36, Z:0.16 [[ 0.98898324 -0.10320693 -0.10611546 -4.46853312] [ 0.10505334 0.99439485 0.01194508 0.35779167] [ 0.10428785 -0.02296127 0.99428207 0.16449229] [ 0. 0. 0. 1. ]] SLAMing on 4.579115933 meters 0.051508671949301026 Centerline is valid? [True, True] Translation: X:-4.53, Y:0.38, Z:0.16 [[ 0.98767125 -0.11225068 -0.10911133 -4.52695359] [ 0.11425665 0.99337524 0.01228984 0.37924735] [ 0.10700895 -0.02460501 0.99395356 0.15747562] [ 0. 0. 0. 1. ]] SLAMing on 4.639115933 meters 0.04987067232586157 Centerline is valid? [True, True] Translation: X:-4.59, Y:0.40, Z:0.16 [[ 0.98964895 -0.10751075 -0.09505996 -4.58509509] [ 0.10901049 0.99398288 0.01071184 0.39753627] [ 0.09333633 -0.02096349 0.99541391 0.16053012] [ 0. 0. 0. 1. ]] SLAMing on 4.699115933 meters 0.049456106256793725 Centerline is valid? [True, True] Translation: X:-4.64, Y:0.42, Z:0.15 [[ 0.98821393 -0.12347692 -0.09048024 -4.6429617 ] [ 0.12489849 0.9921171 0.01019963 0.41772766] [ 0.08850758 -0.02138026 0.99584602 0.15484431] [ 0. 0. 0. 1. ]] SLAMing on 4.759115933 meters 0.04549982910928677 Centerline is valid? [True, True] Translation: X:-4.70, Y:0.44, Z:0.15 [[ 0.98840026 -0.122985 -0.08910453 -4.69939218] [ 0.12436383 0.99218558 0.01007015 0.43899514] [ 0.08716975 -0.02103472 0.99597137 0.15467221] [ 0. 0. 0. 1. ]] SLAMing on 4.819115933 meters 0.04487330392691162 Centerline is valid? [True, True] Translation: X:-4.76, Y:0.44, Z:0.16 [[ 0.98854175 -0.12213254 -0.08870653 -4.7579465 ] [ 0.12350012 0.99229341 0.01007493 0.44377807] [ 0.08679243 -0.02091475 0.99600685 0.15969701] [ 0. 0. 0. 1. ]] SLAMing on 4.879115933 meters 0.049533996485188726 Centerline is valid? [True, True] Translation: X:-4.82, Y:0.43, Z:0.15 [[ 0.9878902 -0.12282673 -0.09479742 -4.81964187] [ 0.12439358 0.99217442 0.01077728 0.43284379] [ 0.09273184 -0.02243896 0.99543824 0.14726648] [ 0. 0. 0. 1. ]] SLAMing on 4.939115933 meters 0.04782069561517079 Centerline is valid? [True, True] Translation: X:-4.88, Y:0.43, Z:0.15 [[ 0.9883987 -0.12279384 -0.08938499 -4.88026817] [ 0.12418627 0.99220685 0.01016567 0.43359334] [ 0.08744012 -0.02114812 0.99594527 0.15116831] [ 0. 0. 0. 1. ]] SLAMing on 4.999115933 meters 0.048163946115338675 Centerline is valid? [True, True] Translation: X:-4.94, Y:0.42, Z:0.14 [[ 0.98902125 -0.11248407 -0.09583475 -4.942401 ] [ 0.11404038 0.99341629 0.01090269 0.42228477] [ 0.09397742 -0.02171202 0.99533755 0.14349373] [ 0. 0. 0. 1. ]] SLAMing on 5.059115933 meters 0.050073136647754216 Centerline is valid? [True, True] Translation: X:-5.00, Y:0.40, Z:0.14 [[ 0.9894045 -0.11307116 -0.09106947 -5.00452636] [ 0.11447887 0.99337157 0.01036833 0.40177496] [ 0.08929347 -0.020684 0.99579056 0.13918398] [ 0. 0. 0. 1. ]] SLAMing on 5.119115933 meters 0.05128334092245546 Centerline is valid? [True, True] Translation: X:-5.07, Y:0.38, Z:0.13 [[ 0.98913856 -0.10480934 -0.10305295 -5.0679158 ] [ 0.1065721 0.99423572 0.0117356 0.38089272] [ 0.10122893 -0.0225907 0.99460664 0.12685496] [ 0. 0. 0. 1. ]] SLAMing on 5.179115933 meters 0.05082433512499445 Centerline is valid? [True, True] Translation: X:-5.13, Y:0.37, Z:0.11 [[ 0.9902373 -0.09746076 -0.09965688 -5.13034674] [ 0.0990731 0.99501545 0.01134813 0.36681779] [ 0.09805414 -0.02111066 0.99495715 0.11444121] [ 0. 0. 0. 1. ]] SLAMing on 5.239115933 meters 0.05195898961975238 Centerline is valid? [True, True] Translation: X:-5.19, Y:0.34, Z:0.11 [[ 0.99032644 -0.08999124 -0.10561776 -5.19332536] [ 0.09176338 0.99570816 0.01203101 0.343383 ] [ 0.10408178 -0.02160647 0.99433402 0.10721308] [ 0. 0. 0. 1. ]] SLAMing on 5.2991159329999995 meters 0.05340410572240247 Centerline is valid? [True, True] Translation: X:-5.26, Y:0.33, Z:0.10 [[ 0.99063348 -0.08531754 -0.1066125 -5.25534197] [ 0.08709792 0.99612569 0.01214793 0.33190673] [ 0.10516302 -0.02131988 0.99422643 0.10149834] [ 0. 0. 0. 1. ]] SLAMing on 5.359115933 meters 0.05462318594513775 Centerline is valid? [True, True] Translation: X:-5.32, Y:0.32, Z:0.10 [[ 0.99059436 -0.08406482 -0.10796255 -5.31536909] [ 0.08589175 0.9962276 0.01237643 0.3156313 ] [ 0.10651485 -0.02153312 0.99407792 0.09601783] [ 0. 0. 0. 1. ]] SLAMing on 5.419115933 meters 0.05334260083082574 Centerline is valid? [True, True] Translation: X:-5.38, Y:0.31, Z:0.09 [[ 0.99086414 -0.0758894 -0.11148565 -5.37617788] [ 0.07779029 0.99688764 0.01279455 0.310027 ] [ 0.1101677 -0.02135017 0.99368368 0.09487559] [ 0. 0. 0. 1. ]] SLAMing on 5.479115933 meters 0.05344726513354192 Centerline is valid? [True, True] Translation: X:-5.44, Y:0.31, Z:0.09 [[ 0.99108565 -0.07574172 -0.10960126 -5.43522963] [ 0.07758478 0.99690558 0.0126442 0.31388736] [ 0.10830441 -0.02103488 0.99389521 0.09115655] [ 0. 0. 0. 1. ]] SLAMing on 5.539115933 meters 0.0533000532935594 Centerline is valid? [True, True] Translation: X:-5.50, Y:0.31, Z:0.09 [[ 0.9904391 -0.08013932 -0.11228574 -5.49652345] [ 0.0821036 0.99653937 0.01297252 0.30849498] [ 0.11085755 -0.02206755 0.99359128 0.09168538] [ 0. 0. 0. 1. ]] SLAMing on 5.599115933 meters 0.0528455190678004 Centerline is valid? [True, True] Translation: X:-5.56, Y:0.31, Z:0.09 [[ 0.99039118 -0.07324738 -0.11730361 -5.55754077] [ 0.0753465 0.99706527 0.01355534 0.3053692 ] [ 0.11596646 -0.02226351 0.99300358 0.09375893] [ 0. 0. 0. 1. ]] SLAMing on 5.659115933 meters 0.050249470880151956 Centerline is valid? [True, True] Translation: X:-5.62, Y:0.29, Z:0.09 [[ 0.98994248 -0.06392437 -0.12620444 -5.62023708] [ 0.06628479 0.99769409 0.01458874 0.2861465 ] [ 0.12498085 -0.02280744 0.99189697 0.09392478] [ 0. 0. 0. 1. ]] SLAMing on 5.719115933 meters 0.04898024389429699 Centerline is valid? [True, True] Translation: X:-5.68, Y:0.27, Z:0.09 [[ 0.9896315 -0.05409323 -0.13305417 -5.68209198] [ 0.05663416 0.99827646 0.01538435 0.27408564] [ 0.13199265 -0.02276025 0.99098936 0.09401331] [ 0. 0. 0. 1. ]] SLAMing on 5.779115933 meters 0.0440047340704697 Centerline is valid? [True, True] Translation: X:-5.74, Y:0.26, Z:0.09 [[ 0.988945 -0.04171664 -0.14229372 -5.74378717] [ 0.04450361 0.99887364 0.01645871 0.26293038] [ 0.14144684 -0.02260934 0.98968763 0.09302586] [ 0. 0. 0. 1. ]] SLAMing on 5.8391159329999995 meters 0.042182617019998606 Centerline is valid? [True, True] Translation: X:-5.80, Y:0.26, Z:0.09 [[ 0.98780013 -0.03665658 -0.15135125 -5.80415892] [ 0.03975898 0.99905566 0.01752188 0.26086066] [ 0.15056603 -0.02332569 0.98832474 0.08618855] [ 0. 0. 0. 1. ]] SLAMing on 5.899115933 meters 0.0380506978211245 Centerline is valid? [True, True] Translation: X:-5.86, Y:0.26, Z:0.08 [[ 0.98757256 -0.00782832 -0.15696863 -5.86489094] [ 0.01081599 0.99977607 0.0181884 0.25633436] [ 0.1567911 -0.01966014 0.98743609 0.07761615] [ 0. 0. 0. 1. ]] SLAMing on 5.959115933 meters 0.03814282611944298 Centerline is valid? [True, True] Translation: X:-5.92, Y:0.27, Z:0.07 [[ 9.88060964e-01 4.63316308e-03 -1.53993720e-01 -5.92447689e+00] [-1.90400873e-03 9.99838591e-01 1.78652646e-02 2.66103419e-01] [ 1.54051636e-01 -1.73587651e-02 9.87910303e-01 7.39169797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.019115933 meters 0.03812639393115202 Centerline is valid? [True, True] Translation: X:-5.98, Y:0.27, Z:0.07 [[ 9.87525179e-01 5.45693959e-03 -1.57366588e-01 -5.98450237e+00] [-2.61143235e-03 9.99829439e-01 1.82831291e-02 2.70951287e-01] [ 1.57439518e-01 -1.76440982e-02 9.87370996e-01 7.36810948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.079115933 meters 0.030428531300873116 Centerline is valid? [True, True] Translation: X:-6.04, Y:0.29, Z:0.07 [[ 0.98701266 0.0589632 -0.14943011 -6.04266216] [-0.05700175 0.9982228 0.01737916 0.2887364 ] [ 0.15018927 -0.00863568 0.98861955 0.07281126] [ 0. 0. 0. 1. ]] SLAMing on 6.139115933 meters 0.03131066318766488 Centerline is valid? [True, True] Translation: X:-6.10, Y:0.30, Z:0.07 [[ 9.83379443e-01 1.12042973e-01 -1.42867923e-01 -6.10128357e+00] [-1.10797525e-01 9.93703203e-01 1.66689105e-02 3.03673602e-01] [ 1.43835947e-01 -5.62451728e-04 9.89601386e-01 6.61977043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.199115933 meters 0.031707428555053575 Centerline is valid? [True, True] Translation: X:-6.16, Y:0.31, Z:0.07 [[ 9.82588951e-01 1.29520117e-01 -1.33204705e-01 -6.16003720e+00] [-1.28594010e-01 9.91575103e-01 1.55690413e-02 3.09963813e-01] [ 1.34098973e-01 1.83135928e-03 9.90966251e-01 7.33567646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.259115933 meters 0.02769263857760183 Centerline is valid? [True, True] Translation: X:-6.22, Y:0.30, Z:0.07 [[ 9.80219095e-01 1.39486947e-01 -1.40406255e-01 -6.22112567e+00] [-1.38546691e-01 9.90218474e-01 1.64981293e-02 3.02468037e-01] [ 1.41334141e-01 3.28104059e-03 9.89956512e-01 6.73198344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.319115933 meters 0.029158796497114635 Centerline is valid? [True, True] Translation: X:-6.28, Y:0.31, Z:0.09 [[ 9.85182282e-01 1.11383540e-01 -1.30420771e-01 -6.28020421e+00] [-1.10313950e-01 9.93777168e-01 1.54198571e-02 3.06623355e-01] [ 1.31326703e-01 -8.04139636e-04 9.91338817e-01 8.78176007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.379115933 meters 0.02437474145496491 Centerline is valid? [True, True] Translation: X:-6.34, Y:0.31, Z:0.08 [[ 9.83308690e-01 1.23744018e-01 -1.33384551e-01 -6.33971580e+00] [-1.22725638e-01 9.92313872e-01 1.58618014e-02 3.12021900e-01] [ 1.34322143e-01 7.72656976e-04 9.90937417e-01 8.09533353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.439115933 meters 0.026366701920719483 Centerline is valid? [True, True] Translation: X:-6.40, Y:0.33, Z:0.09 [[ 9.85664233e-01 1.10871605e-01 -1.27175101e-01 -6.39785265e+00] [-1.09827648e-01 9.93834206e-01 1.52137378e-02 3.29614792e-01] [ 1.28077737e-01 -1.02829497e-03 9.91763599e-01 9.42432169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499115933 meters 0.0246308936737932 Centerline is valid? [True, True] Translation: X:-6.46, Y:0.35, Z:0.10 [[ 9.86825450e-01 1.11372500e-01 -1.17352873e-01 -6.45532529e+00] [-1.10483148e-01 9.93778299e-01 1.40771268e-02 3.47292726e-01] [ 1.18190543e-01 -9.26152143e-04 9.92990502e-01 1.02282036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.559115933 meters 0.02648698616203859 Centerline is valid? [True, True] Translation: X:-6.51, Y:0.36, Z:0.12 [[ 9.86837399e-01 1.17642772e-01 -1.10960022e-01 -6.51335129e+00] [-1.16884404e-01 9.93055961e-01 1.33377288e-02 3.62784962e-01] [ 1.11758598e-01 -1.92673606e-04 9.93735366e-01 1.16059630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.619115933 meters 0.029974591759452125 Centerline is valid? [True, True] Translation: X:-6.57, Y:0.38, Z:0.13 [[ 9.85282169e-01 1.32333238e-01 -1.08198712e-01 -6.57066630e+00] [-1.31692402e-01 9.91204347e-01 1.30787655e-02 3.80727429e-01] [ 1.08977789e-01 1.36267387e-03 9.94043251e-01 1.27548032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.679115933 meters 0.0302409318828828 Centerline is valid? [True, True] Translation: X:-6.63, Y:0.39, Z:0.13 [[ 9.85588600e-01 1.37586251e-01 -9.84130834e-02 -6.62947459e+00] [-1.37075935e-01 9.90488328e-01 1.19607789e-02 3.89087971e-01] [ 9.91226492e-02 1.70165811e-03 9.95073769e-01 1.34375507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.739115933 meters 0.028177098080123298 Centerline is valid? [True, True] Translation: X:-6.69, Y:0.40, Z:0.14 [[ 9.85681079e-01 1.37115750e-01 -9.81431727e-02 -6.68839984e+00] [-1.36598891e-01 9.90553773e-01 1.19986140e-02 3.98222392e-01] [ 9.88612890e-02 1.57944171e-03 9.95099970e-01 1.36499163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7991159329999995 meters 0.023771953088540267 Centerline is valid? [True, True] Translation: X:-6.75, Y:0.41, Z:0.14 [[ 9.82999942e-01 1.51551341e-01 -1.03649912e-01 -6.74748116e+00] [-1.51047298e-01 9.88444426e-01 1.27408993e-02 4.05268659e-01] [ 1.04383078e-01 3.13173582e-03 9.94532234e-01 1.36394770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.859115933 meters 0.021675051677427726 Centerline is valid? [True, True] Translation: X:-6.81, Y:0.40, Z:0.14 [[ 9.81867596e-01 1.58056390e-01 -1.04662321e-01 -6.80735959e+00] [-1.57575005e-01 9.87422694e-01 1.29050758e-02 4.04225642e-01] [ 1.05385680e-01 3.82108989e-03 9.94424083e-01 1.39039106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919115933 meters 0.021282723715827435 Centerline is valid? [True, True] Translation: X:-6.87, Y:0.41, Z:0.14 [[ 9.80648597e-01 1.67616965e-01 -1.01157708e-01 -6.86667602e+00] [-1.67211073e-01 9.85841380e-01 1.25391837e-02 4.05668740e-01] [ 1.01827234e-01 4.61815598e-03 9.94791379e-01 1.37286499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.979115933 meters 0.02326781979916995 Centerline is valid? [True, True] Translation: X:-6.93, Y:0.41, Z:0.14 [[ 9.82458299e-01 1.59556654e-01 -9.65265018e-02 -6.92517729e+00] [-1.59145087e-01 9.87182302e-01 1.19976730e-02 4.14407944e-01] [ 9.72035628e-02 3.57450507e-03 9.95258102e-01 1.39264478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.039115933 meters 0.02316289116324062 Centerline is valid? [True, True] Translation: X:-6.98, Y:0.42, Z:0.14 [[ 9.81642084e-01 1.65737668e-01 -9.43919671e-02 -6.98425137e+00] [-1.65366628e-01 9.86161636e-01 1.17943149e-02 4.19985331e-01] [ 9.50404989e-02 4.03148544e-03 9.95465243e-01 1.39365247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.099115933 meters 0.029247381410721366 Centerline is valid? [True, True] Translation: X:-7.04, Y:0.43, Z:0.14 [[ 9.84776536e-01 1.53865209e-01 -8.08744162e-02 -7.04316523e+00] [-1.53550714e-01 9.88088831e-01 1.01311957e-02 4.27728108e-01] [ 8.14699459e-02 2.44136054e-03 9.96672809e-01 1.40873323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.159115933 meters 0.024812870756649414 Centerline is valid? [True, True] Translation: X:-7.10, Y:0.43, Z:0.13 [[ 9.80071832e-01 1.74996522e-01 -9.39969183e-02 -7.10363942e+00] [-1.74662964e-01 9.84557229e-01 1.18284743e-02 4.25494539e-01] [ 9.46152872e-02 4.82502590e-03 9.95502218e-01 1.33032713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.219115932999999 meters 0.022364931009625003 Centerline is valid? [True, True] Translation: X:-7.16, Y:0.41, Z:0.12 [[ 0.97526279 0.19707433 -0.10012091 -7.16443028] [-0.19680801 0.98036071 0.01262876 0.41378818] [ 0.10064341 0.00738824 0.99489513 0.11999887] [ 0. 0. 0. 1. ]] SLAMing on 7.279115933 meters 0.022426477328432507 Centerline is valid? [True, True] Translation: X:-7.22, Y:0.41, Z:0.12 [[ 0.97519095 0.19516189 -0.1044722 -7.22459893] [-0.19485474 0.98074277 0.01323834 0.41329696] [ 0.10504397 0.00744699 0.99443969 0.12265687] [ 0. 0. 0. 1. ]] SLAMing on 7.3391159329999995 meters 0.023135155133677646 Centerline is valid? [True, True] Translation: X:-7.28, Y:0.41, Z:0.12 [[ 0.97459838 0.20027035 -0.1002486 -7.28473164] [-0.20000747 0.97971116 0.01276968 0.41184535] [ 0.10077206 0.00760516 0.99488047 0.11748187] [ 0. 0. 0. 1. ]] SLAMing on 7.399115933 meters 0.02293657919141259 Centerline is valid? [True, True] Translation: X:-7.34, Y:0.41, Z:0.13 [[ 0.9749108 0.19835034 -0.10102514 -7.34486107] [-0.19806631 0.98010326 0.01293573 0.41197579] [ 0.10158087 0.00739849 0.99479977 0.12567939] [ 0. 0. 0. 1. ]] SLAMing on 7.459115933 meters 0.02164146921531219 Centerline is valid? [True, True] Translation: X:-7.40, Y:0.41, Z:0.12 [[ 0.97198685 0.21240553 -0.10062531 -7.40416621] [-0.21219465 0.97714202 0.01291883 0.41054074] [ 0.10106925 0.00879522 0.99484052 0.11568079] [ 0. 0. 0. 1. ]] SLAMing on 7.519115933 meters 0.022193204407254807 Centerline is valid? [True, True] Translation: X:-7.46, Y:0.41, Z:0.11 [[ 0.96789239 0.22823591 -0.10532181 -7.46408992] [-0.22809042 0.97354515 0.01358674 0.40520919] [ 0.10563652 0.0108724 0.99434537 0.11320177] [ 0. 0. 0. 1. ]] SLAMing on 7.579115933 meters 0.022286924039416237 Centerline is valid? [True, True] Translation: X:-7.52, Y:0.41, Z:0.12 [[ 0.96747848 0.23075974 -0.10361143 -7.52206162] [-0.2306256 0.97294977 0.01343799 0.41189133] [ 0.10390967 0.01089449 0.99452707 0.1154614 ] [ 0. 0. 0. 1. ]] SLAMing on 7.639115933 meters 0.022633809737822485 Centerline is valid? [True, True] Translation: X:-7.58, Y:0.41, Z:0.11 [[ 0.96433997 0.241518 -0.10824727 -7.58139016] [-0.24143291 0.97031522 0.01408986 0.41058258] [ 0.10843693 0.01254704 0.99402415 0.10802412] [ 0. 0. 0. 1. ]] SLAMing on 7.699115933 meters 0.02324852836753491 Centerline is valid? [True, True] Translation: X:-7.64, Y:0.41, Z:0.12 [[ 0.96791293 0.23069119 -0.09963002 -7.64009867] [-0.23055528 0.97297193 0.01303445 0.41266019] [ 0.09994415 0.01035402 0.99493918 0.12063607] [ 0. 0. 0. 1. ]] SLAMing on 7.7591159329999995 meters 0.02234282541145613 Centerline is valid? [True, True] Translation: X:-7.70, Y:0.42, Z:0.12 [[ 0.96537502 0.23977 -0.10276875 -7.69837086] [-0.23966882 0.97076062 0.01351558 0.41729054] [ 0.10300449 0.01158286 0.99461345 0.11637936] [ 0. 0. 0. 1. ]] SLAMing on 7.819115933 meters 0.02208733723926561 Centerline is valid? [True, True] Translation: X:-7.76, Y:0.42, Z:0.12 [[ 0.96518387 0.23906821 -0.10614375 -7.75785061] [-0.23894844 0.97093085 0.01403314 0.41727899] [ 0.10641312 0.01181833 0.99425177 0.11589611] [ 0. 0. 0. 1. ]] SLAMing on 7.879115933 meters 0.021333516529857648 Centerline is valid? [True, True] Translation: X:-7.82, Y:0.41, Z:0.11 [[ 0.96578774 0.23710805 -0.10504194 -7.81749496] [-0.2369715 0.97141629 0.01396069 0.41349635] [ 0.10534964 0.01140888 0.9943698 0.11227085] [ 0. 0. 0. 1. ]] SLAMing on 7.939115933 meters 0.021615623686962737 Centerline is valid? [True, True] Translation: X:-7.88, Y:0.42, Z:0.11 [[ 0.96648287 0.23288981 -0.10804263 -7.8752269 ] [-0.23271449 0.9724384 0.01440566 0.42370385] [ 0.10841973 0.01122026 0.99404188 0.11161901] [ 0. 0. 0. 1. ]] SLAMing on 7.999115933 meters 0.02152363887058871 Centerline is valid? [True, True] Translation: X:-7.93, Y:0.43, Z:0.10 [[ 0.96505214 0.24061135 -0.10382941 -7.9338566 ] [-0.24048609 0.97055289 0.01391148 0.42646355] [ 0.1041192 0.01154422 0.99449783 0.10439874] [ 0. 0. 0. 1. ]] SLAMing on 8.059115933 meters 0.021432626890775457 Centerline is valid? [True, True] Translation: X:-7.99, Y:0.44, Z:0.12 [[ 0.96580836 0.2362614 -0.10674627 -7.99208364] [-0.23609523 0.9716236 0.01437431 0.43503014] [ 0.10711329 0.01131946 0.99418238 0.11599102] [ 0. 0. 0. 1. ]] SLAMing on 8.119115933 meters 0.022636509992304318 Centerline is valid? [True, True] Translation: X:-8.05, Y:0.44, Z:0.10 [[ 0.96136905 0.2532062 -0.10796378 -8.05022031] [-0.2531355 0.96732084 0.01458817 0.44135641] [ 0.10812943 0.01330486 0.99404779 0.10290311] [ 0. 0. 0. 1. ]] SLAMing on 8.179115933 meters 0.022192605980495477 Centerline is valid? [True, True] Translation: X:-8.11, Y:0.46, Z:0.11 [[ 0.96091713 0.25467635 -0.10852754 -8.1061273 ] [-0.25460631 0.96693251 0.01473619 0.46403344] [ 0.10869177 0.01347154 0.99398421 0.10864786] [ 0. 0. 0. 1. ]] SLAMing on 8.239115932999999 meters 0.021952635927970917 Centerline is valid? [True, True] Translation: X:-8.16, Y:0.47, Z:0.12 [[ 0.96323094 0.24674429 -0.10631754 -8.16414333] [-0.24662087 0.96900334 0.01451491 0.46816813] [ 0.10660352 0.01223891 0.99422628 0.11578913] [ 0. 0. 0. 1. ]] SLAMing on 8.299115933 meters 0.022099974808749114 Centerline is valid? [True, True] Translation: X:-8.22, Y:0.48, Z:0.12 [[ 0.96329237 0.24350419 -0.11302002 -8.22199794] [-0.24333376 0.96981855 0.01551339 0.4756409 ] [ 0.11338648 0.01255766 0.9934716 0.11528831] [ 0. 0. 0. 1. ]] SLAMing on 8.359115933 meters 0.022914885079868823 Centerline is valid? [True, True] Translation: X:-8.28, Y:0.48, Z:0.11 [[ 0.96221595 0.24592642 -0.11687881 -8.27922391] [-0.24575128 0.96919864 0.01613421 0.48336795] [ 0.11724661 0.01319852 0.99301512 0.10562034] [ 0. 0. 0. 1. ]] SLAMing on 8.419115933 meters 0.02279914522587072 Centerline is valid? [True, True] Translation: X:-8.34, Y:0.50, Z:0.11 [[ 0.96440322 0.23687451 -0.11754527 -8.33653468] [-0.23662299 0.9714649 0.01629414 0.49626116] [ 0.11805077 0.0120998 0.99293384 0.11374024] [ 0. 0. 0. 1. ]] SLAMing on 8.479115933 meters 0.024765264689236306 Centerline is valid? [True, True] Translation: X:-8.39, Y:0.50, Z:0.10 [[ 0.96315344 0.24106415 -0.11926244 -8.39467403] [-0.24082646 0.97042589 0.01661931 0.49847471] [ 0.11974168 0.01271461 0.99272366 0.10135628] [ 0. 0. 0. 1. ]] SLAMing on 8.539115933 meters 0.02457103774084314 Centerline is valid? [True, True] Translation: X:-8.45, Y:0.52, Z:0.12 [[ 0.96439145 0.23668936 -0.11801392 -8.45072812] [-0.23641377 0.97151181 0.01653268 0.51770575] [ 0.11856503 0.01195614 0.9928743 0.11633912] [ 0. 0. 0. 1. ]] SLAMing on 8.599115933 meters 0.024405652399070256 Centerline is valid? [True, True] Translation: X:-8.51, Y:0.53, Z:0.11 [[ 0.96360607 0.24020839 -0.11731695 -8.50848668] [-0.23995146 0.97064429 0.01652121 0.52525285] [ 0.11784156 0.01223044 0.99295709 0.10892093] [ 0. 0. 0. 1. ]] SLAMing on 8.659115933 meters 0.02501575134523068 Centerline is valid? [True, True] Translation: X:-8.57, Y:0.53, Z:0.11 [[ 0.9651071 0.23587551 -0.11371466 -8.56614255] [-0.23559424 0.97171814 0.01610027 0.53325336] [ 0.11429626 0.01125204 0.99338299 0.11491745] [ 0. 0. 0. 1. ]] SLAMing on 8.719115933 meters 0.023819611090833144 Centerline is valid? [True, True] Translation: X:-8.62, Y:0.54, Z:0.11 [[ 0.96340863 0.24048896 -0.1183591 -8.62393036] [-0.24020827 0.97057519 0.01684619 0.54108058] [ 0.11892773 0.01220108 0.99282795 0.10893346] [ 0. 0. 0. 1. ]] SLAMing on 8.779115933 meters 0.02289341626498127 Centerline is valid? [True, True] Translation: X:-8.68, Y:0.55, Z:0.12 [[ 0.96545075 0.23564167 -0.11125576 -8.6816633 ] [-0.23535202 0.97177982 0.01591854 0.55167652] [ 0.11186718 0.0108157 0.99366431 0.11565616] [ 0. 0. 0. 1. ]] SLAMing on 8.839115933 meters 0.02339992806544291 Centerline is valid? [True, True] Translation: X:-8.74, Y:0.56, Z:0.11 [[ 0.96472019 0.23736815 -0.11389167 -8.7395446 ] [-0.23706693 0.97135522 0.01637994 0.55963683] [ 0.11451734 0.01119789 0.99335814 0.11193267] [ 0. 0. 0. 1. ]] SLAMing on 8.899115933 meters 0.02298080119477136 Centerline is valid? [True, True] Translation: X:-8.80, Y:0.57, Z:0.12 [[ 0.9672235 0.23058042 -0.10635495 -8.79723227] [-0.23026828 0.97300572 0.01537468 0.56799522] [ 0.10702908 0.00961942 0.99420936 0.11687607] [ 0. 0. 0. 1. ]] SLAMing on 8.959115933 meters 0.02406640226499363 Centerline is valid? [True, True] Translation: X:-8.86, Y:0.57, Z:0.11 [[ 0.96629207 0.23406127 -0.10721454 -8.85531315] [-0.23375654 0.97217034 0.01557931 0.5746371 ] [ 0.10787731 0.01000794 0.99411384 0.11202894] [ 0. 0. 0. 1. ]] SLAMing on 9.019115933 meters 0.024149566023198978 Centerline is valid? [True, True] Translation: X:-8.91, Y:0.58, Z:0.11 [[ 0.96641226 0.23255626 -0.10938433 -8.91330463] [-0.23222056 0.97253193 0.01597666 0.58361673] [ 0.11009523 0.00996125 0.99387113 0.11361931] [ 0. 0. 0. 1. ]] SLAMing on 9.079115933 meters 0.022184593710124316 Centerline is valid? [True, True] Translation: X:-8.97, Y:0.59, Z:0.12 [[ 0.96483134 0.23886159 -0.10975254 -8.97208819] [-0.23855496 0.97099535 0.01611074 0.58902464] [ 0.11041744 0.01063787 0.99382837 0.11624175] [ 0. 0. 0. 1. ]] SLAMing on 9.139115933 meters 0.022041527293664237 Centerline is valid? [True, True] Translation: X:-9.03, Y:0.59, Z:0.12 [[ 0.96472235 0.23977459 -0.10871497 -9.03063057] [-0.23947096 0.9707711 0.01603508 0.59447681] [ 0.10938215 0.01056468 0.99394363 0.11787082] [ 0. 0. 0. 1. ]] SLAMing on 9.199115933 meters 0.022704855232086124 Centerline is valid? [True, True] Translation: X:-9.09, Y:0.60, Z:0.11 [[ 0.96181354 0.25075583 -0.10970973 -9.08870302] [-0.25051094 0.96797762 0.01623564 0.60321313] [ 0.11026775 0.01186783 0.99383106 0.11376149] [ 0. 0. 0. 1. ]] SLAMing on 9.259115933 meters 0.024650595872274177 Centerline is valid? [True, True] Translation: X:-9.15, Y:0.61, Z:0.11 [[ 0.95922665 0.26066811 -0.10925367 -9.14613332] [-0.26047969 0.96534263 0.0162464 0.61017308] [ 0.10970214 0.01287438 0.99388113 0.11217903] [ 0. 0. 0. 1. ]] SLAMing on 9.319115932999999 meters 0.024974399450135923 Centerline is valid? [True, True] Translation: X:-9.20, Y:0.62, Z:0.11 [[ 0.95630458 0.27259518 -0.10570438 -9.20377936] [-0.2724815 0.96203134 0.0157968 0.61590885] [ 0.10599706 0.01369594 0.99427212 0.10976316] [ 0. 0. 0. 1. ]] SLAMing on 9.379115933 meters 0.024203513097244944 Centerline is valid? [True, True] Translation: X:-9.26, Y:0.62, Z:0.10 [[ 0.95279686 0.28447839 -0.10606688 -9.26198291] [-0.2844278 0.95856518 0.01592542 0.62083684] [ 0.10620246 0.01499468 0.99423146 0.10308322] [ 0. 0. 0. 1. ]] SLAMing on 9.439115933 meters 0.024289599805627574 Centerline is valid? [True, True] Translation: X:-9.32, Y:0.62, Z:0.10 [[ 0.95070093 0.29332633 -0.10063499 -9.32017773] [-0.29332136 0.95589335 0.01518157 0.6234878 ] [ 0.10064948 0.01508526 0.99480758 0.09871818] [ 0. 0. 0. 1. ]] SLAMing on 9.499115933 meters 0.024213367426749025 Centerline is valid? [True, True] Translation: X:-9.38, Y:0.63, Z:0.09 [[ 0.94822812 0.30110869 -0.10098012 -9.37862055] [-0.3011392 0.95345734 0.01530632 0.6254674 ] [ 0.1008891 0.01589519 0.99477069 0.09010979] [ 0. 0. 0. 1. ]] SLAMing on 9.559115933 meters 0.024180790541851096 Centerline is valid? [True, True] Translation: X:-9.44, Y:0.63, Z:0.10 [[ 0.94650842 0.3071074 -0.09902961 -9.43623214] [-0.30716137 0.95153793 0.01508155 0.63200333] [ 0.09886209 0.01614326 0.99497019 0.09546098] [ 0. 0. 0. 1. ]] SLAMing on 9.619115933 meters 0.02554716994634592 Centerline is valid? [True, True] Translation: X:-9.49, Y:0.64, Z:0.09 [[ 0.94502553 0.31315807 -0.09412105 -9.49376934] [-0.31322905 0.9495684 0.01440223 0.63873071] [ 0.09388454 0.01587097 0.99545658 0.08857379] [ 0. 0. 0. 1. ]] SLAMing on 9.679115933 meters 0.024546251813250264 Centerline is valid? [True, True] Translation: X:-9.55, Y:0.64, Z:0.09 [[ 0.9436524 0.31800948 -0.09159755 -9.55132835] [-0.31809273 0.94795504 0.01408028 0.64247009] [ 0.09130802 0.01584962 0.99569656 0.09294917] [ 0. 0. 0. 1. ]] SLAMing on 9.739115932999999 meters 0.02570220850828077 Centerline is valid? [True, True] Translation: X:-9.61, Y:0.65, Z:0.08 [[ 0.94107196 0.32598149 -0.09010904 -9.6081921 ] [-0.32609132 0.94523584 0.01391633 0.65243917] [ 0.08971076 0.01628751 0.99583467 0.08488316] [ 0. 0. 0. 1. ]] SLAMing on 9.799115933 meters 0.024986734796862965 Centerline is valid? [True, True] Translation: X:-9.67, Y:0.66, Z:0.08 [[ 0.93978063 0.33058392 -0.08675617 -9.66595525] [-0.33069906 0.94364027 0.01345982 0.65529546] [ 0.08631622 0.01604091 0.99613864 0.0838947 ] [ 0. 0. 0. 1. ]] SLAMing on 9.859115933 meters 0.024470355177045506 Centerline is valid? [True, True] Translation: X:-9.72, Y:0.66, Z:0.08 [[ 0.93815014 0.33536816 -0.08603785 -9.72323503] [-0.33549531 0.94194641 0.01341116 0.66009454] [ 0.08554071 0.01628361 0.9962016 0.08092796] [ 0. 0. 0. 1. ]] SLAMing on 9.919115933 meters 0.024351105955873937 Centerline is valid? [True, True] Translation: X:-9.78, Y:0.67, Z:0.09 [[ 0.93769734 0.33720628 -0.08375929 -9.7800459 ] [-0.33732863 0.94129557 0.01311645 0.66947821] [ 0.08326519 0.01595515 0.99639969 0.08642587] [ 0. 0. 0. 1. ]] SLAMing on 9.979115933 meters 0.024128883138854057 Centerline is valid? [True, True] Translation: X:-9.84, Y:0.67, Z:0.09 [[ 0.93803491 0.33643712 -0.08306967 -9.83881792] [-0.33654979 0.94157503 0.01306539 0.66747352] [ 0.08261201 0.01570129 0.99645809 0.08780835] [ 0. 0. 0. 1. ]] SLAMing on 10.039115933 meters 0.024016558544685127 Centerline is valid? [True, True] Translation: X:-9.90, Y:0.68, Z:0.09 [[ 0.93629175 0.34171662 -0.08116349 -9.89578412] [-0.34183863 0.93967121 0.01282083 0.67869463] [ 0.08064809 0.01574078 0.99661834 0.09066167] [ 0. 0. 0. 1. ]] SLAMing on 10.099115933 meters 0.024601982164250323 Centerline is valid? [True, True] Translation: X:-9.95, Y:0.69, Z:0.08 [[ 0.9357553 0.3437925 -0.07854133 -9.95222958] [-0.34390928 0.93892018 0.0124621 0.6875605 ] [ 0.07802842 0.01534961 0.99683296 0.08326734] [ 0. 0. 0. 1. ]] SLAMing on 10.159115932999999 meters 0.02407940636733399 Centerline is valid? [True, True] Translation: X:-10.01, Y:0.70, Z:0.08 [[ 0.93312788 0.35102373 -0.07781192 -10.00916859] [ -0.35115803 0.93623407 0.01240214 0.69699299] [ 0.07720362 0.0157515 0.99689091 0.08462634] [ 0. 0. 0. 1. ]] SLAMing on 10.219115933 meters 0.023711577959323177 Centerline is valid? [True, True] Translation: X:-10.07, Y:0.70, Z:0.08 [[ 0.93110632 0.35645148 -0.07735217 -10.06753073] [ -0.35659796 0.93417589 0.01238184 0.69756254] [ 0.07667406 0.01605482 0.99692694 0.08078873] [ 0. 0. 0. 1. ]] SLAMing on 10.279115933 meters 0.023975117842696674 Centerline is valid? [True, True] Translation: X:-10.12, Y:0.72, Z:0.09 [[ 0.93077063 0.35858632 -0.07128743 -10.1228018 ] [ -0.35871292 0.93337758 0.01146026 0.71710153] [ 0.07064758 0.01490485 0.99738998 0.0865964 ] [ 0. 0. 0. 1. ]] SLAMing on 10.339115933 meters 0.02345363138361285 Centerline is valid? [True, True] Translation: X:-10.18, Y:0.72, Z:0.08 [[ 0.92830832 0.36493719 -0.07116531 -10.18028118] [ -0.36507839 0.93090601 0.01147909 0.72398112] [ 0.07043737 0.01532479 0.99739848 0.08252658] [ 0. 0. 0. 1. ]] SLAMing on 10.399115933 meters 0.023912052901528823 Centerline is valid? [True, True] Translation: X:-10.24, Y:0.73, Z:0.09 [[ 0.92732228 0.3673829 -0.07143661 -10.23799617] [ -0.36752889 0.92994016 0.01156816 0.72786217] [ 0.07068171 0.01552761 0.99737806 0.08852585] [ 0. 0. 0. 1. ]] SLAMing on 10.459115933 meters 0.022598207061523833 Centerline is valid? [True, True] Translation: X:-10.30, Y:0.73, Z:0.09 [[ 0.9285622 0.36493993 -0.06775762 -10.29532019] [ -0.36506184 0.93091807 0.01101796 0.73181682] [ 0.06709768 0.01450485 0.99764097 0.09223651] [ 0. 0. 0. 1. ]] SLAMing on 10.519115933 meters 0.023508514192958605 Centerline is valid? [True, True] Translation: X:-10.35, Y:0.75, Z:0.09 [[ 0.92840133 0.36581748 -0.06518079 -10.35076283] [ -0.36592934 0.93058176 0.01064411 0.75057156] [ 0.06454985 0.01396956 0.9978167 0.09343617] [ 0. 0. 0. 1. ]] SLAMing on 10.579115932999999 meters 0.022973500797526164 Centerline is valid? [True, True] Translation: X:-10.41, Y:0.75, Z:0.10 [[ 0.93023111 0.36114906 -0.06512632 -10.40903996] [ -0.36124742 0.93240893 0.01067195 0.75265908] [ 0.06457852 0.01359933 0.99781996 0.10113041] [ 0. 0. 0. 1. ]] SLAMing on 10.639115933 meters 0.02223647640190386 Centerline is valid? [True, True] Translation: X:-10.47, Y:0.75, Z:0.10 [[ 9.32072136e-01 3.57263050e-01 -6.00387038e-02 -1.04671505e+01] [-3.57336415e-01 9.33923507e-01 9.87769822e-03 7.52793483e-01] [ 5.96004934e-02 1.22472879e-02 9.98147176e-01 1.03593130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.699115933 meters 0.0223967851041572 Centerline is valid? [True, True] Translation: X:-10.52, Y:0.77, Z:0.10 [[ 9.30252213e-01 3.61571450e-01 -6.24252091e-02 -1.05231284e+01] [-3.61657468e-01 9.32254002e-01 1.03126776e-02 7.66189173e-01] [ 6.19249208e-02 1.29831519e-02 9.97996364e-01 1.01390528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.759115933 meters 0.02214688853075827 Centerline is valid? [True, True] Translation: X:-10.58, Y:0.77, Z:0.10 [[ 9.30237644e-01 3.62056794e-01 -5.97729287e-02 -1.05810856e+01] [-3.62134360e-01 9.32073212e-01 9.91126023e-03 7.71700912e-01] [ 5.93011847e-02 1.24260039e-02 9.98162794e-01 1.00385395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.819115932999999 meters 0.021946051566012644 Centerline is valid? [True, True] Translation: X:-10.64, Y:0.78, Z:0.10 [[ 9.31102831e-01 3.59598767e-01 -6.11248356e-02 -1.06381367e+01] [-3.59672350e-01 9.33023172e-01 1.01765422e-02 7.82248237e-01] [ 6.06903600e-02 1.25095060e-02 9.98078250e-01 1.03681449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879115933 meters 0.021610635994350612 Centerline is valid? [True, True] Translation: X:-10.70, Y:0.78, Z:0.09 [[ 9.29852106e-01 3.62376024e-01 -6.37077552e-02 -1.06974225e+01] [-3.62459465e-01 9.31938677e-01 1.06507571e-02 7.77797604e-01] [ 6.32313001e-02 1.31878500e-02 9.97911761e-01 9.44726750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.939115933 meters 0.021881513049416434 Centerline is valid? [True, True] Translation: X:-10.75, Y:0.79, Z:0.09 [[ 0.92891278 0.36413738 -0.06726825 -10.75386007] [ -0.36423187 0.93123984 0.01129211 0.78986378] [ 0.06675475 0.01401185 0.99767102 0.09484139] [ 0. 0. 0. 1. ]] SLAMing on 10.999115933 meters 0.023968662478254636 Centerline is valid? [True, True] Translation: X:-10.81, Y:0.79, Z:0.08 [[ 0.9272355 0.36783719 -0.07021488 -10.81053995] [ -0.36794663 0.92977152 0.01184033 0.79425579] [ 0.06963912 0.01485655 0.99746162 0.08488763] [ 0. 0. 0. 1. ]] SLAMing on 11.059115933 meters 0.023789312101654133 Centerline is valid? [True, True] Translation: X:-10.87, Y:0.80, Z:0.08 [[ 0.92565949 0.37109144 -0.07379471 -10.86752326] [ -0.37121808 0.92846154 0.01250219 0.79596 ] [ 0.073155 0.01582116 0.99719508 0.08238375] [ 0. 0. 0. 1. ]] SLAMing on 11.119115933 meters 0.023766321481786718 Centerline is valid? [True, True] Translation: X:-10.92, Y:0.80, Z:0.08 [[ 0.92764523 0.3651054 -0.07856446 -10.92336278] [ -0.36522411 0.93082363 0.01336898 0.80250713] [ 0.07801074 0.01629197 0.99681939 0.08146934] [ 0. 0. 0. 1. ]] SLAMing on 11.179115933 meters 0.024083186714607758 Centerline is valid? [True, True] Translation: X:-10.98, Y:0.81, Z:0.09 [[ 0.93109504 0.35578225 -0.08050481 -10.98005656] [ -0.35586873 0.93443466 0.01375891 0.80546253] [ 0.08012166 0.01583829 0.99665925 0.08541035] [ 0. 0. 0. 1. ]] SLAMing on 11.239115932999999 meters 0.022878083546074464 Centerline is valid? [True, True] Translation: X:-11.04, Y:0.80, Z:0.10 [[ 0.94041904 0.3305116 -0.07983806 -11.03687552] [ -0.33050136 0.94370569 0.0137266 0.80131932] [ 0.07988043 0.01347783 0.99671333 0.09868101] [ 0. 0. 0. 1. ]] SLAMing on 11.299115933 meters 0.023154543468607 Centerline is valid? [True, True] Translation: X:-11.09, Y:0.81, Z:0.11 [[ 0.94736534 0.30864717 -0.08506378 -11.09370717] [ -0.30854339 0.95109675 0.01469494 0.80521266] [ 0.08543944 0.01232439 0.99626714 0.10569209] [ 0. 0. 0. 1. ]] SLAMing on 11.359115933 meters 0.0225297866176745 Centerline is valid? [True, True] Translation: X:-11.15, Y:0.81, Z:0.13 [[ 9.57521543e-01 2.75095551e-01 -8.64576935e-02 -1.11505952e+01] [-2.74846810e-01 9.61370968e-01 1.50031202e-02 8.07743665e-01] [ 8.72452081e-02 9.39681048e-03 9.96142547e-01 1.25543365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419115933 meters 0.021519766180609634 Centerline is valid? [True, True] Translation: X:-11.21, Y:0.82, Z:0.16 [[ 9.65521892e-01 2.45981126e-01 -8.52101096e-02 -1.12072087e+01] [-2.45620997e-01 9.69252201e-01 1.48491482e-02 8.15116912e-01] [ 8.62426964e-02 6.59221438e-03 9.96252348e-01 1.55647994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479115933 meters 0.02151414782349958 Centerline is valid? [True, True] Translation: X:-11.26, Y:0.83, Z:0.16 [[ 9.68371186e-01 2.33839703e-01 -8.70416002e-02 -1.12636408e+01] [-2.33409948e-01 9.72259200e-01 1.52264466e-02 8.26837160e-01] [ 8.81875443e-02 5.57152322e-03 9.96088307e-01 1.61307361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539115933 meters 0.021808811579394488 Centerline is valid? [True, True] Translation: X:-11.32, Y:0.84, Z:0.16 [[ 9.68426692e-01 2.33675481e-01 -8.68649004e-02 -1.13204127e+01] [-2.33241205e-01 9.72299184e-01 1.52589954e-02 8.43304190e-01] [ 8.80243249e-02 5.48325559e-03 9.96103234e-01 1.58963299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599115933 meters 0.0220175683076195 Centerline is valid? [True, True] Translation: X:-11.38, Y:0.86, Z:0.14 [[ 9.64005141e-01 2.49686510e-01 -9.13823550e-02 -1.13761554e+01] [-2.49270828e-01 9.68299658e-01 1.61191184e-02 8.63546442e-01] [ 9.25102295e-02 7.24004231e-03 9.95685412e-01 1.41590506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659115932999999 meters 0.022407026023620328 Centerline is valid? [True, True] Translation: X:-11.43, Y:0.89, Z:0.12 [[ 9.58720678e-01 2.69771908e-01 -8.98764664e-02 -1.14307900e+01] [-2.69450256e-01 9.62882650e-01 1.59236100e-02 8.85801978e-01] [ 9.08362328e-02 8.95094272e-03 9.95825617e-01 1.18195113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719115933 meters 0.022533820229391724 Centerline is valid? [True, True] Translation: X:-11.48, Y:0.91, Z:0.11 [[ 9.53951239e-01 2.85399245e-01 -9.23271595e-02 -1.14848654e+01] [-2.85126243e-01 9.58349381e-01 1.64161488e-02 9.09471942e-01] [ 9.31668326e-02 1.06646907e-02 9.95593394e-01 1.14858055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779115933 meters 0.022663987800184884 Centerline is valid? [True, True] Translation: X:-11.54, Y:0.93, Z:0.12 [[ 9.56258002e-01 2.77807901e-01 -9.16155226e-02 -1.15402005e+01] [-2.77498029e-01 9.60586885e-01 1.63609422e-02 9.27801975e-01] [ 9.25498685e-02 9.77784501e-03 9.95660040e-01 1.17150229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839115933 meters 0.0224107147568889 Centerline is valid? [True, True] Translation: X:-11.60, Y:0.95, Z:0.12 [[ 9.57015345e-01 2.74206783e-01 -9.45106895e-02 -1.15958013e+01] [-2.73853102e-01 9.61622204e-01 1.69473945e-02 9.50366034e-01] [ 9.55306681e-02 9.66312895e-03 9.95379584e-01 1.17656695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899115933 meters 0.02289437026195795 Centerline is valid? [True, True] Translation: X:-11.65, Y:0.96, Z:0.11 [[ 9.56124012e-01 2.77032815e-01 -9.52874189e-02 -1.16518597e+01] [-2.76679600e-01 9.60808914e-01 1.71647978e-02 9.64765702e-01] [ 9.63082137e-02 9.95240956e-03 9.95301802e-01 1.12535462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959115933 meters 0.022884120807578852 Centerline is valid? [True, True] Translation: X:-11.70, Y:0.99, Z:0.12 [[ 9.57953054e-01 2.69668658e-01 -9.80038822e-02 -1.17045542e+01] [-2.69247334e-01 9.62907461e-01 1.77508939e-02 9.90176806e-01] [ 9.91555291e-02 9.38276104e-03 9.95027711e-01 1.18378050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.019115933 meters 0.02322178270983253 Centerline is valid? [True, True] Translation: X:-11.76, Y:1.02, Z:0.13 [[ 9.57996015e-01 2.69263651e-01 -9.86950970e-02 -1.17569613e+01] [-2.68824708e-01 9.63021449e-01 1.79712294e-02 1.01785159e+00] [ 9.98844941e-02 9.31531455e-03 9.94955433e-01 1.28586369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.079115932999999 meters 0.023411830143967166 Centerline is valid? [True, True] Translation: X:-11.81, Y:1.05, Z:0.14 [[ 9.59430593e-01 2.64980227e-01 -9.63245322e-02 -1.18100124e+01] [-2.64532669e-01 9.64215721e-01 1.76213157e-02 1.04833287e+00] [ 9.75469285e-02 8.57455621e-03 9.95193988e-01 1.36819065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.139115933 meters 0.02405133393261914 Centerline is valid? [True, True] Translation: X:-11.86, Y:1.08, Z:0.15 [[ 9.62084754e-01 2.56220363e-01 -9.35096367e-02 -1.18638554e+01] [-2.55750721e-01 9.66590152e-01 1.71769480e-02 1.07873255e+00] [ 9.47865778e-02 7.38947716e-03 9.95470191e-01 1.47974011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.199115933 meters 0.023904062068671728 Centerline is valid? [True, True] Translation: X:-11.92, Y:1.11, Z:0.16 [[ 9.63126781e-01 2.52782473e-01 -9.21293920e-02 -1.19176197e+01] [-2.52304416e-01 9.67498689e-01 1.69931777e-02 1.11170258e+00] [ 9.34306435e-02 6.87806798e-03 9.95602032e-01 1.57261199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.259115933 meters 0.023829221563042666 Centerline is valid? [True, True] Translation: X:-11.97, Y:1.15, Z:0.18 [[ 9.67648838e-01 2.37667452e-01 -8.46753078e-02 -1.19701410e+01] [-2.37201825e-01 9.71334086e-01 1.56648575e-02 1.14798687e+00] [ 8.59710394e-02 4.92705635e-03 9.96285453e-01 1.76349414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.319115932999999 meters 0.02349409757388726 Centerline is valid? [True, True] Translation: X:-12.02, Y:1.18, Z:0.19 [[ 9.65732438e-01 2.46336633e-01 -8.17258883e-02 -1.20242566e+01] [-2.45928837e-01 9.69169053e-01 1.51773965e-02 1.17812069e+00] [ 8.29449506e-02 5.44144852e-03 9.96539275e-01 1.92389832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.379115933 meters 0.02560008046120966 Centerline is valid? [True, True] Translation: X:-12.08, Y:1.21, Z:0.20 [[ 9.59314900e-01 2.72804951e-01 -7.27487483e-02 -1.20781132e+01] [-2.72554636e-01 9.62045047e-01 1.35387680e-02 1.21061692e+00] [ 7.36810159e-02 6.84006672e-03 9.97258403e-01 1.95873713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.439115933 meters 0.026535070719462317 Centerline is valid? [True, True] Translation: X:-12.14, Y:1.23, Z:0.20 [[ 9.49664113e-01 3.03300904e-01 -7.84004740e-02 -1.21352335e+01] [-3.03109561e-01 9.52843592e-01 1.46179045e-02 1.22775946e+00] [ 7.91370129e-02 9.88183395e-03 9.96814768e-01 2.00132561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.499115933 meters 0.027973957950106154 Centerline is valid? [True, True] Translation: X:-12.19, Y:1.24, Z:0.19 [[ 0.94242277 0.32343645 -0.0850187 -12.19188808] [ -0.32328869 0.9461671 0.0158824 1.24418978] [ 0.08557884 0.01251765 0.99625276 0.19458113] [ 0. 0. 0. 1. ]] SLAMing on 12.559115933 meters 0.029084841332968854 Centerline is valid? [True, True] Translation: X:-12.25, Y:1.24, Z:0.19 [[ 0.94289196 0.32203977 -0.08511842 -12.25229586] [ -0.32188148 0.94664553 0.01595481 1.23825986] [ 0.08571505 0.01235439 0.99624309 0.19009264] [ 0. 0. 0. 1. ]] SLAMing on 12.619115933 meters 0.029195647356017568 Centerline is valid? [True, True] Translation: X:-12.31, Y:1.23, Z:0.18 [[ 9.46337196e-01 3.11303566e-01 -8.68101506e-02 -1.23129832e+01] [-3.11089244e-01 9.50240343e-01 1.63331675e-02 1.22967295e+00] [ 8.75750806e-02 1.15490202e-02 9.96090972e-01 1.79165969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.679115933 meters 0.029721750534738113 Centerline is valid? [True, True] Translation: X:-12.37, Y:1.24, Z:0.19 [[ 9.53661818e-01 2.90924894e-01 -7.67583385e-02 -1.23707860e+01] [-2.90688558e-01 9.56708121e-01 1.44822040e-02 1.23744822e+00] [ 7.76485594e-02 8.50164573e-03 9.96944544e-01 1.91403572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739115932999999 meters 0.03010004428866361 Centerline is valid? [True, True] Translation: X:-12.43, Y:1.23, Z:0.19 [[ 9.45808134e-01 3.13092118e-01 -8.61411558e-02 -1.24303963e+01] [-3.12881232e-01 9.49652576e-01 1.62886425e-02 1.23434970e+00] [ 8.69040161e-02 1.15460204e-02 9.96149779e-01 1.87432496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799115933 meters 0.029582302633870964 Centerline is valid? [True, True] Translation: X:-12.49, Y:1.24, Z:0.20 [[ 9.47335795e-01 3.09921085e-01 -8.06462182e-02 -1.24882772e+01] [-3.09721497e-01 9.50704378e-01 1.52898901e-02 1.24106947e+00] [ 8.14093720e-02 1.04932073e-02 9.96625510e-01 1.98239286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859115933 meters 0.02943821885835167 Centerline is valid? [True, True] Translation: X:-12.55, Y:1.24, Z:0.20 [[ 9.44687996e-01 3.17825394e-01 -8.09420080e-02 -1.25466829e+01] [-3.17649433e-01 9.48083388e-01 1.53859629e-02 1.24466428e+00] [ 8.16298228e-02 1.11762485e-02 9.96600052e-01 1.95603339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919115933 meters 0.028964545860727532 Centerline is valid? [True, True] Translation: X:-12.60, Y:1.25, Z:0.21 [[ 9.47665514e-01 3.09690592e-01 -7.76003312e-02 -1.26043639e+01] [-3.09497825e-01 9.50784920e-01 1.48031414e-02 1.25472483e+00] [ 7.83656183e-02 9.98870715e-03 9.96874644e-01 2.05633080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979115933 meters 0.02795605374703993 Centerline is valid? [True, True] Translation: X:-12.66, Y:1.25, Z:0.21 [[ 9.46351305e-01 3.11616639e-01 -8.55235465e-02 -1.26638584e+01] [-3.11386435e-01 9.50142517e-01 1.63610967e-02 1.25291658e+00] [ 8.63579477e-02 1.11475270e-02 9.96201806e-01 2.13467999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039115933 meters 0.027258676074984355 Centerline is valid? [True, True] Translation: X:-12.72, Y:1.26, Z:0.22 [[ 9.47894421e-01 3.06058691e-01 -8.84547630e-02 -1.27224764e+01] [-3.05782811e-01 9.51949726e-01 1.69879682e-02 1.25636113e+00] [ 8.94038027e-02 1.09451458e-02 9.95935321e-01 2.20670652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099115933 meters 0.027811714721409645 Centerline is valid? [True, True] Translation: X:-12.78, Y:1.25, Z:0.23 [[ 9.46770221e-01 3.07640571e-01 -9.47809488e-02 -1.27818962e+01] [-3.07324632e-01 9.51429180e-01 1.82780060e-02 1.25347821e+00] [ 9.58004167e-02 1.18234484e-02 9.95330340e-01 2.26336359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.159115932999999 meters 0.02811562745807467 Centerline is valid? [True, True] Translation: X:-12.84, Y:1.26, Z:0.24 [[ 9.45904664e-01 3.09663673e-01 -9.68130980e-02 -1.28401851e+01] [-3.09337268e-01 9.50767652e-01 1.87437302e-02 1.25918926e+00] [ 9.78510142e-02 1.22181174e-02 9.95126071e-01 2.39629144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219115933 meters 0.027674265999380478 Centerline is valid? [True, True] Translation: X:-12.90, Y:1.26, Z:0.24 [[ 9.47191527e-01 3.05648393e-01 -9.69910882e-02 -1.28978090e+01] [-3.05292015e-01 9.52071994e-01 1.88601325e-02 1.25971469e+00] [ 9.81070679e-02 1.17464470e-02 9.95106539e-01 2.44445619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279115933 meters 0.02771236011321893 Centerline is valid? [True, True] Translation: X:-12.95, Y:1.27, Z:0.25 [[ 9.46758894e-01 3.06495792e-01 -9.85288114e-02 -1.29534334e+01] [-3.06123777e-01 9.51797130e-01 1.92472355e-02 1.27031726e+00] [ 9.96786366e-02 1.19395205e-02 9.94948048e-01 2.50648418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339115933 meters 0.028167830964484556 Centerline is valid? [True, True] Translation: X:-13.01, Y:1.28, Z:0.25 [[ 9.45908789e-01 3.08065282e-01 -1.01746471e-01 -1.30095306e+01] [-3.07667514e-01 9.51284265e-01 1.99736681e-02 1.27754353e+00] [ 1.02943011e-01 1.24108157e-02 9.94609827e-01 2.51335755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.399115933 meters 0.027639863550222025 Centerline is valid? [True, True] Translation: X:-13.07, Y:1.29, Z:0.26 [[ 9.43438415e-01 3.16290985e-01 -9.94181523e-02 -1.30651459e+01] [-3.15946862e-01 9.48574311e-01 1.96050374e-02 1.28760879e+00] [ 1.00506402e-01 1.29147079e-02 9.94852589e-01 2.59497660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.459115933 meters 0.028601900588292303 Centerline is valid? [True, True] Translation: X:-13.12, Y:1.30, Z:0.26 [[ 0.93866623 0.33063852 -0.0978973 -13.12047335] [ -0.33037354 0.94365133 0.01937741 1.30288575] [ 0.09878784 0.01415376 0.99500786 0.26010034] [ 0. 0. 0. 1. ]] SLAMing on 13.519115933 meters 0.028159927933274022 Centerline is valid? [True, True] Translation: X:-13.17, Y:1.33, Z:0.27 [[ 0.93678481 0.33769928 -0.09161563 -13.17296142] [ -0.33749203 0.94115209 0.01821717 1.32701066] [ 0.09237617 0.01385398 0.9956278 0.2702216 ] [ 0. 0. 0. 1. ]] SLAMing on 13.579115932999999 meters 0.0281774031324611 Centerline is valid? [True, True] Translation: X:-13.23, Y:1.35, Z:0.28 [[ 0.93176677 0.35156486 -0.09062473 -13.22717202] [ -0.35141969 0.93604338 0.01808307 1.34649388] [ 0.09118605 0.01499812 0.99572092 0.28218903] [ 0. 0. 0. 1. ]] SLAMing on 13.639115933 meters 0.02750403913543713 Centerline is valid? [True, True] Translation: X:-13.28, Y:1.36, Z:0.29 [[ 0.93090815 0.3559492 -0.08191566 -13.28152528] [ -0.35584121 0.93440234 0.01641056 1.36483829] [ 0.08238351 0.01387225 0.99650415 0.29380436] [ 0. 0. 0. 1. ]] SLAMing on 13.699115933 meters 0.029207621508876076 Centerline is valid? [True, True] Translation: X:-13.34, Y:1.38, Z:0.29 [[ 0.92432196 0.37261772 -0.08237076 -13.33558389] [ -0.37256759 0.92785737 0.01655555 1.38459051] [ 0.08259721 0.01538602 0.99646424 0.29429169] [ 0. 0. 0. 1. ]] SLAMing on 13.759115933 meters 0.029327078084116845 Centerline is valid? [True, True] Translation: X:-13.39, Y:1.39, Z:0.29 [[ 0.92078276 0.38087271 -0.08423233 -13.39243361] [ -0.38084894 0.92448129 0.01698343 1.38999644] [ 0.08433973 0.01644175 0.9963014 0.29299151] [ 0. 0. 0. 1. ]] SLAMing on 13.819115932999999 meters 0.029549627551043067 Centerline is valid? [True, True] Translation: X:-13.45, Y:1.40, Z:0.30 [[ 0.92079366 0.38212649 -0.07822009 -13.44776029] [ -0.38210496 0.92398325 0.01583541 1.39933074] [ 0.07832518 0.01530714 0.99681034 0.30496619] [ 0. 0. 0. 1. ]] SLAMing on 13.879115933 meters 0.030290667251054334 Centerline is valid? [True, True] Translation: X:-13.51, Y:1.40, Z:0.30 [[ 0.91752469 0.38932935 -0.08106236 -13.50513897] [ -0.38932796 0.92095184 0.01647582 1.40368018] [ 0.08106905 0.01644288 0.99657285 0.29611117] [ 0. 0. 0. 1. ]] SLAMing on 13.939115933 meters 0.030625500316077102 Centerline is valid? [True, True] Translation: X:-13.56, Y:1.41, Z:0.30 [[ 0.91648507 0.39158493 -0.08195342 -13.55999638] [ -0.39158576 0.91998942 0.01673505 1.41039538] [ 0.08194947 0.01675437 0.99649565 0.30209221] [ 0. 0. 0. 1. ]] SLAMing on 13.999115932999999 meters 0.0299379016656044 Centerline is valid? [True, True] Translation: X:-13.62, Y:1.41, Z:0.30 [[ 0.91484864 0.39498015 -0.08392046 -13.61843884] [ -0.39498909 0.9185247 0.01720425 1.40689394] [ 0.08387836 0.01740839 0.99632393 0.30389117] [ 0. 0. 0. 1. ]] SLAMing on 14.059115933 meters 0.03094770197669598 Centerline is valid? [True, True] Translation: X:-13.67, Y:1.42, Z:0.31 [[ 0.9161708 0.39265463 -0.08033312 -13.67269544] [ -0.39264878 0.91953986 0.01653415 1.42034291] [ 0.08036172 0.0163946 0.99663093 0.30636195] [ 0. 0. 0. 1. ]] SLAMing on 14.119115933 meters 0.03131231763908145 Centerline is valid? [True, True] Translation: X:-13.73, Y:1.42, Z:0.31 [[ 0.91842451 0.38789886 -0.07765888 -13.72944665] [ -0.38787237 0.92157348 0.01604207 1.42368505] [ 0.07779106 0.01538831 0.99685092 0.31165228] [ 0. 0. 0. 1. ]] SLAMing on 14.179115933 meters 0.031585704712120515 Centerline is valid? [True, True] Translation: X:-13.79, Y:1.42, Z:0.31 [[ 0.91688013 0.39103059 -0.08016171 -13.78713058] [ -0.39100899 0.92023677 0.01662077 1.42427325] [ 0.08026698 0.01610469 0.99664329 0.31206155] [ 0. 0. 0. 1. ]] SLAMing on 14.239115932999999 meters 0.03320812171962902 Centerline is valid? [True, True] Translation: X:-13.84, Y:1.42, Z:0.30 [[ 0.9129839 0.39885295 -0.08588785 -13.84492915] [ -0.39885511 0.91683958 0.0178823 1.42161264] [ 0.08587779 0.01793056 0.99614432 0.30284197] [ 0. 0. 0. 1. ]] SLAMing on 14.299115933 meters 0.03229684578043075 Centerline is valid? [True, True] Translation: X:-13.90, Y:1.42, Z:0.32 [[ 0.91746024 0.3897404 -0.07980684 -13.90131833] [ -0.38970292 0.9207894 0.01668899 1.42470861] [ 0.07998966 0.01578948 0.99667063 0.32491988] [ 0. 0. 0. 1. ]] SLAMing on 14.359115933 meters 0.03303052515960103 Centerline is valid? [True, True] Translation: X:-13.96, Y:1.43, Z:0.32 [[ 0.91763551 0.38857681 -0.08338541 -13.95646811] [ -0.38852475 0.92127175 0.01751786 1.43217435] [ 0.08362765 0.01632229 0.99636339 0.3246103 ] [ 0. 0. 0. 1. ]] SLAMing on 14.419115932999999 meters 0.03319080234756401 Centerline is valid? [True, True] Translation: X:-14.01, Y:1.44, Z:0.33 [[ 0.91677139 0.39102113 -0.08144138 -14.01222964] [ -0.39097428 0.92024113 0.01718645 1.43916232] [ 0.08166597 0.01608544 0.99652994 0.33322458] [ 0. 0. 0. 1. ]] SLAMing on 14.479115933 meters 0.033543726237302555 Centerline is valid? [True, True] Translation: X:-14.07, Y:1.44, Z:0.32 [[ 0.9106754 0.40497452 -0.08164532 -14.06789037] [ -0.4049747 0.91416415 0.0173028 1.44315041] [ 0.08164442 0.01730705 0.99651124 0.3247514 ] [ 0. 0. 0. 1. ]] SLAMing on 14.539115933 meters 0.03464793633285454 Centerline is valid? [True, True] Translation: X:-14.12, Y:1.46, Z:0.33 [[ 0.90874984 0.40992101 -0.07834849 -14.12194376] [ -0.40993268 0.9119633 0.01667746 1.45736667] [ 0.07828739 0.01696197 0.99678653 0.33332738] [ 0. 0. 0. 1. ]] SLAMing on 14.599115933 meters 0.03407616611663027 Centerline is valid? [True, True] Translation: X:-14.18, Y:1.47, Z:0.35 [[ 0.90651446 0.41540895 -0.07527908 -14.17672209] [ -0.41543239 0.90948171 0.01609175 1.46726274] [ 0.0751496 0.01668597 0.99703266 0.34954786] [ 0. 0. 0. 1. ]] SLAMing on 14.659115932999999 meters 0.035428771341184356 Centerline is valid? [True, True] Translation: X:-14.23, Y:1.48, Z:0.34 [[ 0.8987979 0.43199939 -0.07442356 -14.2316583 ] [ -0.43207068 0.90169825 0.01597451 1.47656953] [ 0.07400857 0.01779838 0.99709877 0.33506326] [ 0. 0. 0. 1. ]] SLAMing on 14.719115933 meters 0.03488346071804646 Centerline is valid? [True, True] Translation: X:-14.29, Y:1.48, Z:0.34 [[ 0.90118061 0.42679202 -0.07564442 -14.28721566] [ -0.42684313 0.90417866 0.01630631 1.48170522] [ 0.07535547 0.01759337 0.99700152 0.33852483] [ 0. 0. 0. 1. ]] SLAMing on 14.779115933 meters 0.034802774619093556 Centerline is valid? [True, True] Translation: X:-14.34, Y:1.49, Z:0.33 [[ 0.89835529 0.43264674 -0.07599059 -14.34182441] [ -0.43271238 0.90138183 0.01645545 1.4885886 ] [ 0.07561593 0.01809923 0.99697274 0.32590488] [ 0. 0. 0. 1. ]] SLAMing on 14.839115933 meters 0.03474763935912397 Centerline is valid? [True, True] Translation: X:-14.40, Y:1.49, Z:0.32 [[ 0.89758398 0.43405457 -0.07706898 -14.39839283] [ -0.43412158 0.90069837 0.01675996 1.48949954] [ 0.07669064 0.01841384 0.99688489 0.31729713] [ 0. 0. 0. 1. ]] SLAMing on 14.899115933 meters 0.033998480559457325 Centerline is valid? [True, True] Translation: X:-14.45, Y:1.50, Z:0.34 [[ 0.89868325 0.43254964 -0.0725894 -14.45154249] [ -0.43259894 0.90144698 0.01585835 1.5033437 ] [ 0.07229502 0.01715047 0.99723583 0.33898531] [ 0. 0. 0. 1. ]] SLAMing on 14.959115933 meters 0.03335822588413979 Centerline is valid? [True, True] Translation: X:-14.51, Y:1.50, Z:0.34 [[ 0.90751397 0.41351181 -0.07366392 -14.50873277] [ -0.41349685 0.91036193 0.01617126 1.49600765] [ 0.07374784 0.01578416 0.997152 0.33839043] [ 0. 0. 0. 1. ]] SLAMing on 15.019115933 meters 0.03301088550753731 Centerline is valid? [True, True] Translation: X:-14.56, Y:1.50, Z:0.34 [[ 0.90637079 0.41627623 -0.07215319 -14.56416393] [ -0.41626482 0.90910416 0.01591305 1.49760788] [ 0.07221899 0.01561171 0.99726661 0.33836148] [ 0. 0. 0. 1. ]] SLAMing on 15.079115932999999 meters 0.032795917846568885 Centerline is valid? [True, True] Translation: X:-14.62, Y:1.51, Z:0.36 [[ 0.91060802 0.4068373 -0.07263909 -14.61813172] [ -0.40679134 0.91337927 0.01609737 1.51072469] [ 0.07289605 0.01489055 0.99722838 0.36184845] [ 0. 0. 0. 1. ]] SLAMing on 15.139115933 meters 0.03156264536041094 Centerline is valid? [True, True] Translation: X:-14.67, Y:1.52, Z:0.37 [[ 9.12552800e-01 4.03256570e-01 -6.80553143e-02 -1.46724536e+01] [-4.03201595e-01 9.14985713e-01 1.51531852e-02 1.51828663e+00] [ 6.83802617e-02 1.36119297e-02 9.97566467e-01 3.72407337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.199115933 meters 0.030840077044169953 Centerline is valid? [True, True] Translation: X:-14.73, Y:1.52, Z:0.37 [[ 9.17108905e-01 3.92498674e-01 -6.96853476e-02 -1.47282688e+01] [-3.92405600e-01 9.19660081e-01 1.55942730e-02 1.52001952e+00] [ 7.02075639e-02 1.30432740e-02 9.97447127e-01 3.70183838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259115933 meters 0.029909878031036584 Centerline is valid? [True, True] Translation: X:-14.78, Y:1.53, Z:0.37 [[ 9.20280093e-01 3.85662178e-01 -6.59487281e-02 -1.47829682e+01] [-3.85557038e-01 9.22564846e-01 1.48282005e-02 1.52719673e+00] [ 6.65606542e-02 1.17808986e-02 9.97712829e-01 3.69307261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319115932999999 meters 0.02992074994751448 Centerline is valid? [True, True] Translation: X:-14.84, Y:1.53, Z:0.36 [[ 9.16352243e-01 3.94837495e-01 -6.63469660e-02 -1.48386747e+01] [-3.94749531e-01 9.18666525e-01 1.49874396e-02 1.52975967e+00] [ 6.68683398e-02 1.24566599e-02 9.97684047e-01 3.59627885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379115933 meters 0.02968991359996392 Centerline is valid? [True, True] Translation: X:-14.89, Y:1.53, Z:0.35 [[ 9.15877809e-01 3.95271073e-01 -7.02041197e-02 -1.48932975e+01] [-3.95168430e-01 9.18470437e-01 1.59363822e-02 1.53365567e+00] [ 7.07795994e-02 1.31466730e-02 9.97405341e-01 3.51069712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439115933 meters 0.028383388037446177 Centerline is valid? [True, True] Translation: X:-14.95, Y:1.53, Z:0.36 [[ 9.22101549e-01 3.81169743e-01 -6.66210169e-02 -1.49488154e+01] [-3.81035986e-01 9.24435200e-01 1.52032280e-02 1.53449692e+00] [ 6.73818236e-02 1.13660848e-02 9.97662519e-01 3.55087077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499115932999999 meters 0.027681365591477467 Centerline is valid? [True, True] Translation: X:-15.00, Y:1.53, Z:0.35 [[ 9.22615743e-01 3.79433983e-01 -6.93544803e-02 -1.50046591e+01] [-3.79278555e-01 9.25145759e-01 1.59091990e-02 1.53289120e+00] [ 7.01994940e-02 1.16265897e-02 9.97465214e-01 3.46235220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559115933 meters 0.02662015435767016 Centerline is valid? [True, True] Translation: X:-15.06, Y:1.53, Z:0.33 [[ 9.26394840e-01 3.69079901e-01 -7.46500338e-02 -1.50615207e+01] [-3.68859895e-01 9.29325486e-01 1.72197394e-02 1.52902315e+00] [ 7.57296387e-02 1.15831259e-02 9.97061108e-01 3.29787265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619115933 meters 0.02538913996476387 Centerline is valid? [True, True] Translation: X:-15.12, Y:1.52, Z:0.32 [[ 9.31862413e-01 3.54350567e-01 -7.78981356e-02 -1.51178451e+01] [-3.54051870e-01 9.35051047e-01 1.80779549e-02 1.52447538e+00] [ 7.92446668e-02 1.07338140e-02 9.96797406e-01 3.19826584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679115933 meters 0.023876237723465782 Centerline is valid? [True, True] Translation: X:-15.17, Y:1.53, Z:0.33 [[ 9.39112180e-01 3.36050094e-01 -7.16843668e-02 -1.51725925e+01] [-3.35737101e-01 9.41807080e-01 1.67338746e-02 1.52917091e+00] [ 7.31362643e-02 8.35211605e-03 9.97286984e-01 3.32341098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739115932999999 meters 0.023312369766348758 Centerline is valid? [True, True] Translation: X:-15.23, Y:1.53, Z:0.33 [[ 9.43066086e-01 3.23766505e-01 -7.61682816e-02 -1.52281123e+01] [-3.23365310e-01 9.46105166e-01 1.78854776e-02 1.53179829e+00] [ 7.78539234e-02 7.76299265e-03 9.96934553e-01 3.26852399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799115933 meters 0.023070381594055722 Centerline is valid? [True, True] Translation: X:-15.28, Y:1.54, Z:0.33 [[ 9.43580581e-01 3.22580989e-01 -7.48143881e-02 -1.52821119e+01] [-3.22182940e-01 9.46512644e-01 1.76626400e-02 1.54107341e+00] [ 7.65103962e-02 7.43779538e-03 9.97041042e-01 3.28932354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859115933 meters 0.022948529072659166 Centerline is valid? [True, True] Translation: X:-15.34, Y:1.55, Z:0.32 [[ 9.44226850e-01 3.21086322e-01 -7.30700298e-02 -1.53350461e+01] [-3.20693492e-01 9.47023803e-01 1.73666767e-02 1.54936918e+00] [ 7.47752598e-02 7.03500056e-03 9.97175596e-01 3.23822620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919115932999999 meters 0.023405018103733754 Centerline is valid? [True, True] Translation: X:-15.39, Y:1.57, Z:0.32 [[ 9.43050677e-01 3.24341374e-01 -7.38789094e-02 -1.53865173e+01] [-3.23942617e-01 9.45912041e-01 1.76519458e-02 1.57244534e+00] [ 7.56082063e-02 7.28584774e-03 9.97110985e-01 3.23559102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979115933 meters 0.023460577528805666 Centerline is valid? [True, True] Translation: X:-15.44, Y:1.59, Z:0.32 [[ 9.39880758e-01 3.34088330e-01 -7.07753410e-02 -1.54393144e+01] [-3.33743421e-01 9.42510744e-01 1.69949113e-02 1.58711501e+00] [ 7.23843208e-02 7.64761437e-03 9.97347494e-01 3.19933459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039115932999998 meters 0.023362542534957894 Centerline is valid? [True, True] Translation: X:-15.49, Y:1.61, Z:0.31 [[ 9.35095194e-01 3.47182987e-01 -7.11403679e-02 -1.54908563e+01] [-3.46865437e-01 9.37757766e-01 1.71680297e-02 1.60683115e+00] [ 7.26728804e-02 8.62239269e-03 9.97318558e-01 3.07540326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099115932999997 meters 0.02368517403798375 Centerline is valid? [True, True] Translation: X:-15.54, Y:1.63, Z:0.31 [[ 9.32856848e-01 3.53520251e-01 -6.92930926e-02 -1.55418279e+01] [-3.53229967e-01 9.35385513e-01 1.68087097e-02 1.62643631e+00] [ 7.07579743e-02 8.79627688e-03 9.97454728e-01 3.08352358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159115933 meters 0.023649123887918514 Centerline is valid? [True, True] Translation: X:-15.59, Y:1.65, Z:0.30 [[ 9.32434465e-01 3.55279643e-01 -6.58964602e-02 -1.55932095e+01] [-3.55015697e-01 9.34722223e-01 1.60692452e-02 1.64535637e+00] [ 6.73039615e-02 8.41075968e-03 9.97697066e-01 3.00785761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219115932999998 meters 0.02322045687538713 Centerline is valid? [True, True] Translation: X:-15.65, Y:1.66, Z:0.30 [[ 9.31107389e-01 3.57565520e-01 -7.20133910e-02 -1.56461879e+01] [-3.57248398e-01 9.33842087e-01 1.76787719e-02 1.65846925e+00] [ 7.35704546e-02 9.26583340e-03 9.97246977e-01 2.95518547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279115932999996 meters 0.022561319204862665 Centerline is valid? [True, True] Translation: X:-15.70, Y:1.68, Z:0.31 [[ 9.38963810e-01 3.38248830e-01 -6.27271329e-02 -1.56978338e+01] [-3.37959713e-01 9.41033156e-01 1.54865111e-02 1.67584388e+00] [ 6.42666061e-02 6.65797034e-03 9.97910554e-01 3.07936195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339115933 meters 0.022310206794784886 Centerline is valid? [True, True] Translation: X:-15.75, Y:1.69, Z:0.30 [[ 9.38126365e-01 3.40380961e-01 -6.37159736e-02 -1.57508551e+01] [-3.40082568e-01 9.40262734e-01 1.58062324e-02 1.69207542e+00] [ 6.52898962e-02 6.84044863e-03 9.97842892e-01 2.99906369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399115932999997 meters 0.022227165687448806 Centerline is valid? [True, True] Translation: X:-15.80, Y:1.71, Z:0.29 [[ 9.39915038e-01 3.35505436e-01 -6.32125251e-02 -1.58035212e+01] [-3.35196180e-01 9.42016650e-01 1.57528306e-02 1.70978471e+00] [ 6.48324115e-02 6.38227458e-03 9.97875756e-01 2.94632167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459115932999996 meters 0.021127512386145825 Centerline is valid? [True, True] Translation: X:-15.85, Y:1.73, Z:0.30 [[ 9.40780649e-01 3.34309628e-01 -5.62924778e-02 -1.58544081e+01] [-3.34058701e-01 9.42446959e-01 1.40894517e-02 1.73416323e+00] [ 5.77629139e-02 5.54990853e-03 9.98314902e-01 3.04436278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519115933 meters 0.021592274087949292 Centerline is valid? [True, True] Translation: X:-15.91, Y:1.76, Z:0.29 [[ 9.33104334e-01 3.55275258e-01 -5.56398550e-02 -1.59064031e+01] [-3.55063389e-01 9.34737655e-01 1.39823334e-02 1.75624282e+00] [ 5.69762447e-02 6.70869953e-03 9.98352994e-01 2.91697188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579115932999997 meters 0.0219789186194656 Centerline is valid? [True, True] Translation: X:-15.96, Y:1.77, Z:0.28 [[ 9.27724120e-01 3.68611630e-01 -5.87658338e-02 -1.59588345e+01] [-3.68397510e-01 9.29550024e-01 1.48333390e-02 1.77424539e+00] [ 6.00935234e-02 7.88794045e-03 9.98161585e-01 2.81954431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639115933 meters 0.02180308661764786 Centerline is valid? [True, True] Translation: X:-16.02, Y:1.77, Z:0.26 [[ 9.31509921e-01 3.57738011e-01 -6.56717805e-02 -1.60168438e+01] [-3.57438745e-01 9.33788071e-01 1.66548045e-02 1.76673666e+00] [ 6.72815819e-02 7.95952313e-03 9.97702278e-01 2.58907280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699115932999998 meters 0.02146508725194419 Centerline is valid? [True, True] Translation: X:-16.07, Y:1.77, Z:0.27 [[ 9.42459309e-01 3.27907979e-01 -6.51675440e-02 -1.60731662e+01] [-3.27536571e-01 9.44692520e-01 1.66083384e-02 1.76833661e+00] [ 6.70092980e-02 5.69207071e-03 9.97736115e-01 2.66632904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759115932999997 meters 0.020089451767986835 Centerline is valid? [True, True] Translation: X:-16.13, Y:1.77, Z:0.27 [[ 9.49627581e-01 3.06617681e-01 -6.47537982e-02 -1.61289843e+01] [-3.06196151e-01 9.51824011e-01 1.65822022e-02 1.77411073e+00] [ 6.67186163e-02 4.08044722e-03 9.97763487e-01 2.69192238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819115933 meters 0.019508208960530588 Centerline is valid? [True, True] Translation: X:-16.18, Y:1.79, Z:0.27 [[ 9.50939370e-01 3.03664786e-01 -5.91777964e-02 -1.61816271e+01] [-3.03302924e-01 9.52772602e-01 1.52218722e-02 1.79409066e+00] [ 6.10053296e-02 3.47372110e-03 9.98131396e-01 2.74492650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879115932999998 meters 0.019491081425477383 Centerline is valid? [True, True] Translation: X:-16.23, Y:1.82, Z:0.28 [[ 9.47915080e-01 3.13295212e-01 -5.74726971e-02 -1.62336834e+01] [-3.12967725e-01 9.49647719e-01 1.48463042e-02 1.81689242e+00] [ 5.92300917e-02 3.91406367e-03 9.98236684e-01 2.80724010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939115932999997 meters 0.018941428599703335 Centerline is valid? [True, True] Translation: X:-16.29, Y:1.84, Z:0.26 [[ 9.46786121e-01 3.16417009e-01 -5.89603041e-02 -1.62853617e+01] [-3.16074320e-01 9.48611106e-01 1.52968773e-02 1.83970598e+00] [ 6.07705914e-02 4.15296693e-03 9.98143120e-01 2.63125769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999115933 meters 0.018584230597878493 Centerline is valid? [True, True] Translation: X:-16.34, Y:1.86, Z:0.27 [[ 9.47674878e-01 3.15239423e-01 -5.03629988e-02 -1.63375690e+01] [-3.14984892e-01 9.49005979e-01 1.31213119e-02 1.86054136e+00] [ 5.19311418e-02 3.42884605e-03 9.98644781e-01 2.71145815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059115932999998 meters 0.018188772240961052 Centerline is valid? [True, True] Translation: X:-16.39, Y:1.88, Z:0.26 [[ 9.46604704e-01 3.16496271e-01 -6.13974337e-02 -1.63911849e+01] [-3.16116215e-01 9.48584449e-01 1.60649143e-02 1.87991388e+00] [ 6.33251363e-02 4.20160089e-03 9.97984105e-01 2.61030509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.119115932999996 meters 0.017600162366011238 Centerline is valid? [True, True] Translation: X:-16.44, Y:1.90, Z:0.26 [[ 9.51408685e-01 3.03196930e-01 -5.37878793e-02 -1.64440382e+01] [-3.02880698e-01 9.52923675e-01 1.41334129e-02 1.89889569e+00] [ 5.55409510e-02 2.84465861e-03 9.98452358e-01 2.58900261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179115933 meters 0.017324430579488428 Centerline is valid? [True, True] Translation: X:-16.50, Y:1.92, Z:0.26 [[ 9.53913256e-01 2.94874961e-01 -5.56619923e-02 -1.64967895e+01] [-2.94518699e-01 9.55532873e-01 1.46855597e-02 1.92188996e+00] [ 5.75172672e-02 2.38474750e-03 9.98341663e-01 2.61034130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.239115932999997 meters 0.017683843254131085 Centerline is valid? [True, True] Translation: X:-16.55, Y:1.95, Z:0.26 [[ 9.55241480e-01 2.91262161e-01 -5.17693792e-02 -1.65487752e+01] [-2.90945993e-01 9.56641253e-01 1.37092067e-02 1.94700677e+00] [ 5.35176969e-02 1.96649056e-03 9.98564965e-01 2.61858283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.299115933 meters 0.016498137392839087 Centerline is valid? [True, True] Translation: X:-16.60, Y:1.98, Z:0.27 [[ 9.56013672e-01 2.89562049e-01 -4.68153704e-02 -1.65998921e+01] [-2.89299198e-01 9.57157828e-01 1.24445039e-02 1.97638486e+00] [ 4.84131543e-02 1.64653327e-03 9.98826039e-01 2.69248261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.359115932999998 meters 0.019402760550305275 Centerline is valid? [True, True] Translation: X:-16.65, Y:2.00, Z:0.27 [[ 9.51753226e-01 3.02025534e-01 -5.42805040e-02 -1.66524369e+01] [-3.01689626e-01 9.53296294e-01 1.44756684e-02 2.00303307e+00] [ 5.61174248e-02 2.59860089e-03 9.98420794e-01 2.72900864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.419115932999997 meters 0.017865780816512175 Centerline is valid? [True, True] Translation: X:-16.70, Y:2.03, Z:0.28 [[ 9.55040267e-01 2.93467338e-01 -4.21308743e-02 -1.67028262e+01] [-2.93255054e-01 9.55967780e-01 1.12728470e-02 2.03364794e+00] [ 4.35839707e-02 1.58906902e-03 9.99048504e-01 2.81356094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.479115933 meters 0.017405701658731797 Centerline is valid? [True, True] Translation: X:-16.76, Y:2.05, Z:0.26 [[ 9.52912623e-01 2.99103495e-01 -4.99463019e-02 -1.67581108e+01] [-2.98810297e-01 9.54218269e-01 1.34127041e-02 2.05109375e+00] [ 5.16714604e-02 2.14333432e-03 9.98661838e-01 2.62405196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.539115932999998 meters 0.016365150803873827 Centerline is valid? [True, True] Translation: X:-16.81, Y:2.08, Z:0.26 [[ 9.54823705e-01 2.92704745e-01 -5.13383304e-02 -1.68100991e+01] [-2.92383037e-01 9.56201180e-01 1.38369938e-02 2.07803595e+00] [ 5.31399259e-02 1.79856726e-03 9.98585456e-01 2.55954546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.599115932999997 meters 0.01733019458866329 Centerline is valid? [True, True] Translation: X:-16.86, Y:2.10, Z:0.27 [[ 9.58469835e-01 2.80873506e-01 -4.94535006e-02 -1.68626234e+01] [-2.80556658e-01 9.59744220e-01 1.33788440e-02 2.10492375e+00] [ 5.12204742e-02 1.05129046e-03 9.98686817e-01 2.67989543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.659115933 meters 0.018283092225198902 Centerline is valid? [True, True] Translation: X:-16.92, Y:2.12, Z:0.27 [[ 9.55267488e-01 2.89729451e-01 -5.93369317e-02 -1.69172486e+01] [-2.89286798e-01 9.57106934e-01 1.61079031e-02 2.12340797e+00] [ 6.14587228e-02 1.77803481e-03 9.98108042e-01 2.74553895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719115932999998 meters 0.023385747953228685 Centerline is valid? [True, True] Translation: X:-16.97, Y:2.14, Z:0.26 [[ 9.53754961e-01 2.94001806e-01 -6.25652714e-02 -1.69713661e+01] [-2.93515395e-01 9.55802524e-01 1.70366793e-02 2.14239239e+00] [ 6.48088588e-02 2.11505298e-03 9.97895455e-01 2.59682130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779115932999996 meters 0.01731203593036226 Centerline is valid? [True, True] Translation: X:-17.02, Y:2.17, Z:0.26 [[ 9.56054208e-01 2.87397117e-01 -5.79935254e-02 -1.70240821e+01] [-2.86963849e-01 9.57810351e-01 1.58455420e-02 2.16906051e+00] [ 6.01007620e-02 1.49284811e-03 9.98191199e-01 2.58249274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839115933 meters 0.015755927955190915 Centerline is valid? [True, True] Translation: X:-17.07, Y:2.21, Z:0.26 [[ 9.55482785e-01 2.89821315e-01 -5.52833960e-02 -1.70726316e+01] [-2.89428497e-01 9.57079573e-01 1.51603127e-02 2.20846300e+00] [ 5.73043909e-02 1.51517240e-03 9.98355604e-01 2.57777800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.899115932999997 meters 0.019084737263031476 Centerline is valid? [True, True] Translation: X:-17.13, Y:2.23, Z:0.27 [[ 9.53305567e-01 2.94457327e-01 -6.71072175e-02 -1.71281039e+01] [-2.93885018e-01 9.55662292e-01 1.84710318e-02 2.22507064e+00] [ 6.95707680e-02 2.11326842e-03 9.97574780e-01 2.65852351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959115932999996 meters 0.018485837103322904 Centerline is valid? [True, True] Translation: X:-17.18, Y:2.25, Z:0.27 [[ 9.53834970e-01 2.93893981e-01 -6.18480175e-02 -1.71815809e+01] [-2.93402872e-01 9.55836231e-01 1.70837484e-02 2.24600077e+00] [ 6.41373868e-02 1.85130926e-03 9.97939361e-01 2.69779305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.019115933 meters 0.017293823020839948 Centerline is valid? [True, True] Translation: X:-17.23, Y:2.28, Z:0.27 [[ 9.56497097e-01 2.86226073e-01 -5.64618352e-02 -1.72322440e+01] [-2.85800122e-01 9.58161405e-01 1.56528646e-02 2.27831185e+00] [ 5.85798093e-02 1.16487983e-03 9.98282049e-01 2.69070078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.079115932999997 meters 0.019676679878516155 Centerline is valid? [True, True] Translation: X:-17.29, Y:2.28, Z:0.26 [[ 9.46586698e-01 3.12656432e-01 -7.88642990e-02 -1.72910561e+01] [-3.11909419e-01 9.49858550e-01 2.19374043e-02 2.28325400e+00] [ 8.17687992e-02 3.83286255e-03 9.96643955e-01 2.57530054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139115933 meters 0.01698213494880451 Centerline is valid? [True, True] Translation: X:-17.34, Y:2.31, Z:0.25 [[ 9.54132479e-01 2.92868284e-01 -6.21239198e-02 -1.73413240e+01] [-2.92358668e-01 9.56151435e-01 1.73448379e-02 2.31338204e+00] [ 6.44796279e-02 1.61319322e-03 9.97917720e-01 2.49472219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.199115932999998 meters 0.017522737547247046 Centerline is valid? [True, True] Translation: X:-17.40, Y:2.33, Z:0.25 [[ 9.48532063e-01 3.09080690e-01 -6.89641415e-02 -1.73971973e+01] [-3.08489934e-01 9.51031263e-01 1.93260684e-02 2.32609945e+00] [ 7.15603692e-02 2.94334793e-03 9.97431928e-01 2.47915471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.259115932999997 meters 0.01862575137014899 Centerline is valid? [True, True] Translation: X:-17.46, Y:2.32, Z:0.19 [[ 9.41950974e-01 3.25907183e-01 -8.07023584e-02 -1.74572533e+01] [-3.25152425e-01 9.45389262e-01 2.26945962e-02 2.32260820e+00] [ 8.36914749e-02 4.86337055e-03 9.96479847e-01 1.93409994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.319115933 meters 0.019518025855697136 Centerline is valid? [True, True] Translation: X:-17.52, Y:2.29, Z:0.06 [[ 9.28706696e-01 3.56642282e-01 -1.01538932e-01 -1.75240377e+01] [-3.55616668e-01 9.34192697e-01 2.86494502e-02 2.28659737e+00] [ 1.05074534e-01 9.50200043e-03 9.94418953e-01 6.11869880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.379115932999998 meters 0.020233512707486443 Centerline is valid? [True, True] Translation: X:-17.56, Y:2.35, Z:0.11 [[ 9.24800254e-01 3.61250699e-01 -1.19341626e-01 -1.75636829e+01] [-3.59854590e-01 9.32395600e-01 3.38100446e-02 2.35261206e+00] [ 1.23487509e-01 1.16780940e-02 9.92277409e-01 1.06388950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.439115932999997 meters 0.023972881907796336 Centerline is valid? [True, True] Translation: X:-17.61, Y:2.38, Z:0.14 [[ 9.24258894e-01 3.59408207e-01 -1.28729317e-01 -1.76131241e+01] [-3.57742395e-01 9.33100945e-01 3.66470341e-02 2.37729160e+00] [ 1.33288692e-01 1.21805871e-02 9.91002400e-01 1.39562964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.499115933 meters 0.020679515888797885 Centerline is valid? [True, True] Translation: X:-17.67, Y:2.39, Z:0.13 [[ 9.27270478e-01 3.53000436e-01 -1.24740339e-01 -1.76668815e+01] [-3.51358401e-01 9.35561349e-01 3.56684205e-02 2.38943507e+00] [ 1.29293208e-01 1.07542928e-02 9.91548088e-01 1.26748061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.559115932999998 meters 0.018352920777444565 Centerline is valid? [True, True] Translation: X:-17.71, Y:2.43, Z:0.16 [[ 9.45135180e-01 3.11987701e-01 -9.68667410e-02 -1.77136824e+01] [-3.10767752e-01 9.50078521e-01 2.78246000e-02 2.42684501e+00] [ 1.00711943e-01 3.80505099e-03 9.94908351e-01 1.61255839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619115932999996 meters 0.023633971246554152 Centerline is valid? [True, True] Translation: X:-17.77, Y:2.44, Z:0.19 [[ 9.40705824e-01 3.22880219e-01 -1.04023637e-01 -1.77685490e+01] [-3.21525420e-01 9.46425439e-01 3.00048889e-02 2.44036215e+00] [ 1.08138602e-01 5.22046996e-03 9.94122120e-01 1.91184460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.679115933 meters 0.021907654759495465 Centerline is valid? [True, True] Translation: X:-17.82, Y:2.47, Z:0.25 [[ 9.45656629e-01 3.11825655e-01 -9.21862280e-02 -1.78191687e+01] [-3.10699407e-01 9.50133264e-01 2.66956733e-02 2.47093827e+00] [ 9.59135975e-02 3.39726600e-03 9.95383866e-01 2.48996990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739115932999997 meters 0.019677406860162214 Centerline is valid? [True, True] Translation: X:-17.88, Y:2.45, Z:0.14 [[ 9.44817688e-01 3.13930903e-01 -9.36318575e-02 -1.78820769e+01] [-3.12767255e-01 9.49439192e-01 2.72371763e-02 2.44635088e+00] [ 9.74483465e-02 3.55081313e-03 9.95234250e-01 1.43689191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.799115932999996 meters 0.022403687621827532 Centerline is valid? [True, True] Translation: X:-17.94, Y:2.45, Z:0.15 [[ 9.39208153e-01 3.25095137e-01 -1.10459030e-01 -1.79402476e+01] [-3.23536295e-01 9.45665676e-01 3.22598013e-02 2.44945086e+00] [ 1.14944818e-01 5.43883681e-03 9.93356989e-01 1.53687789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.859115932999998 meters 0.020849822876963915 Centerline is valid? [True, True] Translation: X:-18.00, Y:2.46, Z:0.13 [[ 9.47784759e-01 3.03280098e-01 -9.86165937e-02 -1.79964505e+01] [-3.01906740e-01 9.52898538e-01 2.89257056e-02 2.45522310e+00] [ 1.02744199e-01 2.35767147e-03 9.94705017e-01 1.26927339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919115932999997 meters 0.022281086055494417 Centerline is valid? [True, True] Translation: X:-18.05, Y:2.46, Z:0.14 [[ 9.55131423e-01 2.83432374e-01 -8.59654203e-02 -1.80521425e+01] [-2.82298767e-01 9.58992223e-01 2.53243638e-02 2.46492454e+00] [ 8.96179140e-02 7.98364520e-05 9.95976216e-01 1.38811592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.979115933 meters 0.02453353507446948 Centerline is valid? [True, True] Translation: X:-18.11, Y:2.47, Z:0.12 [[ 9.54962589e-01 2.82720574e-01 -9.00862365e-02 -1.81104805e+01] [-2.81462563e-01 9.59202309e-01 2.66412536e-02 2.46736005e+00] [ 9.39429566e-02 -8.54975714e-05 9.95577578e-01 1.16500416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039115932999998 meters 0.02173424838682537 Centerline is valid? [True, True] Translation: X:-18.17, Y:2.48, Z:0.12 [[ 9.58257211e-01 2.75709568e-01 -7.56792686e-02 -1.81663806e+01] [-2.74793675e-01 9.61240707e-01 2.24663910e-02 2.47959438e+00] [ 7.89401926e-02 -7.32396832e-04 9.96879085e-01 1.18945772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099115932999997 meters 0.02040437718603324 Centerline is valid? [True, True] Translation: X:-18.23, Y:2.46, Z:0.03 [[ 9.53558918e-01 2.89288421e-01 -8.38903976e-02 -1.82314679e+01] [-2.88206685e-01 9.57241919e-01 2.49962876e-02 2.45837335e+00] [ 8.75345418e-02 3.42340423e-04 9.96161426e-01 3.47706132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.159115933 meters 0.021038967796617476 Centerline is valid? [True, True] Translation: X:-18.29, Y:2.46, Z:0.03 [[ 9.50227994e-01 2.99871243e-01 -8.45221635e-02 -1.82884517e+01] [-2.98805637e-01 9.53978895e-01 2.52875306e-02 2.46304602e+00] [ 8.82153633e-02 1.22677940e-03 9.96100670e-01 2.95987017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219115932999998 meters 0.021370082601900327 Centerline is valid? [True, True] Translation: X:-18.35, Y:2.46, Z:-0.01 [[ 9.50391505e-01 2.99883786e-01 -8.26178022e-02 -1.83475409e+01] [-2.98857187e-01 9.53975101e-01 2.48170843e-02 2.46163689e+00] [ 8.62575674e-02 1.10497793e-03 9.96272258e-01 -5.69978155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279115932999996 meters 0.021857442232563404 Centerline is valid? [True, True] Translation: X:-18.40, Y:2.47, Z:-0.02 [[ 9.47022552e-01 3.09644001e-01 -8.52577242e-02 -1.84045785e+01] [-3.08580561e-01 9.50850549e-01 2.57151851e-02 2.46731540e+00] [ 8.90299067e-02 1.95601613e-03 9.96027033e-01 -1.99724115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339115933 meters 0.020535235830151554 Centerline is valid? [True, True] Translation: X:-18.46, Y:2.47, Z:-0.04 [[ 9.47889924e-01 3.08452922e-01 -7.97589268e-02 -1.84609551e+01] [-3.07509654e-01 9.51238219e-01 2.41591193e-02 2.47313844e+00] [ 8.33216904e-02 1.62645427e-03 9.96521375e-01 -4.35908580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399115932999997 meters 0.02099876235404078 Centerline is valid? [True, True] Translation: X:-18.52, Y:2.48, Z:-0.06 [[ 9.46675883e-01 3.14910818e-01 -6.80878037e-02 -1.85187083e+01] [-3.14234482e-01 9.49119571e-01 2.07058296e-02 2.47634760e+00] [ 7.11439567e-02 1.79382618e-03 9.97464445e-01 -6.25201482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459115932999996 meters 0.02490256619360597 Centerline is valid? [True, True] Translation: X:-18.57, Y:2.50, Z:-0.04 [[ 9.39320633e-01 3.35204564e-01 -7.29016325e-02 -1.85701815e+01] [-3.34483058e-01 9.42138945e-01 2.22551467e-02 2.50233161e+00] [ 7.61434939e-02 3.47964244e-03 9.97090798e-01 -4.43335623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519115933 meters 0.020617726828486567 Centerline is valid? [True, True] Translation: X:-18.62, Y:2.53, Z:-0.00 [[ 9.38453662e-01 3.40685119e-01 -5.69067131e-02 -1.86186556e+01] [-3.40251885e-01 9.40172670e-01 1.74357409e-02 2.53460940e+00] [ 5.94422339e-02 2.99998148e-03 9.98227239e-01 -4.21440981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579115932999997 meters 0.018972605959581737 Centerline is valid? [True, True] Translation: X:-18.68, Y:2.51, Z:-0.08 [[ 9.43712982e-01 3.27344715e-01 -4.74472819e-02 -1.86828736e+01] [-3.27023854e-01 9.44903380e-01 1.45945348e-02 2.51413853e+00] [ 4.96105409e-02 1.74334106e-03 9.98767117e-01 -7.90421346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639115933 meters 0.02317150695723867 Centerline is valid? [True, True] Translation: X:-18.71, Y:2.62, Z:0.18 [[ 9.50167562e-01 3.08691949e-01 -4.34843099e-02 -1.87120464e+01] [-3.08400765e-01 9.51161841e-01 1.34209174e-02 2.62301247e+00] [ 4.55035454e-02 6.58474062e-04 9.98963960e-01 1.75462143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699115932999998 meters 0.02567927005571883 Centerline is valid? [True, True] Translation: X:-18.77, Y:2.64, Z:0.17 [[ 9.53366713e-01 2.99800471e-01 -3.48078803e-02 -1.87685072e+01] [-2.99606790e-01 9.54001915e-01 1.07757939e-02 2.63622539e+00] [ 3.64373726e-02 1.55394056e-04 9.99335926e-01 1.73355507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759115932999997 meters 0.019933555270356996 Centerline is valid? [True, True] Translation: X:-18.82, Y:2.67, Z:0.22 [[ 9.56053597e-01 2.91530348e-01 -3.11701095e-02 -1.88182371e+01] [-2.91369641e-01 9.56561564e-01 9.68018810e-03 2.67437220e+00] [ 3.26381973e-02 -1.72755039e-04 9.99467217e-01 2.21422431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819115933 meters 0.014898778379369046 Centerline is valid? [True, True] Translation: X:-18.91, Y:2.57, Z:-0.03 [[ 9.45258924e-01 3.23216669e-01 -4.49060274e-02 -1.89069609e+01] [-3.22915904e-01 9.46324138e-01 1.39980124e-02 2.57296721e+00] [ 4.70200486e-02 1.26912431e-03 9.98893140e-01 -3.30485292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879115932999998 meters 0.015125403014208342 Centerline is valid? [True, True] Translation: X:-18.96, Y:2.59, Z:-0.03 [[ 9.44260769e-01 3.26417898e-01 -4.26960822e-02 -1.89601622e+01] [-3.26147101e-01 9.45224648e-01 1.33578932e-02 2.59085092e+00] [ 4.47176447e-02 1.31186897e-03 9.98998804e-01 -2.73085443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939115932999997 meters 0.01924849618923613 Centerline is valid? [True, True] Translation: X:-18.98, Y:2.74, Z:0.26 [[ 9.54109774e-01 2.98962150e-01 -1.72096518e-02 -1.89777897e+01] [-2.98913452e-01 9.54264970e-01 5.39582111e-03 2.73785883e+00] [ 1.80357141e-02 -4.00923856e-06 9.99837343e-01 2.59290816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999115933 meters 0.018065759508723328 Centerline is valid? [True, True] Translation: X:-19.03, Y:2.77, Z:0.30 [[ 9.57188835e-01 2.88748592e-01 -2.03416987e-02 -1.90307178e+01] [-2.88677758e-01 9.57404923e-01 6.40046748e-03 2.76705398e+00] [ 2.13233685e-02 -2.54260013e-04 9.99772599e-01 2.97797383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059115932999998 meters 0.01745010641738007 Centerline is valid? [True, True] Translation: X:-19.08, Y:2.80, Z:0.32 [[ 9.58612740e-01 2.84131084e-01 -1.81973223e-02 -1.90830578e+01] [-2.84073303e-01 9.58785386e-01 5.73951174e-03 2.79692773e+00] [ 1.90781004e-02 -3.32595625e-04 9.99817941e-01 3.22154411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119115932999996 meters 0.017214169550381346 Centerline is valid? [True, True] Translation: X:-19.14, Y:2.81, Z:0.33 [[ 9.60401424e-01 2.78057780e-01 -1.76911206e-02 -1.91413342e+01] [-2.78001858e-01 9.60564242e-01 5.59495279e-03 2.80735157e+00] [ 1.85491780e-02 -4.55236249e-04 9.99827846e-01 3.27295824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179115933 meters 0.015426731759434747 Centerline is valid? [True, True] Translation: X:-19.20, Y:2.83, Z:0.34 [[ 9.56881923e-01 2.89115223e-01 -2.80957882e-02 -1.91954698e+01] [-2.88978052e-01 9.57294218e-01 8.91438508e-03 2.83235013e+00] [ 2.94732201e-02 -4.10947777e-04 9.99565486e-01 3.39634927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239115932999997 meters 0.015216128363963072 Centerline is valid? [True, True] Translation: X:-19.25, Y:2.84, Z:0.34 [[ 9.57760983e-01 2.86497886e-01 -2.47560421e-02 -1.92535776e+01] [-2.86390006e-01 9.58080768e-01 7.87444696e-03 2.84410729e+00] [ 2.59743002e-02 -4.51955011e-04 9.99662509e-01 3.39777936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299115932999996 meters 0.014606606645953733 Centerline is valid? [True, True] Translation: X:-19.30, Y:2.89, Z:0.37 [[ 9.67814179e-01 2.51659871e-01 1.73925582e-03 -1.93004944e+01] [-2.51659257e-01 9.67815735e-01 -5.67102612e-04 2.89086791e+00] [-1.82599612e-03 1.11150122e-04 9.99998327e-01 3.71871871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359115932999998 meters 0.02473952937800143 Centerline is valid? [True, True] Translation: X:-19.36, Y:2.89, Z:0.37 [[ 9.59368307e-01 2.81720358e-01 -1.56873018e-02 -1.93633578e+01] [-2.81676009e-01 9.59496476e-01 5.01390354e-03 2.88913411e+00] [ 1.64644295e-02 -3.91443594e-04 9.99864375e-01 3.70504928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419115932999997 meters 0.014820104969654304 Centerline is valid? [True, True] Translation: X:-19.42, Y:2.92, Z:0.39 [[ 9.61825666e-01 2.73654995e-01 -2.08122289e-03 -1.94172365e+01] [-2.73654210e-01 9.61827916e-01 6.58342699e-04 2.91527027e+00] [ 2.18193705e-03 -6.36754976e-05 9.99997618e-01 3.85707993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479115933 meters 0.021867047328821262 Centerline is valid? [True, True] Translation: X:-19.47, Y:2.93, Z:0.40 [[ 9.61620614e-01 2.74382297e-01 3.85809963e-04 -1.94726754e+01] [-2.74382265e-01 9.61620692e-01 -1.34644251e-04 2.93412870e+00] [-4.07946842e-04 2.36172763e-05 9.99999917e-01 3.98688045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539115932999998 meters 0.01568232535233729 Centerline is valid? [True, True] Translation: X:-19.53, Y:2.95, Z:0.40 [[ 9.63913290e-01 2.66168686e-01 5.03984410e-03 -1.95318598e+01] [-2.66163804e-01 9.63926438e-01 -1.62828538e-03 2.94530401e+00] [-5.29143756e-03 2.28101846e-04 9.99985974e-01 4.01668942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599115932999997 meters 0.015203012284560594 Centerline is valid? [True, True] Translation: X:-19.59, Y:2.97, Z:0.39 [[ 9.65704218e-01 2.59523605e-01 7.92852739e-03 -1.95875223e+01] [-2.59511297e-01 9.65736675e-01 -2.56147105e-03 2.96636765e+00] [-8.32163188e-03 4.16080973e-04 9.99965288e-01 3.90696077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659115933 meters 0.014634250373598832 Centerline is valid? [True, True] Translation: X:-19.65, Y:2.97, Z:0.40 [[ 9.65048086e-01 2.62071156e-01 -9.49504555e-04 -1.96480565e+01] [-2.62070983e-01 9.65048552e-01 3.03985076e-04 2.97118452e+00] [ 9.95983716e-04 -4.45226230e-05 9.99999503e-01 3.96714999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719115932999998 meters 0.013389069475286354 Centerline is valid? [True, True] Translation: X:-19.71, Y:2.98, Z:0.39 [[ 9.67701244e-01 2.52099743e-01 1.48691123e-04 -1.97083036e+01] [-2.52099737e-01 9.67701255e-01 -5.70824589e-05 2.97677541e+00] [-1.58279059e-04 1.77537736e-05 9.99999987e-01 3.87471956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779115932999996 meters 0.014395823367812652 Centerline is valid? [True, True] Translation: X:-19.77, Y:2.99, Z:0.39 [[ 9.67684233e-01 2.52164125e-01 -6.92825959e-04 -1.97664277e+01] [-2.52164037e-01 9.67684480e-01 2.13943156e-04 2.98773405e+00] [ 7.24385716e-04 -3.23236286e-05 9.99999737e-01 3.91701951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839115933 meters 0.014276908345504763 Centerline is valid? [True, True] Translation: X:-19.82, Y:3.01, Z:0.40 [[ 9.71931759e-01 2.34677194e-01 1.65912917e-02 -1.98221750e+01] [-2.34619092e-01 9.72072422e-01 -5.39327351e-03 3.00974949e+00] [-1.73936154e-02 1.34926002e-03 9.99847809e-01 4.02288140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899115932999997 meters 0.019634799963937986 Centerline is valid? [True, True] Translation: X:-19.89, Y:3.01, Z:0.43 [[ 9.66799692e-01 2.55535425e-01 -4.54163349e-05 -1.98853557e+01] [-2.55535424e-01 9.66799693e-01 1.21035651e-05 3.00871258e+00] [ 4.70013881e-05 -9.62406364e-08 9.99999999e-01 4.29330691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959115932999996 meters 0.01725457778548302 Centerline is valid? [True, True] Translation: X:-19.95, Y:2.99, Z:0.38 [[ 9.65629053e-01 2.59891612e-01 4.10887508e-03 -1.99520266e+01] [-2.59888223e-01 9.65637766e-01 -1.34761523e-03 2.99362538e+00] [-4.31791885e-03 2.33448180e-04 9.99990650e-01 3.75472202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019115933 meters 0.016959260373517047 Centerline is valid? [True, True] Translation: X:-20.01, Y:3.01, Z:0.41 [[ 9.59509455e-01 2.81543086e-01 -8.66586824e-03 -2.00092951e+01] [-2.81529080e-01 9.59548550e-01 2.82094054e-03 3.00890540e+00] [ 9.10953760e-03 -2.67025212e-04 9.99958472e-01 4.10793964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079115932999997 meters 0.01598584493787939 Centerline is valid? [True, True] Translation: X:-20.07, Y:2.99, Z:0.35 [[ 9.63111833e-01 2.69089976e-01 -2.48632017e-03 -2.00739844e+01] [-2.69088801e-01 9.63115037e-01 8.01982856e-04 2.99493104e+00] [ 2.61041789e-03 -1.03358264e-04 9.99996588e-01 3.51358113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139115932999996 meters 0.014911090974393859 Centerline is valid? [True, True] Translation: X:-20.16, Y:2.93, Z:0.19 [[ 9.54356931e-01 2.97776180e-01 -2.30693242e-02 -2.01556510e+01] [-2.97680420e-01 9.54635651e-01 7.55922084e-03 2.92626043e+00] [ 2.42737552e-02 -3.46908704e-04 9.99705289e-01 1.94284793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199115932999998 meters 0.018597763869011442 Centerline is valid? [True, True] Translation: X:-20.18, Y:3.04, Z:0.44 [[ 9.69353660e-01 2.45656106e-01 -2.56100342e-03 -2.01829295e+01] [-2.45654769e-01 9.69357028e-01 8.29281691e-04 3.03619459e+00] [ 2.68624478e-03 -1.74744539e-04 9.99996377e-01 4.39398369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259115932999997 meters 0.018841410409791925 Centerline is valid? [True, True] Translation: X:-20.24, Y:3.06, Z:0.46 [[ 9.66965589e-01 2.54885283e-01 -3.32299329e-03 -2.02388261e+01] [-2.54883045e-01 9.66971277e-01 1.08758965e-03 3.05621233e+00] [ 3.49044966e-03 -2.04687115e-04 9.99993887e-01 4.57026177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319115933 meters 0.01674132190220914 Centerline is valid? [True, True] Translation: X:-20.30, Y:3.05, Z:0.39 [[ 9.60044677e-01 2.79422522e-01 -1.54036432e-02 -2.03011084e+01] [-2.79376833e-01 9.60168068e-01 5.08588961e-03 3.05288873e+00] [ 1.62111985e-02 -5.79260185e-04 9.99868422e-01 3.92386244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379115932999998 meters 0.01604920751491942 Centerline is valid? [True, True] Translation: X:-20.35, Y:3.08, Z:0.42 [[ 9.59452057e-01 2.81575731e-01 -1.29173383e-02 -2.03523356e+01] [-2.81543725e-01 9.59538897e-01 4.27029759e-03 3.08465161e+00] [ 1.35971007e-02 -4.60350284e-04 9.99907449e-01 4.21634228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439115932999997 meters 0.017510879377649582 Centerline is valid? [True, True] Translation: X:-20.41, Y:3.11, Z:0.45 [[ 9.61526340e-01 2.74610547e-01 -7.49298841e-03 -2.04070761e+01] [-2.74599551e-01 9.61555480e-01 2.47893147e-03 3.10585786e+00] [ 7.88566479e-03 -3.25986649e-04 9.99968855e-01 4.54324048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499115933 meters 0.019245885707638483 Centerline is valid? [True, True] Translation: X:-20.46, Y:3.13, Z:0.51 [[ 9.61504061e-01 2.74338059e-01 -1.57661274e-02 -2.04624061e+01] [-2.74288880e-01 9.61633046e-01 5.24363204e-03 3.12601926e+00] [ 1.65997570e-02 -7.17300068e-04 9.99861957e-01 5.13199647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559115932999998 meters 0.017998932804180034 Centerline is valid? [True, True] Translation: X:-20.52, Y:3.14, Z:0.50 [[ 9.63520715e-01 2.67193858e-01 -1.53386549e-02 -2.05198220e+01] [-2.67146191e-01 9.63642440e-01 5.11468922e-03 3.13754645e+00] [ 1.61475924e-02 -8.30445775e-04 9.99869274e-01 4.95898915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619115932999996 meters 0.019217333534767792 Centerline is valid? [True, True] Translation: X:-20.58, Y:3.15, Z:0.51 [[ 9.54969891e-01 2.95914881e-01 -2.16076546e-02 -2.05786405e+01] [-2.95826995e-01 9.55214176e-01 7.22966124e-03 3.14744440e+00] [ 2.27793023e-02 -5.11981281e-04 9.99740387e-01 5.06558697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679115933 meters 0.020276157165120382 Centerline is valid? [True, True] Translation: X:-20.64, Y:3.14, Z:0.48 [[ 9.38754285e-01 3.42418850e-01 -3.85969444e-02 -2.06412694e+01] [-3.42175220e-01 9.39546828e-01 1.29567454e-02 3.14095649e+00] [ 4.07002705e-02 1.04371764e-03 9.99170856e-01 4.83490898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739115932999997 meters 0.020377481040246514 Centerline is valid? [True, True] Translation: X:-20.70, Y:3.14, Z:0.42 [[ 9.33891740e-01 3.55722059e-01 -3.61667635e-02 -2.06995231e+01] [-3.55516455e-01 9.34590619e-01 1.21829714e-02 3.13999887e+00] [ 3.81348696e-02 1.48030316e-03 9.99271505e-01 4.17410562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799115932999996 meters 0.02011440719571518 Centerline is valid? [True, True] Translation: X:-20.75, Y:3.17, Z:0.46 [[ 9.29637046e-01 3.66056783e-01 -4.21591529e-02 -2.07497133e+01] [-3.65785239e-01 9.30590003e-01 1.42620037e-02 3.16560152e+00] [ 4.44535895e-02 2.16270882e-03 9.99009110e-01 4.60637154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859115932999998 meters 0.020414371113146687 Centerline is valid? [True, True] Translation: X:-20.80, Y:3.19, Z:0.52 [[ 9.33630180e-01 3.55556076e-01 -4.37557243e-02 -2.08009487e+01] [-3.55248801e-01 9.34653477e-01 1.48716866e-02 3.18841148e+00] [ 4.61841584e-02 1.65951311e-03 9.98931564e-01 5.15086524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919115932999997 meters 0.02063039712516095 Centerline is valid? [True, True] Translation: X:-20.86, Y:3.19, Z:0.51 [[ 9.32534987e-01 3.57882807e-01 -4.79415758e-02 -2.08556223e+01] [-3.57511914e-01 9.33764675e-01 1.63940219e-02 3.19413365e+00] [ 5.06332885e-02 1.85168557e-03 9.98715596e-01 5.14626709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979115933 meters 0.02088786149937248 Centerline is valid? [True, True] Translation: X:-20.91, Y:3.21, Z:0.52 [[ 9.30439629e-01 3.63401827e-01 -4.71297101e-02 -2.09089020e+01] [-3.63046762e-01 9.31630251e-01 1.61902435e-02 3.20870324e+00] [ 4.97910277e-02 2.04624448e-03 9.98757561e-01 5.22009218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039115932999998 meters 0.020564933823316214 Centerline is valid? [True, True] Translation: X:-20.96, Y:3.23, Z:0.48 [[ 9.19437659e-01 3.90117075e-01 -4.94273087e-02 -2.09596428e+01] [-3.89760194e-01 9.20758313e-01 1.70622361e-02 3.22573825e+00] [ 5.21668751e-02 3.57713495e-03 9.98631975e-01 4.79762486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099115932999997 meters 0.019097272099856344 Centerline is valid? [True, True] Translation: X:-21.01, Y:3.22, Z:0.40 [[ 9.10746754e-01 4.10975986e-01 -4.04856642e-02 -2.10128390e+01] [-4.10753023e-01 9.11638165e-01 1.40645148e-02 3.22354239e+00] [ 4.26884545e-02 3.82039772e-03 9.99081128e-01 4.00871127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159115933 meters 0.020421055570564346 Centerline is valid? [True, True] Translation: X:-21.06, Y:3.24, Z:0.43 [[ 9.01360322e-01 4.31640603e-01 -3.51562290e-02 -2.10648230e+01] [-4.31485285e-01 9.02036358e-01 1.22823903e-02 3.23834449e+00] [ 3.70137751e-02 4.09853618e-03 9.99306351e-01 4.26349133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219115932999998 meters 0.020316723706568715 Centerline is valid? [True, True] Translation: X:-21.12, Y:3.26, Z:0.43 [[ 8.97695114e-01 4.39087692e-01 -3.66808128e-02 -2.11153674e+01] [-4.38922227e-01 8.98432748e-01 1.28792904e-02 3.25679532e+00] [ 3.86103813e-02 4.53834800e-03 9.99244035e-01 4.31820790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279115932999996 meters 0.020687466710284198 Centerline is valid? [True, True] Translation: X:-21.17, Y:3.27, Z:0.43 [[ 8.86865033e-01 4.59622226e-01 -4.70937691e-02 -2.11691250e+01] [-4.59373384e-01 8.88087766e-01 1.66197103e-02 3.26625741e+00] [ 4.94621884e-02 6.89418418e-03 9.98752203e-01 4.33828367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339115933 meters 0.020688480188685215 Centerline is valid? [True, True] Translation: X:-21.22, Y:3.28, Z:0.48 [[ 8.88146814e-01 4.57043677e-01 -4.80241030e-02 -2.12192382e+01] [-4.56776590e-01 8.89418237e-01 1.70395392e-02 3.28281285e+00] [ 5.05013267e-02 6.80267350e-03 9.98700826e-01 4.75540003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399115932999997 meters 0.02024281567306401 Centerline is valid? [True, True] Translation: X:-21.27, Y:3.30, Z:0.52 [[ 8.99318965e-01 4.35254767e-01 -4.21744907e-02 -2.12693526e+01] [-4.35020982e-01 9.00294483e-01 1.50528420e-02 3.29710643e+00] [ 4.45212826e-02 4.80948207e-03 9.98996859e-01 5.16015406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459115932999996 meters 0.02018574010739524 Centerline is valid? [True, True] Translation: X:-21.32, Y:3.31, Z:0.55 [[ 9.03105400e-01 4.27462170e-01 -4.09478998e-02 -2.13216066e+01] [-4.27229939e-01 9.04023416e-01 1.47051742e-02 3.30721674e+00] [ 4.33037659e-02 4.21384648e-03 9.99053065e-01 5.46571833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519115933 meters 0.02338481016508736 Centerline is valid? [True, True] Translation: X:-21.37, Y:3.32, Z:0.55 [[ 9.07608706e-01 4.18202163e-01 -3.67884119e-02 -2.13732702e+01] [-4.18004237e-01 9.08347915e-01 1.32862121e-02 3.32007726e+00] [ 3.89729999e-02 3.31903027e-03 9.99234752e-01 5.54476493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579115932999997 meters 0.020024898307489283 Centerline is valid? [True, True] Translation: X:-21.43, Y:3.32, Z:0.55 [[ 9.02896607e-01 4.27877195e-01 -4.12167744e-02 -2.14284233e+01] [-4.27635039e-01 9.03827533e-01 1.49687552e-02 3.32375263e+00] [ 4.36576445e-02 4.11049866e-03 9.99038094e-01 5.47463203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639115932999996 meters 0.019616788588250132 Centerline is valid? [True, True] Translation: X:-21.48, Y:3.34, Z:0.55 [[ 9.03945079e-01 4.25872710e-01 -3.89323555e-02 -2.14793518e+01] [-4.25651643e-01 9.04775435e-01 1.42158968e-02 3.33930427e+00] [ 4.12792014e-02 3.72123110e-03 9.99140721e-01 5.49838630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699115932999998 meters 0.019826070639670203 Centerline is valid? [True, True] Translation: X:-21.53, Y:3.35, Z:0.52 [[ 9.03950579e-01 4.26373098e-01 -3.28531958e-02 -2.15325548e+01] [-4.26213800e-01 9.04542074e-01 1.20595762e-02 3.34748460e+00] [ 3.48589767e-02 3.10122454e-03 9.99387429e-01 5.24848663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759115932999997 meters 0.019101070392101224 Centerline is valid? [True, True] Translation: X:-21.59, Y:3.35, Z:0.52 [[ 9.00224997e-01 4.34219153e-01 -3.23833478e-02 -2.15860019e+01] [-4.34067086e-01 9.00801237e-01 1.19539365e-02 3.35435191e+00] [ 3.43615879e-02 3.29531296e-03 9.99404034e-01 5.17153458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819115933 meters 0.020123034166404385 Centerline is valid? [True, True] Translation: X:-21.63, Y:3.38, Z:0.54 [[ 9.01159734e-01 4.32772244e-01 -2.48860961e-02 -2.16349741e+01] [-4.32680687e-01 9.01499967e-01 9.23211913e-03 3.37602383e+00] [ 2.64302197e-02 2.44811913e-03 9.99647663e-01 5.42615762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879115932999998 meters 0.019160328980836284 Centerline is valid? [True, True] Translation: X:-21.68, Y:3.41, Z:0.62 [[ 9.14673593e-01 4.04069294e-01 -1.00111572e-02 -2.16781191e+01] [-4.04052681e-01 9.14728152e-01 3.72001292e-03 3.41472880e+00] [ 1.06606304e-02 6.42437337e-04 9.99942967e-01 6.17256357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939115932999997 meters 0.019225753787940954 Centerline is valid? [True, True] Translation: X:-21.73, Y:3.42, Z:0.60 [[ 9.05339403e-01 4.24462387e-01 -1.38653063e-02 -2.17343951e+01] [-4.24432357e-01 9.05444791e-01 5.18707585e-03 3.42001543e+00] [ 1.47559880e-02 1.18882049e-03 9.99890418e-01 5.99361692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999115933 meters 0.019835564210458456 Centerline is valid? [True, True] Translation: X:-21.79, Y:3.43, Z:0.60 [[ 9.04106168e-01 4.27103087e-01 -1.32283746e-02 -2.17897464e+01] [-4.27075746e-01 9.04202198e-01 4.96913062e-03 3.42740990e+00] [ 1.40834564e-02 1.15689629e-03 9.99900154e-01 5.98901572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059115932999998 meters 0.019308740267430725 Centerline is valid? [True, True] Translation: X:-21.84, Y:3.44, Z:0.60 [[ 9.06589893e-01 4.21832258e-01 -1.23415061e-02 -2.18418470e+01] [-4.21807684e-01 9.06673359e-01 4.65803875e-03 3.44170854e+00] [ 1.31546258e-02 9.82811257e-04 9.99912991e-01 5.98103540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119115932999996 meters 0.018202101160710735 Centerline is valid? [True, True] Translation: X:-21.89, Y:3.45, Z:0.58 [[ 9.12485925e-01 4.09034592e-01 -7.75491915e-03 -2.18942495e+01] [-4.09024372e-01 9.12518743e-01 2.93360519e-03 3.45470089e+00] [ 8.27645509e-03 4.95077487e-04 9.99965627e-01 5.79319683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179115933 meters 0.018471240444576365 Centerline is valid? [True, True] Translation: X:-21.95, Y:3.47, Z:0.59 [[ 9.13992201e-01 4.05661752e-01 -7.53658331e-03 -2.19455039e+01] [-4.05651855e-01 9.14023168e-01 2.86711249e-03 3.47171249e+00] [ 8.05168963e-03 4.36710538e-04 9.99967489e-01 5.89133374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239115932999997 meters 0.01884565787778007 Centerline is valid? [True, True] Translation: X:-22.00, Y:3.48, Z:0.59 [[ 9.18511182e-01 3.95381296e-01 -3.29246983e-03 -2.19993176e+01] [-3.95379370e-01 9.18517069e-01 1.24425197e-03 3.48357964e+00] [ 3.51614369e-03 1.58915302e-04 9.99993806e-01 5.94520676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299115932999996 meters 0.016926028132551292 Centerline is valid? [True, True] Translation: X:-22.05, Y:3.51, Z:0.59 [[ 9.31385550e-01 3.63963745e-01 7.16587760e-03 -2.20479833e+01] [-3.63952965e-01 9.31413116e-01 -2.80125890e-03 3.50940766e+00] [-7.69394906e-03 1.00966478e-06 9.99970401e-01 5.90452469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359115932999998 meters 0.015709555024527852 Centerline is valid? [True, True] Translation: X:-22.11, Y:3.50, Z:0.53 [[ 9.27785217e-01 3.73105110e-01 2.67751815e-03 -2.21098372e+01] [-3.73103608e-01 9.27789080e-01 -1.05886899e-03 3.50083907e+00] [-2.87924153e-03 -1.65886876e-05 9.99995855e-01 5.26112827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419115932999997 meters 0.015409485825223914 Centerline is valid? [True, True] Translation: X:-22.16, Y:3.51, Z:0.51 [[ 9.33253393e-01 3.59079725e-01 9.99276018e-03 -2.21629517e+01] [-3.59058339e-01 9.33306887e-01 -3.91956728e-03 3.51483374e+00] [-1.07337490e-02 6.99655894e-05 9.99942389e-01 5.07394375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479115933 meters 0.01616335913833312 Centerline is valid? [True, True] Translation: X:-22.22, Y:3.52, Z:0.49 [[ 9.35063789e-01 3.54324156e-01 1.04929964e-02 -2.22181658e+01] [-3.54300112e-01 9.35122651e-01 -4.13022099e-03 3.52474612e+00] [-1.12756756e-02 1.44350293e-04 9.99936417e-01 4.85807859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539115932999998 meters 0.01568230765662881 Centerline is valid? [True, True] Translation: X:-22.27, Y:3.55, Z:0.53 [[ 9.37728818e-01 3.47101800e-01 1.36016399e-02 -2.22673530e+01] [-3.47060456e-01 9.37827406e-01 -5.36625146e-03 3.55387175e+00] [-1.46186262e-02 3.11497300e-04 9.99893094e-01 5.27374460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599115932999997 meters 0.01574603593303315 Centerline is valid? [True, True] Translation: X:-22.33, Y:3.56, Z:0.49 [[ 9.32138881e-01 3.62015902e-01 7.84808870e-03 -2.23251012e+01] [-3.62002518e-01 9.32171917e-01 -3.11348178e-03 3.55822280e+00] [-8.44289780e-03 6.11695484e-05 9.99964356e-01 4.91982680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659115933 meters 0.01710704328964451 Centerline is valid? [True, True] Translation: X:-22.36, Y:3.61, Z:0.61 [[ 9.39212879e-01 3.42914171e-01 1.70011457e-02 -2.23644236e+01] [-3.42848054e-01 9.39366599e-01 -6.75311870e-03 3.61300192e+00] [-1.82860485e-02 5.13806353e-04 9.99832664e-01 6.07399134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719115932999998 meters 0.017383791599972956 Centerline is valid? [True, True] Translation: X:-22.42, Y:3.62, Z:0.59 [[ 9.31209997e-01 3.64407813e-01 7.40858884e-03 -2.24217062e+01] [-3.64395810e-01 9.31239466e-01 -2.95814844e-03 3.62033751e+00] [-7.97714272e-03 5.49986644e-05 9.99968181e-01 5.85300186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779115932999996 meters 0.016444073124393818 Centerline is valid? [True, True] Translation: X:-22.47, Y:3.64, Z:0.57 [[ 9.34396105e-01 3.55997399e-01 1.30296191e-02 -2.24734777e+01] [-3.55959261e-01 9.34486916e-01 -5.21612778e-03 3.63869973e+00] [-1.40329365e-02 2.35915873e-04 9.99901506e-01 5.68410714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839115933 meters 0.01713281093592361 Centerline is valid? [True, True] Translation: X:-22.52, Y:3.67, Z:0.59 [[ 9.33347449e-01 3.58725595e-01 1.33598710e-02 -2.25233934e+01] [-3.58685551e-01 9.33443036e-01 -5.36415266e-03 3.66571074e+00] [-1.43949374e-02 2.14625508e-04 9.99896364e-01 5.88946150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899115932999997 meters 0.018711680893017585 Centerline is valid? [True, True] Translation: X:-22.57, Y:3.71, Z:0.69 [[ 9.34842062e-01 3.54790860e-01 1.39199294e-02 -2.25650245e+01] [-3.54746672e-01 9.34945642e-01 -5.60766841e-03 3.71475757e+00] [-1.50039268e-02 3.04235684e-04 9.99887388e-01 6.85723480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959115932999996 meters 0.01620009703565303 Centerline is valid? [True, True] Translation: X:-22.62, Y:3.72, Z:0.62 [[ 9.33001867e-01 3.59483988e-01 1.66966848e-02 -2.26213084e+01] [-3.59420801e-01 9.33151208e-01 -6.74616165e-03 3.72196147e+00] [-1.80056687e-02 2.93045571e-04 9.99837842e-01 6.16411939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019115933 meters 0.017897526375900523 Centerline is valid? [True, True] Translation: X:-22.67, Y:3.75, Z:0.66 [[ 9.31447902e-01 3.63335946e-01 1.97938284e-02 -2.26697357e+01] [-3.63247479e-01 9.31658151e-01 -8.02234868e-03 3.75177711e+00] [-2.13558892e-02 2.82341588e-04 9.99771897e-01 6.62921847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079115932999997 meters 0.018838477167459667 Centerline is valid? [True, True] Translation: X:-22.71, Y:3.80, Z:0.75 [[ 9.39157325e-01 3.42591362e-01 2.47926939e-02 -2.27103360e+01] [-3.42444447e-01 9.39484011e-01 -1.00794305e-02 3.80299017e+00] [-2.67454653e-02 9.76050614e-04 9.99641800e-01 7.51429045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139115932999996 meters 0.020607714417727328 Centerline is valid? [True, True] Translation: X:-22.76, Y:3.85, Z:0.82 [[ 9.49820403e-01 3.10272476e-01 3.96508735e-02 -2.27554749e+01] [-3.09867159e-01 9.50642783e-01 -1.61444145e-02 3.84675857e+00] [-4.27029842e-02 3.04779074e-03 9.99083163e-01 8.20126144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199115932999998 meters 0.020624679218401255 Centerline is valid? [True, True] Translation: X:-22.80, Y:3.88, Z:0.88 [[ 9.57998108e-01 2.82860279e-01 4.72195596e-02 -2.28045367e+01] [-2.82251459e-01 9.59147557e-01 -1.92374036e-02 3.88346067e+00] [-5.07320226e-02 5.10160659e-03 9.98699272e-01 8.84353488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259115932999997 meters 0.020904547685678378 Centerline is valid? [True, True] Translation: X:-22.86, Y:3.91, Z:0.89 [[ 9.59951212e-01 2.75696752e-01 4.98494901e-02 -2.28600938e+01] [-2.75008007e-01 9.61227181e-01 -2.03200192e-02 3.90516383e+00] [-5.35188481e-02 5.79721810e-03 9.98550011e-01 8.90927298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319115933 meters 0.02230101562471908 Centerline is valid? [True, True] Translation: X:-22.92, Y:3.91, Z:0.92 [[ 9.49330365e-01 3.12836640e-01 3.00847771e-02 -2.29223578e+01] [-3.12603959e-01 9.49804296e-01 -1.22704788e-02 3.91222951e+00] [-3.24133059e-02 2.24411772e-03 9.99472031e-01 9.17854797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379115932999998 meters 0.022293634181718366 Centerline is valid? [True, True] Translation: X:-22.97, Y:3.94, Z:0.95 [[ 9.51519919e-01 3.06033070e-01 3.08804654e-02 -2.29733755e+01] [-3.05783602e-01 9.52017432e-01 -1.26173486e-02 3.94293460e+00] [-3.32600673e-02 2.56291856e-03 9.99443445e-01 9.50974416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439115932999997 meters 0.02338999328671472 Centerline is valid? [True, True] Translation: X:-23.03, Y:3.96, Z:0.98 [[ 9.47716292e-01 3.18308407e-01 2.26624714e-02 -2.30305085e+01] [-3.18177226e-01 9.47985902e-01 -9.27267760e-03 3.95827562e+00] [-2.44352747e-02 1.57718534e-03 9.99700170e-01 9.81134879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499115933 meters 0.024728342396846705 Centerline is valid? [True, True] Translation: X:-23.08, Y:4.00, Z:1.05 [[ 9.52827531e-01 3.02476565e-01 2.50524025e-02 -2.30780235e+01] [-3.02310254e-01 9.53154255e-01 -1.02701631e-02 3.99821811e+00] [-2.69852877e-02 2.21209602e-03 9.99633383e-01 1.05438463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559115932999998 meters 0.025056696236303334 Centerline is valid? [True, True] Translation: X:-23.14, Y:4.01, Z:1.03 [[ 9.45149780e-01 3.26430562e-01 1.16181322e-02 -2.31363687e+01] [-3.26396482e-01 9.45220913e-01 -4.77099377e-03 4.01012313e+00] [-1.25390997e-02 7.17186229e-04 9.99921125e-01 1.02537555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619115932999996 meters 0.024705506285939673 Centerline is valid? [True, True] Translation: X:-23.19, Y:4.04, Z:1.03 [[ 9.36107460e-01 3.51714071e-01 -1.91217391e-04 -2.31879060e+01] [-3.51714065e-01 9.36107479e-01 6.62426307e-05 4.03749270e+00] [ 2.02298495e-04 5.24362498e-06 9.99999980e-01 1.03260019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679115933 meters 0.024944926492989787 Centerline is valid? [True, True] Translation: X:-23.23, Y:4.07, Z:1.10 [[ 9.32329661e-01 3.61573382e-01 -5.10821706e-03 -2.32345813e+01] [-3.61567345e-01 9.32343649e-01 2.09180346e-03 4.07428530e+00] [ 5.51895418e-03 -1.03285924e-04 9.99984765e-01 1.09847324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739115932999997 meters 0.02411264111728617 Centerline is valid? [True, True] Translation: X:-23.29, Y:4.09, Z:1.07 [[ 9.40334679e-01 3.40244106e-01 -2.15391744e-03 -2.32885657e+01] [-3.40242994e-01 9.40337142e-01 8.74202502e-04 4.08929026e+00] [ 2.32285082e-03 -8.91876093e-05 9.99997298e-01 1.07010949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799115932999996 meters 0.023509903143925925 Centerline is valid? [True, True] Translation: X:-23.34, Y:4.11, Z:1.09 [[ 9.31674817e-01 3.63073357e-01 -1.26401423e-02 -2.33415863e+01] [-3.63035751e-01 9.31760514e-01 5.23337310e-03 4.10826496e+00] [ 1.36776838e-02 -2.86978382e-04 9.99906415e-01 1.08567592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859115932999998 meters 0.02326771291447179 Centerline is valid? [True, True] Translation: X:-23.40, Y:4.12, Z:1.08 [[ 9.21535056e-01 3.87354334e-01 -2.70140728e-02 -2.33954212e+01] [-3.87191255e-01 9.21930914e-01 1.12393366e-02 4.12249834e+00] [ 2.92587146e-02 1.02170031e-04 9.99571867e-01 1.07958583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919115932999997 meters 0.023142738186817294 Centerline is valid? [True, True] Translation: X:-23.44, Y:4.15, Z:1.11 [[ 9.20958975e-01 3.88417248e-01 -3.10903169e-02 -2.34426463e+01] [-3.88199788e-01 9.21483603e-01 1.29959186e-02 4.15083348e+00] [ 3.36970562e-02 1.00546585e-04 9.99432088e-01 1.11302171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979115933 meters 0.023171280442946505 Centerline is valid? [True, True] Translation: X:-23.50, Y:4.15, Z:1.08 [[ 9.04081851e-01 4.24655642e-01 -4.79957539e-02 -2.34986837e+01] [-4.24180330e-01 9.05352514e-01 2.01958707e-02 4.15126040e+00] [ 5.20293669e-02 2.10013458e-03 9.98643347e-01 1.08279060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039115932999998 meters 0.02159552979747527 Centerline is valid? [True, True] Translation: X:-23.55, Y:4.17, Z:1.05 [[ 8.91365417e-01 4.48759716e-01 -6.38937445e-02 -2.35480177e+01] [-4.47966403e-01 8.93641077e-01 2.70504741e-02 4.16937801e+00] [ 6.92372377e-02 4.51039375e-03 9.97590027e-01 1.05259735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099115932999997 meters 0.020399591039532497 Centerline is valid? [True, True] Translation: X:-23.60, Y:4.19, Z:1.03 [[ 8.78732952e-01 4.70723504e-01 -7.90429174e-02 -2.35971828e+01] [-4.69577837e-01 8.82248680e-01 3.36737422e-02 4.18518355e+00] [ 8.55865314e-02 7.52657534e-03 9.96302312e-01 1.03007375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159115933 meters 0.019055884758194794 Centerline is valid? [True, True] Translation: X:-23.64, Y:4.21, Z:1.05 [[ 8.86877833e-01 4.56139161e-01 -7.33810298e-02 -2.36399546e+01] [-4.55083752e-01 8.89891667e-01 3.14896960e-02 4.21475640e+00] [ 7.96648504e-02 5.46700103e-03 9.96806713e-01 1.05205968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219115932999998 meters 0.01843238899135034 Centerline is valid? [True, True] Translation: X:-23.68, Y:4.24, Z:1.05 [[ 8.95368752e-01 4.40122260e-01 -6.78763174e-02 -2.36830819e+01] [-4.39158894e-01 8.97930818e-01 2.93208346e-02 4.24319622e+00] [ 7.38529892e-02 3.55552942e-03 9.97262801e-01 1.05181855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279115932999996 meters 0.0185564575707109 Centerline is valid? [True, True] Translation: X:-23.73, Y:4.27, Z:1.07 [[ 8.97056213e-01 4.37128330e-01 -6.48766121e-02 -2.37285085e+01] [-4.36227884e-01 8.99394138e-01 2.82031351e-02 4.26794781e+00] [ 7.06780340e-02 3.00118968e-03 9.97494666e-01 1.06960720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339115933 meters 0.019453103059651606 Centerline is valid? [True, True] Translation: X:-23.77, Y:4.30, Z:1.10 [[ 8.99049752e-01 4.33303345e-01 -6.29106901e-02 -2.37700856e+01] [-4.32435685e-01 9.01244770e-01 2.75180349e-02 4.30261709e+00] [ 6.86215870e-02 2.46474491e-03 9.97639716e-01 1.09686481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399115932999997 meters 0.018222701557444872 Centerline is valid? [True, True] Translation: X:-23.81, Y:4.33, Z:1.08 [[ 9.06667497e-01 4.18025729e-01 -5.66439686e-02 -2.38139679e+01] [-4.17283081e-01 9.08434598e-01 2.49281405e-02 4.33171272e+00] [ 6.18779449e-02 1.03503499e-03 9.98083187e-01 1.07810705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459115932999996 meters 0.01864599668596472 Centerline is valid? [True, True] Translation: X:-23.86, Y:4.35, Z:1.08 [[ 8.92112295e-01 4.47296985e-01 -6.37264439e-02 -2.38607815e+01] [-4.46418084e-01 8.94379493e-01 2.82173051e-02 4.35417493e+00] [ 6.96171401e-02 3.27563217e-03 9.97568406e-01 1.08112479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519115933 meters 0.018963400331279284 Centerline is valid? [True, True] Translation: X:-23.91, Y:4.38, Z:1.05 [[ 8.86561742e-01 4.57195475e-01 -7.05731962e-02 -2.39072523e+01] [-4.56133914e-01 8.89355738e-01 3.14360391e-02 4.37607168e+00] [ 7.71370918e-02 4.32083859e-03 9.97011133e-01 1.04515338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579115932999997 meters 0.018826563293953748 Centerline is valid? [True, True] Translation: X:-23.95, Y:4.40, Z:1.05 [[ 8.85961773e-01 4.58179884e-01 -7.17142322e-02 -2.39509534e+01] [-4.57071443e-01 8.88849074e-01 3.21406198e-02 4.40317879e+00] [ 7.84693144e-02 4.30316712e-03 9.96907242e-01 1.04671727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639115932999996 meters 0.018666500789485053 Centerline is valid? [True, True] Translation: X:-24.00, Y:4.42, Z:1.02 [[ 8.84309260e-01 4.61093117e-01 -7.34184555e-02 -2.39972518e+01] [-4.59924955e-01 8.87340394e-01 3.31068118e-02 4.42461059e+00] [ 8.04124843e-02 4.49031959e-03 9.96751559e-01 1.01879606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699115932999998 meters 0.019156713902672522 Centerline is valid? [True, True] Translation: X:-24.04, Y:4.44, Z:1.00 [[ 8.86833799e-01 4.56404347e-01 -7.22556958e-02 -2.40440291e+01] [-4.55241106e-01 8.89764298e-01 3.27876411e-02 4.44499231e+00] [ 7.92549603e-02 3.81657461e-03 9.96847072e-01 9.99212535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759115932999997 meters 0.019392384596123396 Centerline is valid? [True, True] Translation: X:-24.09, Y:4.47, Z:1.00 [[ 8.82495542e-01 4.64315649e-01 -7.49172567e-02 -2.40891818e+01] [-4.63075979e-01 8.85658324e-01 3.42048407e-02 4.46883921e+00] [ 8.22329348e-02 4.50676252e-03 9.96602947e-01 9.99949094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819115933 meters 0.019595357876190485 Centerline is valid? [True, True] Translation: X:-24.13, Y:4.50, Z:0.98 [[ 8.85334253e-01 4.59330547e-01 -7.21020755e-02 -2.41315294e+01] [-4.58149973e-01 8.88257662e-01 3.31199021e-02 4.49816722e+00] [ 7.92582037e-02 3.71138020e-03 9.96847211e-01 9.84438088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879115932999998 meters 0.019347175355462827 Centerline is valid? [True, True] Translation: X:-24.17, Y:4.52, Z:0.96 [[ 8.81366077e-01 4.65975216e-01 -7.78520111e-02 -2.41739903e+01] [-4.64604028e-01 8.84786611e-01 3.59965284e-02 4.52365356e+00] [ 8.56559071e-02 4.44423894e-03 9.96314867e-01 9.59302065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939115932999997 meters 0.019698814214506522 Centerline is valid? [True, True] Translation: X:-24.22, Y:4.54, Z:0.93 [[ 8.67250635e-01 4.90732849e-01 -8.40095585e-02 -2.42210589e+01] [-4.89227302e-01 8.71280283e-01 3.90808816e-02 4.54218932e+00] [ 9.23741443e-02 7.20685018e-03 9.95698287e-01 9.28052440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999115933 meters 0.019544096374774264 Centerline is valid? [True, True] Translation: X:-24.27, Y:4.57, Z:0.89 [[ 8.62783685e-01 4.98219264e-01 -8.59178533e-02 -2.42650270e+01] [-4.96657717e-01 8.67014389e-01 4.02139405e-02 4.56546777e+00] [ 9.45273749e-02 7.97583305e-03 9.95490312e-01 8.90242105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059115932999998 meters 0.01871932241960451 Centerline is valid? [True, True] Translation: X:-24.31, Y:4.59, Z:0.88 [[ 8.62555985e-01 4.98619239e-01 -8.58838043e-02 -2.43083124e+01] [-4.97038129e-01 8.66785956e-01 4.04376705e-02 4.59356755e+00] [ 9.46058759e-02 7.80777064e-03 9.95484187e-01 8.83383016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119115932999996 meters 0.019133628984465693 Centerline is valid? [True, True] Translation: X:-24.36, Y:4.61, Z:0.85 [[ 8.49299318e-01 5.20124595e-01 -9.03386615e-02 -2.43553477e+01] [-5.18466659e-01 8.54026011e-01 4.28006499e-02 4.61119736e+00] [ 9.94132374e-02 1.04870213e-02 9.94990970e-01 8.48542892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179115933 meters 0.018576322938437806 Centerline is valid? [True, True] Translation: X:-24.40, Y:4.63, Z:0.77 [[ 8.48755649e-01 5.20969176e-01 -9.05812641e-02 -2.44028115e+01] [-5.19281537e-01 8.53512175e-01 4.31700407e-02 4.62721287e+00] [ 9.98024723e-02 1.03963621e-02 9.94952955e-01 7.71114666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239115932999997 meters 0.01992329295240714 Centerline is valid? [True, True] Translation: X:-24.44, Y:4.66, Z:0.78 [[ 8.40085215e-01 5.35287479e-01 -8.78871257e-02 -2.44446949e+01] [-5.33751674e-01 8.44591372e-01 4.21255786e-02 4.65665571e+00] [ 9.67780028e-02 1.15208248e-02 9.95239312e-01 7.77991941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299115932999996 meters 0.018452332366200322 Centerline is valid? [True, True] Translation: X:-24.51, Y:4.63, Z:0.56 [[ 8.26441798e-01 5.54988820e-01 -9.47700610e-02 -2.45092322e+01] [-5.53297471e-01 8.31728628e-01 4.57099339e-02 4.63216145e+00] [ 1.04191475e-01 1.46594351e-02 9.94449213e-01 5.63005937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359115932999998 meters 0.01686662212767076 Centerline is valid? [True, True] Translation: X:-24.58, Y:4.58, Z:0.28 [[ 8.30119356e-01 5.49685792e-01 -9.35274579e-02 -2.45845542e+01] [-5.47973918e-01 8.35261599e-01 4.54163688e-02 4.58291778e+00] [ 1.03084627e-01 1.35496008e-02 9.94580297e-01 2.83622051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419115932999997 meters 0.018238651442876588 Centerline is valid? [True, True] Translation: X:-24.59, Y:4.70, Z:0.59 [[ 8.31920289e-01 5.48238849e-01 -8.56901279e-02 -2.45898768e+01] [-5.46768243e-01 8.36235619e-01 4.18864869e-02 4.69558055e+00] [ 9.46209365e-02 1.20064224e-02 9.95440970e-01 5.94400043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479115932999996 meters 0.01855025933607515 Centerline is valid? [True, True] Translation: X:-24.62, Y:4.75, Z:0.71 [[ 8.45380091e-01 5.28811563e-01 -7.54376057e-02 -2.46184891e+01] [-5.27575391e-01 8.48697399e-01 3.71070426e-02 4.75497910e+00] [ 8.36463330e-02 8.42946926e-03 9.96459851e-01 7.13857637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539115932999998 meters 0.017541241869675588 Centerline is valid? [True, True] Translation: X:-24.66, Y:4.79, Z:0.77 [[ 8.46225866e-01 5.27582950e-01 -7.45520860e-02 -2.46607617e+01] [-5.26353662e-01 8.49465546e-01 3.68796508e-02 4.78598537e+00] [ 8.27865034e-02 8.03224903e-03 9.96534936e-01 7.68430457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599115932999997 meters 0.01748047806126699 Centerline is valid? [True, True] Translation: X:-24.70, Y:4.81, Z:0.77 [[ 8.52887162e-01 5.16835992e-01 -7.39191871e-02 -2.47040104e+01] [-5.15569125e-01 8.56057938e-01 3.67870144e-02 4.81206439e+00] [ 8.22919600e-02 6.73527830e-03 9.96585505e-01 7.66185184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659115933 meters 0.017600253365812172 Centerline is valid? [True, True] Translation: X:-24.75, Y:4.84, Z:0.82 [[ 8.56169861e-01 5.11151809e-01 -7.54784600e-02 -2.47463640e+01] [-5.09790837e-01 8.59468554e-01 3.77770896e-02 4.84291268e+00] [ 8.41811905e-02 6.13462168e-03 9.96431580e-01 8.15128583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719115932999998 meters 0.017975527654998227 Centerline is valid? [True, True] Translation: X:-24.79, Y:4.87, Z:0.83 [[ 8.67317673e-01 4.92807523e-01 -7.00057164e-02 -2.47890392e+01] [-4.91561307e-01 8.70129825e-01 3.52359010e-02 4.87246903e+00] [ 7.82785789e-02 3.85138185e-03 9.96924085e-01 8.29318266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779115932999996 meters 0.017252072883985822 Centerline is valid? [True, True] Translation: X:-24.84, Y:4.88, Z:0.79 [[ 8.65785513e-01 4.95311725e-01 -7.12863260e-02 -2.48406648e+01] [-4.94011300e-01 8.68706232e-01 3.60876523e-02 4.88296519e+00] [ 7.98015130e-02 3.97208394e-03 9.96802860e-01 7.91577433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839115933 meters 0.017539926325795215 Centerline is valid? [True, True] Translation: X:-24.89, Y:4.89, Z:0.74 [[ 8.65403735e-01 4.95759735e-01 -7.27919029e-02 -2.48944395e+01] [-4.94387883e-01 8.68450904e-01 3.70627692e-02 4.88932873e+00] [ 8.15904225e-02 3.91317582e-03 9.96658261e-01 7.42702632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899115932999997 meters 0.016828657667145856 Centerline is valid? [True, True] Translation: X:-24.96, Y:4.87, Z:0.60 [[ 8.55581240e-01 5.11694212e-01 -7.84205085e-02 -2.49582824e+01] [-5.10146409e-01 8.59149131e-01 4.01673071e-02 4.87289265e+00] [ 8.79282903e-02 5.63954643e-03 9.96110843e-01 5.97106844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959115932999996 meters 0.01737210234074669 Centerline is valid? [True, True] Translation: X:-24.98, Y:4.95, Z:0.79 [[ 8.64537159e-01 4.97938538e-01 -6.80640401e-02 -2.49797608e+01] [-4.96713849e-01 8.67205322e-01 3.50753665e-02 4.94706806e+00] [ 7.64908746e-02 3.48439364e-03 9.97064193e-01 7.87388054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019115933 meters 0.019271136726926083 Centerline is valid? [True, True] Translation: X:-25.02, Y:4.97, Z:0.81 [[ 8.61188177e-01 5.03857489e-01 -6.69518865e-02 -2.50235043e+01] [-5.02672843e-01 8.63778687e-01 3.47331651e-02 4.97237631e+00] [ 7.53321779e-02 3.74310399e-03 9.97151469e-01 8.07163038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079115932999997 meters 0.01700231410400598 Centerline is valid? [True, True] Translation: X:-25.09, Y:4.95, Z:0.61 [[ 8.58338293e-01 5.08581975e-01 -6.78214565e-02 -2.50897361e+01] [-5.07365128e-01 8.61004129e-01 3.53909034e-02 4.95063805e+00] [ 7.63937296e-02 4.03287436e-03 9.97069573e-01 6.09436634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139115932999996 meters 0.01597044172276044 Centerline is valid? [True, True] Translation: X:-25.18, Y:4.89, Z:0.32 [[ 8.50056401e-01 5.21370397e-01 -7.46794774e-02 -2.51764127e+01] [-5.19922648e-01 8.53312796e-01 3.92136697e-02 4.88639000e+00] [ 8.41698002e-02 5.49372070e-03 9.96436282e-01 3.16772693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199115932999998 meters 0.01977682145454739 Centerline is valid? [True, True] Translation: X:-25.16, Y:5.05, Z:0.77 [[ 8.56916859e-01 5.11172240e-01 -6.63056387e-02 -2.51552207e+01] [-5.09985268e-01 8.59469879e-01 3.50222011e-02 5.04997883e+00] [ 7.48900762e-02 3.80378430e-03 9.97184540e-01 7.73366618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259115932999997 meters 0.01920983223969322 Centerline is valid? [True, True] Translation: X:-25.21, Y:5.05, Z:0.70 [[ 8.57312553e-01 5.10500189e-01 -6.63682397e-02 -2.52100917e+01] [-5.09294144e-01 8.59870194e-01 3.52523079e-02 5.05416443e+00] [ 7.50643809e-02 3.57870976e-03 9.97172268e-01 6.95846462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319115933 meters 0.017094710291440558 Centerline is valid? [True, True] Translation: X:-25.28, Y:5.02, Z:0.52 [[ 8.42375432e-01 5.33398418e-01 -7.67447682e-02 -2.52820248e+01] [-5.31852056e-01 8.45841205e-01 4.10614996e-02 5.01972907e+00] [ 8.68160261e-02 6.22766432e-03 9.96204895e-01 5.22200564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379115932999998 meters 0.01829558969304684 Centerline is valid? [True, True] Translation: X:-25.34, Y:5.03, Z:0.44 [[ 8.45913299e-01 5.28122199e-01 -7.42807690e-02 -2.53350168e+01] [-5.26632935e-01 8.49151878e-01 3.99855005e-02 5.02571949e+00] [ 8.41928850e-02 5.29443277e-03 9.96435410e-01 4.42804542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439115932999997 meters 0.017460748113415053 Centerline is valid? [True, True] Translation: X:-25.38, Y:5.05, Z:0.46 [[ 8.43495681e-01 5.31985007e-01 -7.42090861e-02 -2.53796453e+01] [-5.30494111e-01 8.46736043e-01 4.01755156e-02 5.04929810e+00] [ 8.42082799e-02 5.47960925e-03 9.96433108e-01 4.61914583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499115933 meters 0.020000664542084916 Centerline is valid? [True, True] Translation: X:-25.44, Y:5.05, Z:0.37 [[ 8.46498831e-01 5.27462158e-01 -7.22731047e-02 -2.54351731e+01] [-5.26009174e-01 8.49565726e-01 3.94008382e-02 5.04862412e+00] [ 8.21832038e-02 4.66355265e-03 9.96606328e-01 3.67230614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559115932999998 meters 0.019183426250663594 Centerline is valid? [True, True] Translation: X:-25.43, Y:5.16, Z:0.61 [[ 8.52533599e-01 5.18607331e-01 -6.50607313e-02 -2.54314304e+01] [-5.17381927e-01 8.55006675e-01 3.57704701e-02 5.15980485e+00] [ 7.41781876e-02 3.16571897e-03 9.97239978e-01 6.13808942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619115932999996 meters 0.019075008560777026 Centerline is valid? [True, True] Translation: X:-25.48, Y:5.17, Z:0.58 [[ 8.39449277e-01 5.38551994e-01 -7.27094294e-02 -2.54846273e+01] [-5.37073084e-01 8.42575751e-01 4.02318961e-02 5.16931343e+00] [ 8.29301700e-02 5.27764143e-03 9.96541386e-01 5.81869507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679115933 meters 0.016728216275894776 Centerline is valid? [True, True] Translation: X:-25.58, Y:5.10, Z:0.25 [[ 8.40797481e-01 5.36298414e-01 -7.37808088e-02 -2.55782356e+01] [-5.34747023e-01 8.44014039e-01 4.10600071e-02 5.09581951e+00] [ 8.42924551e-02 4.93091735e-03 9.96428858e-01 2.52905491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739115932999997 meters 0.0183290561223248 Centerline is valid? [True, True] Translation: X:-25.58, Y:5.20, Z:0.52 [[ 8.43689380e-01 5.32563467e-01 -6.75602225e-02 -2.55814194e+01] [-5.31232814e-01 8.46380756e-01 3.78327107e-02 5.19985409e+00] [ 7.73299918e-02 3.97115085e-03 9.96997644e-01 5.17678555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799115932999996 meters 0.018329743824893777 Centerline is valid? [True, True] Translation: X:-25.63, Y:5.22, Z:0.47 [[ 8.46062488e-01 5.29184751e-01 -6.43565511e-02 -2.56303072e+01] [-5.27952341e-01 8.48500170e-01 3.62462021e-02 5.21518771e+00] [ 7.37874819e-02 3.31063989e-03 9.97268493e-01 4.67590987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859115932999998 meters 0.02011373505087087 Centerline is valid? [True, True] Translation: X:-25.66, Y:5.26, Z:0.55 [[ 8.39533739e-01 5.39434852e-01 -6.47544779e-02 -2.56633823e+01] [-5.38202094e-01 8.42017541e-01 3.66737854e-02 5.26308244e+00] [ 7.43075243e-02 4.06211545e-03 9.97227101e-01 5.51694346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919115932999997 meters 0.019166068364310354 Centerline is valid? [True, True] Translation: X:-25.71, Y:5.28, Z:0.51 [[ 8.31819698e-01 5.51215588e-01 -6.50950532e-02 -2.57114533e+01] [-5.49990538e-01 8.34348047e-01 3.70640531e-02 5.27919558e+00] [ 7.47422143e-02 4.97105392e-03 9.97190498e-01 5.05596924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979115932999996 meters 0.01935495621196834 Centerline is valid? [True, True] Translation: X:-25.76, Y:5.30, Z:0.47 [[ 8.26990017e-01 5.58344071e-01 -6.58741958e-02 -2.57580235e+01] [-5.57096560e-01 8.29591162e-01 3.77084424e-02 5.29825988e+00] [ 7.57029359e-02 5.51378250e-03 9.97115171e-01 4.72701717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039115932999998 meters 0.018381163037547155 Centerline is valid? [True, True] Translation: X:-25.81, Y:5.31, Z:0.45 [[ 8.24813222e-01 5.61722544e-01 -6.44277282e-02 -2.58076401e+01] [-5.60524935e-01 8.27307182e-01 3.70759165e-02 5.31290969e+00] [ 7.41279004e-02 5.53264200e-03 9.97233395e-01 4.51629864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099115932999997 meters 0.018786850088786156 Centerline is valid? [True, True] Translation: X:-25.86, Y:5.33, Z:0.40 [[ 8.25471479e-01 5.60901093e-01 -6.31411178e-02 -2.58583896e+01] [-5.59733366e-01 8.27866634e-01 3.65430667e-02 5.32509104e+00] [ 7.27694707e-02 5.17693113e-03 9.97335352e-01 4.04605970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159115933 meters 0.018736320606903185 Centerline is valid? [True, True] Translation: X:-25.89, Y:5.38, Z:0.49 [[ 8.25504739e-01 5.61369159e-01 -5.83660346e-02 -2.58856589e+01] [-5.60360234e-01 8.27552337e-01 3.39637764e-02 5.37963352e+00] [ 6.73671650e-02 4.66874643e-03 9.97717329e-01 4.89088648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219115932999998 meters 0.019294877776217585 Centerline is valid? [True, True] Translation: X:-25.94, Y:5.38, Z:0.42 [[ 8.14624920e-01 5.76747420e-01 -6.12262456e-02 -2.59441305e+01] [-5.75666270e-01 8.16899979e-01 3.58157838e-02 5.37806861e+00] [ 7.06723796e-02 6.06945440e-03 9.97481116e-01 4.23042338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279115932999996 meters 0.01921238812705114 Centerline is valid? [True, True] Translation: X:-25.98, Y:5.41, Z:0.44 [[ 8.10693705e-01 5.82588915e-01 -5.80161355e-02 -2.59810892e+01] [-5.81618806e-01 8.12744389e-01 3.41485408e-02 5.41298357e+00] [ 6.70468499e-02 6.05926845e-03 9.97731429e-01 4.41444655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339115933 meters 0.01855273630732467 Centerline is valid? [True, True] Translation: X:-26.04, Y:5.41, Z:0.34 [[ 8.04955290e-01 5.90198744e-01 -6.09296633e-02 -2.60413931e+01] [-5.89135821e-01 8.07228785e-01 3.60648509e-02 5.40642976e+00] [ 7.04696077e-02 6.86525469e-03 9.97490302e-01 3.35398813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399115932999997 meters 0.017896404659522715 Centerline is valid? [True, True] Translation: X:-26.08, Y:5.44, Z:0.37 [[ 7.96474074e-01 6.01684109e-01 -6.00440037e-02 -2.60799539e+01] [-6.00669118e-01 7.98698053e-01 3.57495671e-02 5.44083221e+00] [ 6.94669752e-02 7.59297537e-03 9.97555355e-01 3.66245271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459115932999996 meters 0.018080633840335227 Centerline is valid? [True, True] Translation: X:-26.11, Y:5.49, Z:0.42 [[ 7.86077822e-01 6.15049930e-01 -6.16055329e-02 -2.61054343e+01] [-6.14003166e-01 7.88439106e-01 3.69308593e-02 5.49171743e+00] [ 7.12865337e-02 8.79546288e-03 9.97417099e-01 4.17445971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519115933 meters 0.018450994355591315 Centerline is valid? [True, True] Translation: X:-26.15, Y:5.51, Z:0.40 [[ 7.80407798e-01 6.22129149e-01 -6.26018361e-02 -2.61547297e+01] [-6.21053487e-01 7.82858068e-01 3.77599115e-02 5.50549430e+00] [ 7.24998941e-02 9.41095922e-03 9.97324019e-01 3.99171403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579115932999997 meters 0.01746311422836235 Centerline is valid? [True, True] Translation: X:-26.21, Y:5.51, Z:0.34 [[ 7.79012822e-01 6.23701523e-01 -6.43073415e-02 -2.62084344e+01] [-6.22554271e-01 7.81603186e-01 3.90210129e-02 5.51017127e+00] [ 7.46002881e-02 9.63694075e-03 9.97166950e-01 3.42055850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639115932999996 meters 0.01736403771456714 Centerline is valid? [True, True] Translation: X:-26.26, Y:5.53, Z:0.34 [[ 7.76981144e-01 6.26348738e-01 -6.31471343e-02 -2.62555958e+01] [-6.25234158e-01 7.79484705e-01 3.85466309e-02 5.52643266e+00] [ 7.33658589e-02 9.53173995e-03 9.97259543e-01 3.43310014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699115932999998 meters 0.018274894666137118 Centerline is valid? [True, True] Translation: X:-26.30, Y:5.55, Z:0.36 [[ 7.78859387e-01 6.24324013e-01 -5.99798470e-02 -2.63008163e+01] [-6.23297449e-01 7.81117046e-01 3.68300282e-02 5.54658220e+00] [ 6.98451519e-02 8.69987240e-03 9.97519908e-01 3.56351370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759115932999997 meters 0.018420195600907515 Centerline is valid? [True, True] Translation: X:-26.34, Y:5.57, Z:0.40 [[ 7.81103596e-01 6.21785488e-01 -5.70962272e-02 -2.63440838e+01] [-6.20834416e-01 7.83147793e-01 3.52726914e-02 5.57022475e+00] [ 6.66468319e-02 7.89567668e-03 9.97745387e-01 3.99531421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819115932999996 meters 0.01908998314658679 Centerline is valid? [True, True] Translation: X:-26.40, Y:5.58, Z:0.38 [[ 7.81221239e-01 6.21784005e-01 -5.54799708e-02 -2.63967003e+01] [-6.20872090e-01 7.83152836e-01 3.44888960e-02 5.57636874e+00] [ 6.48939403e-02 7.50250733e-03 9.97863963e-01 3.82264127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879115932999998 meters 0.019598825321372516 Centerline is valid? [True, True] Translation: X:-26.44, Y:5.60, Z:0.40 [[ 7.81435622e-01 6.21222311e-01 -5.86618186e-02 -2.64396221e+01] [-6.20185199e-01 7.83596516e-01 3.66990288e-02 5.59989144e+00] [ 6.87654522e-02 7.70326321e-03 9.97603114e-01 4.04497690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939115932999997 meters 0.01766631275880604 Centerline is valid? [True, True] Translation: X:-26.50, Y:5.60, Z:0.35 [[ 7.91431418e-01 6.08903321e-01 -5.36008871e-02 -2.64953048e+01] [-6.07995555e-01 7.93222673e-01 3.37519697e-02 5.60076194e+00] [ 6.30691254e-02 5.87673186e-03 9.97991858e-01 3.51514988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999115933 meters 0.01904979721273921 Centerline is valid? [True, True] Translation: X:-26.54, Y:5.61, Z:0.32 [[ 7.90947664e-01 6.09034922e-01 -5.89767419e-02 -2.65447517e+01] [-6.07917923e-01 7.93118604e-01 3.73989061e-02 5.61274942e+00] [ 6.95527910e-02 6.27244106e-03 9.97558553e-01 3.20180662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059115932999998 meters 0.018342924556392484 Centerline is valid? [True, True] Translation: X:-26.58, Y:5.65, Z:0.40 [[ 8.00056774e-01 5.97383461e-01 -5.51557682e-02 -2.65804352e+01] [-5.96363752e-01 8.01941818e-01 3.52079062e-02 5.64944214e+00] [ 6.52643379e-02 4.72457702e-03 9.97856826e-01 3.96176798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119115932999996 meters 0.01875224805896103 Centerline is valid? [True, True] Translation: X:-26.63, Y:5.66, Z:0.37 [[ 8.03364404e-01 5.93099620e-01 -5.32773377e-02 -2.66328170e+01] [-5.92124772e-01 8.05118914e-01 3.42313836e-02 5.65844154e+00] [ 6.31972129e-02 4.04655632e-03 9.97992855e-01 3.73461019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179115933 meters 0.019147551423596823 Centerline is valid? [True, True] Translation: X:-26.68, Y:5.67, Z:0.36 [[ 8.04917512e-01 5.90765592e-01 -5.57118876e-02 -2.66817898e+01] [-5.89678051e-01 8.06834073e-01 3.60357516e-02 5.67415449e+00] [ 6.62389313e-02 3.84626978e-03 9.97796377e-01 3.59925267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239115932999997 meters 0.019649716797548553 Centerline is valid? [True, True] Translation: X:-26.72, Y:5.71, Z:0.37 [[ 7.99746222e-01 5.97623581e-01 -5.70266233e-02 -2.67192405e+01] [-5.96484604e-01 8.01765173e-01 3.71311660e-02 5.70678856e+00] [ 6.79124209e-02 4.31999308e-03 9.97681934e-01 3.72006736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299115932999996 meters 0.019386620490691193 Centerline is valid? [True, True] Translation: X:-26.77, Y:5.71, Z:0.30 [[ 7.97013212e-01 6.01413829e-01 -5.54197279e-02 -2.67738357e+01] [-6.00331497e-01 7.98925992e-01 3.63229001e-02 5.71148601e+00] [ 6.61213555e-02 4.32037695e-03 9.97802235e-01 2.96981201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359115932999998 meters 0.020458883778164252 Centerline is valid? [True, True] Translation: X:-26.80, Y:5.76, Z:0.37 [[ 7.93711079e-01 6.05763287e-01 -5.54397267e-02 -2.68020692e+01] [-6.04674676e-01 7.95632243e-01 3.65769048e-02 5.75951360e+00] [ 6.62665802e-02 4.49150421e-03 9.97791845e-01 3.69633152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419115932999997 meters 0.0211583978344002 Centerline is valid? [True, True] Translation: X:-26.85, Y:5.78, Z:0.32 [[ 7.88296303e-01 6.12696601e-01 -5.64961467e-02 -2.68453682e+01] [-6.11566989e-01 7.90302553e-01 3.75192350e-02 5.78268991e+00] [ 6.76369567e-02 4.97490402e-03 9.97697596e-01 3.20867074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479115932999996 meters 0.021135491702020535 Centerline is valid? [True, True] Translation: X:-26.88, Y:5.82, Z:0.33 [[ 7.76682314e-01 6.26859469e-01 -6.17396954e-02 -2.68811320e+01] [-6.25534270e-01 7.79104640e-01 4.12654518e-02 5.81768356e+00] [ 7.39693224e-02 6.57014871e-03 9.97238874e-01 3.34181128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539115932999998 meters 0.021808079836756023 Centerline is valid? [True, True] Translation: X:-26.92, Y:5.84, Z:0.31 [[ 7.71367515e-01 6.33473170e-01 -6.08596694e-02 -2.69166862e+01] [-6.32173421e-01 7.73735153e-01 4.11178669e-02 5.83997501e+00] [ 7.31363311e-02 6.75687856e-03 9.97299063e-01 3.10692864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599115932999997 meters 0.019933802239589692 Centerline is valid? [True, True] Translation: X:-26.95, Y:5.87, Z:0.30 [[ 7.71857018e-01 6.32915722e-01 -6.04519067e-02 -2.69526144e+01] [-6.31608560e-01 7.74194137e-01 4.11590181e-02 5.87057239e+00] [ 7.28517014e-02 6.41306478e-03 9.97322166e-01 2.97363086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659115933 meters 0.020141159103619185 Centerline is valid? [True, True] Translation: X:-26.99, Y:5.90, Z:0.31 [[ 7.71691794e-01 6.33503657e-01 -5.62573734e-02 -2.69910256e+01] [-6.32355835e-01 7.73717817e-01 3.85595333e-02 5.89921756e+00] [ 6.79549375e-02 5.81860287e-03 9.97671424e-01 3.06041023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719115932999998 meters 0.018410309113707272 Centerline is valid? [True, True] Translation: X:-27.06, Y:5.88, Z:0.16 [[ 7.67711148e-01 6.37949257e-01 -6.03352221e-02 -2.70605481e+01] [-6.36621504e-01 7.70051442e-01 4.16393580e-02 5.87930499e+00] [ 7.30250223e-02 6.44370058e-03 9.97309292e-01 1.57332866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779115932999996 meters 0.01706571454640166 Centerline is valid? [True, True] Translation: X:-27.12, Y:5.87, Z:0.04 [[ 7.68296970e-01 6.36989162e-01 -6.29648690e-02 -2.71246282e+01] [-6.35516883e-01 7.70846198e-01 4.37542114e-02 5.86756450e+00] [ 7.64071883e-02 6.39900928e-03 9.97056164e-01 3.52461329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839115933 meters 0.018789001928445934 Centerline is valid? [True, True] Translation: X:-27.15, Y:5.92, Z:0.10 [[ 7.68976714e-01 6.36461532e-01 -5.99293872e-02 -2.71509101e+01] [-6.35106148e-01 7.71286450e-01 4.19212742e-02 5.91508544e+00] [ 7.29040027e-02 5.82503858e-03 9.97321952e-01 1.00308972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899115932999997 meters 0.0218129582618857 Centerline is valid? [True, True] Translation: X:-27.17, Y:5.98, Z:0.20 [[ 7.69000438e-01 6.36609628e-01 -5.80216128e-02 -2.71662057e+01] [-6.35320610e-01 7.71166999e-01 4.08556166e-02 5.97934740e+00] [ 7.07534319e-02 5.44433938e-03 9.97478978e-01 2.02316647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959115932999996 meters 0.026498642483313493 Centerline is valid? [True, True] Translation: X:-27.21, Y:5.99, Z:0.16 [[ 7.76482623e-01 6.28098745e-01 -5.06626339e-02 -2.72129657e+01] [-6.27081215e-01 7.78124076e-01 3.59454030e-02 5.99413284e+00] [ 6.19990778e-02 3.85860518e-03 9.98068748e-01 1.64385643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019115933 meters 0.03350150588066943 Centerline is valid? [True, True] Translation: X:-27.26, Y:6.02, Z:0.18 [[ 7.89317144e-01 6.12855884e-01 -3.72305197e-02 -2.72560643e+01] [-6.12281518e-01 7.90192631e-01 2.65885008e-02 6.01742863e+00] [ 4.57142015e-02 1.80879965e-03 9.98952922e-01 1.75913486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079115932999997 meters 0.034512387034265374 Centerline is valid? [True, True] Translation: X:-27.32, Y:6.01, Z:0.05 [[ 7.84399362e-01 6.18556053e-01 -4.58917260e-02 -2.73218147e+01] [-6.17679629e-01 7.85736839e-01 3.30075039e-02 6.00661126e+00] [ 5.64758110e-02 2.45531926e-03 9.98400949e-01 4.61418976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139115932999996 meters 0.03296824260019594 Centerline is valid? [True, True] Translation: X:-27.38, Y:6.01, Z:-0.04 [[ 7.76918477e-01 6.27443358e-01 -5.20817928e-02 -2.73786439e+01] [-6.26317278e-01 7.78655154e-01 3.77202704e-02 6.00992686e+00] [ 6.42210895e-02 3.31415162e-03 9.97930192e-01 -3.74469312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199115932999998 meters 0.02927791862292866 Centerline is valid? [True, True] Translation: X:-27.43, Y:6.02, Z:-0.11 [[ 7.76095313e-01 6.28363515e-01 -5.32480918e-02 -2.74336099e+01] [-6.27171265e-01 7.77913011e-01 3.88272080e-02 6.01508481e+00] [ 6.58199843e-02 3.26205897e-03 9.97826182e-01 -1.12559755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259115932999997 meters 0.028599327288237015 Centerline is valid? [True, True] Translation: X:-27.47, Y:6.05, Z:-0.10 [[ 7.76653551e-01 6.27404283e-01 -5.63305198e-02 -2.74698404e+01] [-6.26047902e-01 7.78687326e-01 4.13530217e-02 6.04754088e+00] [ 6.98089248e-02 3.14863263e-03 9.97555412e-01 -1.04976082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319115932999996 meters 0.027715512275366696 Centerline is valid? [True, True] Translation: X:-27.50, Y:6.09, Z:-0.10 [[ 7.68250574e-01 6.37281594e-01 -6.05245856e-02 -2.75010592e+01] [-6.35722254e-01 7.70620096e-01 4.47424128e-02 6.08533245e+00] [ 7.51549781e-02 4.10344169e-03 9.97163422e-01 -9.77895916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379115932999998 meters 0.023720066306371655 Centerline is valid? [True, True] Translation: X:-27.53, Y:6.13, Z:-0.09 [[ 7.59716678e-01 6.47611960e-01 -5.85603772e-02 -2.75286879e+01] [-6.46161388e-01 7.61955614e-01 4.35787127e-02 6.12997818e+00] [ 7.28425037e-02 4.73197976e-03 9.97332231e-01 -8.58215754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439115932999997 meters 0.022161455747062738 Centerline is valid? [True, True] Translation: X:-27.52, Y:6.22, Z:0.06 [[ 7.63237346e-01 6.43951622e-01 -5.28683450e-02 -2.75239826e+01] [-6.42743825e-01 7.65056990e-01 3.96002227e-02 6.22025164e+00] [ 6.59479245e-02 3.75643340e-03 9.97815995e-01 6.31618528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499115933 meters 0.026491250760854644 Centerline is valid? [True, True] Translation: X:-27.57, Y:6.24, Z:0.05 [[ 7.56806463e-01 6.51120422e-01 -5.73251612e-02 -2.75666188e+01] [-6.49699733e-01 7.58960921e-01 4.32270539e-02 6.24416548e+00] [ 7.16535746e-02 4.52962815e-03 9.97419294e-01 4.61214859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559115932999998 meters 0.01990024812413656 Centerline is valid? [True, True] Translation: X:-27.60, Y:6.28, Z:0.04 [[ 7.55807094e-01 6.52500875e-01 -5.47562344e-02 -2.75997280e+01] [-6.51189540e-01 7.57776096e-01 4.15640633e-02 6.27990520e+00] [ 6.86135532e-02 4.24227318e-03 9.97634293e-01 3.85730835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619115932999996 meters 0.021247127576102268 Centerline is valid? [True, True] Translation: X:-27.62, Y:6.33, Z:0.10 [[ 7.54458392e-01 6.54387562e-01 -5.06897721e-02 -2.76216337e+01] [-6.53251983e-01 7.56149302e-01 3.87308558e-02 6.33149853e+00] [ 6.36740261e-02 3.89237495e-03 9.97963160e-01 9.71974940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679115933 meters 0.024099053345198105 Centerline is valid? [True, True] Translation: X:-27.66, Y:6.36, Z:0.07 [[ 7.31641129e-01 6.79100672e-01 -5.93593737e-02 -2.76619478e+01] [-6.77598400e-01 7.34013492e-01 4.56574420e-02 6.35792153e+00] [ 7.45765807e-02 6.81695425e-03 9.97191989e-01 6.68451172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739115932999997 meters 0.024958786602401955 Centerline is valid? [True, True] Translation: X:-27.70, Y:6.39, Z:0.11 [[ 7.25267304e-01 6.85882219e-01 -5.96063676e-02 -2.76992735e+01] [-6.84367869e-01 7.27675652e-01 4.61385481e-02 6.38815822e+00] [ 7.50197122e-02 7.32990239e-03 9.97155111e-01 1.07285150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799115932999996 meters 0.023470030105627107 Centerline is valid? [True, True] Translation: X:-27.73, Y:6.42, Z:0.10 [[ 7.20338785e-01 6.90865541e-01 -6.17805760e-02 -2.77343737e+01] [-6.89232643e-01 7.22939956e-01 4.81267486e-02 6.42034864e+00] [ 7.79127590e-02 7.91362609e-03 9.96928772e-01 9.93912480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859115932999998 meters 0.024461540736011658 Centerline is valid? [True, True] Translation: X:-27.79, Y:6.42, Z:0.02 [[ 7.24625504e-01 6.86215927e-01 -6.34474571e-02 -2.77906708e+01] [-6.84448635e-01 7.27360609e-01 4.97655476e-02 6.42485440e+00] [ 8.02990924e-02 7.36514041e-03 9.96743603e-01 1.97967091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919115932999997 meters 0.02107004398938572 Centerline is valid? [True, True] Translation: X:-27.82, Y:6.47, Z:0.07 [[ 7.44359368e-01 6.65844214e-01 -5.07997486e-02 -2.78190690e+01] [-6.64645776e-01 7.46080611e-01 4.01212396e-02 6.46597860e+00] [ 6.46152027e-02 3.89921782e-03 9.97902636e-01 6.55287338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979115932999996 meters 0.024285171036021475 Centerline is valid? [True, True] Translation: X:-27.90, Y:6.44, Z:-0.08 [[ 7.29390276e-01 6.81392661e-01 -6.07771828e-02 -2.78983088e+01] [-6.79703479e-01 7.31892980e-01 4.83305924e-02 6.44112914e+00] [ 7.74145044e-02 6.05859844e-03 9.96980586e-01 -7.76004313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039115932999998 meters 0.021289812976147095 Centerline is valid? [True, True] Translation: X:-27.89, Y:6.54, Z:0.09 [[ 7.58730985e-01 6.50164237e-01 -4.01716035e-02 -2.78883331e+01] [-6.49371083e-01 7.59791812e-01 3.21496406e-02 6.53519846e+00] [ 5.14246019e-02 1.69334921e-03 9.98675444e-01 8.71489480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099115932999997 meters 0.022207102970893632 Centerline is valid? [True, True] Translation: X:-27.92, Y:6.58, Z:0.14 [[ 7.60361468e-01 6.48283150e-01 -3.97416129e-02 -2.79151691e+01] [-6.47493474e-01 7.61398078e-01 3.20182355e-02 6.58108166e+00] [ 5.10160703e-02 1.38700243e-03 9.98696869e-01 1.41107969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159115933 meters 0.0181771187658993 Centerline is valid? [True, True] Translation: X:-28.01, Y:6.54, Z:-0.07 [[ 7.51020565e-01 6.58675369e-01 -4.59877104e-02 -2.80083077e+01] [-6.57621847e-01 7.52423954e-01 3.73054957e-02 6.53850445e+00] [ 5.91744661e-02 2.22532866e-03 9.98245176e-01 -6.51886252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219115932999998 meters 0.02124081015645641 Centerline is valid? [True, True] Translation: X:-28.01, Y:6.61, Z:0.05 [[ 7.54593695e-01 6.54867524e-01 -4.16759065e-02 -2.80122764e+01] [-6.53984769e-01 7.55742042e-01 3.40277367e-02 6.61333266e+00] [ 5.37798944e-02 1.57829254e-03 9.98551567e-01 5.47857769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279115932999996 meters 0.017779022750306094 Centerline is valid? [True, True] Translation: X:-28.08, Y:6.60, Z:-0.06 [[ 7.43299676e-01 6.67251938e-01 -4.77539816e-02 -2.80818893e+01] [-6.66100482e-01 7.44827490e-01 3.92703230e-02 6.60269088e+00] [ 6.17716774e-02 2.61933184e-03 9.98086869e-01 -6.16138870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339115933 meters 0.022507264617896868 Centerline is valid? [True, True] Translation: X:-28.07, Y:6.69, Z:0.11 [[ 7.54029083e-01 6.55915188e-01 -3.48627066e-02 -2.80720900e+01] [-6.55281329e-01 7.54833807e-01 2.88496816e-02 6.69488775e+00] [ 4.52384938e-02 1.09138172e-03 9.98975619e-01 1.06492405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399115932999997 meters 0.02382215589769899 Centerline is valid? [True, True] Translation: X:-28.12, Y:6.72, Z:0.09 [[ 7.38726206e-01 6.72819127e-01 -3.99751804e-02 -2.81159394e+01] [-6.71998072e-01 7.39803566e-01 3.33057647e-02 6.71739200e+00] [ 5.19825365e-02 2.25940299e-03 9.98645438e-01 8.69409072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459115932999996 meters 0.022445927451320423 Centerline is valid? [True, True] Translation: X:-28.17, Y:6.73, Z:0.03 [[ 7.32290781e-01 6.79818407e-01 -3.99643003e-02 -2.81695835e+01] [-6.78996830e-01 7.33375894e-01 3.35127395e-02 6.72708238e+00] [ 5.20914317e-02 2.59456306e-03 9.98638949e-01 2.52164116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519115933 meters 0.023043134132981796 Centerline is valid? [True, True] Translation: X:-28.19, Y:6.78, Z:0.08 [[ 7.27320358e-01 6.85301443e-01 -3.69733609e-02 -2.81910382e+01] [-6.84596006e-01 7.28254804e-01 3.11969334e-02 6.77929823e+00] [ 4.83053311e-02 2.62165043e-03 9.98829176e-01 7.75481266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579115932999997 meters 0.02521935323227489 Centerline is valid? [True, True] Translation: X:-28.22, Y:6.82, Z:0.12 [[ 7.21695631e-01 6.91127635e-01 -3.87041187e-02 -2.82192025e+01] [-6.90352161e-01 7.22726503e-01 3.28678351e-02 6.82166931e+00] [ 5.06883615e-02 2.99889901e-03 9.98710016e-01 1.24805070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639115932999996 meters 0.025290029568892498 Centerline is valid? [True, True] Translation: X:-28.26, Y:6.85, Z:0.10 [[ 7.20649979e-01 6.92189838e-01 -3.92024955e-02 -2.82592905e+01] [-6.91384850e-01 7.21709408e-01 3.35040177e-02 6.84935067e+00] [ 5.14839504e-02 2.95934182e-03 9.98669437e-01 1.04556232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699115932999998 meters 0.023232712725503746 Centerline is valid? [True, True] Translation: X:-28.33, Y:6.84, Z:-0.04 [[ 7.06309556e-01 7.06391660e-01 -4.62345582e-02 -2.83284152e+01] [-7.05283361e-01 7.07806931e-01 3.98086505e-02 6.83863124e+00] [ 6.08456395e-02 4.49123437e-03 9.98137083e-01 -3.63569768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759115932999997 meters 0.02527244298996545 Centerline is valid? [True, True] Translation: X:-28.33, Y:6.92, Z:0.12 [[ 7.07341698e-01 7.05635593e-01 -4.17867438e-02 -2.83260697e+01] [-7.04716061e-01 7.08564557e-01 3.62152118e-02 6.91780493e+00] [ 5.51633481e-02 3.83126010e-03 9.98469993e-01 1.15914174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819115932999996 meters 0.02358963079964013 Centerline is valid? [True, True] Translation: X:-28.37, Y:6.94, Z:0.09 [[ 7.11137989e-01 7.01923606e-01 -3.98247737e-02 -2.83704754e+01] [-7.01069045e-01 7.12245087e-01 3.47725438e-02 6.93860737e+00] [ 5.27726687e-02 3.19183923e-03 9.98601451e-01 8.66259946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879115932999998 meters 0.0247047944612854 Centerline is valid? [True, True] Translation: X:-28.41, Y:6.97, Z:0.08 [[ 7.04739155e-01 7.08179135e-01 -4.27204402e-02 -2.84093589e+01] [-7.07192525e-01 7.06022869e-01 3.75558379e-02 6.96811771e+00] [ 5.67578686e-02 3.74450655e-03 9.98380951e-01 8.40152429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939115932999997 meters 0.025202949558503055 Centerline is valid? [True, True] Translation: X:-28.44, Y:7.00, Z:0.09 [[ 7.11395476e-01 7.01798271e-01 -3.73585844e-02 -2.84433181e+01] [-7.01024684e-01 7.12370704e-01 3.30510579e-02 7.00207081e+00] [ 4.98083363e-02 2.67691676e-03 9.98755207e-01 8.60835191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999115933 meters 0.02642265313826484 Centerline is valid? [True, True] Translation: X:-28.47, Y:7.05, Z:0.13 [[ 6.97011713e-01 7.15823186e-01 -4.20932137e-02 -2.84654599e+01] [-7.14852149e-01 6.98270327e-01 3.74827527e-02 7.05139725e+00] [ 5.62234656e-02 3.96450660e-03 9.98410339e-01 1.33170282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059115933 meters 0.02430562232006962 Centerline is valid? [True, True] Translation: X:-28.52, Y:7.06, Z:0.07 [[ 6.98651422e-01 7.14279371e-01 -4.11238451e-02 -2.85229321e+01] [-7.13336895e-01 6.99851500e-01 3.68558218e-02 7.05742045e+00] [ 5.51059379e-02 3.58578369e-03 9.98474075e-01 6.59435342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119115933 meters 0.02625202608456281 Centerline is valid? [True, True] Translation: X:-28.55, Y:7.10, Z:0.10 [[ 6.92376448e-01 7.20271173e-01 -4.27117222e-02 -2.85475404e+01] [-7.19251184e-01 6.93680831e-01 3.85310077e-02 7.10115089e+00] [ 5.73810771e-02 4.04249448e-03 9.98344164e-01 1.03193950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.179115933 meters 0.024453546220393765 Centerline is valid? [True, True] Translation: X:-28.59, Y:7.13, Z:0.08 [[ 6.89125962e-01 7.23459205e-01 -4.13785924e-02 -2.85882182e+01] [-7.22492169e-01 6.90355655e-01 3.76050083e-02 7.12593695e+00] [ 5.57716346e-02 3.98112142e-03 9.98435614e-01 7.73587841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239115933 meters 0.025081986471962307 Centerline is valid? [True, True] Translation: X:-28.62, Y:7.16, Z:0.09 [[ 6.82734585e-01 7.29440342e-01 -4.23116148e-02 -2.86205639e+01] [-7.28425370e-01 6.84030360e-01 3.87162384e-02 7.16140375e+00] [ 5.71836153e-02 4.38793873e-03 9.98354035e-01 9.27790523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299115933 meters 0.02650018353981537 Centerline is valid? [True, True] Translation: X:-28.65, Y:7.20, Z:0.14 [[ 6.88147356e-01 7.24493595e-01 -3.95252737e-02 -2.86504113e+01] [-7.23587487e-01 6.89272373e-01 3.63970370e-02 7.19977512e+00] [ 5.36130994e-02 3.55346868e-03 9.98555461e-01 1.35182474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.359115933 meters 0.023670428283419365 Centerline is valid? [True, True] Translation: X:-28.72, Y:7.20, Z:0.02 [[ 6.96147799e-01 7.16857312e-01 -3.86501704e-02 -2.87154196e+01] [-7.15966247e-01 6.97214576e-01 3.58352842e-02 7.19738660e+00] [ 5.26362477e-02 2.72556329e-03 9.98610032e-01 1.74628768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419115933 meters 0.02249662562698115 Centerline is valid? [True, True] Translation: X:-28.78, Y:7.20, Z:-0.08 [[ 6.96621643e-01 7.16360845e-01 -3.93119135e-02 -2.87797021e+01] [-7.15424206e-01 6.97725323e-01 3.67093809e-02 7.19663406e+00] [ 5.37260806e-02 2.55214524e-03 9.98552450e-01 -8.17790665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479115933 meters 0.022503082565982706 Centerline is valid? [True, True] Translation: X:-28.82, Y:7.23, Z:-0.08 [[ 6.99130228e-01 7.14126257e-01 -3.52223300e-02 -2.88177495e+01] [-7.13361017e-01 7.00014126e-01 3.31101676e-02 7.22597324e+00] [ 4.83009686e-02 1.97791810e-03 9.98830869e-01 -7.55000991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.539115933 meters 0.025461073025338513 Centerline is valid? [True, True] Translation: X:-28.82, Y:7.30, Z:0.07 [[ 6.88316609e-01 7.24165199e-01 -4.24854056e-02 -2.88179226e+01] [-7.23054104e-01 6.89619845e-01 4.02148339e-02 7.29815693e+00] [ 5.84209621e-02 3.03870874e-03 9.98287412e-01 6.68303228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599115933 meters 0.023714293264292946 Centerline is valid? [True, True] Translation: X:-28.87, Y:7.31, Z:-0.02 [[ 6.91397230e-01 7.21266558e-01 -4.17662885e-02 -2.88736091e+01] [-7.20172283e-01 6.92652861e-01 3.97982076e-02 7.30691838e+00] [ 5.76346555e-02 2.56255285e-03 9.98334453e-01 -1.87220215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659115933 meters 0.02176003692235226 Centerline is valid? [True, True] Translation: X:-28.92, Y:7.33, Z:-0.06 [[ 6.84087577e-01 7.28204349e-01 -4.17446175e-02 -2.89202513e+01] [-7.27108394e-01 6.85353688e-01 4.00462998e-02 7.32574221e+00] [ 5.77717173e-02 2.95768561e-03 9.98325438e-01 -6.25545754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.719115933 meters 0.025391367973066074 Centerline is valid? [True, True] Translation: X:-28.91, Y:7.41, Z:0.11 [[ 6.72757513e-01 7.38696375e-01 -4.15330561e-02 -2.89086606e+01] [-7.37615862e-01 6.74028425e-01 4.01063984e-02 7.40942000e+00] [ 5.76209115e-02 3.65356008e-03 9.98331850e-01 1.14793327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779115933 meters 0.024223892094309637 Centerline is valid? [True, True] Translation: X:-28.95, Y:7.44, Z:0.11 [[ 6.77097633e-01 7.35049347e-01 -3.52314067e-02 -2.89464862e+01] [-7.34256361e-01 6.78008294e-01 3.42396065e-02 7.43887496e+00] [ 4.90549863e-02 2.68532793e-03 9.98792470e-01 1.09264216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839115933 meters 0.022839206202469254 Centerline is valid? [True, True] Translation: X:-29.00, Y:7.45, Z:0.03 [[ 6.71373516e-01 7.40163660e-01 -3.76212463e-02 -2.90013243e+01] [-7.39254259e-01 6.72419628e-01 3.68101080e-02 7.45000608e+00] [ 5.25427687e-02 3.09833490e-03 9.98613868e-01 3.47948940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.899115933 meters 0.02452064272052137 Centerline is valid? [True, True] Translation: X:-29.01, Y:7.52, Z:0.14 [[ 6.70724829e-01 7.40736301e-01 -3.79201303e-02 -2.90057215e+01] [-7.39800197e-01 6.71789191e-01 3.73490434e-02 7.51556776e+00] [ 5.31401260e-02 3.00238914e-03 9.98582552e-01 1.43409610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959115933 meters 0.02280179688513399 Centerline is valid? [True, True] Translation: X:-29.07, Y:7.52, Z:0.05 [[ 6.77723188e-01 7.34446581e-01 -3.57700879e-02 -2.90706060e+01] [-7.33593046e-01 6.78662921e-01 3.54666292e-02 7.51621745e+00] [ 5.03241769e-02 2.20413074e-03 9.98730504e-01 4.57708732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019115933 meters 0.024152474686123016 Centerline is valid? [True, True] Translation: X:-29.08, Y:7.58, Z:0.16 [[ 6.73059311e-01 7.38839331e-01 -3.32807448e-02 -2.90801290e+01] [-7.38094395e-01 6.73878064e-01 3.32418388e-02 7.57654510e+00] [ 4.69875418e-02 2.19060207e-03 9.98893073e-01 1.56267292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079115933000004 meters 0.02392324208593337 Centerline is valid? [True, True] Translation: X:-27.62, Y:8.94, Z:-1.92 [[ 7.93835732e-01 -6.07866805e-01 -1.79660231e-02 -2.76224135e+01] [-6.07708231e-01 -7.94039002e-01 1.38841413e-02 8.93895250e+00] [-2.27054316e-02 -1.03627356e-04 -9.99742193e-01 -1.92337670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139115933 meters 0.02315368050914607 Centerline is valid? [True, True] Translation: X:-29.00, Y:7.44, Z:0.09 [[ 7.34004355e-01 6.78357740e-01 -3.26861302e-02 -2.90014230e+01] [-6.77789322e-01 7.34729722e-01 2.78185289e-02 7.43604733e+00] [ 4.28863858e-02 1.73538862e-03 9.99078449e-01 8.69847996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199115933 meters 0.02212109650301201 Centerline is valid? [True, True] Translation: X:-29.05, Y:7.45, Z:0.03 [[ 7.26770085e-01 6.85943916e-01 -3.58634573e-02 -2.90504945e+01] [-6.85258545e-01 7.27650974e-01 3.07373629e-02 7.44972200e+00] [ 4.71801868e-02 2.23674471e-03 9.98883891e-01 2.65899548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259115933000004 meters 0.020438843610399087 Centerline is valid? [True, True] Translation: X:-29.11, Y:7.46, Z:-0.05 [[ 7.16064257e-01 6.96850846e-01 -4.06309976e-02 -2.91063350e+01] [-6.95974700e-01 7.17209107e-01 3.50758347e-02 7.45578851e+00] [ 5.35835466e-02 3.16159485e-03 9.98558365e-01 -5.39697955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319115933 meters 0.019563087400570105 Centerline is valid? [True, True] Translation: X:-29.14, Y:7.49, Z:-0.05 [[ 7.19442557e-01 6.93589748e-01 -3.65468043e-02 -2.91438993e+01] [-6.92866877e-01 7.20365969e-01 3.17547076e-02 7.48588655e+00] [ 4.83518138e-02 2.47638211e-03 9.98827297e-01 -5.12994625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379115933 meters 0.016526512047481266 Centerline is valid? [True, True] Translation: X:-29.21, Y:7.49, Z:-0.15 [[ 7.25868167e-01 6.86970257e-01 -3.44567768e-02 -2.92071913e+01] [-6.86311064e-01 7.26683377e-01 3.01395621e-02 7.48511615e+00] [ 4.57441496e-02 1.77071845e-03 9.98951619e-01 -1.50296523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439115933000004 meters 0.017527401864991903 Centerline is valid? [True, True] Translation: X:-29.24, Y:7.52, Z:-0.15 [[ 7.22581315e-01 6.90299685e-01 -3.69132394e-02 -2.92442797e+01] [-6.89536390e-01 7.23520907e-01 3.25125163e-02 7.51627299e+00] [ 4.91508803e-02 1.96008507e-03 9.98789442e-01 -1.45110409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.499115933 meters 0.01746159352264179 Centerline is valid? [True, True] Translation: X:-29.27, Y:7.56, Z:-0.11 [[ 7.15072852e-01 6.97751206e-01 -4.25919125e-02 -2.92717435e+01] [-6.96732898e-01 7.16335235e-01 3.77769777e-02 7.55773496e+00] [ 5.68690195e-02 2.66189548e-03 9.98378099e-01 -1.14364345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559115933 meters 0.015963894525967463 Centerline is valid? [True, True] Translation: X:-29.32, Y:7.58, Z:-0.15 [[ 7.20564731e-01 6.92523496e-01 -3.46074478e-02 -2.93175019e+01] [-6.91834408e-01 7.21393421e-01 3.09303266e-02 7.57608553e+00] [ 4.63855631e-02 1.65532065e-03 9.98922239e-01 -1.50229988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619115933 meters 0.020620656936021897 Centerline is valid? [True, True] Translation: X:-29.30, Y:7.67, Z:0.03 [[ 7.02319598e-01 7.10552025e-01 -4.31625096e-02 -2.93044287e+01] [-7.09495508e-01 7.03636835e-01 3.88758185e-02 7.66537250e+00] [ 5.79940231e-02 3.32035743e-03 9.98311409e-01 2.89803931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.679115933 meters 0.015320932952400097 Centerline is valid? [True, True] Translation: X:-29.40, Y:7.63, Z:-0.18 [[ 7.23325564e-01 6.89773296e-01 -3.18265238e-02 -2.94004902e+01] [-6.89169635e-01 7.24024651e-01 2.88707279e-02 7.62609607e+00] [ 4.29574450e-02 1.05093826e-03 9.99076350e-01 -1.82197428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739115933 meters 0.014465344017570938 Centerline is valid? [True, True] Translation: X:-29.43, Y:7.66, Z:-0.18 [[ 7.20732981e-01 6.92508808e-01 -3.12333404e-02 -2.94349847e+01] [-6.91921375e-01 7.21408665e-01 2.85367899e-02 7.65988941e+00] [ 4.22939808e-02 1.04361020e-03 9.99104664e-01 -1.79532621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799115933 meters 0.016305504278832234 Centerline is valid? [True, True] Translation: X:-29.46, Y:7.70, Z:-0.16 [[ 7.17363535e-01 6.95906993e-01 -3.32116948e-02 -2.94634513e+01] [-6.95236761e-01 7.18130970e-01 3.05574056e-02 7.70073501e+00] [ 4.51154588e-02 1.16922268e-03 9.98981095e-01 -1.59892426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.859115933 meters 0.021701066289796005 Centerline is valid? [True, True] Translation: X:-29.41, Y:7.84, Z:0.13 [[ 6.78945826e-01 7.32485020e-01 -4.99826028e-02 -2.94075354e+01] [-7.31035762e-01 6.80764189e-01 4.63339452e-02 7.83786281e+00] [ 6.79652868e-02 5.08083144e-03 9.97674749e-01 1.28923350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919115933 meters 0.021810272738832865 Centerline is valid? [True, True] Translation: X:-29.46, Y:7.84, Z:0.05 [[ 6.68081255e-01 7.42108443e-01 -5.42447805e-02 -2.94643553e+01] [-7.40407187e-01 6.70249805e-01 5.06201199e-02 7.84402117e+00] [ 7.39231719e-02 6.34487211e-03 9.97243755e-01 4.93515635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979115933 meters 0.016817309036495958 Centerline is valid? [True, True] Translation: X:-29.56, Y:7.81, Z:-0.15 [[ 6.94844669e-01 7.18003141e-01 -4.07722404e-02 -2.95570319e+01] [-7.16983972e-01 6.96035010e-01 3.83307928e-02 7.81002209e+00] [ 5.59005363e-02 2.59909585e-03 9.98432960e-01 -1.47008256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.039115933 meters 0.021294523563752107 Centerline is valid? [True, True] Translation: X:-29.50, Y:7.94, Z:0.13 [[ 6.58474383e-01 7.50640021e-01 -5.43235269e-02 -2.95014214e+01] [-7.48904786e-01 6.60676438e-01 5.14613013e-02 7.94284052e+00] [ 7.45191866e-02 6.79720068e-03 9.97196414e-01 1.32892282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099115933 meters 0.02304628130276969 Centerline is valid? [True, True] Translation: X:-29.56, Y:7.94, Z:0.03 [[ 6.51239132e-01 7.56803074e-01 -5.60062489e-02 -2.95625721e+01] [-7.54950101e-01 6.53600240e-01 5.34515702e-02 7.94463903e+00] [ 7.70580104e-02 7.47216910e-03 9.96998611e-01 2.99171407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159115933 meters 0.021508127168068866 Centerline is valid? [True, True] Translation: X:-29.56, Y:8.02, Z:0.13 [[ 6.41158204e-01 7.65154780e-01 -5.87734609e-02 -2.95560005e+01] [-7.63112484e-01 6.43788833e-01 5.65267687e-02 8.01987954e+00] [ 8.10894251e-02 8.60816018e-03 9.96669657e-01 1.32352891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.219115933 meters 0.02374473120090364 Centerline is valid? [True, True] Translation: X:-29.60, Y:8.04, Z:0.12 [[ 6.41297961e-01 7.65178969e-01 -5.69040565e-02 -2.95962764e+01] [-7.63235013e-01 6.43766780e-01 5.51057851e-02 8.04480158e+00] [ 7.87987290e-02 8.09194069e-03 9.96857703e-01 1.20226006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279115933 meters 0.019612324145744438 Centerline is valid? [True, True] Translation: X:-29.62, Y:8.09, Z:0.13 [[ 6.41673112e-01 7.64919544e-01 -5.61578799e-02 -2.96211283e+01] [-7.62994624e-01 6.44079810e-01 5.47759262e-02 8.08592521e+00] [ 7.80693332e-02 7.69992141e-03 9.96918196e-01 1.25523679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339115933 meters 0.021335173671333318 Centerline is valid? [True, True] Translation: X:-29.65, Y:8.13, Z:0.14 [[ 6.47419176e-01 7.60626335e-01 -4.79164692e-02 -2.96460384e+01] [-7.59193191e-01 6.49162943e-01 4.70443713e-02 8.12761894e+00] [ 6.68887840e-02 5.92042899e-03 9.97742872e-01 1.38498623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.399115933 meters 0.020223069835299028 Centerline is valid? [True, True] Translation: X:-29.67, Y:8.16, Z:0.12 [[ 6.26517226e-01 7.77656726e-01 -5.22128460e-02 -2.96749629e+01] [-7.75986779e-01 6.28635728e-01 5.15910996e-02 8.16435481e+00] [ 7.29430260e-02 8.19376556e-03 9.97302450e-01 1.21535354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459115933 meters 0.01977614248495172 Centerline is valid? [True, True] Translation: X:-29.72, Y:8.19, Z:0.09 [[ 6.15194779e-01 7.86797851e-01 -4.98450206e-02 -2.97159158e+01] [-7.85280629e-01 6.17150418e-01 4.95953153e-02 8.18690727e+00] [ 6.97833628e-02 8.63155010e-03 9.97524826e-01 9.15435108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519115933 meters 0.02011390607469853 Centerline is valid? [True, True] Translation: X:-29.72, Y:8.25, Z:0.14 [[ 6.03231684e-01 7.95729361e-01 -5.40954663e-02 -2.97208418e+01] [-7.93946541e-01 6.05565693e-01 5.42132957e-02 8.24897922e+00] [ 7.58974698e-02 1.02457307e-02 9.97062987e-01 1.37995468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579115933000004 meters 0.02095404258432506 Centerline is valid? [True, True] Translation: X:-28.36, Y:9.49, Z:-1.98 [[ 8.35152035e-01 -5.48679266e-01 -3.83685014e-02 -2.83564989e+01] [-5.47808732e-01 -8.36017142e-01 3.13198160e-02 9.49083676e+00] [-4.92612585e-02 -5.13820792e-03 -9.98772710e-01 -1.97568562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639115933 meters 0.01732251372127473 Centerline is valid? [True, True] Translation: X:-29.71, Y:8.02, Z:-0.12 [[ 6.88979179e-01 7.23023122e-01 -5.04505305e-02 -2.97094293e+01] [-7.21765860e-01 6.90791441e-01 4.31419543e-02 8.01545844e+00] [ 6.60434251e-02 6.68956222e-03 9.97794325e-01 -1.16295924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699115933 meters 0.0212112967662554 Centerline is valid? [True, True] Translation: X:-29.69, Y:8.12, Z:0.07 [[ 6.72415094e-01 7.37812633e-01 -5.90801215e-02 -2.96869315e+01] [-7.36114760e-01 6.74941800e-01 5.08785520e-02 8.11840155e+00] [ 7.74144820e-02 9.27824315e-03 9.96955823e-01 7.19449711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759115933000004 meters 0.019847514553132193 Centerline is valid? [True, True] Translation: X:-29.73, Y:8.15, Z:0.06 [[ 6.66628657e-01 7.42950397e-01 -6.02572984e-02 -2.97252570e+01] [-7.41174668e-01 6.69274459e-01 5.22667200e-02 8.14549452e+00] [ 7.91602511e-02 9.81868983e-03 9.96813547e-01 5.83063598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819115933 meters 0.02161424399974201 Centerline is valid? [True, True] Translation: X:-29.75, Y:8.19, Z:0.07 [[ 6.60111548e-01 7.48954372e-01 -5.76202375e-02 -2.97473693e+01] [-7.47323079e-01 6.62548933e-01 5.03698979e-02 8.18820346e+00] [ 7.59009822e-02 9.81118201e-03 9.97067090e-01 6.79411708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879115933 meters 0.022589076466884406 Centerline is valid? [True, True] Translation: X:-29.78, Y:8.22, Z:0.06 [[ 6.40616238e-01 7.65016993e-01 -6.60290511e-02 -2.97798700e+01] [-7.62919569e-01 6.43875936e-01 5.81163560e-02 8.22152368e+00] [ 8.69745169e-02 1.31445738e-02 9.96123814e-01 5.71259008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939115933000004 meters 0.021903845638561154 Centerline is valid? [True, True] Translation: X:-29.83, Y:8.24, Z:0.02 [[ 6.49725054e-01 7.57634720e-01 -6.20240647e-02 -2.98256607e+01] [-7.55720360e-01 6.52583427e-01 5.49691603e-02 8.23779311e+00] [ 8.21224211e-02 1.11580078e-02 9.96559786e-01 2.22674946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.999115933 meters 0.019681849548319343 Centerline is valid? [True, True] Translation: X:-29.89, Y:8.23, Z:-0.09 [[ 6.56541704e-01 7.51695992e-01 -6.24990165e-02 -2.98856959e+01] [-7.49685572e-01 6.59431332e-01 5.58736175e-02 8.23250188e+00] [ 8.32137840e-02 1.01712509e-02 9.96479810e-01 -8.55112105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059115933 meters 0.018703509403590817 Centerline is valid? [True, True] Translation: X:-29.92, Y:8.26, Z:-0.09 [[ 6.66823321e-01 7.43086296e-01 -5.62975590e-02 -2.99222728e+01] [-7.41397626e-01 6.69148551e-01 5.06929726e-02 8.26139480e+00] [ 7.53406832e-02 7.93562023e-03 9.97126275e-01 -8.50187113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119115933 meters 0.016353914767754097 Centerline is valid? [True, True] Translation: X:-29.97, Y:8.28, Z:-0.15 [[ 6.71045100e-01 7.39445160e-01 -5.40308230e-02 -2.99711944e+01] [-7.37851488e-01 6.73180692e-01 4.90197680e-02 8.27691129e+00] [ 7.26199370e-02 6.97224803e-03 9.97335316e-01 -1.54897215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.179115933 meters 0.018811410407659743 Centerline is valid? [True, True] Translation: X:-29.98, Y:8.33, Z:-0.08 [[ 6.55199520e-01 7.53014418e-01 -6.06866868e-02 -2.99832632e+01] [-7.51028781e-01 6.57938840e-01 5.54279035e-02 8.33478611e+00] [ 8.16661388e-02 9.26111258e-03 9.96616713e-01 -8.30159127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239115933 meters 0.016505399347916797 Centerline is valid? [True, True] Translation: X:-30.03, Y:8.35, Z:-0.16 [[ 6.62076216e-01 7.47148448e-01 -5.85173501e-02 -3.00340724e+01] [-7.45247408e-01 6.64609610e-01 5.38550606e-02 8.34671495e+00] [ 7.91289182e-02 7.95374876e-03 9.96832660e-01 -1.61150219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299115933 meters 0.019108857147786866 Centerline is valid? [True, True] Translation: X:-30.06, Y:8.39, Z:-0.11 [[ 6.49445655e-01 7.58137921e-01 -5.87131474e-02 -3.00553249e+01] [-7.56236459e-01 6.52031323e-01 5.44203321e-02 8.39361954e+00] [ 7.95409286e-02 9.05797446e-03 9.96790446e-01 -1.10756642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.359115933 meters 0.018199919590080164 Centerline is valid? [True, True] Translation: X:-30.09, Y:8.43, Z:-0.12 [[ 6.46730110e-01 7.60593865e-01 -5.68958553e-02 -3.00873012e+01] [-7.58787444e-01 6.49168150e-01 5.31255810e-02 8.42697702e+00] [ 7.73419681e-02 8.81394781e-03 9.96965664e-01 -1.24221719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419115933 meters 0.016485108285900846 Centerline is valid? [True, True] Translation: X:-30.13, Y:8.45, Z:-0.17 [[ 6.38113263e-01 7.67684911e-01 -5.89180854e-02 -3.01324991e+01] [-7.65742557e-01 6.40753462e-01 5.54376916e-02 8.44619359e+00] [ 8.03106465e-02 9.74055909e-03 9.96722289e-01 -1.73733340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479115933 meters 0.015328873105217045 Centerline is valid? [True, True] Translation: X:-30.16, Y:8.48, Z:-0.17 [[ 6.36884809e-01 7.68872445e-01 -5.66824808e-02 -3.01614735e+01] [-7.67048325e-01 6.39335199e-01 5.37342552e-02 8.48445831e+00] [ 7.75538933e-02 9.25567113e-03 9.96945197e-01 -1.70859423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.539115933 meters 0.018784348058501932 Centerline is valid? [True, True] Translation: X:-30.18, Y:8.54, Z:-0.12 [[ 6.29266035e-01 7.75295627e-01 -5.42305004e-02 -3.01763893e+01] [-7.73620694e-01 6.31529084e-01 5.17883861e-02 8.53798152e+00] [ 7.43994475e-02 9.36516503e-03 9.97184545e-01 -1.21994247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.599115933 meters 0.020927539293476287 Centerline is valid? [True, True] Translation: X:-30.19, Y:8.59, Z:-0.05 [[ 6.18487908e-01 7.83796346e-01 -5.59999572e-02 -3.01883520e+01] [-7.82015075e-01 6.20929327e-01 5.38441488e-02 8.59394895e+00] [ 7.69748628e-02 1.04908558e-02 9.96977839e-01 -4.87767222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659115933 meters 0.019114358887724867 Centerline is valid? [True, True] Translation: X:-30.24, Y:8.61, Z:-0.11 [[ 6.22404639e-01 7.80810754e-01 -5.42865754e-02 -3.02359765e+01] [-7.79097800e-01 6.24694248e-01 5.25710366e-02 8.60931632e+00] [ 7.49605421e-02 9.57409438e-03 9.97140539e-01 -1.12247851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.719115933 meters 0.019885464121669638 Centerline is valid? [True, True] Translation: X:-30.27, Y:8.64, Z:-0.13 [[ 6.20698336e-01 7.82128707e-01 -5.48476310e-02 -3.02708051e+01] [-7.80355516e-01 6.23043090e-01 5.35030538e-02 8.64086581e+00] [ 7.60187118e-02 9.59139493e-03 9.97060259e-01 -1.33126856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779115933 meters 0.017864072023805463 Centerline is valid? [True, True] Translation: X:-30.31, Y:8.66, Z:-0.15 [[ 6.20259946e-01 7.82564853e-01 -5.35709748e-02 -3.03067781e+01] [-7.80839419e-01 6.22502238e-01 5.27329601e-02 8.66224116e+00] [ 7.46150129e-02 9.12218587e-03 9.97170690e-01 -1.48188471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839115933 meters 0.01848096315980451 Centerline is valid? [True, True] Translation: X:-30.33, Y:8.70, Z:-0.12 [[ 6.16776199e-01 7.85324322e-01 -5.34118898e-02 -3.03337431e+01] [-7.83589464e-01 6.19016500e-01 5.29728758e-02 8.70281525e+00] [ 7.46637287e-02 9.18058508e-03 9.97166508e-01 -1.24659686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.899115933 meters 0.017391156375318035 Centerline is valid? [True, True] Translation: X:-30.37, Y:8.73, Z:-0.16 [[ 6.19169163e-01 7.83469316e-01 -5.29658249e-02 -3.03730277e+01] [-7.81728710e-01 6.21370316e-01 5.29070372e-02 8.72889695e+00] [ 7.43624316e-02 8.64650005e-03 9.97193796e-01 -1.57621452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959115933 meters 0.01658970480438115 Centerline is valid? [True, True] Translation: X:-28.91, Y:10.09, Z:-1.66 [[ 8.34196698e-01 -5.50060840e-01 -3.93565808e-02 -2.89139090e+01] [-5.49150998e-01 -8.35108947e-01 3.20347982e-02 1.00921551e+01] [-5.04881208e-02 -5.11061733e-03 -9.98711586e-01 -1.66401775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019115933 meters 0.017372124699815913 Centerline is valid? [True, True] Translation: X:-30.27, Y:8.61, Z:-0.17 [[ 6.73193400e-01 7.37218117e-01 -5.76202644e-02 -3.02673329e+01] [-7.35644426e-01 6.75589857e-01 4.90471508e-02 8.60632715e+00] [ 7.50861144e-02 9.36980812e-03 9.97133031e-01 -1.71596886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.079115933 meters 0.01819640096275944 Centerline is valid? [True, True] Translation: X:-30.30, Y:8.64, Z:-0.16 [[ 6.64422433e-01 7.44886403e-01 -6.07213081e-02 -3.02969899e+01] [-7.43142669e-01 6.67107733e-01 5.20215990e-02 8.64426009e+00] [ 7.92578360e-02 1.05602776e-02 9.96798212e-01 -1.55215062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139115933 meters 0.019575060977656475 Centerline is valid? [True, True] Translation: X:-30.32, Y:8.69, Z:-0.15 [[ 6.54655690e-01 7.53404626e-01 -6.17041136e-02 -3.03235960e+01] [-7.51612163e-01 6.57455835e-01 5.32069681e-02 8.68545264e+00] [ 8.06541054e-02 1.15453178e-02 9.96675284e-01 -1.48034586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199115933 meters 0.01945390785043452 Centerline is valid? [True, True] Translation: X:-30.36, Y:8.71, Z:-0.16 [[ 6.57568322e-01 7.50982027e-01 -6.02486184e-02 -3.03581229e+01] [-7.49227831e-01 6.60236219e-01 5.24003043e-02 8.71148375e+00] [ 7.91300067e-02 1.06831616e-02 9.96807059e-01 -1.64485330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259115933000004 meters 0.019930274247917167 Centerline is valid? [True, True] Translation: X:-30.39, Y:8.75, Z:-0.15 [[ 6.50532478e-01 7.56798168e-01 -6.37497267e-02 -3.03876187e+01] [-7.54829134e-01 6.53541977e-01 5.58199149e-02 8.74828069e+00] [ 8.39075318e-02 1.18074834e-02 9.96403588e-01 -1.47378142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319115933 meters 0.018413824493336006 Centerline is valid? [True, True] Translation: X:-30.43, Y:8.77, Z:-0.18 [[ 6.59538101e-01 7.49295364e-01 -5.97155767e-02 -3.04315195e+01] [-7.47509821e-01 6.62161655e-01 5.26403868e-02 8.76850302e+00] [ 7.89845629e-02 9.91963924e-03 9.96826484e-01 -1.78043378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379115933 meters 0.019915635447484665 Centerline is valid? [True, True] Translation: X:-30.46, Y:8.81, Z:-0.15 [[ 6.55950587e-01 7.52492225e-01 -5.90277770e-02 -3.04578359e+01] [-7.50729484e-01 6.58526328e-01 5.24243967e-02 8.80912450e+00] [ 7.83202961e-02 9.92607878e-03 9.96878831e-01 -1.52449456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439115933000004 meters 0.021044161869717713 Centerline is valid? [True, True] Translation: X:-30.49, Y:8.85, Z:-0.14 [[ 6.57947155e-01 7.50678770e-01 -5.98909439e-02 -3.04872283e+01] [-7.48829041e-01 6.60597290e-01 5.35377233e-02 8.84647742e+00] [ 7.97534275e-02 9.62308536e-03 9.96768171e-01 -1.39859981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.499115933 meters 0.016975719127059263 Centerline is valid? [True, True] Translation: X:-30.54, Y:8.86, Z:-0.19 [[ 6.71507857e-01 7.39051431e-01 -5.36673180e-02 -3.05368086e+01] [-7.37506803e-01 6.73611028e-01 4.82897374e-02 8.85930453e+00] [ 7.18394967e-02 7.15307405e-03 9.97390556e-01 -1.87285592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559115933 meters 0.017061101247986436 Centerline is valid? [True, True] Translation: X:-30.58, Y:8.89, Z:-0.20 [[ 6.75001392e-01 7.36252005e-01 -4.80219332e-02 -3.05770989e+01] [-7.34990222e-01 6.76681408e-01 4.34930617e-02 8.88525846e+00] [ 6.45174032e-02 5.93777418e-03 9.97898916e-01 -2.03330215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619115933 meters 0.017491699986884518 Centerline is valid? [True, True] Translation: X:-30.61, Y:8.92, Z:-0.20 [[ 6.80010198e-01 7.31855329e-01 -4.44286725e-02 -3.06095234e+01] [-7.30749968e-01 6.81442271e-01 4.05082205e-02 8.92014150e+00] [ 5.99217325e-02 4.92024794e-03 9.98190952e-01 -2.01402974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.679115933 meters 0.02009023701980043 Centerline is valid? [True, True] Translation: X:-30.61, Y:8.99, Z:-0.08 [[ 6.62225725e-01 7.47593698e-01 -5.06038713e-02 -3.06107749e+01] [-7.46176391e-01 6.64120053e-01 4.65333097e-02 8.98753462e+00] [ 6.83950548e-02 6.94385930e-03 9.97634151e-01 -8.24352231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739115933 meters 0.01952475846874021 Centerline is valid? [True, True] Translation: X:-30.65, Y:9.01, Z:-0.12 [[ 6.68783394e-01 7.42089296e-01 -4.50804633e-02 -3.06527600e+01] [-7.40935164e-01 6.70278548e-01 4.17342955e-02 9.01132833e+00] [ 6.11870415e-02 5.49049667e-03 9.98111216e-01 -1.15427707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799115933 meters 0.02057795103286975 Centerline is valid? [True, True] Translation: X:-30.68, Y:9.06, Z:-0.11 [[ 6.54924600e-01 7.54229536e-01 -4.70274010e-02 -3.06765457e+01] [-7.52985733e-01 6.56576509e-01 4.38152148e-02 9.05578612e+00] [ 6.39238159e-02 6.71530002e-03 9.97932187e-01 -1.08683990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.859115933 meters 0.02257656385175142 Centerline is valid? [True, True] Translation: X:-30.68, Y:9.13, Z:0.03 [[ 6.52130927e-01 7.56764772e-01 -4.50814201e-02 -3.06758968e+01] [-7.55611863e-01 6.53654931e-01 4.22604206e-02 9.12851288e+00] [ 6.14488901e-02 6.50472859e-03 9.98089035e-01 2.71225643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919115933 meters 0.022404585844228393 Centerline is valid? [True, True] Translation: X:-30.71, Y:9.16, Z:0.01 [[ 6.47132036e-01 7.60967413e-01 -4.63543352e-02 -3.07133460e+01] [-7.59741201e-01 6.48753234e-01 4.37326991e-02 9.15777328e+00] [ 6.33516838e-02 6.91646767e-03 9.97967297e-01 9.53303733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979115933 meters 0.021366070335470538 Centerline is valid? [True, True] Translation: X:-30.75, Y:9.19, Z:0.00 [[ 6.54108645e-01 7.55293501e-01 -4.09097562e-02 -3.07516084e+01] [-7.54313818e-01 6.55364021e-01 3.88415067e-02 9.18568134e+00] [ 5.61475200e-02 5.45222912e-03 9.98407597e-01 4.38144420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.039115933 meters 0.02268656000098138 Centerline is valid? [True, True] Translation: X:-30.79, Y:9.22, Z:-0.00 [[ 6.52694286e-01 7.56568880e-01 -3.99211676e-02 -3.07860775e+01] [-7.55625121e-01 6.53892776e-01 3.81433259e-02 9.21783821e+00] [ 5.49622164e-02 5.26950632e-03 9.98474530e-01 -1.87950643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.099115933 meters 0.021524462463454273 Centerline is valid? [True, True] Translation: X:-30.83, Y:9.24, Z:-0.02 [[ 6.56629621e-01 7.53254275e-01 -3.80202175e-02 -3.08252631e+01] [-7.52380978e-01 6.57713308e-01 3.65522542e-02 9.24494236e+00] [ 5.25395448e-02 4.60439559e-03 9.98608229e-01 -2.20315058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159115933 meters 0.02201461530893602 Centerline is valid? [True, True] Translation: X:-30.86, Y:9.28, Z:-0.00 [[ 6.59737869e-01 7.50506433e-01 -3.85491806e-02 -3.08552175e+01] [-7.49591592e-01 6.60849203e-01 3.72931072e-02 9.28228702e+00] [ 5.34639121e-02 4.29246660e-03 9.98560556e-01 -2.13064114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.219115933 meters 0.023323804075301286 Centerline is valid? [True, True] Translation: X:-30.88, Y:9.33, Z:0.05 [[ 6.49772654e-01 7.58940793e-01 -4.24778866e-02 -3.08800893e+01] [-7.57831670e-01 6.51137927e-01 4.13589203e-02 9.32703502e+00] [ 5.90479348e-02 5.31719236e-03 9.98240987e-01 4.55056027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.279115933 meters 0.02375958800954973 Centerline is valid? [True, True] Translation: X:-30.91, Y:9.36, Z:0.04 [[ 6.41130536e-01 7.66011550e-01 -4.66684194e-02 -3.09132919e+01] [-7.64672073e-01 6.42795250e-01 4.57262117e-02 9.36155103e+00] [ 6.50250447e-02 6.36956641e-03 9.97863303e-01 4.19518576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339115933 meters 0.02311993223179946 Centerline is valid? [True, True] Translation: X:-30.95, Y:9.38, Z:0.02 [[ 6.32221851e-01 7.73156228e-01 -5.02491644e-02 -3.09471874e+01] [-7.71588092e-01 6.34173445e-01 4.97579842e-02 9.38204880e+00] [ 7.03373810e-02 7.31357204e-03 9.97496448e-01 2.27151812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.399115933 meters 0.021966782485829766 Centerline is valid? [True, True] Translation: X:-30.99, Y:9.40, Z:-0.03 [[ 6.27010695e-01 7.77159273e-01 -5.36754352e-02 -3.09929235e+01] [-7.75354923e-01 6.29252463e-01 5.35357918e-02 9.40187718e+00] [ 7.53812368e-02 8.04999893e-03 9.97122293e-01 -3.38638776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459115933 meters 0.02236206198350096 Centerline is valid? [True, True] Translation: X:-31.02, Y:9.44, Z:-0.00 [[ 6.23069221e-01 7.80266921e-01 -5.44819048e-02 -3.10193414e+01] [-7.78390577e-01 6.25391367e-01 5.47151574e-02 9.44248405e+00] [ 7.67649403e-02 8.31687080e-03 9.97014530e-01 -3.43518767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519115933 meters 0.021316511489394816 Centerline is valid? [True, True] Translation: X:-29.67, Y:10.65, Z:-1.87 [[ 8.23143207e-01 -5.66274936e-01 -4.20470959e-02 -2.96723614e+01] [-5.65240288e-01 -8.24203254e-01 3.45313211e-02 1.06456024e+01] [-5.42095749e-02 -4.65750982e-03 -9.98518718e-01 -1.87322863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.579115933 meters 0.02215243113745022 Centerline is valid? [True, True] Translation: X:-30.90, Y:9.32, Z:0.06 [[ 6.88066851e-01 7.22804041e-01 -6.41741928e-02 -3.09019608e+01] [-7.20762830e-01 6.91001338e-01 5.49371736e-02 9.32352302e+00] [ 8.40532642e-02 8.45392474e-03 9.96425401e-01 5.75171959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639115933 meters 0.021286639394836007 Centerline is valid? [True, True] Translation: X:-30.94, Y:9.36, Z:0.08 [[ 6.85572613e-01 7.24851115e-01 -6.76834845e-02 -3.09367362e+01] [-7.22559295e-01 6.88847463e-01 5.82858233e-02 9.35560205e+00] [ 8.88721406e-02 8.94616673e-03 9.96002866e-01 7.68228811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699115933 meters 0.02104300670795018 Centerline is valid? [True, True] Translation: X:-30.97, Y:9.39, Z:0.07 [[ 6.88983208e-01 7.21754250e-01 -6.61282217e-02 -3.09743369e+01] [-7.19521784e-01 6.92101984e-01 5.72996213e-02 9.38503572e+00] [ 8.71237186e-02 8.10221911e-03 9.96164551e-01 7.24822369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759115933000004 meters 0.021389599631149888 Centerline is valid? [True, True] Translation: X:-31.01, Y:9.42, Z:0.09 [[ 6.80671098e-01 7.29295382e-01 -6.93909380e-02 -3.10063666e+01] [-7.26840735e-01 6.84136356e-01 6.04978677e-02 9.42177270e+00] [ 9.15936790e-02 9.25701033e-03 9.95753436e-01 9.45469580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819115933 meters 0.020023621114222453 Centerline is valid? [True, True] Translation: X:-31.05, Y:9.44, Z:0.05 [[ 6.80177147e-01 7.29730142e-01 -6.96632500e-02 -3.10523400e+01] [-7.27223902e-01 6.83674759e-01 6.11082682e-02 9.44037741e+00] [ 9.22195509e-02 9.09633304e-03 9.95697148e-01 5.09437670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879115933 meters 0.020867162397858567 Centerline is valid? [True, True] Translation: X:-31.08, Y:9.48, Z:0.08 [[ 6.71705938e-01 7.37429774e-01 -7.07704864e-02 -3.10789325e+01] [-7.34841708e-01 6.75349762e-01 6.25328905e-02 9.48095363e+00] [ 9.39084464e-02 1.00013912e-02 9.95530600e-01 8.25026417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939115933000004 meters 0.020999422925982936 Centerline is valid? [True, True] Translation: X:-31.11, Y:9.51, Z:0.10 [[ 6.74922933e-01 7.34822778e-01 -6.71901768e-02 -3.11127820e+01] [-7.32442287e-01 6.78201058e-01 5.97630448e-02 9.51475008e+00] [ 8.94836956e-02 8.87747728e-03 9.95948723e-01 9.80787472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.999115933 meters 0.021014143126849332 Centerline is valid? [True, True] Translation: X:-31.15, Y:9.54, Z:0.08 [[ 6.69417002e-01 7.39692047e-01 -6.88226254e-02 -3.11543494e+01] [-7.37183682e-01 6.72878494e-01 6.16015529e-02 9.53908763e+00] [ 9.18754432e-02 9.49778951e-03 9.95725211e-01 7.73888892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059115933 meters 0.01988046718402936 Centerline is valid? [True, True] Translation: X:-31.20, Y:9.56, Z:0.07 [[ 6.77019777e-01 7.32930610e-01 -6.67603354e-02 -3.11963362e+01] [-7.30503856e-01 6.80255707e-01 6.01355854e-02 9.56296712e+00] [ 8.94893105e-02 8.05570183e-03 9.95955204e-01 6.62622814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119115933 meters 0.020750414712834852 Centerline is valid? [True, True] Translation: X:-31.22, Y:9.61, Z:0.12 [[ 6.72204993e-01 7.37233175e-01 -6.80271490e-02 -3.12222996e+01] [-7.34699539e-01 6.75584544e-01 6.16612650e-02 9.60648549e+00] [ 9.14168206e-02 8.53050486e-03 9.95776177e-01 1.20174220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.179115933 meters 0.020531854569530102 Centerline is valid? [True, True] Translation: X:-31.27, Y:9.63, Z:0.09 [[ 6.72278939e-01 7.37019564e-01 -6.95930377e-02 -3.12659310e+01] [-7.34328895e-01 6.75818875e-01 6.34816693e-02 9.62752192e+00] [ 9.38195207e-02 8.42678921e-03 9.95553558e-01 9.37768748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239115933 meters 0.01992835139435382 Centerline is valid? [True, True] Translation: X:-31.30, Y:9.66, Z:0.10 [[ 6.79179510e-01 7.30918219e-01 -6.68860922e-02 -3.13006069e+01] [-7.28368687e-01 6.82428981e-01 6.13982236e-02 9.65983233e+00] [ 9.05220880e-02 7.01731970e-03 9.95869725e-01 9.71738327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299115933 meters 0.02009704476405602 Centerline is valid? [True, True] Translation: X:-31.34, Y:9.69, Z:0.11 [[ 6.76427478e-01 7.33352620e-01 -6.81160884e-02 -3.13357628e+01] [-7.30682665e-01 6.79810331e-01 6.29345517e-02 9.69075797e+00] [ 9.24592390e-02 7.20058488e-03 9.95690434e-01 1.09655672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.359115933 meters 0.02011591995631613 Centerline is valid? [True, True] Translation: X:-31.37, Y:9.73, Z:0.15 [[ 6.75836911e-01 7.34060124e-01 -6.63340359e-02 -3.13651363e+01] [-7.31496125e-01 6.79050060e-01 6.16801026e-02 9.72989944e+00] [ 9.03210348e-02 6.83740022e-03 9.95889231e-01 1.47772616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419115933 meters 0.020408252557187513 Centerline is valid? [True, True] Translation: X:-31.40, Y:9.77, Z:0.16 [[ 6.75795452e-01 7.34060082e-01 -6.67555464e-02 -3.13970824e+01] [-7.31426300e-01 6.79052406e-01 6.24771799e-02 9.76579751e+00] [ 9.11925182e-02 6.60496830e-03 9.95811377e-01 1.59028347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479115933 meters 0.020628879441364798 Centerline is valid? [True, True] Translation: X:-31.43, Y:9.80, Z:0.16 [[ 6.69375775e-01 7.39866248e-01 -6.73350339e-02 -3.14302387e+01] [-7.37177367e-01 6.72715673e-01 6.34283338e-02 9.80062731e+00] [ 9.22258160e-02 7.18047286e-03 9.95712227e-01 1.62548005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.539115933 meters 0.020103965253157486 Centerline is valid? [True, True] Translation: X:-31.46, Y:9.83, Z:0.16 [[ 6.67876060e-01 7.41399300e-01 -6.53348857e-02 -3.14649105e+01] [-7.38839547e-01 6.71028633e-01 6.19410760e-02 9.83260246e+00] [ 8.97646495e-02 6.90303561e-03 9.95939082e-01 1.59425571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.599115933 meters 0.019778837869521258 Centerline is valid? [True, True] Translation: X:-31.51, Y:9.86, Z:0.11 [[ 6.69119546e-01 7.40608158e-01 -6.14702328e-02 -3.15075935e+01] [-7.38308172e-01 6.71909081e-01 5.86449438e-02 9.85519911e+00] [ 8.47353315e-02 6.14349710e-03 9.96384555e-01 1.11170388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659115933 meters 0.020198526628671734 Centerline is valid? [True, True] Translation: X:-31.54, Y:9.89, Z:0.10 [[ 6.66285150e-01 7.43319044e-01 -5.95054325e-02 -3.15416736e+01] [-7.41145556e-01 6.68909776e-01 5.71224704e-02 9.88851353e+00] [ 8.22639857e-02 6.04233309e-03 9.96592257e-01 1.03794284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.719115933 meters 0.020227674859714325 Centerline is valid? [True, True] Translation: X:-31.58, Y:9.92, Z:0.11 [[ 6.61433531e-01 7.47701175e-01 -5.87250981e-02 -3.15758591e+01] [-7.45572557e-01 6.64005816e-01 5.67259943e-02 9.92173960e+00] [ 8.14078992e-02 6.26334685e-03 9.96661188e-01 1.11595130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.779115933 meters 0.019157560312348432 Centerline is valid? [True, True] Translation: X:-31.61, Y:9.95, Z:0.08 [[ 6.61606736e-01 7.47856836e-01 -5.46505308e-02 -3.16146845e+01] [-7.45988516e-01 6.63836260e-01 5.31277164e-02 9.94871006e+00] [ 7.60109299e-02 5.61901333e-03 9.97091152e-01 8.49363922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839115933 meters 0.020362123211492816 Centerline is valid? [True, True] Translation: X:-31.65, Y:9.98, Z:0.10 [[ 6.51044364e-01 7.56722370e-01 -5.92662666e-02 -3.16460932e+01] [-7.54529826e-01 6.53699238e-01 5.79831658e-02 9.98494195e+00] [ 8.26194720e-02 6.96855253e-03 9.96556803e-01 9.92044307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.899115933 meters 0.020370824377779866 Centerline is valid? [True, True] Translation: X:-31.68, Y:10.02, Z:0.11 [[ 6.53126013e-01 7.55124550e-01 -5.66862086e-02 -3.16771058e+01] [-7.53082961e-01 6.55551844e-01 5.58375640e-02 1.00202151e+01] [ 7.93250639e-02 6.22045225e-03 9.96829394e-01 1.13165181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.959115933 meters 0.020571816793910846 Centerline is valid? [True, True] Translation: X:-31.72, Y:10.05, Z:0.11 [[ 6.52309014e-01 7.55857692e-01 -5.63213926e-02 -3.17169174e+01] [-7.53816186e-01 6.54708175e-01 5.58423184e-02 1.00474979e+01] [ 7.90829220e-02 6.02952968e-03 9.96849806e-01 1.05541473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019115933 meters 0.020584094974364968 Centerline is valid? [True, True] Translation: X:-31.74, Y:10.09, Z:0.18 [[ 6.50372275e-01 7.57540661e-01 -5.61075037e-02 -3.17431714e+01] [-7.55492431e-01 6.52760633e-01 5.59887772e-02 1.00893486e+01] [ 7.90385449e-02 5.97524596e-03 9.96853653e-01 1.76832484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.079115933 meters 0.01971859473198485 Centerline is valid? [True, True] Translation: X:-31.79, Y:10.11, Z:0.11 [[ 6.53287224e-01 7.55004147e-01 -5.64317395e-02 -3.17911468e+01] [-7.52893264e-01 6.55697301e-01 5.66814184e-02 1.01069822e+01] [ 7.97968452e-02 5.45782998e-03 9.96796206e-01 1.12470828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139115933 meters 0.021350252857039956 Centerline is valid? [True, True] Translation: X:-30.48, Y:11.37, Z:-2.08 [[ 8.09455011e-01 -5.85023400e-01 -5.03011558e-02 -3.04764965e+01] [-5.83560481e-01 -8.11005042e-01 4.15690464e-02 1.13652242e+01] [-6.51133559e-02 -4.29450618e-03 -9.97868633e-01 -2.07754982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199115933 meters 0.02121970995690171 Centerline is valid? [True, True] Translation: X:-31.72, Y:10.03, Z:0.17 [[ 6.93771717e-01 7.16675696e-01 -7.11108456e-02 -3.17177329e+01] [-7.14137862e-01 6.97354084e-01 6.08637475e-02 1.00349748e+01] [ 9.32090071e-02 8.55740066e-03 9.95609789e-01 1.67297100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259115933000004 meters 0.020875182130755694 Centerline is valid? [True, True] Translation: X:-31.76, Y:10.06, Z:0.14 [[ 6.93244480e-01 7.17569718e-01 -6.71251867e-02 -3.17604972e+01] [-7.15282325e-01 6.96441364e-01 5.77981189e-02 1.00566047e+01] [ 8.82229364e-02 7.94523280e-03 9.96069067e-01 1.37036637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319115933 meters 0.021800646739412698 Centerline is valid? [True, True] Translation: X:-31.79, Y:10.10, Z:0.20 [[ 6.87853667e-01 7.22666478e-01 -6.79006238e-02 -3.17855760e+01] [-7.20316997e-01 6.91145369e-01 5.88345340e-02 1.01012670e+01] [ 8.94469472e-02 8.44042349e-03 9.95955824e-01 2.01194642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379115933 meters 0.02120390065715455 Centerline is valid? [True, True] Translation: X:-31.83, Y:10.13, Z:0.19 [[ 6.83490645e-01 7.26735064e-01 -6.85323678e-02 -3.18256747e+01] [-7.24327330e-01 6.86861551e-01 5.97589116e-02 1.01259277e+01] [ 9.05011449e-02 8.79521000e-03 9.95857513e-01 1.85344552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439115933000004 meters 0.02128174867837995 Centerline is valid? [True, True] Translation: X:-31.86, Y:10.16, Z:0.17 [[ 6.77050981e-01 7.32539016e-01 -7.06297270e-02 -3.18612674e+01] [-7.29975665e-01 6.80657394e-01 6.19761287e-02 1.01561609e+01] [ 9.34745783e-02 9.59698326e-03 9.95575412e-01 1.66923855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.499115933 meters 0.02095522690396193 Centerline is valid? [True, True] Translation: X:-31.90, Y:10.18, Z:0.15 [[ 6.74444935e-01 7.34941829e-01 -7.06012574e-02 -3.19012776e+01] [-7.32357245e-01 6.78061300e-01 6.23356952e-02 1.01823365e+01] [ 9.36850903e-02 9.66334851e-03 9.95554983e-01 1.51427102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559115933 meters 0.021765492366092553 Centerline is valid? [True, True] Translation: X:-31.93, Y:10.22, Z:0.16 [[ 6.68362051e-01 7.40369444e-01 -7.17304305e-02 -3.19336727e+01] [-7.37694361e-01 6.72120876e-01 6.37225149e-02 1.02172600e+01] [ 9.53897227e-02 1.03254233e-02 9.95386451e-01 1.62422525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619115933 meters 0.02113936620311622 Centerline is valid? [True, True] Translation: X:-31.97, Y:10.24, Z:0.16 [[ 6.67035913e-01 7.41805846e-01 -6.91894298e-02 -3.19708406e+01] [-7.39283893e-01 6.70542264e-01 6.19063598e-02 1.02438132e+01] [ 9.23169366e-02 9.85686581e-03 9.95680885e-01 1.57752639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.679115933 meters 0.02149016638159887 Centerline is valid? [True, True] Translation: X:-32.00, Y:10.28, Z:0.19 [[ 6.60895937e-01 7.47384775e-01 -6.80629055e-02 -3.20010546e+01] [-7.44938305e-01 6.64313086e-01 6.12784198e-02 1.02810893e+01] [ 9.10136368e-02 1.02040068e-02 9.95797367e-01 1.85749114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739115933 meters 0.021551776768539494 Centerline is valid? [True, True] Translation: X:-32.03, Y:10.32, Z:0.19 [[ 6.53995639e-01 7.53283509e-01 -6.96682096e-02 -3.20336700e+01] [-7.50716530e-01 6.57603450e-01 6.31062123e-02 1.03150079e+01] [ 9.33509240e-02 1.10298890e-02 9.95572170e-01 1.89216604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799115933 meters 0.02054651396763102 Centerline is valid? [True, True] Translation: X:-32.08, Y:10.34, Z:0.16 [[ 6.58215366e-01 7.50153488e-01 -6.34214197e-02 -3.20755446e+01] [-7.47980712e-01 6.61197213e-01 5.78195441e-02 1.03378866e+01] [ 8.53075987e-02 9.38028628e-03 9.96310506e-01 1.58116464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.859115933 meters 0.021755126421800285 Centerline is valid? [True, True] Translation: X:-32.10, Y:10.38, Z:0.19 [[ 6.43786336e-01 7.62458646e-01 -6.47762859e-02 -3.20982012e+01] [-7.60219368e-01 6.46943582e-01 5.94181379e-02 1.03827445e+01] [ 8.72104754e-02 1.09916018e-02 9.96129268e-01 1.92708021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919115933 meters 0.022256574882142416 Centerline is valid? [True, True] Translation: X:-32.13, Y:10.41, Z:0.19 [[ 6.38479179e-01 7.66857502e-01 -6.53751449e-02 -3.21339187e+01] [-7.64555545e-01 6.41716437e-01 6.04552129e-02 1.04069537e+01] [ 8.83128387e-02 1.13835349e-02 9.96027739e-01 1.87148062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979115933 meters 0.021819311422236524 Centerline is valid? [True, True] Translation: X:-32.17, Y:10.44, Z:0.16 [[ 6.24930701e-01 7.77847713e-01 -6.64421097e-02 -3.21697322e+01] [-7.75488542e-01 6.28321398e-01 6.18849125e-02 1.04350618e+01] [ 8.98840369e-02 1.28513130e-02 9.95869321e-01 1.61401184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.039115933 meters 0.021638938781799896 Centerline is valid? [True, True] Translation: X:-32.20, Y:10.47, Z:0.16 [[ 6.23691750e-01 7.79170284e-01 -6.24681436e-02 -3.22045849e+01] [-7.77058148e-01 6.26697277e-01 5.85760843e-02 1.04654068e+01] [ 8.47893597e-02 1.20079595e-02 9.96326540e-01 1.59548811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.099115933 meters 0.021571254169947263 Centerline is valid? [True, True] Translation: X:-32.23, Y:10.50, Z:0.18 [[ 6.22760751e-01 7.80063022e-01 -6.05865441e-02 -3.22349370e+01] [-7.78047725e-01 6.25595020e-01 5.72067088e-02 1.04993918e+01] [ 8.25274784e-02 1.15131299e-02 9.96522284e-01 1.79000496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159115933 meters 0.021430012441462164 Centerline is valid? [True, True] Translation: X:-32.27, Y:10.53, Z:0.17 [[ 6.13544736e-01 7.87337046e-01 -6.05246425e-02 -3.22704720e+01] [-7.85328827e-01 6.16401240e-01 5.75164708e-02 1.05288552e+01] [ 8.25923130e-02 1.22428186e-02 9.96508215e-01 1.68034294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.219115933 meters 0.020863262076809004 Centerline is valid? [True, True] Translation: X:-32.31, Y:10.55, Z:0.13 [[ 6.11975493e-01 7.88688306e-01 -5.87941555e-02 -3.23105790e+01] [-7.86767694e-01 6.14679531e-01 5.62642823e-02 1.05498447e+01] [ 8.05145454e-02 1.18249802e-02 9.96683289e-01 1.33825621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.279115933 meters 0.02101490947886384 Centerline is valid? [True, True] Translation: X:-32.33, Y:10.59, Z:0.18 [[ 6.03074660e-01 7.95476368e-01 -5.93152747e-02 -3.23347815e+01] [-7.93521830e-01 6.05853406e-01 5.71380388e-02 1.05908024e+01] [ 8.13883208e-02 1.26094620e-02 9.96602701e-01 1.75425443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339115933 meters 0.02151941871023821 Centerline is valid? [True, True] Translation: X:-32.37, Y:10.62, Z:0.17 [[ 5.99732116e-01 7.97892999e-01 -6.07301558e-02 -3.23705447e+01] [-7.95822087e-01 6.02658816e-01 5.89029547e-02 1.06185564e+01] [ 8.35978189e-02 1.30044056e-02 9.96414718e-01 1.66607946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.399115933 meters 0.021024611850562012 Centerline is valid? [True, True] Translation: X:-32.41, Y:10.65, Z:0.18 [[ 6.02844853e-01 7.95538784e-01 -6.07957777e-02 -3.24067939e+01] [-7.93417768e-01 6.05774863e-01 5.93722259e-02 1.06462534e+01] [ 8.40614623e-02 1.24442094e-02 9.96382864e-01 1.76120750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.459115933 meters 0.021502735687219936 Centerline is valid? [True, True] Translation: X:-32.45, Y:10.67, Z:0.16 [[ 5.97907389e-01 7.99085215e-01 -6.30045504e-02 -3.24464077e+01] [-7.96788827e-01 6.01073728e-01 6.19511066e-02 1.06710594e+01] [ 8.73745933e-02 1.31602974e-02 9.96088594e-01 1.56414153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519115933 meters 0.020043341885374814 Centerline is valid? [True, True] Translation: X:-32.48, Y:10.70, Z:0.16 [[ 6.00110511e-01 7.97473818e-01 -6.24730625e-02 -3.24819119e+01] [-7.95170703e-01 6.03222843e-01 6.18526868e-02 1.06993323e+01] [ 8.70110767e-02 1.25583015e-02 9.96128185e-01 1.60288168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.579115933 meters 0.0195311443630628 Centerline is valid? [True, True] Translation: X:-32.52, Y:10.73, Z:0.16 [[ 5.97375639e-01 7.99589002e-01 -6.16423131e-02 -3.25191156e+01] [-7.97320620e-01 6.00418845e-01 6.14576233e-02 1.07268996e+01] [ 8.61520461e-02 1.24354003e-02 9.96204390e-01 1.55021500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.639115933 meters 0.019639867706915497 Centerline is valid? [True, True] Translation: X:-32.55, Y:10.76, Z:0.15 [[ 5.95896303e-01 8.00763869e-01 -6.07027275e-02 -3.25518832e+01] [-7.98534608e-01 5.98856673e-01 6.09357475e-02 1.07584002e+01] [ 8.51473784e-02 1.21618420e-02 9.96294140e-01 1.51819786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699115933 meters 0.018484724157797755 Centerline is valid? [True, True] Translation: X:-31.18, Y:12.08, Z:-2.07 [[ 8.37833696e-01 -5.44069840e-01 -4.49745160e-02 -3.11765672e+01] [-5.42849700e-01 -8.39014030e-01 3.70089242e-02 1.20767176e+01] [-5.78696894e-02 -6.59292127e-03 -9.98302375e-01 -2.06745786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759115933000004 meters 0.019954219622793434 Centerline is valid? [True, True] Translation: X:-32.50, Y:10.64, Z:0.10 [[ 6.64631243e-01 7.44312435e-01 -6.53016900e-02 -3.25017164e+01] [-7.42298732e-01 6.67735339e-01 5.58758386e-02 1.06426329e+01] [ 8.51933275e-02 1.13365337e-02 9.96299945e-01 1.03557810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819115933 meters 0.018214835693431776 Centerline is valid? [True, True] Translation: X:-32.54, Y:10.67, Z:0.11 [[ 6.64457393e-01 7.44528552e-01 -6.46034713e-02 -3.25362028e+01] [-7.42527720e-01 6.67500044e-01 5.56441964e-02 1.06740327e+01] [ 8.45515129e-02 1.09966705e-02 9.96358427e-01 1.12790300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879115933 meters 0.017702450729176877 Centerline is valid? [True, True] Translation: X:-32.58, Y:10.70, Z:0.08 [[ 6.65376690e-01 7.43771619e-01 -6.38563848e-02 -3.25760364e+01] [-7.41781559e-01 6.68351057e-01 5.53803516e-02 1.06991009e+01] [ 8.38688161e-02 1.05186936e-02 9.96421286e-01 8.30713644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939115933000004 meters 0.018137954287086117 Centerline is valid? [True, True] Translation: X:-32.61, Y:10.73, Z:0.06 [[ 6.58848687e-01 7.49448579e-01 -6.51554729e-02 -3.26108473e+01] [-7.47369499e-01 6.61967700e-01 5.68998795e-02 1.07300631e+01] [ 8.57743523e-02 1.12068023e-02 9.96251559e-01 5.60325937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.999115933 meters 0.017012410930134406 Centerline is valid? [True, True] Translation: X:-32.64, Y:10.77, Z:0.08 [[ 6.55749163e-01 7.52219654e-01 -6.44874248e-02 -3.26403419e+01] [-7.50165044e-01 6.58817080e-01 5.66785911e-02 1.07673224e+01] [ 8.51201671e-02 1.12092732e-02 9.96307638e-01 8.27427765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059115933 meters 0.018417280139217836 Centerline is valid? [True, True] Translation: X:-32.67, Y:10.81, Z:0.09 [[ 6.45289526e-01 7.60998966e-01 -6.69477506e-02 -3.26682119e+01] [-7.58793943e-01 6.48631242e-01 5.92390417e-02 1.08060668e+01] [ 8.85052520e-02 1.25732145e-02 9.95996353e-01 8.57387127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119115933 meters 0.017300606300417482 Centerline is valid? [True, True] Translation: X:-32.71, Y:10.83, Z:0.05 [[ 6.42181463e-01 7.63533033e-01 -6.79726122e-02 -3.27064283e+01] [-7.61233844e-01 6.45641176e-01 6.05847088e-02 1.08310129e+01] [ 9.01443437e-02 1.28366759e-02 9.95845981e-01 5.37850457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.179115933 meters 0.018072004437611963 Centerline is valid? [True, True] Translation: X:-32.74, Y:10.87, Z:0.04 [[ 6.36315543e-01 7.68428146e-01 -6.79758320e-02 -3.27358483e+01] [-7.66115513e-01 6.39798994e-01 6.10267826e-02 1.08678325e+01] [ 9.03855664e-02 1.32450491e-02 9.95818768e-01 4.45825780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239115933 meters 0.017155420712494002 Centerline is valid? [True, True] Translation: X:-32.77, Y:10.89, Z:0.02 [[ 6.34938691e-01 7.69548329e-01 -6.81779131e-02 -3.27742108e+01] [-7.67192160e-01 6.38452304e-01 6.16023212e-02 1.08934616e+01] [ 9.09343090e-02 1.31918632e-02 9.95769515e-01 2.39279836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299115933 meters 0.01833744366299341 Centerline is valid? [True, True] Translation: X:-32.80, Y:10.94, Z:0.05 [[ 6.23262725e-01 7.78906837e-01 -6.96255329e-02 -3.27954440e+01] [-7.76463056e-01 6.26970220e-01 6.33519146e-02 1.09392242e+01] [ 9.29983751e-02 1.45767671e-02 9.95559551e-01 5.12594378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.359115933 meters 0.019043375185234475 Centerline is valid? [True, True] Translation: X:-32.83, Y:10.97, Z:0.02 [[ 6.14521161e-01 7.85845673e-01 -6.93564751e-02 -3.28260339e+01] [-7.83421741e-01 6.18233662e-01 6.35414399e-02 1.09737441e+01] [ 9.28122732e-02 1.52878111e-02 9.95566253e-01 1.84366303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419115933 meters 0.019713307715871913 Centerline is valid? [True, True] Translation: X:-32.85, Y:11.02, Z:0.03 [[ 6.08359479e-01 7.90577594e-01 -6.98985785e-02 -3.28477824e+01] [-7.88103914e-01 6.12156346e-01 6.44734721e-02 1.10177715e+01] [ 9.37601409e-02 1.58642955e-02 9.95468412e-01 2.76071956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479115933 meters 0.01972649065595145 Centerline is valid? [True, True] Translation: X:-32.88, Y:11.05, Z:0.00 [[ 6.03864107e-01 7.94119597e-01 -6.87183016e-02 -3.28773539e+01] [-7.91709990e-01 6.07554377e-01 6.38198390e-02 1.10525739e+01] [ 9.24306898e-02 1.58664558e-02 9.95592699e-01 2.25799448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.539115933 meters 0.019911464776508327 Centerline is valid? [True, True] Translation: X:-32.91, Y:11.08, Z:-0.04 [[ 5.94183905e-01 8.00932950e-01 -7.38369540e-02 -3.29137416e+01] [-7.98153185e-01 5.98486030e-01 6.90359702e-02 1.10796196e+01] [ 9.94835688e-02 1.79131376e-02 9.94877952e-01 -3.65489536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.599115933 meters 0.019455870787484418 Centerline is valid? [True, True] Translation: X:-32.94, Y:11.11, Z:-0.02 [[ 5.92903708e-01 8.01947155e-01 -7.31160316e-02 -3.29377319e+01] [-7.99172053e-01 5.97136784e-01 6.89325059e-02 1.11147061e+01] [ 9.89404990e-02 1.75619508e-02 9.94938368e-01 -1.96443565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659115933 meters 0.020517810889021902 Centerline is valid? [True, True] Translation: X:-32.97, Y:11.15, Z:-0.03 [[ 5.86693443e-01 8.06403357e-01 -7.41918517e-02 -3.29670230e+01] [-8.03529451e-01 5.91082974e-01 7.04367723e-02 1.11496501e+01] [ 1.00653990e-01 1.82905454e-02 9.94753351e-01 -2.78981199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.719115933 meters 0.020384601005321894 Centerline is valid? [True, True] Translation: X:-33.00, Y:11.18, Z:-0.03 [[ 5.87818818e-01 8.05596188e-01 -7.40528117e-02 -3.29984806e+01] [-8.02677932e-01 5.92196685e-01 7.07899985e-02 1.11809989e+01] [ 1.00881983e-01 1.78288645e-02 9.94738638e-01 -2.86392805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.779115933 meters 0.019657825710111078 Centerline is valid? [True, True] Translation: X:-33.04, Y:11.20, Z:-0.08 [[ 5.94668053e-01 8.00483558e-01 -7.48062866e-02 -3.30392135e+01] [-7.97418117e-01 5.99117977e-01 7.19860777e-02 1.12034169e+01] [ 1.02441463e-01 1.68440676e-02 9.94596413e-01 -7.80723983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839115933 meters 0.019858781670599353 Centerline is valid? [True, True] Translation: X:-33.07, Y:11.24, Z:-0.06 [[ 5.96713441e-01 7.99015793e-01 -7.42080286e-02 -3.30695123e+01] [-7.95941099e-01 6.01092377e-01 7.18729574e-02 1.12375082e+01] [ 1.02033508e-01 1.61776601e-02 9.94649409e-01 -5.87938068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.899115933 meters 0.020043349187405204 Centerline is valid? [True, True] Translation: X:-33.10, Y:11.27, Z:-0.06 [[ 5.94093231e-01 8.00909145e-01 -7.48182816e-02 -3.30986206e+01] [-7.97746076e-01 5.98562926e-01 7.29631572e-02 1.12726471e+01] [ 1.03220309e-01 1.63390728e-02 9.94524310e-01 -5.76549953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.959115933 meters 0.018809354637315825 Centerline is valid? [True, True] Translation: X:-33.14, Y:11.30, Z:-0.08 [[ 5.97090975e-01 7.98887419e-01 -7.25345392e-02 -3.31375371e+01] [-7.95852501e-01 6.01288323e-01 7.12120108e-02 1.12981070e+01] [ 1.00504551e-01 1.52067455e-02 9.94820381e-01 -8.41924954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019115933 meters 0.01974942660215505 Centerline is valid? [True, True] Translation: X:-33.17, Y:11.33, Z:-0.10 [[ 5.86610424e-01 8.06610801e-01 -7.25756503e-02 -3.31660462e+01] [-8.03578920e-01 5.90859757e-01 7.17332992e-02 1.13335989e+01] [ 1.00742885e-01 1.62407616e-02 9.94779930e-01 -9.95878935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.079115933 meters 0.01856587364285263 Centerline is valid? [True, True] Translation: X:-33.20, Y:11.36, Z:-0.12 [[ 5.84808122e-01 8.07972473e-01 -7.19718182e-02 -3.32025706e+01] [-8.04951158e-01 5.89001730e-01 7.16281720e-02 1.13612478e+01] [ 1.00265117e-01 1.60450617e-02 9.94831374e-01 -1.22696762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.139115933 meters 0.01940835514075738 Centerline is valid? [True, True] Translation: X:-33.23, Y:11.39, Z:-0.12 [[ 5.83397419e-01 8.09016779e-01 -7.16889357e-02 -3.32273105e+01] [-8.05953358e-01 5.87575039e-01 7.20746769e-02 1.13914312e+01] [ 1.00432252e-01 1.57297580e-02 9.94819550e-01 -1.17039418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199115933 meters 0.019527183406553135 Centerline is valid? [True, True] Translation: X:-31.87, Y:12.68, Z:-1.83 [[ 8.44030081e-01 -5.33069615e-01 -5.87367733e-02 -3.18727222e+01] [-5.30922518e-01 -8.46011849e-01 4.88388246e-02 1.26831738e+01] [-7.57264996e-02 -1.00367615e-02 -9.97078112e-01 -1.83427587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.259115933 meters 0.017781484852975725 Centerline is valid? [True, True] Translation: X:-33.17, Y:11.28, Z:-0.16 [[ 6.59256548e-01 7.48054829e-01 -7.61234318e-02 -3.31679806e+01] [-7.45328103e-01 6.63495331e-01 6.52684049e-02 1.12784029e+01] [ 9.93318871e-02 1.37083097e-02 9.94959928e-01 -1.63472844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.319115933 meters 0.01770702794828108 Centerline is valid? [True, True] Translation: X:-33.20, Y:11.31, Z:-0.15 [[ 6.63208436e-01 7.44673231e-01 -7.49423035e-02 -3.32028542e+01] [-7.41970908e-01 6.67307828e-01 6.46485470e-02 1.13100163e+01] [ 9.81516282e-02 1.27295472e-02 9.95090054e-01 -1.53599427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379115933 meters 0.016752976342799496 Centerline is valid? [True, True] Translation: X:-33.24, Y:11.33, Z:-0.19 [[ 6.71709443e-01 7.37137331e-01 -7.37223139e-02 -3.32447703e+01] [-7.34433983e-01 6.75651402e-01 6.40461380e-02 1.13316123e+01] [ 9.70213839e-02 1.11237769e-02 9.95220133e-01 -1.93312710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439115933000004 meters 0.016319285732170258 Centerline is valid? [True, True] Translation: X:-33.28, Y:11.36, Z:-0.21 [[ 6.73725041e-01 7.35224944e-01 -7.44234570e-02 -3.32846014e+01] [-7.32416837e-01 6.77739288e-01 6.50771456e-02 1.13565672e+01] [ 9.82860415e-02 1.06648903e-02 9.95101057e-01 -2.06766925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.499115933 meters 0.015985572796997662 Centerline is valid? [True, True] Translation: X:-33.32, Y:11.39, Z:-0.20 [[ 6.76524487e-01 7.32914930e-01 -7.17657566e-02 -3.33199032e+01] [-7.30251146e-01 6.80251599e-01 6.31745717e-02 1.13871377e+01] [ 9.51203575e-02 9.66788120e-03 9.95418831e-01 -2.02774720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559115933 meters 0.0166184808569349 Centerline is valid? [True, True] Translation: X:-33.35, Y:11.42, Z:-0.21 [[ 6.75561975e-01 7.33932916e-01 -7.04165703e-02 -3.33545212e+01] [-7.31335503e-01 6.79157663e-01 6.23959225e-02 1.14189607e+01] [ 9.36183746e-02 9.34582526e-03 9.95564290e-01 -2.12204025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619115933 meters 0.016154232644890156 Centerline is valid? [True, True] Translation: X:-33.39, Y:11.45, Z:-0.21 [[ 6.86112179e-01 7.24562676e-01 -6.52610620e-02 -3.33903086e+01] [-7.22252163e-01 6.89171699e-01 5.82596102e-02 1.14482988e+01] [ 8.71888160e-02 7.16231514e-03 9.96166056e-01 -2.08461975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.679115933 meters 0.016302470878757115 Centerline is valid? [True, True] Translation: X:-33.42, Y:11.48, Z:-0.21 [[ 6.86602330e-01 7.24051612e-01 -6.57761674e-02 -3.34224436e+01] [-7.21654958e-01 6.89712427e-01 5.92527611e-02 1.14796953e+01] [ 8.82686973e-02 6.78461346e-03 9.96073595e-01 -2.09141170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739115933 meters 0.017001789226650858 Centerline is valid? [True, True] Translation: X:-33.46, Y:11.51, Z:-0.21 [[ 6.84014758e-01 7.26629397e-01 -6.42925324e-02 -3.34576015e+01] [-7.24316570e-01 6.86997149e-01 5.83131479e-02 1.15117120e+01] [ 8.65408339e-02 6.68109275e-03 9.96225902e-01 -2.06430444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799115933 meters 0.017458678914139478 Centerline is valid? [True, True] Translation: X:-33.49, Y:11.55, Z:-0.19 [[ 6.82006731e-01 7.28536494e-01 -6.40421344e-02 -3.34863115e+01] [-7.26216830e-01 6.84974878e-01 5.84682197e-02 1.15513618e+01] [ 8.64634850e-02 6.63275642e-03 9.96232941e-01 -1.89753765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.859115933 meters 0.018669910041084172 Centerline is valid? [True, True] Translation: X:-33.51, Y:11.60, Z:-0.14 [[ 6.74446595e-01 7.35406885e-01 -6.55629815e-02 -3.35067892e+01] [-7.32972481e-01 6.77585140e-01 6.02471595e-02 1.16013439e+01] [ 8.87306779e-02 7.42236964e-03 9.96027999e-01 -1.43341418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919115933 meters 0.01752915165817464 Centerline is valid? [True, True] Translation: X:-33.55, Y:11.62, Z:-0.18 [[ 6.74253794e-01 7.35779228e-01 -6.33304775e-02 -3.35498554e+01] [-7.33476723e-01 6.77185760e-01 5.85776691e-02 1.16232817e+01] [ 8.59867297e-02 6.95521549e-03 9.96272005e-01 -1.79657692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979115933 meters 0.019367742263333394 Centerline is valid? [True, True] Translation: X:-33.57, Y:11.68, Z:-0.11 [[ 6.61146983e-01 7.46986282e-01 -6.99725815e-02 -3.35674199e+01] [-7.44192946e-01 6.64778654e-01 6.51628693e-02 1.16762823e+01] [ 9.51920480e-02 8.99086720e-03 9.95418323e-01 -1.10997091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.039115933 meters 0.018869792621636537 Centerline is valid? [True, True] Translation: X:-33.61, Y:11.70, Z:-0.14 [[ 6.64412597e-01 7.44282473e-01 -6.78196249e-02 -3.36074416e+01] [-7.41599434e-01 6.67816947e-01 6.36459253e-02 1.17010203e+01] [ 9.26616415e-02 8.00784093e-03 9.95665453e-01 -1.40177962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.099115933 meters 0.019133807898040714 Centerline is valid? [True, True] Translation: X:-33.64, Y:11.73, Z:-0.14 [[ 6.70956703e-01 7.38827525e-01 -6.28569097e-02 -3.36421194e+01] [-7.36465147e-01 6.73863736e-01 5.93864587e-02 1.17331205e+01] [ 8.62333424e-02 6.44618073e-03 9.96254113e-01 -1.44388168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159115933 meters 0.017653570320923653 Centerline is valid? [True, True] Translation: X:-33.68, Y:11.76, Z:-0.16 [[ 6.78003573e-01 7.32624739e-01 -5.97674376e-02 -3.36812860e+01] [-7.30434241e-01 6.80613552e-01 5.68419920e-02 1.17611461e+01] [ 8.23223775e-02 5.11710924e-03 9.96592616e-01 -1.64400163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.219115933 meters 0.018823461750616083 Centerline is valid? [True, True] Translation: X:-33.71, Y:11.80, Z:-0.15 [[ 6.74021744e-01 7.36239275e-01 -6.03855828e-02 -3.37146038e+01] [-7.33985840e-01 6.76700095e-01 5.78080269e-02 1.17955695e+01] [ 8.34234694e-02 5.35829553e-03 9.96499781e-01 -1.52161688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.279115933 meters 0.01650964010768406 Centerline is valid? [True, True] Translation: X:-33.77, Y:11.81, Z:-0.22 [[ 6.91445123e-01 7.20446996e-01 -5.34767901e-02 -3.37662027e+01] [-7.18607085e-01 6.93504363e-01 5.15320908e-02 1.18100312e+01] [ 7.42125273e-02 2.79718740e-03 9.97238525e-01 -2.21047202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339115933 meters 0.016790338040141375 Centerline is valid? [True, True] Translation: X:-33.80, Y:11.84, Z:-0.22 [[ 6.96007683e-01 7.16335312e-01 -4.93662362e-02 -3.38018177e+01] [-7.14735499e-01 6.97753470e-01 4.78880166e-02 1.18429582e+01] [ 6.87493399e-02 1.95337396e-03 9.97632053e-01 -2.19907980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.399115933 meters 0.017283280554029744 Centerline is valid? [True, True] Translation: X:-33.82, Y:11.89, Z:-0.17 [[ 6.91681121e-01 7.20442668e-01 -5.03943328e-02 -3.38227620e+01] [-7.18763237e-01 6.93511065e-01 4.92119044e-02 1.18921555e+01] [ 7.04033831e-02 2.18264860e-03 9.97516215e-01 -1.65289040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.459115933 meters 0.017384978561005654 Centerline is valid? [True, True] Translation: X:-33.85, Y:11.93, Z:-0.15 [[ 6.96053138e-01 7.16413973e-01 -4.75504789e-02 -3.38497045e+01] [-7.14884778e-01 6.97674006e-01 4.68052872e-02 1.19327989e+01] [ 6.67066949e-02 1.41414653e-03 9.97771626e-01 -1.52184138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519115933 meters 0.01799057656575604 Centerline is valid? [True, True] Translation: X:-33.87, Y:11.98, Z:-0.12 [[ 6.94666261e-01 7.17808107e-01 -4.68007325e-02 -3.38732366e+01] [-7.16308794e-01 6.96239782e-01 4.63883304e-02 1.19779989e+01] [ 6.58824513e-02 1.29936827e-03 9.97826545e-01 -1.17779818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.579115933 meters 0.016908265717707226 Centerline is valid? [True, True] Translation: X:-33.91, Y:12.01, Z:-0.12 [[ 7.06593167e-01 7.06468963e-01 -4.03447741e-02 -3.39065234e+01] [-7.05321526e-01 7.07744024e-01 4.02484902e-02 1.20141602e+01] [ 5.69880820e-02 1.67294843e-05 9.98374859e-01 -1.21419366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.639115933 meters 0.016886134395696514 Centerline is valid? [True, True] Translation: X:-33.94, Y:12.05, Z:-0.14 [[ 7.10768823e-01 7.02401128e-01 -3.79517674e-02 -3.39442924e+01] [-7.01366550e-01 7.11781170e-01 3.81120434e-02 1.20459014e+01] [ 5.37832957e-02 -4.70752073e-04 9.98552520e-01 -1.40700754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699115933 meters 0.016243635768953008 Centerline is valid? [True, True] Translation: X:-32.61, Y:13.33, Z:-1.84 [[ 7.55256728e-01 -6.55114192e-01 -2.03143127e-02 -3.26141119e+01] [-6.54920156e-01 -7.55528881e-01 1.59906006e-02 1.33285583e+01] [-2.58237194e-02 1.22724418e-03 -9.99665759e-01 -1.84377659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.759115933 meters 0.01712402024477798 Centerline is valid? [True, True] Translation: X:-33.86, Y:11.99, Z:-0.09 [[ 7.63888727e-01 6.44322099e-01 -3.63736787e-02 -3.38614222e+01] [-6.43572299e-01 7.64754159e-01 3.10768872e-02 1.19860751e+01] [ 4.78404472e-02 -3.30191836e-04 9.98854936e-01 -9.35635880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.819115933 meters 0.017726687743481476 Centerline is valid? [True, True] Translation: X:-33.87, Y:12.06, Z:-0.01 [[ 7.58116591e-01 6.51137864e-01 -3.57591455e-02 -3.38682581e+01] [-6.50413406e-01 7.58959473e-01 3.07070044e-02 1.20579590e+01] [ 4.71342355e-02 -2.12618841e-05 9.98888564e-01 -6.71489364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879115933 meters 0.015807660462716346 Centerline is valid? [True, True] Translation: X:-33.90, Y:12.10, Z:-0.01 [[ 7.57379357e-01 6.52114183e-01 -3.35201791e-02 -3.39005178e+01] [-6.51470889e-01 7.58120758e-01 2.89585503e-02 1.20983826e+01] [ 4.42966249e-02 -9.51873421e-05 9.99018418e-01 -6.38791417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939115933000004 meters 0.016887378703170426 Centerline is valid? [True, True] Translation: X:-33.93, Y:12.14, Z:0.00 [[ 7.42012573e-01 6.69198661e-01 -3.98809955e-02 -3.39308161e+01] [-6.68300738e-01 7.43082963e-01 3.46674882e-02 1.21400488e+01] [ 5.28343249e-02 9.28786598e-04 9.98602860e-01 2.91271014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.999115933 meters 0.016180081239513477 Centerline is valid? [True, True] Translation: X:-33.96, Y:12.18, Z:0.00 [[ 7.38794909e-01 6.72673483e-01 -4.11396159e-02 -3.39640633e+01] [-6.71711454e-01 7.39938697e-01 3.59784177e-02 1.21784681e+01] [ 5.46425214e-02 1.05327943e-03 9.98505426e-01 1.08548851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059115933 meters 0.015600472072943747 Centerline is valid? [True, True] Translation: X:-33.99, Y:12.22, Z:0.01 [[ 7.32359763e-01 6.79586046e-01 -4.25674087e-02 -3.39939048e+01] [-6.78554780e-01 7.33594363e-01 3.74529331e-02 1.22202459e+01] [ 5.66797018e-02 1.45529737e-03 9.98391353e-01 1.12419271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119115933 meters 0.013358161438879673 Centerline is valid? [True, True] Translation: X:-34.01, Y:12.27, Z:0.03 [[ 7.40354609e-01 6.71364804e-01 -3.38282810e-02 -3.40148853e+01] [-6.70697254e-01 7.41126861e-01 2.99360909e-02 1.22718235e+01] [ 4.51690855e-02 5.25212261e-04 9.98979218e-01 3.27837436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.179115933 meters 0.013003930193949539 Centerline is valid? [True, True] Translation: X:-34.05, Y:12.31, Z:0.03 [[ 7.37433808e-01 6.74694664e-01 -3.12808135e-02 -3.40484318e+01] [-6.74119946e-01 7.38096746e-01 2.78476457e-02 1.23100302e+01] [ 4.18769246e-02 5.51224918e-04 9.99122625e-01 2.98710957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239115933 meters 0.012752745390408009 Centerline is valid? [True, True] Translation: X:-34.08, Y:12.35, Z:0.04 [[ 7.45881209e-01 6.65613611e-01 -2.48946486e-02 -3.40774451e+01] [-6.65240376e-01 7.46296534e-01 2.22873175e-02 1.23523063e+01] [ 3.34135319e-02 -6.27659273e-05 9.99441610e-01 4.47147999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299115933 meters 0.013083317701761386 Centerline is valid? [True, True] Translation: X:-34.12, Y:12.38, Z:0.05 [[ 7.33920732e-01 6.78540056e-01 -3.07205295e-02 -3.41181003e+01] [-6.77975503e-01 7.34563223e-01 2.76783198e-02 1.23828907e+01] [ 4.13470198e-02 5.14073695e-04 9.99144714e-01 4.54899338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.359115933 meters 0.013486675204069083 Centerline is valid? [True, True] Translation: X:-34.16, Y:12.42, Z:0.05 [[ 7.34302683e-01 6.78153668e-01 -3.01193016e-02 -3.41567254e+01] [-6.77604051e-01 7.34920044e-01 2.72997876e-02 1.24155139e+01] [ 4.06487296e-02 3.62653473e-04 9.99173433e-01 4.65579211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419115933 meters 0.013706752339731494 Centerline is valid? [True, True] Translation: X:-34.20, Y:12.43, Z:-0.01 [[ 7.40327215e-01 6.71690717e-01 -2.73348722e-02 -3.42048504e+01] [-6.71227513e-01 7.40831672e-01 2.49411018e-02 1.24316927e+01] [ 3.70032457e-02 -1.16658089e-04 9.99315139e-01 -5.12538101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479115933 meters 0.015769802263235246 Centerline is valid? [True, True] Translation: X:-34.23, Y:12.48, Z:0.03 [[ 7.28207822e-01 6.84538857e-01 -3.34652295e-02 -3.42313914e+01] [-6.83849469e-01 7.28976191e-01 3.07183431e-02 1.24783935e+01] [ 4.54232551e-02 5.15841682e-04 9.98967698e-01 2.57813598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.539115933 meters 0.01279813568939221 Centerline is valid? [True, True] Translation: X:-34.26, Y:12.53, Z:0.05 [[ 7.35724207e-01 6.76841258e-01 -2.44090791e-02 -3.42553421e+01] [-6.76466394e-01 7.36129002e-01 2.25235513e-02 1.25259511e+01] [ 3.32130998e-02 -5.92002028e-05 9.99448291e-01 4.62510034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.599115933 meters 0.014241272500863652 Centerline is valid? [True, True] Translation: X:-34.31, Y:12.54, Z:0.01 [[ 7.26308699e-01 6.86731089e-01 -2.95987431e-02 -3.43101878e+01] [-6.86181600e-01 7.26911468e-01 2.74686968e-02 1.25403302e+01] [ 4.03792739e-02 3.59359511e-04 9.99184360e-01 1.01029718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659115933 meters 0.011924469768126073 Centerline is valid? [True, True] Translation: X:-34.39, Y:12.53, Z:-0.13 [[ 7.29155206e-01 6.83796403e-01 -2.74802603e-02 -3.43902768e+01] [-6.83315065e-01 7.29672854e-01 2.56524519e-02 1.25252612e+01] [ 3.75926543e-02 7.30570365e-05 9.99293144e-01 -1.26847987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.719115933 meters 0.012785320039420744 Centerline is valid? [True, True] Translation: X:-34.37, Y:12.63, Z:0.04 [[ 7.27756052e-01 6.85231324e-01 -2.87951589e-02 -3.43657980e+01] [-6.84697988e-01 7.28325498e-01 2.70302554e-02 1.26285802e+01] [ 3.94942261e-02 4.45554014e-05 9.99219798e-01 4.32761007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.779115933 meters 0.014476636250548213 Centerline is valid? [True, True] Translation: X:-34.42, Y:12.65, Z:0.01 [[ 7.22812046e-01 6.90354720e-01 -3.08724452e-02 -3.44159456e+01] [-6.89739979e-01 7.23471011e-01 2.91283028e-02 1.26488607e+01] [ 4.24441805e-02 2.39671499e-04 9.99098811e-01 6.78226737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839115933 meters 0.013193988625669065 Centerline is valid? [True, True] Translation: X:-34.45, Y:12.69, Z:0.01 [[ 7.27535325e-01 6.85473801e-01 -2.86010121e-02 -3.44508295e+01] [-6.84936364e-01 7.28097276e-01 2.71391516e-02 1.26850492e+01] [ 3.94274964e-02 -1.54818238e-04 9.99222422e-01 1.19259495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.899115933 meters 0.014146465092832124 Centerline is valid? [True, True] Translation: X:-34.48, Y:12.73, Z:0.03 [[ 7.29874739e-01 6.82981817e-01 -2.86129826e-02 -3.44800955e+01] [-6.82436186e-01 7.30435267e-01 2.72978461e-02 1.27281277e+01] [ 3.95438642e-02 -3.97473592e-04 9.99217756e-01 2.79619440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.959115933 meters 0.01415094951371305 Centerline is valid? [True, True] Translation: X:-34.58, Y:12.69, Z:-0.17 [[ 7.32512240e-01 6.80286854e-01 -2.52114023e-02 -3.45818116e+01] [-6.79856800e-01 7.32945740e-01 2.41924125e-02 1.26903284e+01] [ 3.49363701e-02 -5.81095009e-04 9.99389370e-01 -1.65533603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019115933 meters 0.015918920318576623 Centerline is valid? [True, True] Translation: X:-34.57, Y:12.78, Z:-0.04 [[ 7.14546851e-01 6.98841887e-01 -3.22926424e-02 -3.45703406e+01] [-6.98146454e-01 7.15276130e-01 3.11702784e-02 1.27779741e+01] [ 4.48812524e-02 2.72369506e-04 9.98992292e-01 -4.20348391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.079115933 meters 0.013646051585446932 Centerline is valid? [True, True] Translation: X:-34.66, Y:12.76, Z:-0.19 [[ 7.07779613e-01 7.05611858e-01 -3.40576725e-02 -3.46568739e+01] [-7.04836247e-01 7.08598303e-01 3.30803380e-02 1.27557536e+01] [ 4.74750877e-02 5.91493265e-04 9.98872247e-01 -1.94745954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.139115933 meters 0.01304078948102498 Centerline is valid? [True, True] Translation: X:-34.67, Y:12.82, Z:-0.14 [[ 6.96840148e-01 7.16216530e-01 -3.80485291e-02 -3.46650531e+01] [-7.15251440e-01 6.97876921e-01 3.71911323e-02 1.28192645e+01] [ 5.31900941e-02 1.29799106e-03 9.98583561e-01 -1.37041682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199115933 meters 0.01344354797755658 Centerline is valid? [True, True] Translation: X:-34.70, Y:12.85, Z:-0.15 [[ 6.85198828e-01 7.27180442e-01 -4.13662986e-02 -3.47027396e+01] [-7.26044751e-01 6.86442967e-01 4.06825795e-02 1.28514298e+01] [ 5.79791809e-02 2.15812822e-03 9.98315460e-01 -1.54454105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.259115933 meters 0.013306681794558137 Centerline is valid? [True, True] Translation: X:-34.74, Y:12.88, Z:-0.18 [[ 6.73105720e-01 7.38186826e-01 -4.48207458e-02 -3.47426084e+01] [-7.36859435e-01 6.74588900e-01 4.43620145e-02 1.28795689e+01] [ 6.29830323e-02 3.16626374e-03 9.98009575e-01 -1.77047451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.319115933 meters 0.014870586215405213 Centerline is valid? [True, True] Translation: X:-34.78, Y:12.91, Z:-0.19 [[ 6.71382534e-01 7.39842697e-01 -4.33390977e-02 -3.47787225e+01] [-7.38588297e-01 6.72773089e-01 4.31705802e-02 1.29122475e+01] [ 6.10968171e-02 3.02577684e-03 9.98127258e-01 -1.85970564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379115933 meters 0.014562652991239907 Centerline is valid? [True, True] Translation: X:-34.82, Y:12.94, Z:-0.20 [[ 6.65969785e-01 7.44675631e-01 -4.40732382e-02 -3.48203622e+01] [-7.43371157e-01 6.67418210e-01 4.41843541e-02 1.29391751e+01] [ 6.23182935e-02 3.33732927e-03 9.98050746e-01 -2.04933716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439115933000004 meters 0.014527869310391205 Centerline is valid? [True, True] Translation: X:-33.59, Y:14.11, Z:-1.80 [[ 7.98590701e-01 -6.01022815e-01 -3.20073076e-02 -3.35853066e+01] [-6.00464904e-01 -7.99230475e-01 2.59335023e-02 1.41086041e+01] [-4.11678422e-02 -1.49098893e-03 -9.99151133e-01 -1.79868254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.499115933 meters 0.0158664111425437 Centerline is valid? [True, True] Translation: X:-34.75, Y:12.86, Z:-0.18 [[ 7.22285075e-01 6.89710656e-01 -5.10243123e-02 -3.47485393e+01] [-6.88344377e-01 7.24075787e-01 4.35462178e-02 1.28589651e+01] [ 6.69797595e-02 3.66951526e-03 9.97747587e-01 -1.76093509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559115933 meters 0.017922886001629338 Centerline is valid? [True, True] Translation: X:-34.79, Y:12.88, Z:-0.20 [[ 7.16183168e-01 6.95890596e-01 -5.30843466e-02 -3.47914253e+01] [-6.94405755e-01 7.18135620e-01 4.56275952e-02 1.28795997e+01] [ 6.98735746e-02 4.18436015e-03 9.97547079e-01 -1.97284155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619115933 meters 0.014617846673138472 Centerline is valid? [True, True] Translation: X:-34.83, Y:12.91, Z:-0.20 [[ 7.14715045e-01 6.97496316e-01 -5.17812010e-02 -3.48314934e+01] [-6.96067337e-01 7.16577092e-01 4.48055190e-02 1.29083833e+01] [ 6.83569069e-02 4.02002409e-03 9.97652832e-01 -2.01766100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.679115933 meters 0.015515127801178029 Centerline is valid? [True, True] Translation: X:-34.87, Y:12.94, Z:-0.20 [[ 7.06417013e-01 7.05705905e-01 -5.43523660e-02 -3.48678456e+01] [-7.04129335e-01 7.08488663e-01 4.73887548e-02 1.29378089e+01] [ 7.19505592e-02 4.79487277e-03 9.97396674e-01 -1.99414420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739115933 meters 0.01500494449265858 Centerline is valid? [True, True] Translation: X:-34.91, Y:12.96, Z:-0.22 [[ 6.99221693e-01 7.12902484e-01 -5.34702902e-02 -3.49114456e+01] [-7.11372638e-01 7.01243925e-01 4.69673058e-02 1.29588890e+01] [ 7.09788252e-02 5.19674226e-03 9.97464285e-01 -2.22114384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799115933 meters 0.015750685387664175 Centerline is valid? [True, True] Translation: X:-34.95, Y:12.99, Z:-0.21 [[ 6.99950347e-01 7.12319724e-01 -5.16732234e-02 -3.49476446e+01] [-7.10868398e-01 7.01839057e-01 4.56952727e-02 1.29900710e+01] [ 6.88159305e-02 4.74843955e-03 9.97618073e-01 -2.10364800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.859115933 meters 0.01529656723022711 Centerline is valid? [True, True] Translation: X:-34.99, Y:13.02, Z:-0.22 [[ 6.96673112e-01 7.15414759e-01 -5.31817502e-02 -3.49892374e+01] [-7.13864866e-01 6.98682198e-01 4.73301130e-02 1.30160677e+01] [ 7.10178035e-02 4.99096590e-03 9.97462562e-01 -2.19440746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919115933 meters 0.014844069086249365 Centerline is valid? [True, True] Translation: X:-35.03, Y:13.04, Z:-0.24 [[ 6.92875947e-01 7.19064896e-01 -5.35592952e-02 -3.50340562e+01] [-7.17480365e-01 6.94923650e-01 4.79900722e-02 1.30364640e+01] [ 7.17275972e-02 5.17657595e-03 9.97410826e-01 -2.37292708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979115933 meters 0.016500785196939947 Centerline is valid? [True, True] Translation: X:-35.07, Y:13.07, Z:-0.23 [[ 6.85496618e-01 7.25735196e-01 -5.83336217e-02 -3.50717231e+01] [-7.23851629e-01 6.87946588e-01 5.26147348e-02 1.30673981e+01] [ 7.83147809e-02 6.15766426e-03 9.96909664e-01 -2.32470250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.039115933 meters 0.01535379512400938 Centerline is valid? [True, True] Translation: X:-35.11, Y:13.09, Z:-0.23 [[ 6.88418173e-01 7.23319219e-01 -5.37561670e-02 -3.51094327e+01] [-7.21685464e-01 6.90494532e-01 4.88609420e-02 1.30948519e+01] [ 7.24603978e-02 5.15828393e-03 9.97357951e-01 -2.32955930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.099115933 meters 0.014796418637325233 Centerline is valid? [True, True] Translation: X:-35.15, Y:13.12, Z:-0.23 [[ 6.83369368e-01 7.27965024e-01 -5.54367256e-02 -3.51484665e+01] [-7.26216771e-01 6.85591465e-01 5.07301071e-02 1.31241053e+01] [ 7.49366896e-02 5.59167860e-03 9.97172616e-01 -2.26263823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159115933 meters 0.014968230284842465 Centerline is valid? [True, True] Translation: X:-35.19, Y:13.15, Z:-0.23 [[ 6.76583034e-01 7.34057539e-01 -5.82660092e-02 -3.51888755e+01] [-7.32120595e-01 6.79057613e-01 5.36674341e-02 1.31519402e+01] [ 7.89609618e-02 6.34726993e-03 9.96857502e-01 -2.27452864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.219115933 meters 0.014895899268627654 Centerline is valid? [True, True] Translation: X:-35.22, Y:13.18, Z:-0.22 [[ 6.75542241e-01 7.35115294e-01 -5.69928510e-02 -3.52203659e+01] [-7.33220900e-01 6.77916133e-01 5.30738007e-02 1.31775670e+01] [ 7.76517358e-02 5.93475526e-03 9.96962881e-01 -2.23910994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.279115933 meters 0.018304804138669063 Centerline is valid? [True, True] Translation: X:-35.24, Y:13.23, Z:-0.16 [[ 6.68727059e-01 7.41238151e-01 -5.80527730e-02 -3.52399975e+01] [-7.39264096e-01 6.71210627e-01 5.44507976e-02 1.32283255e+01] [ 7.93266467e-02 6.50360910e-03 9.96827461e-01 -1.58664205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339115933 meters 0.018335400793114937 Centerline is valid? [True, True] Translation: X:-35.28, Y:13.25, Z:-0.16 [[ 6.64193372e-01 7.45263050e-01 -5.85674909e-02 -3.52786570e+01] [-7.43239974e-01 6.66735863e-01 5.52958364e-02 1.32547489e+01] [ 8.02589903e-02 6.80257243e-03 9.96750831e-01 -1.62184023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.399115933 meters 0.01872668752598736 Centerline is valid? [True, True] Translation: X:-35.31, Y:13.29, Z:-0.14 [[ 6.60957745e-01 7.47984088e-01 -6.04538168e-02 -3.53128745e+01] [-7.45808860e-01 6.63678492e-01 5.74456608e-02 1.32868308e+01] [ 8.30903382e-02 7.11783778e-03 9.96516599e-01 -1.37290747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.459115933 meters 0.02032310073858635 Centerline is valid? [True, True] Translation: X:-35.34, Y:13.32, Z:-0.10 [[ 6.54238654e-01 7.53570824e-01 -6.40530722e-02 -3.53436460e+01] [-7.51120344e-01 6.57317581e-01 6.12521450e-02 1.33239048e+01] [ 8.82610399e-02 8.03804472e-03 9.96064947e-01 -1.04024288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519115933 meters 0.01943335844562771 Centerline is valid? [True, True] Translation: X:-35.38, Y:13.35, Z:-0.11 [[ 6.55798355e-01 7.52359058e-01 -6.23246768e-02 -3.53835749e+01] [-7.49995526e-01 6.58712055e-01 6.00428157e-02 1.33496902e+01] [ 8.62277722e-02 7.36724900e-03 9.96248210e-01 -1.14293117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.579115933 meters 0.01959679631880841 Centerline is valid? [True, True] Translation: X:-35.42, Y:13.38, Z:-0.11 [[ 6.47705307e-01 7.58968461e-01 -6.66686637e-02 -3.54183929e+01] [-7.56258957e-01 6.51071254e-01 6.46421800e-02 1.33817754e+01] [ 9.24674263e-02 8.54969101e-03 9.95679003e-01 -1.05809146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.639115933 meters 0.01855445687732535 Centerline is valid? [True, True] Translation: X:-35.47, Y:13.40, Z:-0.13 [[ 6.56160046e-01 7.51790242e-01 -6.53102236e-02 -3.54686167e+01] [-7.49115983e-01 6.59364165e-01 6.37506196e-02 1.33974419e+01] [ 9.09903148e-02 7.09432283e-03 9.95826508e-01 -1.33771360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699115933 meters 0.019170841625785803 Centerline is valid? [True, True] Translation: X:-35.49, Y:13.44, Z:-0.09 [[ 6.49062983e-01 7.57843240e-01 -6.62636254e-02 -3.54902400e+01] [-7.55075406e-01 6.52390845e-01 6.51714455e-02 1.34437742e+01] [ 9.26195219e-02 7.73366102e-03 9.95671540e-01 -8.95775476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.759115933 meters 0.019343018868221134 Centerline is valid? [True, True] Translation: X:-35.53, Y:13.47, Z:-0.09 [[ 6.47417998e-01 7.59298077e-01 -6.56990484e-02 -3.55270505e+01] [-7.56538663e-01 6.50699206e-01 6.51137134e-02 1.34734578e+01] [ 9.21910360e-02 7.54808027e-03 9.95712729e-01 -9.28060388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.819115933 meters 0.01864774918952759 Centerline is valid? [True, True] Translation: X:-35.57, Y:13.49, Z:-0.13 [[ 6.53111138e-01 7.54803017e-01 -6.09774270e-02 -3.55724508e+01] [-7.52371856e-01 6.55922786e-01 6.08431500e-02 1.34939901e+01] [ 8.59210770e-02 6.14036103e-03 9.96283024e-01 -1.34527111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879115933 meters 0.018196351153485085 Centerline is valid? [True, True] Translation: X:-35.61, Y:13.52, Z:-0.15 [[ 6.58971368e-01 7.49934775e-01 -5.79186405e-02 -3.56121060e+01] [-7.47691291e-01 6.61493122e-01 5.81771655e-02 1.35212214e+01] [ 8.19418619e-02 4.96817678e-03 9.96624728e-01 -1.51142830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939115933000004 meters 0.014454087432394081 Centerline is valid? [True, True] Translation: X:-34.20, Y:14.84, Z:-1.78 [[ 7.91193750e-01 -6.10162065e-01 -4.14089915e-02 -3.41970729e+01] [-6.09216936e-01 -7.92274878e-01 3.39888502e-02 1.48403010e+01] [-5.35460108e-02 -1.66470687e-03 -9.98563996e-01 -1.78424385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.999115933 meters 0.01811215343686181 Centerline is valid? [True, True] Translation: X:-35.52, Y:13.41, Z:-0.15 [[ 7.10644679e-01 7.00637209e-01 -6.39659396e-02 -3.55163539e+01] [-6.98520743e-01 7.13494189e-01 5.47248819e-02 1.34080343e+01] [ 8.39816148e-02 5.79158958e-03 9.96450473e-01 -1.50184277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059115933 meters 0.018409108233189964 Centerline is valid? [True, True] Translation: X:-35.55, Y:13.44, Z:-0.14 [[ 7.05050890e-01 7.06248746e-01 -6.41556807e-02 -3.55526781e+01] [-7.04114901e-01 7.07936233e-01 5.52131946e-02 1.34394902e+01] [ 8.44123804e-02 6.24485876e-03 9.96411337e-01 -1.42992320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119115933 meters 0.017482532484859724 Centerline is valid? [True, True] Translation: X:-35.60, Y:13.45, Z:-0.19 [[ 7.18229309e-01 6.93611532e-01 -5.52241086e-02 -3.56012809e+01] [-6.91971229e-01 7.20338904e-01 4.78297096e-02 1.34549474e+01] [ 7.29553120e-02 3.86079502e-03 9.97327738e-01 -1.92511684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.179115933 meters 0.015800756313852027 Centerline is valid? [True, True] Translation: X:-35.65, Y:13.48, Z:-0.23 [[ 7.14365560e-01 6.97339675e-01 -5.83028628e-02 -3.56457840e+01] [-6.95497370e-01 7.16728283e-01 5.08328340e-02 1.34766733e+01] [ 7.72350627e-02 4.23626181e-03 9.97003911e-01 -2.31436436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239115933 meters 0.014895008018301324 Centerline is valid? [True, True] Translation: X:-35.69, Y:13.50, Z:-0.25 [[ 7.16193726e-01 6.95656484e-01 -5.59339121e-02 -3.56871134e+01] [-6.93931566e-01 7.18365304e-01 4.90945127e-02 1.35016620e+01] [ 7.43338979e-02 3.65312524e-03 9.97226718e-01 -2.50443785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299115933 meters 0.015634148675310346 Centerline is valid? [True, True] Translation: X:-35.72, Y:13.54, Z:-0.23 [[ 7.11574696e-01 7.00247242e-01 -5.75782185e-02 -3.57172411e+01] [-6.98408504e-01 7.13889126e-01 5.08711880e-02 1.35412273e+01] [ 7.67268732e-02 4.01446725e-03 9.97044067e-01 -2.27593851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.359115933 meters 0.014766045469444232 Centerline is valid? [True, True] Translation: X:-35.76, Y:13.57, Z:-0.25 [[ 7.16103568e-01 6.95841372e-01 -5.47765042e-02 -3.57579628e+01] [-6.94141018e-01 7.18188657e-01 4.87165225e-02 1.35682904e+01] [ 7.32388358e-02 3.13654277e-03 9.97309498e-01 -2.54671411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419115933 meters 0.014488465986564291 Centerline is valid? [True, True] Translation: X:-35.80, Y:13.60, Z:-0.28 [[ 7.12790120e-01 6.99204227e-01 -5.51696813e-02 -3.57976765e+01] [-6.97464466e-01 7.14914529e-01 4.94017671e-02 1.35955732e+01] [ 7.39835310e-02 3.26580083e-03 9.97254116e-01 -2.75978469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479115933 meters 0.014605123554514552 Centerline is valid? [True, True] Translation: X:-35.83, Y:13.63, Z:-0.27 [[ 7.11080340e-01 7.00988302e-01 -5.45907597e-02 -3.58320410e+01] [-6.99266276e-01 7.13165669e-01 4.92077681e-02 1.36305162e+01] [ 7.34263254e-02 3.18280076e-03 9.97295565e-01 -2.74505788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.539115933 meters 0.01669186071829402 Centerline is valid? [True, True] Translation: X:-35.86, Y:13.67, Z:-0.24 [[ 7.03262696e-01 7.08680510e-01 -5.65111852e-02 -3.58579453e+01] [-7.06833991e-01 7.05518840e-01 5.12725570e-02 1.36747533e+01] [ 7.62055676e-02 3.88594988e-03 9.97084556e-01 -2.43476844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.599115933 meters 0.014770961722596138 Centerline is valid? [True, True] Translation: X:-35.90, Y:13.70, Z:-0.28 [[ 6.99683357e-01 7.12012932e-01 -5.89981756e-02 -3.59009091e+01] [-7.09983861e-01 7.02153850e-01 5.38784517e-02 1.36986882e+01] [ 7.97879505e-02 4.18989650e-03 9.96803054e-01 -2.84198385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659115933 meters 0.014775692154907457 Centerline is valid? [True, True] Translation: X:-35.94, Y:13.73, Z:-0.30 [[ 6.99916691e-01 7.11974073e-01 -5.66528473e-02 -3.59377906e+01] [-7.10076944e-01 7.02195590e-01 5.20777002e-02 1.37293304e+01] [ 7.68593519e-02 3.77782911e-03 9.97034788e-01 -2.99186769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.719115933 meters 0.01598803411434974 Centerline is valid? [True, True] Translation: X:-35.96, Y:13.78, Z:-0.27 [[ 6.90897207e-01 7.20367995e-01 -6.10819241e-02 -3.59608882e+01] [-7.18163278e-01 6.93575346e-01 5.65220834e-02 1.37759380e+01] [ 8.30816165e-02 4.81584524e-03 9.96531110e-01 -2.66940274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.779115933 meters 0.016343527938129418 Centerline is valid? [True, True] Translation: X:-35.99, Y:13.81, Z:-0.27 [[ 6.81310457e-01 7.29304859e-01 -6.26935652e-02 -3.59927977e+01] [-7.26980329e-01 6.84164767e-01 5.84651428e-02 1.38102598e+01] [ 8.55316411e-02 5.74407551e-03 9.96318897e-01 -2.66361127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839115933 meters 0.016662822729780247 Centerline is valid? [True, True] Translation: X:-36.02, Y:13.85, Z:-0.27 [[ 6.77863399e-01 7.32531406e-01 -6.24415870e-02 -3.60225897e+01] [-7.30204655e-01 6.80708092e-01 5.86315264e-02 1.38477743e+01] [ 8.54539280e-02 5.85097169e-03 9.96324943e-01 -2.71763570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.899115933 meters 0.017549763565322823 Centerline is valid? [True, True] Translation: X:-36.04, Y:13.90, Z:-0.22 [[ 6.72219326e-01 7.37659682e-01 -6.30822614e-02 -3.60417837e+01] [-7.35271667e-01 6.75143403e-01 5.96402710e-02 1.38973916e+01] [ 8.65837959e-02 6.29125670e-03 9.96224707e-01 -2.23850825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.959115933 meters 0.018880238005873316 Centerline is valid? [True, True] Translation: X:-36.07, Y:13.93, Z:-0.23 [[ 6.66291526e-01 7.43041080e-01 -6.28136623e-02 -3.60740121e+01] [-7.40658440e-01 6.69212670e-01 5.98287415e-02 1.39315260e+01] [ 8.64909113e-02 6.66008564e-03 9.96230378e-01 -2.25993164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019115933 meters 0.015067857557047775 Centerline is valid? [True, True] Translation: X:-36.13, Y:13.94, Z:-0.33 [[ 6.74837632e-01 7.35540733e-01 -5.97829517e-02 -3.61346126e+01] [-7.33319430e-01 6.77461025e-01 5.73513173e-02 1.39355503e+01] [ 8.26848497e-02 5.13717291e-03 9.96562504e-01 -3.31734207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.079115933 meters 0.014600546336746347 Centerline is valid? [True, True] Translation: X:-36.17, Y:13.97, Z:-0.34 [[ 6.66583446e-01 7.42853255e-01 -6.19318329e-02 -3.61699152e+01] [-7.40463993e-01 6.69427614e-01 5.98309745e-02 1.39679519e+01] [ 8.59045132e-02 5.97595511e-03 9.96285452e-01 -3.43987310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.139115933 meters 0.01771313278917965 Centerline is valid? [True, True] Translation: X:-36.19, Y:14.02, Z:-0.29 [[ 6.61383750e-01 7.47662080e-01 -5.97741550e-02 -3.61859839e+01] [-7.45424160e-01 6.64051240e-01 5.81272016e-02 1.40208643e+01] [ 8.31526062e-02 6.11271266e-03 9.96518078e-01 -2.86455308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199115933 meters 0.017025171069074876 Centerline is valid? [True, True] Translation: X:-36.22, Y:14.05, Z:-0.31 [[ 6.51823040e-01 7.55902390e-01 -6.11416424e-02 -3.62206318e+01] [-7.53562285e-01 6.54646248e-01 5.98512497e-02 1.40536922e+01] [ 8.52678495e-02 7.06161218e-03 9.96333040e-01 -3.08560449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.259115933 meters 0.017283498093060734 Centerline is valid? [True, True] Translation: X:-36.25, Y:14.09, Z:-0.30 [[ 6.41739876e-01 7.64489624e-01 -6.10372515e-02 -3.62503761e+01] [-7.62160028e-01 6.44587455e-01 6.01589870e-02 1.40915766e+01] [ 8.53347680e-02 7.91373250e-03 9.96320907e-01 -3.01782271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.319115933 meters 0.015358853144690774 Centerline is valid? [True, True] Translation: X:-36.29, Y:14.12, Z:-0.33 [[ 6.42043382e-01 7.64468510e-01 -5.80361373e-02 -3.62894027e+01] [-7.62331550e-01 6.44620043e-01 5.75813145e-02 1.41192708e+01] [ 8.14303590e-02 7.27307660e-03 9.96652497e-01 -3.28375958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379115933 meters 0.016577413781103487 Centerline is valid? [True, True] Translation: X:-36.32, Y:14.16, Z:-0.33 [[ 6.33719151e-01 7.71355492e-01 -5.84015637e-02 -3.63196574e+01] [-7.69183321e-01 6.36355224e-01 5.83870556e-02 1.41550968e+01] [ 8.22013161e-02 7.92051340e-03 9.96584271e-01 -3.25892584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439115933000004 meters 0.013847578427419505 Centerline is valid? [True, True] Translation: X:-34.93, Y:15.48, Z:-1.68 [[ 8.11030089e-01 -5.83429227e-01 -4.29014323e-02 -3.49257394e+01] [-5.82381826e-01 -8.12156455e-01 3.51183884e-02 1.54751634e+01] [-5.53317694e-02 -3.49705517e-03 -9.98461900e-01 -1.67784426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.499115933 meters 0.01702103634586802 Centerline is valid? [True, True] Translation: X:-36.24, Y:14.04, Z:-0.33 [[ 7.01860476e-01 7.09656491e-01 -6.14779419e-02 -3.62368707e+01] [-7.07752262e-01 7.04515587e-01 5.23882103e-02 1.40387955e+01] [ 8.04898017e-02 6.74193818e-03 9.96732631e-01 -3.32941379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559115933 meters 0.014400607324771516 Centerline is valid? [True, True] Translation: X:-36.29, Y:14.05, Z:-0.38 [[ 7.10224544e-01 7.01441980e-01 -5.96677920e-02 -3.62882481e+01] [-6.99593806e-01 7.12706102e-01 5.11714655e-02 1.40520999e+01] [ 7.84194136e-02 5.39998690e-03 9.96905831e-01 -3.82584600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619115933 meters 0.014305267930855863 Centerline is valid? [True, True] Translation: X:-36.32, Y:14.08, Z:-0.38 [[ 7.10785345e-01 7.01056689e-01 -5.74779259e-02 -3.63229972e+01] [-6.99314393e-01 7.13088622e-01 4.96386615e-02 1.40842702e+01] [ 7.57863707e-02 4.91270771e-03 9.97111975e-01 -3.76927952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.679115933 meters 0.014263762563801448 Centerline is valid? [True, True] Translation: X:-36.36, Y:14.11, Z:-0.39 [[ 7.10324929e-01 7.01548934e-01 -5.71628190e-02 -3.63602877e+01] [-6.99802401e-01 7.12605765e-01 4.96953066e-02 1.41146251e+01] [ 7.55982437e-02 4.70286289e-03 9.97127268e-01 -3.89736345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739115933 meters 0.01422804795782076 Centerline is valid? [True, True] Translation: X:-36.40, Y:14.15, Z:-0.39 [[ 6.92739392e-01 7.18508037e-01 -6.21154969e-02 -3.63959860e+01] [-7.16480575e-01 6.95485023e-01 5.43706575e-02 1.41476862e+01] [ 8.22661522e-02 6.83985075e-03 9.96586924e-01 -3.90351176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799115933 meters 0.013032280228477576 Centerline is valid? [True, True] Translation: X:-36.43, Y:14.18, Z:-0.39 [[ 6.91206089e-01 7.20592917e-01 -5.45892906e-02 -3.64339175e+01] [-7.19010217e-01 6.93332445e-01 4.81085053e-02 1.41778175e+01] [ 7.25151746e-02 5.99736585e-03 9.97349277e-01 -3.91176650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.859115933 meters 0.013460809081136674 Centerline is valid? [True, True] Translation: X:-36.47, Y:14.21, Z:-0.40 [[ 6.85829426e-01 7.25628854e-01 -5.56845192e-02 -3.64723819e+01] [-7.23973392e-01 6.88056272e-01 4.94074305e-02 1.42066765e+01] [ 7.41655398e-02 6.42904057e-03 9.97225220e-01 -3.96867294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919115933 meters 0.014170720643503434 Centerline is valid? [True, True] Translation: X:-36.51, Y:14.24, Z:-0.39 [[ 6.85088123e-01 7.26526834e-01 -5.30379439e-02 -3.65071786e+01] [-7.25005163e-01 6.87111945e-01 4.73781396e-02 1.42387212e+01] [ 7.08644945e-02 5.99458243e-03 9.97467939e-01 -3.91943791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979115933 meters 0.014240872137730266 Centerline is valid? [True, True] Translation: X:-36.54, Y:14.27, Z:-0.40 [[ 6.84243203e-01 7.27199021e-01 -5.47066991e-02 -3.65428698e+01] [-7.25557882e-01 6.86400201e-01 4.91988141e-02 1.42704948e+01] [ 7.33280187e-02 6.02892264e-03 9.97289654e-01 -3.97020090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.039115933 meters 0.013681749514696796 Centerline is valid? [True, True] Translation: X:-36.58, Y:14.30, Z:-0.39 [[ 6.93989634e-01 7.17974869e-01 -5.37631431e-02 -3.65787972e+01] [-7.16338176e-01 6.96052966e-01 4.86814723e-02 1.43026799e+01] [ 7.23740689e-02 4.72815470e-03 9.97366351e-01 -3.85795179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.099115933 meters 0.015104805199292679 Centerline is valid? [True, True] Translation: X:-36.61, Y:14.34, Z:-0.38 [[ 6.95385745e-01 7.17158176e-01 -4.60740366e-02 -3.66080837e+01] [-7.15937428e-01 6.96900170e-01 4.19970504e-02 1.43410222e+01] [ 6.22275320e-02 3.78197710e-03 9.98054824e-01 -3.75880472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159115933 meters 0.01638945304208132 Centerline is valid? [True, True] Translation: X:-36.64, Y:14.38, Z:-0.37 [[ 6.99008751e-01 7.14160977e-01 -3.68898948e-02 -3.66388057e+01] [-7.13363692e-01 6.99976442e-01 3.38411578e-02 1.43783812e+01] [ 4.99900916e-02 2.66064612e-03 9.98746170e-01 -3.68119759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.219115933 meters 0.016584501609461826 Centerline is valid? [True, True] Translation: X:-36.67, Y:14.42, Z:-0.35 [[ 6.98246259e-01 7.15146275e-01 -3.19056165e-02 -3.66673860e+01] [-7.14542982e-01 6.98971261e-01 2.94534154e-02 1.44188828e+01] [ 4.33646093e-02 2.23219727e-03 9.99056819e-01 -3.53634709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.279115933 meters 0.01626502751561841 Centerline is valid? [True, True] Translation: X:-36.69, Y:14.46, Z:-0.33 [[ 7.02622582e-01 7.11195804e-01 -2.28480990e-02 -3.66926886e+01] [-7.10880591e-01 7.02992704e-01 2.12142391e-02 1.44635838e+01] [ 3.11495247e-02 1.33666672e-03 9.99513842e-01 -3.28595684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339115933 meters 0.017139412758660415 Centerline is valid? [True, True] Translation: X:-36.72, Y:14.50, Z:-0.31 [[ 7.04186573e-01 7.09743472e-01 -1.96334974e-02 -3.67209985e+01] [-7.09507039e-01 7.04459496e-01 1.83461180e-02 1.45028955e+01] [ 2.68520412e-02 1.01101460e-03 9.99638908e-01 -3.13847825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.399115933 meters 0.01649902005447864 Centerline is valid? [True, True] Translation: X:-36.75, Y:14.54, Z:-0.31 [[ 7.08587439e-01 7.05512811e-01 -1.24705905e-02 -3.67546292e+01] [-7.05415760e-01 7.08696992e-01 1.17123525e-02 1.45383128e+01] [ 1.71010847e-02 4.97725270e-04 9.99853642e-01 -3.10788769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.459115933 meters 0.015672589579143255 Centerline is valid? [True, True] Translation: X:-36.78, Y:14.58, Z:-0.29 [[ 7.20293435e-01 6.93668064e-01 -1.40888887e-03 -3.67842367e+01] [-6.93666880e-01 7.20294811e-01 1.28270168e-03 1.45792852e+01] [ 1.90458453e-03 5.33779519e-05 9.99998185e-01 -2.88932870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519115933 meters 0.015599857959597998 Centerline is valid? [True, True] Translation: X:-36.82, Y:14.61, Z:-0.30 [[ 7.19784358e-01 6.94197720e-01 6.25800078e-05 -3.68172691e+01] [-6.94197707e-01 7.19784358e-01 -1.47848274e-04 1.46087006e+01] [-1.47680046e-04 6.29759772e-05 9.99999987e-01 -2.98590000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.579115933 meters 0.015609467970297077 Centerline is valid? [True, True] Translation: X:-36.86, Y:14.64, Z:-0.31 [[ 7.21027595e-01 6.92898544e-01 3.28857079e-03 -3.68564581e+01] [-6.92891005e-01 7.21035092e-01 -3.23284258e-03 1.46385864e+01] [-4.61120686e-03 5.23475935e-05 9.99989367e-01 -3.12726377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.639115933 meters 0.01630076248279645 Centerline is valid? [True, True] Translation: X:-36.89, Y:14.67, Z:-0.31 [[ 7.25999092e-01 6.87633749e-01 9.22745159e-03 -3.68919179e+01] [-6.87574530e-01 7.26057700e-01 -9.02670518e-03 1.46728792e+01] [-1.29067294e-02 2.08819069e-04 9.99916683e-01 -3.12834530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699115933 meters 0.01640968504680722 Centerline is valid? [True, True] Translation: X:-36.93, Y:14.70, Z:-0.32 [[ 7.29584394e-01 6.83845068e-01 7.90786368e-03 -3.69304713e+01] [-6.83800699e-01 7.29627196e-01 -7.79478336e-03 1.47038517e+01] [-1.11002166e-02 2.79549581e-04 9.99938352e-01 -3.22463985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.759115933 meters 0.01586773350886261 Centerline is valid? [True, True] Translation: X:-36.97, Y:14.74, Z:-0.32 [[ 7.28144008e-01 6.85377427e-01 8.00537443e-03 -3.69667007e+01] [-6.85331538e-01 7.28187955e-01 -7.93636617e-03 1.47377183e+01] [-1.12688235e-02 2.92481904e-04 9.99936462e-01 -3.15212790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.819115933 meters 0.018220305612650502 Centerline is valid? [True, True] Translation: X:-36.99, Y:14.79, Z:-0.27 [[ 7.23829678e-01 6.89941669e-01 7.14780837e-03 -3.69896429e+01] [-6.89904758e-01 7.23864931e-01 -7.14054790e-03 1.47857131e+01] [-1.01006093e-02 2.37233486e-04 9.99948959e-01 -2.69499797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879115933 meters 0.020182797947614285 Centerline is valid? [True, True] Translation: X:-37.00, Y:14.85, Z:-0.19 [[ 7.17097025e-01 6.96940985e-01 6.71721912e-03 -3.69985796e+01] [-6.96908256e-01 7.17128466e-01 -6.75618240e-03 1.48479939e+01] [-9.52576946e-03 1.63552841e-04 9.99954615e-01 -1.87873011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939115933000004 meters 0.01606498800751743 Centerline is valid? [True, True] Translation: X:-37.09, Y:14.83, Z:-0.35 [[ 7.05932064e-01 7.08279250e-01 6.51019363e-04 -3.70858516e+01] [-7.08278896e-01 7.05932363e-01 -7.09637729e-04 1.48273419e+01] [-9.62197317e-04 3.98527512e-05 9.99999536e-01 -3.51030223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.999115933 meters 0.019932302239212784 Centerline is valid? [True, True] Translation: X:-35.74, Y:16.14, Z:-1.83 [[ 7.74796855e-01 -6.32182398e-01 5.93714698e-03 -3.57399529e+01] [-6.32151386e-01 -7.74818697e-01 -6.37275368e-03 1.61440762e+01] [ 8.62895519e-03 1.18441381e-03 -9.99962068e-01 -1.82762566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059115933 meters 0.02040506969670152 Centerline is valid? [True, True] Translation: X:-37.00, Y:14.78, Z:-0.22 [[ 7.40834894e-01 6.71404206e-01 -1.94949224e-02 -3.69993941e+01] [-6.71198712e-01 7.41090956e-01 1.66278100e-02 1.47830054e+01] [ 2.56114922e-02 7.66505001e-04 9.99671678e-01 -2.22840861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119115933 meters 0.016173924829584643 Centerline is valid? [True, True] Translation: X:-37.07, Y:14.78, Z:-0.33 [[ 7.42996701e-01 6.68926717e-01 -2.22024663e-02 -3.70683304e+01] [-6.68656373e-01 7.43328021e-01 1.90291545e-02 1.47760806e+01] [ 2.92328252e-02 7.07221568e-04 9.99572379e-01 -3.32431076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.179115933 meters 0.019596761891952596 Centerline is valid? [True, True] Translation: X:-37.07, Y:14.86, Z:-0.19 [[ 7.32095116e-01 6.80502223e-01 -3.08782391e-02 -3.70670476e+01] [-6.79981641e-01 7.32744515e-01 2.66541547e-02 1.48569950e+01] [ 4.07640719e-02 1.48325916e-03 9.99167699e-01 -1.91306428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239115933 meters 0.0167972679246462 Centerline is valid? [True, True] Translation: X:-37.12, Y:14.87, Z:-0.24 [[ 7.41092622e-01 6.70638969e-01 -3.20171649e-02 -3.71207978e+01] [-6.70062323e-01 7.41783440e-01 2.78174773e-02 1.48690060e+01] [ 4.24052870e-02 8.38168689e-04 9.99100140e-01 -2.43033789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299115933 meters 0.011555375501006632 Centerline is valid? [True, True] Translation: X:-37.18, Y:14.88, Z:-0.31 [[ 7.52260668e-01 6.58149348e-01 -3.07135601e-02 -3.71782802e+01] [-6.57600638e-01 7.52887399e-01 2.68694048e-02 1.48754218e+01] [ 4.08079337e-02 -1.55396722e-05 9.99167009e-01 -3.13182929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.359115933 meters 0.012129528641101376 Centerline is valid? [True, True] Translation: X:-37.21, Y:14.91, Z:-0.30 [[ 7.59057519e-01 6.50368306e-01 -2.92018739e-02 -3.72120555e+01] [-6.49859894e-01 7.59618833e-01 2.57166738e-02 1.49129595e+01] [ 3.89076030e-02 -5.43307901e-04 9.99242665e-01 -2.95317100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419115933 meters 0.013198558842047335 Centerline is valid? [True, True] Translation: X:-37.25, Y:14.95, Z:-0.27 [[ 7.63660013e-01 6.45129880e-01 -2.51161677e-02 -3.72470487e+01] [-6.44746385e-01 7.64072506e-01 2.22554238e-02 1.49496228e+01] [ 3.35482121e-02 -8.02018926e-04 9.99436779e-01 -2.73098379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479115933 meters 0.01640310829007376 Centerline is valid? [True, True] Translation: X:-37.25, Y:15.03, Z:-0.15 [[ 7.64406700e-01 6.44261888e-01 -2.46782675e-02 -3.72465180e+01] [-6.43886708e-01 7.64804391e-01 2.20034280e-02 1.50289415e+01] [ 3.30500174e-02 -9.29559352e-04 9.99453267e-01 -1.45760744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.539115933 meters 0.01652738212474238 Centerline is valid? [True, True] Translation: X:-37.30, Y:15.04, Z:-0.20 [[ 7.63498112e-01 6.45279876e-01 -2.61632151e-02 -3.73021563e+01] [-6.44853534e-01 7.63945530e-01 2.34765098e-02 1.50405981e+01] [ 3.51361906e-02 -1.05282918e-03 9.99381979e-01 -2.01806572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.599115933 meters 0.013703415389280282 Centerline is valid? [True, True] Translation: X:-37.37, Y:15.04, Z:-0.30 [[ 7.62316146e-01 6.46658784e-01 -2.65802692e-02 -3.73706794e+01] [-6.46214063e-01 7.62778576e-01 2.40047586e-02 1.50369940e+01] [ 3.57977479e-02 -1.12267130e-03 9.99358425e-01 -2.98290366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659115933 meters 0.015253042503665468 Centerline is valid? [True, True] Translation: X:-37.39, Y:15.09, Z:-0.24 [[ 7.58631950e-01 6.50963120e-01 -2.69180296e-02 -3.73887749e+01] [-6.50503798e-01 7.59108624e-01 2.44725756e-02 1.50915592e+01] [ 3.63644526e-02 -1.05539729e-03 9.99338037e-01 -2.41386248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.719115933 meters 0.01283202694835759 Centerline is valid? [True, True] Translation: X:-37.45, Y:15.10, Z:-0.30 [[ 7.55053654e-01 6.55040282e-01 -2.85693624e-02 -3.74477251e+01] [-6.54519097e-01 7.55593239e-01 2.61459321e-02 1.51005942e+01] [ 3.87134558e-02 -1.04238826e-03 9.99249809e-01 -3.03687834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.779115933 meters 0.013632674220629791 Centerline is valid? [True, True] Translation: X:-37.48, Y:15.14, Z:-0.30 [[ 7.47795449e-01 6.63308358e-01 -2.87052017e-02 -3.74819176e+01] [-6.62781636e-01 7.48345820e-01 2.64392998e-02 1.51366118e+01] [ 3.90188262e-02 -7.45907538e-04 9.99238197e-01 -3.03572086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839115933 meters 0.017631089315056362 Centerline is valid? [True, True] Translation: X:-37.47, Y:15.22, Z:-0.16 [[ 7.40592269e-01 6.71367412e-01 -2.80871658e-02 -3.74745818e+01] [-6.70862543e-01 7.41124554e-01 2.60354092e-02 1.52209871e+01] [ 3.82954136e-02 -4.38995279e-04 9.99266365e-01 -1.59271950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.899115933 meters 0.013676697822528922 Centerline is valid? [True, True] Translation: X:-37.55, Y:15.21, Z:-0.30 [[ 7.33097266e-01 6.79387997e-01 -3.16282651e-02 -3.75473331e+01] [-6.78746504e-01 7.33779204e-01 2.95171867e-02 1.52130737e+01] [ 4.32617856e-02 -1.71394547e-04 9.99063756e-01 -2.95675832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.959115933 meters 0.017777725782826322 Centerline is valid? [True, True] Translation: X:-37.55, Y:15.28, Z:-0.18 [[ 7.26988557e-01 6.86002894e-01 -2.97937406e-02 -3.75498906e+01] [-6.85432093e-01 7.27598806e-01 2.79789672e-02 1.52848988e+01] [ 4.08715426e-02 8.11970263e-05 9.99164406e-01 -1.78430668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019115933 meters 0.01897536737006282 Centerline is valid? [True, True] Translation: X:-37.56, Y:15.35, Z:-0.10 [[ 7.08296679e-01 7.05028480e-01 -3.53646414e-02 -3.75590272e+01] [-7.04235882e-01 7.09177948e-01 3.34434124e-02 1.53464929e+01] [ 4.86583820e-02 1.21719153e-03 9.98814738e-01 -9.75455885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.079115933 meters 0.0176017491717387 Centerline is valid? [True, True] Translation: X:-37.61, Y:15.36, Z:-0.16 [[ 7.15538311e-01 6.97982051e-01 -2.87398858e-02 -3.76115077e+01] [-6.97446212e-01 7.16115096e-01 2.73486991e-02 1.53616329e+01] [ 3.96699671e-02 4.75482478e-04 9.99212724e-01 -1.61076352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.139115933 meters 0.016699788666166407 Centerline is valid? [True, True] Translation: X:-37.66, Y:15.38, Z:-0.21 [[ 7.20883968e-01 6.92535689e-01 -2.68444631e-02 -3.76585451e+01] [-6.92058123e-01 7.21383614e-01 2.57145122e-02 1.53820645e+01] [ 3.71733732e-02 4.07490971e-05 9.99308830e-01 -2.09331226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199115933 meters 0.01744286832941394 Centerline is valid? [True, True] Translation: X:-37.68, Y:15.44, Z:-0.15 [[ 7.14269245e-01 6.99334995e-01 -2.73863366e-02 -3.76752168e+01] [-6.98836328e-01 7.14794018e-01 2.64063995e-02 1.54377154e+01] [ 3.80425088e-02 2.77287847e-04 9.99276083e-01 -1.51303036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.259115933 meters 0.01679215371402298 Centerline is valid? [True, True] Translation: X:-37.72, Y:15.46, Z:-0.19 [[ 7.09269868e-01 7.04306540e-01 -2.98085768e-02 -3.77238718e+01] [-7.03712126e-01 7.09895831e-01 2.89336117e-02 1.54571718e+01] [ 4.15391164e-02 4.54917944e-04 9.99136775e-01 -1.92132135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.319115933 meters 0.018124301864858593 Centerline is valid? [True, True] Translation: X:-37.74, Y:15.51, Z:-0.13 [[ 7.00758313e-01 7.12731685e-01 -3.08436769e-02 -3.77400716e+01] [-7.12094689e-01 7.01436265e-01 3.01383620e-02 1.55115561e+01] [ 4.31154390e-02 8.43910757e-04 9.99069741e-01 -1.32441942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379115933 meters 0.018734840072754638 Centerline is valid? [True, True] Translation: X:-37.75, Y:15.57, Z:-0.05 [[ 6.96011851e-01 7.17278687e-01 -3.28449316e-02 -3.77523846e+01] [-7.16551695e-01 6.96785605e-01 3.23030729e-02 1.55714710e+01] [ 4.60561813e-02 1.05176985e-03 9.98938297e-01 -4.83797434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.439115933 meters 0.01853068617331492 Centerline is valid? [True, True] Translation: X:-37.80, Y:15.59, Z:-0.08 [[ 6.91345382e-01 7.21786687e-01 -3.26426352e-02 -3.77993335e+01] [-7.21064189e-01 6.92114541e-01 3.23094062e-02 1.55928369e+01] [ 4.59129417e-02 1.20047648e-03 9.98944724e-01 -7.77308007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.499115933 meters 0.019004131237657075 Centerline is valid? [True, True] Translation: X:-37.84, Y:15.62, Z:-0.08 [[ 6.83763959e-01 7.28808915e-01 -3.61166828e-02 -3.78373385e+01] [-7.27922139e-01 6.84715063e-01 3.59811343e-02 1.56241859e+01] [ 5.09530082e-02 1.68753012e-03 9.98699626e-01 -7.82402858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559115933 meters 0.0185388212922326 Centerline is valid? [True, True] Translation: X:-37.87, Y:15.66, Z:-0.07 [[ 6.80093699e-01 7.32177490e-01 -3.72650429e-02 -3.78699451e+01] [-7.31225730e-01 6.81111407e-01 3.73655404e-02 1.56609690e+01] [ 5.27398534e-02 1.83708961e-03 9.98606596e-01 -6.67171607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619115933 meters 0.01723549129218311 Centerline is valid? [True, True] Translation: X:-36.58, Y:16.84, Z:-1.98 [[ 7.76307994e-01 -6.30132798e-01 -1.66899604e-02 -3.65772927e+01] [-6.30000897e-01 -7.76487223e-01 1.29020067e-02 1.68430995e+01] [-2.10895186e-02 4.98759098e-04 -9.99777467e-01 -1.97572450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.679115933 meters 0.01930480711364364 Centerline is valid? [True, True] Translation: X:-37.78, Y:15.55, Z:-0.05 [[ 7.45944060e-01 6.65232083e-01 -3.21517554e-02 -3.77800240e+01] [-6.64666995e-01 7.46636088e-01 2.74287629e-02 1.55538421e+01] [ 4.22521540e-02 9.09887895e-04 9.99106565e-01 -4.63984503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739115933 meters 0.019165432932257528 Centerline is valid? [True, True] Translation: X:-37.81, Y:15.60, Z:0.00 [[ 7.56767601e-01 6.53161285e-01 -2.61368386e-02 -3.78079850e+01] [-6.52776931e-01 7.57218809e-01 2.24043311e-02 1.55994233e+01] [ 3.44249475e-02 1.06653397e-04 9.99407280e-01 1.15862712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799115933 meters 0.018863906825353022 Centerline is valid? [True, True] Translation: X:-37.86, Y:15.61, Z:-0.06 [[ 7.51816363e-01 6.58747096e-01 -2.87127124e-02 -3.78628595e+01] [-6.58281076e-01 7.52364399e-01 2.47757348e-02 1.56103750e+01] [ 3.79233659e-02 2.74232409e-04 9.99280613e-01 -5.78404736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.859115933 meters 0.019760466861858946 Centerline is valid? [True, True] Translation: X:-37.90, Y:15.64, Z:-0.05 [[ 7.38714005e-01 6.73309058e-01 -3.09278556e-02 -3.79012012e+01] [-6.72773776e-01 7.39360521e-01 2.68601252e-02 1.56423259e+01] [ 4.09520011e-02 9.65499523e-04 9.99160648e-01 -4.52755325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919115933 meters 0.018754851154137765 Centerline is valid? [True, True] Translation: X:-37.96, Y:15.65, Z:-0.15 [[ 7.36228607e-01 6.75848799e-01 -3.45808911e-02 -3.79616224e+01] [-6.75173375e-01 7.37039486e-01 3.02276259e-02 1.56468087e+01] [ 4.59167868e-02 1.09365404e-03 9.98944669e-01 -1.50600615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979115933 meters 0.01988374650915704 Centerline is valid? [True, True] Translation: X:-37.98, Y:15.70, Z:-0.08 [[ 7.22883682e-01 6.89713752e-01 -4.16427974e-02 -3.79838659e+01] [-6.88743109e-01 7.24078819e-01 3.66441432e-02 1.56975456e+01] [ 5.54266371e-02 2.19173660e-03 9.98460357e-01 -7.68111465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.039115933 meters 0.017755758506797004 Centerline is valid? [True, True] Translation: X:-38.04, Y:15.71, Z:-0.17 [[ 7.23080167e-01 6.89623176e-01 -3.96856202e-02 -3.80407990e+01] [-6.88729702e-01 7.24165859e-01 3.51455151e-02 1.57050108e+01] [ 5.29761329e-02 1.91964046e-03 9.98593934e-01 -1.71106103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.099115933 meters 0.02009410218483108 Centerline is valid? [True, True] Translation: X:-38.05, Y:15.77, Z:-0.05 [[ 6.92475342e-01 7.19573442e-01 -5.18841318e-02 -3.80464049e+01] [-7.18103990e-01 6.94396689e-01 4.62590284e-02 1.57749966e+01] [ 6.93149376e-02 5.22496553e-03 9.97581144e-01 -4.75185138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159115933 meters 0.018653179582760755 Centerline is valid? [True, True] Translation: X:-38.09, Y:15.79, Z:-0.09 [[ 6.91142994e-01 7.20788596e-01 -5.27746349e-02 -3.80935533e+01] [-7.19250737e-01 6.93135207e-01 4.73493643e-02 1.57937207e+01] [ 7.07088393e-02 5.23301369e-03 9.97483271e-01 -8.92155731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.219115933 meters 0.01781589002857798 Centerline is valid? [True, True] Translation: X:-38.13, Y:15.81, Z:-0.11 [[ 6.94632872e-01 7.17670243e-01 -4.93416203e-02 -3.81316176e+01] [-7.16290173e-01 6.96369838e-01 4.46926892e-02 1.58144720e+01] [ 6.64346292e-02 4.29790666e-03 9.97781523e-01 -1.10942385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.279115933 meters 0.01658894552512885 Centerline is valid? [True, True] Translation: X:-38.18, Y:15.83, Z:-0.17 [[ 6.99184521e-01 7.13294931e-01 -4.84906987e-02 -3.81781498e+01] [-7.11930298e-01 7.00854825e-01 4.42466259e-02 1.58344426e+01] [ 6.55458341e-02 3.58544168e-03 9.97843118e-01 -1.65761437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339115933 meters 0.01596796506769193 Centerline is valid? [True, True] Translation: X:-38.21, Y:15.87, Z:-0.16 [[ 6.93558126e-01 7.18807003e-01 -4.78917463e-02 -3.82097555e+01] [-7.17470071e-01 6.95199004e-01 4.39891023e-02 1.58711676e+01] [ 6.49139691e-02 3.85189531e-03 9.97883430e-01 -1.57026371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.399115933 meters 0.01810387482558712 Centerline is valid? [True, True] Translation: X:-38.21, Y:15.95, Z:-0.03 [[ 6.69937761e-01 7.40261176e-01 -5.65401451e-02 -3.82062423e+01] [-7.38444313e-01 6.72285674e-01 5.22682442e-02 1.59496189e+01] [ 7.67032815e-02 6.73527809e-03 9.97031214e-01 -2.58037725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.459115933 meters 0.016097483166499168 Centerline is valid? [True, True] Translation: X:-38.26, Y:15.96, Z:-0.08 [[ 6.79169634e-01 7.32125694e-01 -5.21591324e-02 -3.82568731e+01] [-7.30534510e-01 6.81150070e-01 4.85171363e-02 1.59641791e+01] [ 7.10488388e-02 5.15268045e-03 9.97459529e-01 -8.48529436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519115933 meters 0.01640443544777184 Centerline is valid? [True, True] Translation: X:-38.28, Y:16.01, Z:-0.04 [[ 6.78502053e-01 7.32774116e-01 -5.17402979e-02 -3.82795467e+01] [-7.31189210e-01 6.80453775e-01 4.84251821e-02 1.60105504e+01] [ 7.06916011e-02 4.97536210e-03 9.97485811e-01 -4.35133414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.579115933 meters 0.015467227515200875 Centerline is valid? [True, True] Translation: X:-38.30, Y:16.06, Z:-0.01 [[ 6.88008506e-01 7.24280280e-01 -4.54133343e-02 -3.83039492e+01] [-7.23024706e-01 6.89497231e-01 4.27649693e-02 1.60563720e+01] [ 6.22861922e-02 3.41230001e-03 9.98052497e-01 -1.24670561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.639115933 meters 0.014723595047593309 Centerline is valid? [True, True] Translation: X:-38.34, Y:16.09, Z:-0.01 [[ 6.83905784e-01 7.28257063e-01 -4.37553201e-02 -3.83381028e+01] [-7.27084263e-01 6.85295321e-01 4.14583749e-02 1.60915439e+01] [ 6.01776705e-02 3.46018230e-03 9.98181684e-01 -9.03883345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699115933 meters 0.014665162843114232 Centerline is valid? [True, True] Translation: X:-38.35, Y:16.14, Z:0.03 [[ 6.91194510e-01 7.21649522e-01 -3.83681604e-02 -3.83546189e+01] [-7.20725557e-01 6.92254552e-01 3.65828879e-02 1.61444607e+01] [ 5.29605573e-02 2.36702246e-03 9.98593800e-01 3.39719447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.759115933 meters 0.014598849172310963 Centerline is valid? [True, True] Translation: X:-38.40, Y:16.17, Z:0.02 [[ 6.87198918e-01 7.25562859e-01 -3.62792536e-02 -3.83972409e+01] [-7.24731482e-01 6.88151798e-01 3.48049054e-02 1.61705598e+01] [ 5.02187803e-02 2.37482385e-03 9.98735418e-01 2.12887394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.819115933 meters 0.014315927301545104 Centerline is valid? [True, True] Translation: X:-38.43, Y:16.21, Z:0.01 [[ 6.78986100e-01 7.33102222e-01 -3.92301923e-02 -3.84316775e+01] [-7.32129427e-01 6.80111827e-01 3.78735548e-02 1.62053039e+01] [ 5.44461049e-02 3.00596096e-03 9.98512186e-01 8.69666599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879115933 meters 0.013850681479594692 Centerline is valid? [True, True] Translation: X:-38.47, Y:16.24, Z:0.01 [[ 6.81315126e-01 7.31004463e-01 -3.79759548e-02 -3.84694014e+01] [-7.30077923e-01 6.82367745e-01 3.68847756e-02 1.62360190e+01] [ 5.28765023e-02 2.59525067e-03 9.98597687e-01 9.18271982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.939115933 meters 0.01425968226845168 Centerline is valid? [True, True] Translation: X:-38.51, Y:16.26, Z:-0.01 [[ 6.77472402e-01 7.34629190e-01 -3.67572843e-02 -3.85134275e+01] [-7.33755020e-01 6.78463720e-01 3.59242298e-02 1.62608280e+01] [ 5.13294717e-02 2.63316761e-03 9.98678302e-01 -9.90226138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.999115933 meters 0.016226184767714237 Centerline is valid? [True, True] Translation: X:-38.55, Y:16.29, Z:-0.01 [[ 6.74600812e-01 7.37057691e-01 -4.07394712e-02 -3.85511270e+01] [-7.35973156e-01 6.75823407e-01 4.00778715e-02 1.62913769e+01] [ 5.70723917e-02 2.94659252e-03 9.98365694e-01 -6.93246363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059115933 meters 0.014355918051162946 Centerline is valid? [True, True] Translation: X:-38.58, Y:16.33, Z:-0.00 [[ 6.79873236e-01 7.32307074e-01 -3.87134549e-02 -3.85841237e+01] [-7.31306721e-01 6.80970835e-01 3.83301589e-02 1.63265338e+01] [ 5.44321803e-02 2.25176060e-03 9.98514931e-01 -1.03207357e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119115933 meters 0.013337759894695232 Centerline is valid? [True, True] Translation: X:-38.62, Y:16.36, Z:-0.00 [[ 6.86892399e-01 7.25861563e-01 -3.61084886e-02 -3.86226752e+01] [-7.24970642e-01 6.87839265e-01 3.59821294e-02 1.63572617e+01] [ 5.09548810e-02 1.46174299e-03 9.98699887e-01 -4.39455584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.179115933 meters 0.01415273448978893 Centerline is valid? [True, True] Translation: X:-38.66, Y:16.39, Z:-0.00 [[ 6.79295599e-01 7.32846120e-01 -3.86529925e-02 -3.86578304e+01] [-7.31822180e-01 6.80391632e-01 3.87753007e-02 1.63908566e+01] [ 5.47155013e-02 1.94722616e-03 9.98500086e-01 -1.27695490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239115933 meters 0.013507673647978802 Centerline is valid? [True, True] Translation: X:-37.41, Y:17.54, Z:-2.12 [[ 7.84248478e-01 -6.20004974e-01 -2.34127653e-02 -3.74078723e+01] [-6.19724393e-01 -7.84597871e-01 1.86509442e-02 1.75442636e+01] [-2.99332839e-02 -1.17512834e-04 -9.99551892e-01 -2.11874439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299115933 meters 0.013291845872128474 Centerline is valid? [True, True] Translation: X:-38.58, Y:16.29, Z:0.00 [[ 7.34672901e-01 6.77305976e-01 -3.88888655e-02 -3.85808009e+01] [-6.76493860e-01 7.35698971e-01 3.32126814e-02 1.62930302e+01] [ 5.11056459e-02 1.90762173e-03 9.98691431e-01 2.62910208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.359115933 meters 0.013569905217475201 Centerline is valid? [True, True] Translation: X:-38.61, Y:16.33, Z:0.02 [[ 7.29848869e-01 6.82656431e-01 -3.60669563e-02 -3.86108692e+01] [-6.81956773e-01 7.30736757e-01 3.09637161e-02 1.63342756e+01] [ 4.74930306e-02 1.99727194e-03 9.98869573e-01 2.48282297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419115933 meters 0.013841198503692654 Centerline is valid? [True, True] Translation: X:-38.65, Y:16.37, Z:0.03 [[ 7.19903745e-01 6.93208427e-01 -3.46507561e-02 -3.86478722e+01] [-6.92566499e-01 7.20732999e-01 2.99263961e-02 1.63670907e+01] [ 4.57191733e-02 2.45382821e-03 9.98951318e-01 2.71504839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479115933 meters 0.013144931486453229 Centerline is valid? [True, True] Translation: X:-38.70, Y:16.38, Z:-0.03 [[ 7.07411905e-01 7.05824270e-01 -3.71550222e-02 -3.87008322e+01] [-7.05093013e-01 7.08379040e-01 3.22951664e-02 1.63788937e+01] [ 4.91145513e-02 3.35176138e-03 9.98787528e-01 -2.67459451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.539115933 meters 0.014320463249638895 Centerline is valid? [True, True] Translation: X:-38.73, Y:16.42, Z:0.00 [[ 6.99013215e-01 7.14217322e-01 -3.56951303e-02 -3.87300865e+01] [-7.13543827e-01 6.99914519e-01 3.12229714e-02 1.64189674e+01] [ 4.72835269e-02 3.64477021e-03 9.98874859e-01 4.96732666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.599115933 meters 0.013590568419260443 Centerline is valid? [True, True] Translation: X:-38.77, Y:16.44, Z:-0.00 [[ 6.97157907e-01 7.16249225e-01 -3.09499553e-02 -3.87729228e+01] [-7.15738105e-01 6.97837406e-01 2.72382220e-02 1.64418790e+01] [ 4.11073919e-02 3.16272049e-03 9.99149728e-01 -4.07072467e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659115933 meters 0.012641757943442416 Centerline is valid? [True, True] Translation: X:-38.82, Y:16.45, Z:-0.05 [[ 6.92874358e-01 7.20351832e-01 -3.19117862e-02 -3.88244987e+01] [-7.19804845e-01 6.93600602e-01 2.82699554e-02 1.64546182e+01] [ 4.24983483e-02 3.38273106e-03 9.99090810e-01 -4.83519070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.719115933 meters 0.013507773259531125 Centerline is valid? [True, True] Translation: X:-38.86, Y:16.49, Z:-0.04 [[ 6.96283876e-01 7.17089680e-01 -3.11633528e-02 -3.88609776e+01] [-7.16557488e-01 6.96974517e-01 2.77828823e-02 1.64871061e+01] [ 4.16428809e-02 2.98556081e-03 9.99128098e-01 -3.61002480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.779115933 meters 0.009579289677014914 Centerline is valid? [True, True] Translation: X:-38.97, Y:16.43, Z:-0.27 [[ 7.07548761e-01 7.06097048e-01 -2.83144748e-02 -3.89740780e+01] [-7.05642699e-01 7.08112238e-01 2.54054972e-02 1.64277942e+01] [ 3.79885727e-02 2.00427435e-03 9.99276164e-01 -2.65260127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839115933 meters 0.012144393559345655 Centerline is valid? [True, True] Translation: X:-38.95, Y:16.53, Z:-0.06 [[ 7.06295363e-01 7.07312760e-01 -2.92492662e-02 -3.89480154e+01] [-7.06819293e-01 7.06898012e-01 2.64893744e-02 1.65250274e+01] [ 3.94125206e-02 1.96462335e-03 9.99221093e-01 -6.12342705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.899115933 meters 0.011137215690646062 Centerline is valid? [True, True] Translation: X:-39.03, Y:16.51, Z:-0.19 [[ 7.09761406e-01 7.03830510e-01 -2.93489420e-02 -3.90259567e+01] [-7.03322441e-01 7.10366075e-01 2.67877372e-02 1.65092354e+01] [ 3.97025194e-02 1.62886752e-03 9.99210216e-01 -1.92979841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.959115933 meters 0.012774461183644508 Centerline is valid? [True, True] Translation: X:-39.04, Y:16.57, Z:-0.09 [[ 7.15160557e-01 6.98356078e-01 -2.90545491e-02 -3.90386185e+01] [-6.97846721e-01 7.15749526e-01 2.66940138e-02 1.65698930e+01] [ 3.94377066e-02 1.18511603e-03 9.99221328e-01 -8.83847209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019115933 meters 0.011836913034568334 Centerline is valid? [True, True] Translation: X:-39.11, Y:16.56, Z:-0.19 [[ 7.20060972e-01 6.93292852e-01 -2.92782732e-02 -3.91119482e+01] [-6.92764204e-01 7.20655540e-01 2.70804526e-02 1.65599655e+01] [ 3.98742340e-02 7.83362646e-04 9.99204399e-01 -1.94598726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.079115933 meters 0.012571248812905318 Centerline is valid? [True, True] Translation: X:-39.15, Y:16.60, Z:-0.18 [[ 7.21743911e-01 6.91443132e-01 -3.14979637e-02 -3.91458541e+01] [-6.90820914e-01 7.22430653e-01 2.93328564e-02 1.65957487e+01] [ 4.30370966e-02 5.88641538e-04 9.99073302e-01 -1.81168101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.139115933 meters 0.011817134414414916 Centerline is valid? [True, True] Translation: X:-39.20, Y:16.61, Z:-0.22 [[ 7.18961369e-01 6.94339176e-01 -3.14270341e-02 -3.91952347e+01] [-6.93714147e-01 7.19647639e-01 2.94611211e-02 1.66141329e+01] [ 4.30724015e-02 6.19970201e-04 9.99071761e-01 -2.19404311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199115933 meters 0.011046875469252279 Centerline is valid? [True, True] Translation: X:-39.23, Y:16.65, Z:-0.23 [[ 7.15020306e-01 6.98241475e-01 -3.47103104e-02 -3.92320139e+01] [-6.97472871e-01 7.15861878e-01 3.27622506e-02 1.66456407e+01] [ 4.77237502e-02 7.83825435e-04 9.98860265e-01 -2.29511320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.259115933 meters 0.011744866280378165 Centerline is valid? [True, True] Translation: X:-39.26, Y:16.69, Z:-0.23 [[ 7.05928305e-01 7.07486048e-01 -3.35964392e-02 -3.92621049e+01] [-7.06766758e-01 7.06726270e-01 3.19175440e-02 1.66850441e+01] [ 4.63247032e-02 1.21334863e-03 9.98925698e-01 -2.26663661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.319115933 meters 0.011695243242896433 Centerline is valid? [True, True] Translation: X:-39.30, Y:16.71, Z:-0.25 [[ 6.98700650e-01 7.14572881e-01 -3.46842882e-02 -3.93036567e+01] [-7.13804285e-01 6.99559217e-01 3.31714359e-02 1.67112749e+01] [ 4.79671220e-02 1.58088975e-03 9.98847664e-01 -2.50947128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379115933 meters 0.012577362430832859 Centerline is valid? [True, True] Translation: X:-39.33, Y:16.76, Z:-0.22 [[ 7.03497303e-01 7.09922324e-01 -3.31939584e-02 -3.93261110e+01] [-7.09203396e-01 7.04279188e-01 3.19588638e-02 1.67582532e+01] [ 4.60661249e-02 1.05829353e-03 9.98937832e-01 -2.18041779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.439115933 meters 0.011927981323817324 Centerline is valid? [True, True] Translation: X:-39.37, Y:16.79, Z:-0.24 [[ 6.97812521e-01 7.15363203e-01 -3.62377438e-02 -3.93661056e+01] [-7.14501639e-01 6.98751445e-01 3.51258513e-02 1.67867759e+01] [ 5.04489173e-02 1.38066847e-03 9.98725688e-01 -2.38006546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.499115933 meters 0.012664879653700964 Centerline is valid? [True, True] Translation: X:-39.39, Y:16.83, Z:-0.21 [[ 6.97981224e-01 7.15291840e-01 -3.43481505e-02 -3.93915197e+01] [-7.14507303e-01 6.98824913e-01 3.35120173e-02 1.68309611e+01] [ 4.79742158e-02 1.15124555e-03 9.98847911e-01 -2.13669876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559115933 meters 0.013110163053137176 Centerline is valid? [True, True] Translation: X:-39.41, Y:16.88, Z:-0.16 [[ 6.92793613e-01 7.20329390e-01 -3.40966185e-02 -3.94093695e+01] [-7.19549385e-01 6.93630941e-01 3.35380380e-02 1.68778548e+01] [ 4.78089040e-02 1.29926232e-03 9.98855656e-01 -1.62069105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619115933 meters 0.013622742245588505 Centerline is valid? [True, True] Translation: X:-39.43, Y:16.92, Z:-0.13 [[ 6.90626319e-01 7.22418293e-01 -3.38688345e-02 -3.94322342e+01] [-7.21639883e-01 6.91455131e-01 3.35511828e-02 1.69249339e+01] [ 4.76567676e-02 1.26977188e-03 9.98862964e-01 -1.31654548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.679115933 meters 0.012108955251988303 Centerline is valid? [True, True] Translation: X:-39.49, Y:16.93, Z:-0.23 [[ 6.84969755e-01 7.27783306e-01 -3.38806037e-02 -3.94934018e+01] [-7.27000319e-01 6.85805539e-01 3.37831155e-02 1.69305753e+01] [ 4.78222932e-02 1.49079733e-03 9.98854747e-01 -2.29548266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739115933 meters 0.012392135078236432 Centerline is valid? [True, True] Translation: X:-39.53, Y:16.96, Z:-0.25 [[ 6.71044819e-01 7.40586585e-01 -3.50765021e-02 -3.95308921e+01] [-7.39752911e-01 6.71956930e-01 3.52067438e-02 1.69614449e+01] [ 4.96435408e-02 2.32264148e-03 9.98764299e-01 -2.47753039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799115933 meters 0.016754064041982524 Centerline is valid? [True, True] Translation: X:-38.13, Y:18.33, Z:-2.03 [[ 7.99216986e-01 -6.00749826e-01 -1.87578102e-02 -3.81251197e+01] [-6.00570266e-01 -7.99436937e-01 1.46948694e-02 1.83285096e+01] [-2.38236266e-02 -4.79006126e-04 -9.99716062e-01 -2.03413579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.859115933 meters 0.017410776432635024 Centerline is valid? [True, True] Translation: X:-39.43, Y:16.92, Z:-0.09 [[ 7.12898231e-01 7.00369618e-01 -3.54754916e-02 -3.94263274e+01] [-6.99720104e-01 7.13773167e-01 3.03256088e-02 1.69223866e+01] [ 4.65605890e-02 3.20384179e-03 9.98910330e-01 -9.37454647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919115933 meters 0.015587473011877991 Centerline is valid? [True, True] Translation: X:-39.49, Y:16.92, Z:-0.20 [[ 7.15873915e-01 6.97125769e-01 -3.92453837e-02 -3.94875482e+01] [-6.96315525e-01 7.16941863e-01 3.37498687e-02 1.69221930e+01] [ 5.16645617e-02 3.16651928e-03 9.98659475e-01 -1.95580046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979115933 meters 0.01593671629118248 Centerline is valid? [True, True] Translation: X:-39.52, Y:16.96, Z:-0.19 [[ 7.13860745e-01 6.99074148e-01 -4.12088833e-02 -3.95211383e+01] [-6.98170843e-01 7.15041566e-01 3.56795807e-02 1.69563089e+01] [ 5.44087370e-02 3.30058873e-03 9.98513293e-01 -1.86122889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.039115933 meters 0.017926435132142683 Centerline is valid? [True, True] Translation: X:-39.54, Y:17.01, Z:-0.10 [[ 7.12566725e-01 7.00354974e-01 -4.18517815e-02 -3.95379206e+01] [-6.99406936e-01 7.13787494e-01 3.65698173e-02 1.70054134e+01] [ 5.54851317e-02 3.21299125e-03 9.98454344e-01 -1.00984056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.099115933 meters 0.01682774210217426 Centerline is valid? [True, True] Translation: X:-39.59, Y:17.02, Z:-0.14 [[ 7.20611172e-01 6.92267763e-01 -3.85341930e-02 -3.95860793e+01] [-6.91439954e-01 7.21637366e-01 3.39160987e-02 1.70235650e+01] [ 5.12867353e-02 2.20376104e-03 9.98681538e-01 -1.42340234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159115933 meters 0.014570467783252446 Centerline is valid? [True, True] Translation: X:-39.65, Y:17.03, Z:-0.23 [[ 7.25141920e-01 6.87651584e-01 -3.61178043e-02 -3.96451279e+01] [-6.86908569e-01 7.26039062e-01 3.19984209e-02 1.70280339e+01] [ 4.82267016e-02 1.60623289e-03 9.98835124e-01 -2.29723221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.219115933 meters 0.016181381253642445 Centerline is valid? [True, True] Translation: X:-39.68, Y:17.06, Z:-0.21 [[ 7.27627941e-01 6.85208439e-01 -3.23569950e-02 -3.96793229e+01] [-6.84601726e-01 7.28346109e-01 2.88517397e-02 1.70635313e+01] [ 4.33365469e-02 1.15832264e-03 9.99059859e-01 -2.10141600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.279115933 meters 0.02060343643090541 Centerline is valid? [True, True] Translation: X:-39.71, Y:17.10, Z:-0.18 [[ 7.37071976e-01 6.75390633e-01 -2.39247680e-02 -3.97132315e+01] [-6.75049656e-01 7.37460089e-01 2.14611303e-02 1.70991287e+01] [ 3.21382079e-02 3.32008709e-04 9.99483379e-01 -1.82748662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339115933 meters 0.0201942007215436 Centerline is valid? [True, True] Translation: X:-39.75, Y:17.13, Z:-0.16 [[ 7.32421892e-01 6.80475505e-01 -2.26110271e-02 -3.97499366e+01] [-6.80169193e-01 7.32770706e-01 2.04196416e-02 1.71310125e+01] [ 3.04637643e-02 4.23531528e-04 9.99535782e-01 -1.58164778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.399115933 meters 0.01976864232157843 Centerline is valid? [True, True] Translation: X:-39.78, Y:17.17, Z:-0.12 [[ 7.35811994e-01 6.76961603e-01 -1.74269349e-02 -3.97787726e+01] [-6.76776416e-01 7.36018320e-01 1.58339654e-02 1.71721240e+01] [ 2.35455300e-02 1.43316840e-04 9.99722755e-01 -1.18500560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.459115933 meters 0.020631567070580937 Centerline is valid? [True, True] Translation: X:-39.81, Y:17.21, Z:-0.08 [[ 7.22213118e-01 6.91391954e-01 -1.96310322e-02 -3.98115324e+01] [-6.91158823e-01 7.22479627e-01 1.79629998e-02 1.72093698e+01] [ 2.66024944e-02 5.95047017e-04 9.99645914e-01 -8.08095411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519115933 meters 0.02176675443464939 Centerline is valid? [True, True] Translation: X:-39.83, Y:17.26, Z:-0.01 [[ 7.12063037e-01 7.01746392e-01 -2.27647369e-02 -3.98326749e+01] [-7.01433581e-01 7.12426092e-01 2.09760369e-02 1.72589614e+01] [ 3.09380508e-02 1.03169036e-03 9.99520771e-01 -1.31395204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.579115933 meters 0.020710449318433913 Centerline is valid? [True, True] Translation: X:-39.88, Y:17.28, Z:-0.04 [[ 7.14707693e-01 6.99207509e-01 -1.73716229e-02 -3.98767830e+01] [-6.99022463e-01 7.14918494e-01 1.60979114e-02 1.72826059e+01] [ 2.36750750e-02 6.37853553e-04 9.99719503e-01 -4.46761332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.639115933 meters 0.02009513531145688 Centerline is valid? [True, True] Translation: X:-39.92, Y:17.31, Z:-0.05 [[ 7.22139846e-01 6.91593601e-01 -1.45716582e-02 -3.99192709e+01] [-6.91460259e-01 7.22286799e-01 1.35827377e-02 1.73087278e+01] [ 1.99186508e-02 2.67086386e-04 9.99801568e-01 -4.95271906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699115933 meters 0.021333154095354027 Centerline is valid? [True, True] Translation: X:-39.93, Y:17.36, Z:0.04 [[ 7.23043000e-01 6.90677426e-01 -1.31724608e-02 -3.99336552e+01] [-6.90566776e-01 7.23162961e-01 1.23636609e-02 1.73617004e+01] [ 1.80651372e-02 1.57005302e-04 9.99836800e-01 3.69729995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.759115933 meters 0.02087549074240193 Centerline is valid? [True, True] Translation: X:-39.99, Y:17.38, Z:-0.02 [[ 7.06915306e-01 7.07000568e-01 -2.05169669e-02 -3.99867056e+01] [-7.06733588e-01 7.07212574e-01 1.94425067e-02 1.73752786e+01] [ 2.82557203e-02 7.55823986e-04 9.99600442e-01 -1.81736215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.819115933 meters 0.020909483375219237 Centerline is valid? [True, True] Translation: X:-40.02, Y:17.41, Z:-0.03 [[ 7.08676848e-01 7.05307511e-01 -1.78449155e-02 -4.00244408e+01] [-7.05102439e-01 7.08901291e-01 1.70150032e-02 1.74061603e+01] [ 2.46510932e-02 5.24354617e-04 9.99695978e-01 -2.51853200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879115933 meters 0.0211739095347201 Centerline is valid? [True, True] Translation: X:-40.06, Y:17.44, Z:-0.01 [[ 7.09668903e-01 7.04346856e-01 -1.62958196e-02 -4.00570840e+01] [-7.04173368e-01 7.09855875e-01 1.56366424e-02 1.74426372e+01] [ 2.25813032e-02 3.78243336e-04 9.99744938e-01 -5.48896988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.939115933 meters 0.0217264515326657 Centerline is valid? [True, True] Translation: X:-40.11, Y:17.46, Z:-0.05 [[ 7.00848086e-01 7.13047307e-01 -1.93777833e-02 -4.01059751e+01] [-7.12801596e-01 7.01115589e-01 1.87300809e-02 1.74604939e+01] [ 2.69414997e-02 6.85573522e-04 9.99636777e-01 -5.34582187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.999115933 meters 0.022521360706609247 Centerline is valid? [True, True] Translation: X:-40.14, Y:17.50, Z:-0.02 [[ 6.93416509e-01 7.20196714e-01 -2.21413456e-02 -4.01385987e+01] [-7.19874871e-01 6.93769201e-01 2.15514724e-02 1.74969314e+01] [ 3.08822832e-02 9.94851575e-04 9.99522533e-01 -2.20172375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059115933 meters 0.021979447865607994 Centerline is valid? [True, True] Translation: X:-40.18, Y:17.53, Z:-0.03 [[ 6.85655959e-01 7.27467614e-01 -2.58220095e-02 -4.01763085e+01] [-7.27028652e-01 6.86140548e-01 2.53078507e-02 1.75272598e+01] [ 3.61281695e-02 1.42086212e-03 9.99346155e-01 -2.86279162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119115933 meters 0.02262971612642037 Centerline is valid? [True, True] Translation: X:-40.20, Y:17.57, Z:0.01 [[ 6.68748720e-01 7.42860059e-01 -3.05627681e-02 -4.02029955e+01] [-7.42250881e-01 6.69442064e-01 3.01819948e-02 1.75690980e+01] [ 4.28810010e-02 2.50107121e-03 9.99077056e-01 1.09815543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.179115933 meters 0.02203037985402127 Centerline is valid? [True, True] Translation: X:-40.24, Y:17.59, Z:-0.02 [[ 6.56339885e-01 7.53665937e-01 -3.47219068e-02 -4.02434309e+01] [-7.52882603e-01 6.57248471e-01 3.45287290e-02 1.75948041e+01] [ 4.88440470e-02 3.47893756e-03 9.98800358e-01 -1.85398507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239115933 meters 0.020614817785063883 Centerline is valid? [True, True] Translation: X:-40.29, Y:17.61, Z:-0.06 [[ 6.56602122e-01 7.53538825e-01 -3.24483128e-02 -4.02903592e+01] [-7.52844013e-01 6.57396147e-01 3.24992001e-02 1.76142569e+01] [ 4.58208049e-02 3.08947425e-03 9.98944898e-01 -6.43603448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299115933 meters 0.020576155045632323 Centerline is valid? [True, True] Translation: X:-38.79, Y:19.01, Z:-2.15 [[ 8.01800118e-01 -5.97329060e-01 -1.77359674e-02 -3.87945762e+01] [-5.97169787e-01 -8.01996116e-01 1.38013160e-02 1.90130258e+01] [-2.24681040e-02 -4.74512921e-04 -9.99747448e-01 -2.15457207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.359115933 meters 0.019397737840520544 Centerline is valid? [True, True] Translation: X:-40.20, Y:17.48, Z:-0.08 [[ 7.07747219e-01 7.05233299e-01 -4.17117316e-02 -4.01988511e+01] [-7.04345449e-01 7.08963058e-01 3.56212187e-02 1.74833281e+01] [ 5.46933464e-02 4.16864981e-03 9.98494497e-01 -8.05659230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419115933 meters 0.018482235397290745 Centerline is valid? [True, True] Translation: X:-40.23, Y:17.52, Z:-0.05 [[ 7.05537295e-01 7.07166976e-01 -4.61735068e-02 -4.02328589e+01] [-7.06067908e-01 7.07031576e-01 3.96794572e-02 1.75161455e+01] [ 6.07061291e-02 4.60629446e-03 9.98145054e-01 -5.48829328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479115933 meters 0.017213300452775745 Centerline is valid? [True, True] Translation: X:-40.27, Y:17.54, Z:-0.08 [[ 7.01620608e-01 7.10913990e-01 -4.82682221e-02 -4.02741856e+01] [-7.09701945e-01 7.03261635e-01 4.17878260e-02 1.75408466e+01] [ 6.36527388e-02 4.93685119e-03 9.97959897e-01 -8.08687066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.539115933 meters 0.017182691915647457 Centerline is valid? [True, True] Translation: X:-40.31, Y:17.57, Z:-0.07 [[ 7.02036029e-01 7.10563327e-01 -4.73832536e-02 -4.03073268e+01] [-7.09376913e-01 7.03618112e-01 4.13031149e-02 1.75745451e+01] [ 6.26881942e-02 4.61631139e-03 9.98022485e-01 -6.62911000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.599115933 meters 0.016765574386591205 Centerline is valid? [True, True] Translation: X:-40.34, Y:17.61, Z:-0.07 [[ 6.97721788e-01 7.14559540e-01 -5.08819262e-02 -4.03413471e+01] [-7.13179274e-01 6.99555968e-01 4.46852545e-02 1.76082873e+01] [ 6.75250300e-02 5.11005950e-03 9.97704494e-01 -6.69141372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659115933 meters 0.01679033156600216 Centerline is valid? [True, True] Translation: X:-40.38, Y:17.64, Z:-0.07 [[ 6.95979841e-01 7.16356163e-01 -4.94561313e-02 -4.03754146e+01] [-7.15034791e-01 6.97717572e-01 4.37657084e-02 1.76405179e+01] [ 6.58582468e-02 4.90280373e-03 9.97816944e-01 -7.15438780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.719115933 meters 0.016152068975210574 Centerline is valid? [True, True] Translation: X:-40.42, Y:17.67, Z:-0.09 [[ 6.99043974e-01 7.13457210e-01 -4.81282970e-02 -4.04158216e+01] [-7.12180240e-01 7.00685615e-01 4.28832677e-02 1.76664569e+01] [ 6.43181819e-02 4.29873227e-03 9.97920183e-01 -9.24284473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.779115933 meters 0.015830984849808157 Centerline is valid? [True, True] Translation: X:-40.45, Y:17.70, Z:-0.07 [[ 6.91762035e-01 7.20352786e-01 -5.05682687e-02 -4.04469375e+01] [-7.18939255e-01 6.93590090e-01 4.53776965e-02 1.77025479e+01] [ 6.77616001e-02 4.96494571e-03 9.97689188e-01 -7.44218180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839115933 meters 0.016144554440410894 Centerline is valid? [True, True] Translation: X:-40.48, Y:17.73, Z:-0.09 [[ 6.92836197e-01 7.19343360e-01 -5.02308085e-02 -4.04839143e+01] [-7.17923252e-01 6.94639460e-01 4.54117336e-02 1.77326658e+01] [ 6.75589307e-02 4.59897254e-03 9.97704686e-01 -9.12603783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.899115933 meters 0.016393817361841086 Centerline is valid? [True, True] Translation: X:-40.51, Y:17.77, Z:-0.06 [[ 6.90877155e-01 7.21271405e-01 -4.95612524e-02 -4.05117496e+01] [-7.19871110e-01 6.92638018e-01 4.51459936e-02 1.77737780e+01] [ 6.68905218e-02 4.48737820e-03 9.97750230e-01 -5.72253863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.959115933 meters 0.016247656830998807 Centerline is valid? [True, True] Translation: X:-40.55, Y:17.80, Z:-0.08 [[ 6.90934357e-01 7.21200302e-01 -4.97979812e-02 -4.05468316e+01] [-7.19765475e-01 6.92713323e-01 4.56717912e-02 1.78049427e+01] [ 6.74342347e-02 4.28665797e-03 9.97714513e-01 -7.58537874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019115933 meters 0.016325693654560502 Centerline is valid? [True, True] Translation: X:-40.58, Y:17.84, Z:-0.08 [[ 6.89691422e-01 7.22269479e-01 -5.15028380e-02 -4.05818132e+01] [-7.20715750e-01 6.91598211e-01 4.75470540e-02 1.78366946e+01] [ 6.99610565e-02 4.32611122e-03 9.97540343e-01 -8.43698529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.079115933 meters 0.01681790350187679 Centerline is valid? [True, True] Translation: X:-40.61, Y:17.88, Z:-0.06 [[ 6.87159554e-01 7.24729807e-01 -5.07784753e-02 -4.06061463e+01] [-7.23203530e-01 6.89019839e-01 4.72050391e-02 1.78807767e+01] [ 6.91982757e-02 4.28577892e-03 9.97593720e-01 -6.15863536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.139115933 meters 0.01626091734004483 Centerline is valid? [True, True] Translation: X:-40.65, Y:17.91, Z:-0.09 [[ 6.85515377e-01 7.26268878e-01 -5.10116105e-02 -4.06454030e+01] [-7.24707714e-01 6.87397815e-01 4.77804653e-02 1.79083206e+01] [ 6.97667345e-02 4.21426400e-03 9.97554431e-01 -9.25614553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199115933 meters 0.016140124632035478 Centerline is valid? [True, True] Translation: X:-40.68, Y:17.95, Z:-0.07 [[ 6.82109558e-01 7.29411849e-01 -5.18160785e-02 -4.06765133e+01] [-7.27783773e-01 6.84060957e-01 4.89018016e-02 1.79455850e+01] [ 7.11149098e-02 4.35451488e-03 9.97458625e-01 -6.96877956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.259115933 meters 0.015898989380383977 Centerline is valid? [True, True] Translation: X:-40.71, Y:17.98, Z:-0.08 [[ 6.82933479e-01 7.28400803e-01 -5.50829615e-02 -4.07098939e+01] [-7.26526657e-01 6.85138154e-01 5.23901388e-02 1.79787461e+01] [ 7.59004578e-02 4.24026013e-03 9.97106384e-01 -7.88029735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.319115933 meters 0.015838946374738136 Centerline is valid? [True, True] Translation: X:-40.74, Y:18.02, Z:-0.08 [[ 6.75754005e-01 7.34837827e-01 -5.80507799e-02 -4.07410108e+01] [-7.32748845e-01 6.78224643e-01 5.55919396e-02 1.80150999e+01] [ 8.02225296e-02 4.97016607e-03 9.96764588e-01 -7.73519680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379115933 meters 0.015641644474136275 Centerline is valid? [True, True] Translation: X:-40.78, Y:18.05, Z:-0.10 [[ 6.83918628e-01 7.27457574e-01 -5.53243871e-02 -4.07767639e+01] [-7.25506007e-01 6.86143036e-01 5.33738441e-02 1.80465914e+01] [ 7.67876501e-02 3.63480896e-03 9.97040844e-01 -9.99492049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.439115933 meters 0.01576763924247708 Centerline is valid? [True, True] Translation: X:-40.80, Y:18.07, Z:-0.10 [[ 6.76151106e-01 7.34491720e-01 -5.78065250e-02 -4.08009579e+01] [-7.32323898e-01 6.78605237e-01 5.65388450e-02 1.80740998e+01] [ 8.07551241e-02 4.10429711e-03 9.96725521e-01 -1.00533218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.499115933 meters 0.016035804599609974 Centerline is valid? [True, True] Translation: X:-40.83, Y:18.11, Z:-0.10 [[ 6.75227877e-01 7.35218592e-01 -5.93374710e-02 -4.08286045e+01] [-7.32894082e-01 6.77818559e-01 5.85513878e-02 1.81143204e+01] [ 8.32681080e-02 3.95255205e-03 9.96519342e-01 -1.00106399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559115933 meters 0.01617621193442932 Centerline is valid? [True, True] Translation: X:-40.86, Y:18.15, Z:-0.09 [[ 6.76557395e-01 7.34113438e-01 -5.78580189e-02 -4.08576225e+01] [-7.31866077e-01 6.79018128e-01 5.75015441e-02 1.81530236e+01] [ 8.14992999e-02 3.44122645e-03 9.96667458e-01 -9.43464317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.619115932999996 meters 0.017041092032785848 Centerline is valid? [True, True] Translation: X:-40.89, Y:18.19, Z:-0.09 [[ 6.72032203e-01 7.38151734e-01 -5.92008071e-02 -4.08864112e+01] [-7.35780259e-01 6.74624322e-01 5.92404749e-02 1.81917520e+01] [ 8.36667636e-02 3.74727837e-03 9.96486744e-01 -8.61129875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.679115933 meters 0.01639546896979864 Centerline is valid? [True, True] Translation: X:-39.45, Y:19.56, Z:-2.09 [[ 7.89981175e-01 -6.11329589e-01 -4.69667701e-02 -3.94490979e+01] [-6.10112377e-01 -7.91373962e-01 3.86023133e-02 1.95637364e+01] [-6.07670152e-02 -1.84009303e-03 -9.98150281e-01 -2.09446824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739115933 meters 0.01894822926219396 Centerline is valid? [True, True] Translation: X:-40.79, Y:18.10, Z:-0.06 [[ 7.19099353e-01 6.91856507e-01 -6.50437786e-02 -4.07930414e+01] [-6.89650119e-01 7.22017752e-01 5.54353638e-02 1.81021001e+01] [ 8.53160800e-02 4.99391543e-03 9.96341421e-01 -6.17942530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799115933 meters 0.017506266511764113 Centerline is valid? [True, True] Translation: X:-40.84, Y:18.12, Z:-0.15 [[ 7.21202660e-01 6.89740478e-01 -6.42245741e-02 -4.08405587e+01] [-6.87545433e-01 7.24043445e-01 5.51576490e-02 1.81161245e+01] [ 8.45458451e-02 4.37746944e-03 9.96409975e-01 -1.54215802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.859115933 meters 0.016256973563493378 Centerline is valid? [True, True] Translation: X:-40.88, Y:18.14, Z:-0.19 [[ 7.15564278e-01 6.95626709e-01 -6.38063152e-02 -4.08790769e+01] [-6.93451687e-01 7.18387609e-01 5.51724737e-02 1.81438574e+01] [ 8.42171125e-02 4.76714564e-03 9.96436025e-01 -1.88549151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919115933 meters 0.01834789465182602 Centerline is valid? [True, True] Translation: X:-40.91, Y:18.18, Z:-0.17 [[ 7.09528185e-01 7.01863445e-01 -6.29083475e-02 -4.09074638e+01] [-6.99743944e-01 7.12292734e-01 5.47492005e-02 1.81841967e+01] [ 8.32356213e-02 5.17363437e-03 9.96516465e-01 -1.69121987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979115933 meters 0.01958789188663203 Centerline is valid? [True, True] Translation: X:-40.93, Y:18.23, Z:-0.13 [[ 6.94202819e-01 7.16873937e-01 -6.46080823e-02 -4.09279914e+01] [-7.14669856e-01 6.97168794e-01 5.65921408e-02 1.82338304e+01] [ 8.56121696e-02 6.88702520e-03 9.96304735e-01 -1.26216682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.039115933 meters 0.018651325551689704 Centerline is valid? [True, True] Translation: X:-40.97, Y:18.26, Z:-0.18 [[ 6.94119030e-01 7.17078994e-01 -6.32177948e-02 -4.09680309e+01] [-7.14939124e-01 6.96961519e-01 5.57376851e-02 1.82593590e+01] [ 8.40286935e-02 6.50828694e-03 9.96442081e-01 -1.78824720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.099115933 meters 0.018993541354319163 Centerline is valid? [True, True] Translation: X:-41.00, Y:18.29, Z:-0.19 [[ 6.86363952e-01 7.24444641e-01 -6.39099920e-02 -4.10036798e+01] [-7.22255625e-01 6.89295193e-01 5.67357915e-02 1.82911265e+01] [ 8.51547903e-02 7.21794916e-03 9.96341589e-01 -1.94774014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159115933 meters 0.01614647038129379 Centerline is valid? [True, True] Translation: X:-41.05, Y:18.30, Z:-0.28 [[ 6.83409928e-01 7.27220742e-01 -6.40379885e-02 -4.10491962e+01] [-7.24988591e-01 6.86365833e-01 5.73888973e-02 1.83049098e+01] [ 8.56878838e-02 7.20666890e-03 9.96295965e-01 -2.76126829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.219115933 meters 0.01851389165394879 Centerline is valid? [True, True] Translation: X:-41.07, Y:18.36, Z:-0.22 [[ 6.72662772e-01 7.37199576e-01 -6.37305233e-02 -4.10679567e+01] [-7.34997669e-01 6.75625870e-01 5.75161670e-02 1.83562155e+01] [ 8.54588842e-02 8.15280170e-03 9.96308341e-01 -2.15576388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.279115933 meters 0.019904774400842706 Centerline is valid? [True, True] Translation: X:-41.10, Y:18.39, Z:-0.22 [[ 6.64106045e-01 7.44830734e-01 -6.47328320e-02 -4.10983135e+01] [-7.42555322e-01 6.67193087e-01 5.88640777e-02 1.83915105e+01] [ 8.70330721e-02 8.97571902e-03 9.96164987e-01 -2.17728801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339115933 meters 0.02038232846986601 Centerline is valid? [True, True] Translation: X:-41.12, Y:18.43, Z:-0.20 [[ 6.58993165e-01 7.49447841e-01 -6.36862684e-02 -4.11235760e+01] [-7.47233696e-01 6.61999826e-01 5.82926576e-02 1.84338964e+01] [ 8.58476050e-02 9.17406277e-03 9.96266041e-01 -2.02112660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.399115933 meters 0.019635366340078675 Centerline is valid? [True, True] Translation: X:-41.16, Y:18.46, Z:-0.24 [[ 6.49444996e-01 7.57581730e-01 -6.55066420e-02 -4.11622301e+01] [-7.55244896e-01 6.52659277e-01 6.03408268e-02 1.84607117e+01] [ 8.84666255e-02 1.02855091e-02 9.96026036e-01 -2.38201304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.459115933 meters 0.02004241572662237 Centerline is valid? [True, True] Translation: X:-41.19, Y:18.49, Z:-0.25 [[ 6.40007298e-01 7.65555804e-01 -6.56884240e-02 -4.11944083e+01] [-7.63210266e-01 6.43272859e-01 6.09107438e-02 1.84947831e+01] [ 8.88861538e-02 1.11507590e-02 9.95979373e-01 -2.50257952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519115933 meters 0.015600202505574397 Centerline is valid? [True, True] Translation: X:-41.25, Y:18.50, Z:-0.34 [[ 6.44722579e-01 7.61841930e-01 -6.26870769e-02 -4.12484910e+01] [-7.59653391e-01 6.47687687e-01 5.85438822e-02 1.85038200e+01] [ 8.52028321e-02 9.87588781e-03 9.96314681e-01 -3.37020199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.579115933 meters 0.01956427517686675 Centerline is valid? [True, True] Translation: X:-41.26, Y:18.56, Z:-0.27 [[ 6.33607776e-01 7.71177873e-01 -6.18536469e-02 -4.12611207e+01] [-7.69055398e-01 6.36529617e-01 5.81707922e-02 1.85598246e+01] [ 8.42317060e-02 1.07114148e-02 9.96388622e-01 -2.67262151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.639115933 meters 0.020917636747807233 Centerline is valid? [True, True] Translation: X:-41.29, Y:18.59, Z:-0.27 [[ 6.27460282e-01 7.76081684e-01 -6.31728859e-02 -4.12928737e+01] [-7.73859012e-01 6.30529826e-01 5.97860142e-02 1.85931058e+01] [ 8.62312193e-02 1.13735577e-02 9.96210228e-01 -2.72213345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699115933 meters 0.020797755911914264 Centerline is valid? [True, True] Translation: X:-41.33, Y:18.62, Z:-0.31 [[ 6.24840213e-01 7.78274515e-01 -6.21569539e-02 -4.13315679e+01] [-7.76097061e-01 6.27823955e-01 5.92489128e-02 1.86170378e+01] [ 8.51355435e-02 1.12187259e-02 9.96306218e-01 -3.08878464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.759115933 meters 0.015756684287509065 Centerline is valid? [True, True] Translation: X:-41.39, Y:18.62, Z:-0.38 [[ 6.29993551e-01 7.74411861e-01 -5.82614424e-02 -4.13867405e+01] [-7.72451545e-01 6.32606358e-01 5.59267912e-02 1.86238164e+01] [ 8.01669293e-02 9.77062346e-03 9.96733564e-01 -3.82457276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.819115933 meters 0.01585100497112641 Centerline is valid? [True, True] Translation: X:-41.42, Y:18.66, Z:-0.39 [[ 6.26182913e-01 7.77486579e-01 -5.83915970e-02 -4.14205790e+01] [-7.75497194e-01 6.28821184e-01 5.64625643e-02 1.86569041e+01] [ 8.06167591e-02 9.92662663e-03 9.96695741e-01 -3.90334737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879115933 meters 0.01603741797543684 Centerline is valid? [True, True] Translation: X:-41.46, Y:18.69, Z:-0.41 [[ 6.21076289e-01 7.81660886e-01 -5.71883073e-02 -4.14567131e+01] [-7.79740215e-01 6.23623233e-01 5.56710005e-02 1.86859870e+01] [ 7.91798006e-02 1.00160847e-02 9.96810031e-01 -4.12551940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.939115933 meters 0.016689764258469766 Centerline is valid? [True, True] Translation: X:-41.49, Y:18.72, Z:-0.41 [[ 6.07006477e-01 7.92420770e-01 -6.01037356e-02 -4.14883803e+01] [-7.90312966e-01 6.09862143e-01 5.89371048e-02 1.87206218e+01] [ 8.33579790e-02 1.17255571e-02 9.96450680e-01 -4.13919282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.999115933 meters 0.02326371195844704 Centerline is valid? [True, True] Translation: X:-41.50, Y:18.78, Z:-0.35 [[ 5.92172604e-01 8.03480559e-01 -6.12421248e-02 -4.14979187e+01] [-8.01309889e-01 5.95183458e-01 6.04906105e-02 1.87776618e+01] [ 8.50533291e-02 1.32530379e-02 9.96288256e-01 -3.45291003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059115933 meters 0.015735311211490768 Centerline is valid? [True, True] Translation: X:-41.56, Y:18.78, Z:-0.43 [[ 6.02483141e-01 7.96000461e-01 -5.82866358e-02 -4.15581943e+01] [-7.93968401e-01 6.05189495e-01 5.79642416e-02 1.87800557e+01] [ 8.14140227e-02 1.13552687e-02 9.96615681e-01 -4.32693959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.119115932999996 meters 0.01600442179025609 Centerline is valid? [True, True] Translation: X:-41.59, Y:18.82, Z:-0.43 [[ 5.94047095e-01 8.02216144e-01 -5.96431681e-02 -4.15874267e+01] [-8.00081341e-01 5.96908539e-01 5.97498506e-02 1.88161075e+01] [ 8.35338110e-02 1.22251607e-02 9.96429951e-01 -4.27174197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.179115933 meters 0.021389255185924994 Centerline is valid? [True, True] Translation: X:-40.09, Y:20.10, Z:-1.85 [[ 8.54800202e-01 -5.16581706e-01 -4.95979364e-02 -4.00868775e+01] [-5.15044439e-01 -8.56185874e-01 4.09264595e-02 2.01015383e+01] [-6.36069128e-02 -9.43880449e-03 -9.97930393e-01 -1.85099641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239115933 meters 0.021560471940619916 Centerline is valid? [True, True] Translation: X:-41.41, Y:18.66, Z:-0.38 [[ 6.39278434e-01 7.65883060e-01 -6.88928299e-02 -4.14063744e+01] [-7.63768836e-01 6.42804498e-01 5.88178732e-02 1.86568822e+01] [ 8.93322336e-02 1.50171986e-02 9.95888666e-01 -3.76803463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299115933 meters 0.02158868944044234 Centerline is valid? [True, True] Translation: X:-41.44, Y:18.69, Z:-0.36 [[ 6.43482561e-01 7.62744941e-01 -6.44232048e-02 -4.14397590e+01] [-7.60852727e-01 6.46560479e-01 5.53414418e-02 1.86886186e+01] [ 8.38649029e-02 1.34053183e-02 9.96386961e-01 -3.55485653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.359115933 meters 0.022260311812399448 Centerline is valid? [True, True] Translation: X:-41.47, Y:18.72, Z:-0.33 [[ 6.35838036e-01 7.69101104e-01 -6.47571114e-02 -4.14680419e+01] [-7.67188205e-01 6.38972246e-01 5.60064898e-02 1.87248848e+01] [ 8.44526500e-02 1.40698356e-02 9.96328154e-01 -3.32038290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419115933 meters 0.021891137038682486 Centerline is valid? [True, True] Translation: X:-41.50, Y:18.76, Z:-0.32 [[ 6.33705108e-01 7.70849213e-01 -6.48793231e-02 -4.15007129e+01] [-7.68908812e-01 6.36861322e-01 5.64526041e-02 1.87580743e+01] [ 8.48355769e-02 1.41119796e-02 9.96295025e-01 -3.22318345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479115933 meters 0.019402651904556742 Centerline is valid? [True, True] Translation: X:-41.54, Y:18.78, Z:-0.33 [[ 6.41401856e-01 7.64766654e-01 -6.11197617e-02 -4.15411562e+01] [-7.62982372e-01 6.44191122e-01 5.36255393e-02 1.87754311e+01] [ 8.03838322e-02 1.22377803e-02 9.96688856e-01 -3.34122726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.539115933 meters 0.019585423675781363 Centerline is valid? [True, True] Translation: X:-41.57, Y:18.81, Z:-0.29 [[ 6.39982547e-01 7.66128470e-01 -5.89025181e-02 -4.15699747e+01] [-7.64445267e-01 6.42581072e-01 5.20864643e-02 1.88085351e+01] [ 7.77545664e-02 1.16933231e-02 9.96903954e-01 -2.89208870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.599115933 meters 0.015621031109306585 Centerline is valid? [True, True] Translation: X:-41.63, Y:18.81, Z:-0.38 [[ 6.43000797e-01 7.63620622e-01 -5.85962425e-02 -4.16278777e+01] [-7.61915412e-01 6.45570042e-01 5.21941170e-02 1.88114517e+01] [ 7.76844828e-02 1.10845214e-02 9.96916373e-01 -3.80213335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659115933 meters 0.014725783221077066 Centerline is valid? [True, True] Translation: X:-41.67, Y:18.83, Z:-0.40 [[ 6.46093536e-01 7.61049889e-01 -5.80190448e-02 -4.16696973e+01] [-7.59338943e-01 6.48609620e-01 5.20569895e-02 1.88341562e+01] [ 7.72496767e-02 1.04224358e-02 9.96957301e-01 -3.95494586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.719115933 meters 0.01698634702162156 Centerline is valid? [True, True] Translation: X:-41.70, Y:18.87, Z:-0.36 [[ 6.41828442e-01 7.64637524e-01 -5.81868355e-02 -4.16976642e+01] [-7.62904346e-01 6.44372349e-01 5.25474429e-02 1.88733818e+01] [ 7.76737345e-02 1.06645463e-02 9.96921792e-01 -3.58251112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.779115933 meters 0.01731296520638597 Centerline is valid? [True, True] Translation: X:-41.74, Y:18.89, Z:-0.38 [[ 6.41989602e-01 7.64567077e-01 -5.73283075e-02 -4.17389688e+01] [-7.62849488e-01 6.44463390e-01 5.22264061e-02 1.88912478e+01] [ 7.68765861e-02 1.02040604e-02 9.96988399e-01 -3.83528848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839115933 meters 0.017378553358156874 Centerline is valid? [True, True] Translation: X:-41.78, Y:18.92, Z:-0.37 [[ 6.43722163e-01 7.63163158e-01 -5.66018578e-02 -4.17757781e+01] [-7.61452469e-01 6.46133881e-01 5.19725470e-02 1.89187017e+01] [ 7.62359112e-02 9.64374404e-03 9.97043171e-01 -3.66299475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.899115933 meters 0.01598780027403274 Centerline is valid? [True, True] Translation: X:-41.82, Y:18.94, Z:-0.40 [[ 6.47954835e-01 7.59466520e-01 -5.80097956e-02 -4.18228489e+01] [-7.57623786e-01 6.50481647e-01 5.36640034e-02 1.89361454e+01] [ 7.84903213e-02 9.17775044e-03 9.96872629e-01 -4.01073771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.959115933 meters 0.015969337546028143 Centerline is valid? [True, True] Translation: X:-41.86, Y:18.96, Z:-0.40 [[ 6.50658806e-01 7.57088161e-01 -5.88271503e-02 -4.18621505e+01] [-7.55151408e-01 6.53254086e-01 5.48219897e-02 1.89623980e+01] [ 7.99341557e-02 8.75299493e-03 9.96761715e-01 -3.97676679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019115933 meters 0.01665584545337469 Centerline is valid? [True, True] Translation: X:-41.90, Y:19.00, Z:-0.37 [[ 6.52133811e-01 7.55776586e-01 -5.93569342e-02 -4.18963138e+01] [-7.53766187e-01 6.54775673e-01 5.57256944e-02 1.89954789e+01] [ 8.09816516e-02 8.40064055e-03 9.96680190e-01 -3.74275338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.079115933 meters 0.016211001369374523 Centerline is valid? [True, True] Translation: X:-41.93, Y:19.02, Z:-0.38 [[ 6.54307019e-01 7.53928600e-01 -5.89405667e-02 -4.19341304e+01] [-7.51906505e-01 6.56909475e-01 5.57364313e-02 1.90241732e+01] [ 8.07399063e-02 7.84905734e-03 9.96704299e-01 -3.77564689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.139115933 meters 0.01658485193891528 Centerline is valid? [True, True] Translation: X:-41.97, Y:19.06, Z:-0.37 [[ 6.54204211e-01 7.54021607e-01 -5.88919937e-02 -4.19673079e+01] [-7.51969037e-01 6.56805920e-01 5.61119474e-02 1.90571309e+01] [ 8.09902308e-02 7.57628348e-03 9.96686100e-01 -3.70441720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199115933 meters 0.016289427777259162 Centerline is valid? [True, True] Translation: X:-42.00, Y:19.09, Z:-0.37 [[ 6.54319939e-01 7.54183322e-01 -5.54340493e-02 -4.20048514e+01] [-7.52335279e-01 6.56627812e-01 5.32122506e-02 1.90855919e+01] [ 7.65313305e-02 6.88715434e-03 9.97043391e-01 -3.74080868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.259115933 meters 0.01664807049772833 Centerline is valid? [True, True] Translation: X:-42.04, Y:19.12, Z:-0.38 [[ 6.45327567e-01 7.61819240e-01 -5.64249712e-02 -4.20377735e+01] [-7.59902336e-01 6.47744208e-01 5.45516372e-02 1.91194636e+01] [ 7.81074350e-02 7.67379209e-03 9.96915413e-01 -3.76273682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.319115933 meters 0.016167450849647522 Centerline is valid? [True, True] Translation: X:-42.07, Y:19.15, Z:-0.38 [[ 6.39837122e-01 7.66509032e-01 -5.54288822e-02 -4.20698894e+01] [-7.64644045e-01 6.42185830e-01 5.40078280e-02 1.91514878e+01] [ 7.69931307e-02 7.82715136e-03 9.97000899e-01 -3.79812834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379115933 meters 0.015600141394393691 Centerline is valid? [True, True] Translation: X:-42.10, Y:19.18, Z:-0.39 [[ 6.38488392e-01 7.67865487e-01 -5.21072634e-02 -4.21010921e+01] [-7.66192737e-01 6.40570073e-01 5.11729486e-02 1.91845457e+01] [ 7.26722946e-02 7.25087311e-03 9.97329515e-01 -3.87092275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.439115933 meters 0.016044363376519988 Centerline is valid? [True, True] Translation: X:-42.13, Y:19.22, Z:-0.39 [[ 6.33190256e-01 7.72240367e-01 -5.21048517e-02 -4.21318174e+01] [-7.70556710e-01 6.35285873e-01 5.15190941e-02 1.92197319e+01] [ 7.28866003e-02 7.52835469e-03 9.97311821e-01 -3.89369803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.499115933 meters 0.01517443497935639 Centerline is valid? [True, True] Translation: X:-42.16, Y:19.25, Z:-0.41 [[ 6.30422903e-01 7.74593725e-01 -5.07102048e-02 -4.21646458e+01] [-7.72978662e-01 6.32416518e-01 5.05305489e-02 1.92510324e+01] [ 7.12106172e-02 7.34229088e-03 9.97434278e-01 -4.06443179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559115933 meters 0.015394916197702758 Centerline is valid? [True, True] Translation: X:-42.19, Y:19.29, Z:-0.39 [[ 6.33486799e-01 7.72200273e-01 -4.90021734e-02 -4.21943225e+01] [-7.70659508e-01 6.35344969e-01 4.92005429e-02 1.92881110e+01] [ 6.91259570e-02 6.59609636e-03 9.97586133e-01 -3.91247244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.619115932999996 meters 0.014862030274952991 Centerline is valid? [True, True] Translation: X:-40.65, Y:20.73, Z:-1.85 [[ 8.17958522e-01 -5.74358832e-01 -3.24929061e-02 -4.06498268e+01] [-5.73758458e-01 -8.18598264e-01 2.64218566e-02 2.07253707e+01] [-4.17742632e-02 -2.96890309e-03 -9.99122663e-01 -1.85086174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.679115933 meters 0.014516240527393831 Centerline is valid? [True, True] Translation: X:-42.08, Y:19.15, Z:-0.40 [[ 6.96621292e-01 7.15869193e-01 -4.74349521e-02 -4.20802606e+01] [-7.14740121e-01 6.98211696e-01 4.05830867e-02 1.91543580e+01] [ 6.21718199e-02 5.63262106e-03 9.98049567e-01 -4.00093295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739115933 meters 0.014723551684578305 Centerline is valid? [True, True] Translation: X:-42.11, Y:19.19, Z:-0.40 [[ 6.94766881e-01 7.17643816e-01 -4.78156365e-02 -4.21128560e+01] [-7.16481370e-01 6.96387627e-01 4.12155349e-02 1.91858379e+01] [ 6.28762913e-02 5.62382412e-03 9.98005483e-01 -4.02257963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799115933 meters 0.014671815146937559 Centerline is valid? [True, True] Translation: X:-42.15, Y:19.22, Z:-0.40 [[ 6.98403885e-01 7.14299937e-01 -4.48063957e-02 -4.21467951e+01] [-7.13256607e-01 6.99823252e-01 3.88899619e-02 1.92191865e+01] [ 5.91356548e-02 4.79755724e-03 9.98238427e-01 -4.04080653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.859115933 meters 0.01462626084079567 Centerline is valid? [True, True] Translation: X:-42.18, Y:19.25, Z:-0.40 [[ 6.95745737e-01 7.16799827e-01 -4.62155555e-02 -4.21810324e+01] [-7.15676924e-01 6.97261369e-01 4.04119323e-02 1.92515510e+01] [ 6.11915876e-02 4.95897698e-03 9.98113720e-01 -4.04524773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919115933 meters 0.013863835663454638 Centerline is valid? [True, True] Translation: X:-42.21, Y:19.28, Z:-0.41 [[ 6.94824196e-01 7.17609087e-01 -4.75030073e-02 -4.22148823e+01] [-7.16403806e-01 6.96428590e-01 4.18665281e-02 1.92843974e+01] [ 6.31262534e-02 4.94145852e-03 9.97993316e-01 -4.10887764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979115933 meters 0.014028213901981102 Centerline is valid? [True, True] Translation: X:-42.25, Y:19.32, Z:-0.41 [[ 6.91514753e-01 7.20723159e-01 -4.86361499e-02 -4.22471410e+01] [-7.19447755e-01 6.93203932e-01 4.31652279e-02 1.93187769e+01] [ 6.48249497e-02 5.14177692e-03 9.97883404e-01 -4.09966722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.039115933 meters 0.015417735376574248 Centerline is valid? [True, True] Translation: X:-42.28, Y:19.35, Z:-0.40 [[ 6.90228387e-01 7.22000986e-01 -4.79515508e-02 -4.22788289e+01] [-7.20746037e-01 6.91874034e-01 4.28424119e-02 1.93548825e+01] [ 6.41086965e-02 4.98984131e-03 9.97930447e-01 -3.96141633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.099115933 meters 0.013317438764341358 Centerline is valid? [True, True] Translation: X:-42.32, Y:19.38, Z:-0.42 [[ 6.94552954e-01 7.17748627e-01 -4.93264834e-02 -4.23168286e+01] [-7.16390172e-01 6.96287639e-01 4.43694109e-02 1.93829373e+01] [ 6.61915045e-02 4.52010248e-03 9.97796699e-01 -4.16931187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159115933 meters 0.01356712667196237 Centerline is valid? [True, True] Translation: X:-42.35, Y:19.42, Z:-0.42 [[ 6.94156186e-01 7.18166319e-01 -4.88295797e-02 -4.23503471e+01] [-7.16816702e-01 6.95858163e-01 4.42180265e-02 1.94173220e+01] [ 6.57343589e-02 4.30764165e-03 9.97827860e-01 -4.18147993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.219115933 meters 0.013128396994060279 Centerline is valid? [True, True] Translation: X:-42.38, Y:19.45, Z:-0.42 [[ 6.90606106e-01 7.21710430e-01 -4.68749673e-02 -4.23841851e+01] [-7.20456949e-01 6.92181981e-01 4.27304185e-02 1.94514365e+01] [ 6.32849964e-02 4.26150805e-03 9.97986397e-01 -4.23884238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.279115933 meters 0.013406181115727054 Centerline is valid? [True, True] Translation: X:-42.42, Y:19.49, Z:-0.42 [[ 6.93167439e-01 7.19348497e-01 -4.53502142e-02 -4.24161827e+01] [-7.18151074e-01 6.94639533e-01 4.16527840e-02 1.94874260e+01] [ 6.14649192e-02 3.69595147e-03 9.98102401e-01 -4.23485730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339115933 meters 0.013358931841017854 Centerline is valid? [True, True] Translation: X:-42.45, Y:19.53, Z:-0.42 [[ 6.90359569e-01 7.22032740e-01 -4.55234846e-02 -4.24463929e+01] [-7.20813981e-01 6.91848733e-01 4.21014854e-02 1.95259044e+01] [ 6.18940159e-02 3.74880086e-03 9.98075687e-01 -4.22250396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.399115933 meters 0.01314867413206282 Centerline is valid? [True, True] Translation: X:-42.48, Y:19.56, Z:-0.42 [[ 6.87802918e-01 7.24508415e-01 -4.48854407e-02 -4.24771536e+01] [-7.23311782e-01 6.89255899e-01 4.17896026e-02 1.95633578e+01] [ 6.12144735e-02 3.72315752e-03 9.98117692e-01 -4.19119402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.459115933 meters 0.013324892438984886 Centerline is valid? [True, True] Translation: X:-42.51, Y:19.60, Z:-0.43 [[ 6.87928893e-01 7.24473024e-01 -4.35048907e-02 -4.25112671e+01] [-7.23332615e-01 6.89294685e-01 4.07770111e-02 1.95964930e+01] [ 5.95295345e-02 3.41682219e-03 9.98220697e-01 -4.27855938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519115933 meters 0.01290713169664033 Centerline is valid? [True, True] Translation: X:-42.54, Y:19.64, Z:-0.42 [[ 6.85096880e-01 7.27178419e-01 -4.30559122e-02 -4.25402199e+01] [-7.26050760e-01 6.86439944e-01 4.06263151e-02 1.96354946e+01] [ 5.90978776e-02 3.42781608e-03 9.98246308e-01 -4.24803005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.579115933 meters 0.012967778346558125 Centerline is valid? [True, True] Translation: X:-42.57, Y:19.67, Z:-0.43 [[ 6.82823110e-01 7.29461337e-01 -4.04815935e-02 -4.25702897e+01] [-7.28454472e-01 6.84014397e-01 3.84497812e-02 1.96731334e+01] [ 5.57376216e-02 3.23459861e-03 9.98440211e-01 -4.33380204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.639115933 meters 0.014514496561887047 Centerline is valid? [True, True] Translation: X:-42.59, Y:19.72, Z:-0.42 [[ 6.78877448e-01 7.33245581e-01 -3.84230176e-02 -4.25943589e+01] [-7.32331643e-01 6.79956389e-01 3.67378947e-02 1.97178697e+01] [ 5.30638753e-02 3.19786348e-03 9.98586000e-01 -4.19545895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699115933 meters 0.01836168309713709 Centerline is valid? [True, True] Translation: X:-42.60, Y:19.79, Z:-0.34 [[ 6.59665906e-01 7.50177397e-01 -4.55495853e-02 -4.25968856e+01] [-7.48912787e-01 6.61216276e-01 4.38483064e-02 1.97852124e+01] [ 6.30121355e-02 5.18743412e-03 9.97999279e-01 -3.40409892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.759115933 meters 0.0190953235788329 Centerline is valid? [True, True] Translation: X:-42.64, Y:19.80, Z:-0.39 [[ 6.65953749e-01 7.45259130e-01 -3.30822280e-02 -4.26442599e+01] [-7.44576988e-01 6.66766832e-01 3.20484136e-02 1.98036109e+01] [ 4.59425052e-02 3.28950441e-03 9.98938669e-01 -3.92591417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.819115933 meters 0.022279625728637117 Centerline is valid? [True, True] Translation: X:-42.64, Y:19.88, Z:-0.29 [[ 6.51933120e-01 7.57870185e-01 -2.48191418e-02 -4.26414072e+01] [-7.57490001e-01 6.52398355e-01 2.41926815e-02 1.98772356e+01] [ 3.45268792e-02 3.02824141e-03 9.99399182e-01 -2.92571508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879115933 meters 0.023711567822374532 Centerline is valid? [True, True] Translation: X:-42.67, Y:19.91, Z:-0.32 [[ 6.43355164e-01 7.65354112e-01 -1.80891439e-02 -4.26725034e+01] [-7.65152435e-01 6.43604830e-01 1.77362378e-02 1.99128025e+01] [ 2.52167629e-02 2.43025236e-03 9.99679053e-01 -3.19361089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.939115933 meters 0.022953189562039403 Centerline is valid? [True, True] Translation: X:-42.72, Y:19.94, Z:-0.37 [[ 6.39103897e-01 7.69020956e-01 -1.23684433e-02 -4.27165342e+01] [-7.68926261e-01 6.39221254e-01 1.21898784e-02 1.99359502e+01] [ 1.72804437e-02 1.71982204e-03 9.99849203e-01 -3.65941372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.999115933 meters 0.02274528854660959 Centerline is valid? [True, True] Translation: X:-42.72, Y:20.00, Z:-0.32 [[ 6.35345487e-01 7.72217270e-01 -4.07442953e-03 -4.27228702e+01] [-7.72207124e-01 6.35358266e-01 4.00404752e-03 1.99974402e+01] [ 5.68071712e-03 6.02349986e-04 9.99983683e-01 -3.16765018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059115933 meters 0.022712013992869637 Centerline is valid? [True, True] Translation: X:-42.74, Y:20.04, Z:-0.31 [[ 6.24919682e-01 7.80688816e-01 -6.02490287e-04 -4.27431471e+01] [-7.80688640e-01 6.24919959e-01 5.40715796e-04 2.00437629e+01] [ 7.98638980e-04 1.32453379e-04 9.99999672e-01 -3.07974172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.119115932999996 meters 0.02238384473532549 Centerline is valid? [True, True] Translation: X:-41.47, Y:21.19, Z:-1.96 [[ 8.32943523e-01 -5.53072605e-01 1.77702191e-02 -4.14667014e+01] [-5.52842028e-01 -8.33124117e-01 -1.64285797e-02 2.11862116e+01] [ 2.38909955e-02 3.85995511e-03 -9.99707118e-01 -1.96247431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.179115933 meters 0.021661925473534977 Centerline is valid? [True, True] Translation: X:-42.64, Y:19.93, Z:-0.31 [[ 6.75266910e-01 7.37565493e-01 3.42680064e-03 -4.26364252e+01] [-7.37559812e-01 6.75275390e-01 -2.94471455e-03 1.99307581e+01] [-4.48595398e-03 -5.39002135e-04 9.99989793e-01 -3.13755975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239115933 meters 0.021484221748068147 Centerline is valid? [True, True] Translation: X:-42.64, Y:20.00, Z:-0.23 [[ 6.59746241e-01 7.51487858e-01 -9.46687478e-04 -4.26384966e+01] [-7.51487509e-01 6.59746886e-01 7.55013042e-04 1.99982122e+01] [ 1.19195725e-03 2.13306799e-04 9.99999267e-01 -2.34916736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299115933 meters 0.021622765562872404 Centerline is valid? [True, True] Translation: X:-42.71, Y:19.98, Z:-0.35 [[ 6.60361487e-01 7.50947432e-01 8.13284483e-04 -4.27143888e+01] [-7.50947063e-01 6.60361978e-01 -7.52953815e-04 1.99818366e+01] [-1.10249088e-03 -1.13511892e-04 9.99999386e-01 -3.53134337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.359115933 meters 0.0224111214045628 Centerline is valid? [True, True] Translation: X:-42.72, Y:20.05, Z:-0.26 [[ 6.53872942e-01 7.56604362e-01 1.23359860e-04 -4.27191667e+01] [-7.56604346e-01 6.53872953e-01 -1.56585633e-04 2.00509319e+01] [-1.99135049e-04 9.05250221e-06 9.99999980e-01 -2.61269291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419115933 meters 0.02257552217138486 Centerline is valid? [True, True] Translation: X:-42.72, Y:20.12, Z:-0.17 [[ 6.47337733e-01 7.62199215e-01 -2.49345757e-03 -4.27232521e+01] [-7.62196377e-01 6.47342331e-01 2.14231297e-03 2.01214228e+01] [ 3.24698990e-03 5.13704304e-04 9.99994597e-01 -1.74776758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479115933 meters 0.021988654516837507 Centerline is valid? [True, True] Translation: X:-42.77, Y:20.14, Z:-0.21 [[ 6.46787246e-01 7.62665496e-01 -2.75677098e-03 -4.27696214e+01] [-7.62661960e-01 6.46792880e-01 2.38833929e-03 2.01416501e+01] [ 3.60456381e-03 5.57736973e-04 9.99993348e-01 -2.08734029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.539115933 meters 0.021707340140188623 Centerline is valid? [True, True] Translation: X:-42.79, Y:20.19, Z:-0.15 [[ 6.42527985e-01 7.66241299e-01 -5.66207114e-03 -4.27883298e+01] [-7.66225970e-01 6.42551922e-01 4.97897355e-03 2.01947324e+01] [ 7.45326985e-03 1.13929611e-03 9.99971575e-01 -1.51247940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.599115933 meters 0.02091645567557734 Centerline is valid? [True, True] Translation: X:-42.83, Y:20.22, Z:-0.15 [[ 6.43277708e-01 7.65574916e-01 -9.42540060e-03 -4.28291020e+01] [-7.65531440e-01 6.43344136e-01 8.36284306e-03 2.02211322e+01] [ 1.24661591e-02 1.83580998e-03 9.99920609e-01 -1.54950461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659115933 meters 0.01918512787214643 Centerline is valid? [True, True] Translation: X:-42.88, Y:20.24, Z:-0.21 [[ 6.40259270e-01 7.67979106e-01 -1.66180401e-02 -4.28801147e+01] [-7.67842035e-01 6.40466694e-01 1.48668496e-02 2.02358814e+01] [ 2.20607311e-02 3.24139141e-03 9.99751378e-01 -2.13145078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.719115933 meters 0.01739524863052521 Centerline is valid? [True, True] Translation: X:-42.91, Y:20.27, Z:-0.19 [[ 6.40522760e-01 7.67573189e-01 -2.37064158e-02 -4.29104993e+01] [-7.67289216e-01 6.40945449e-01 2.13586017e-02 2.02742684e+01] [ 3.15888093e-02 4.50900671e-03 9.99490778e-01 -1.90982947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.779115933 meters 0.015445162735386424 Centerline is valid? [True, True] Translation: X:-42.95, Y:20.31, Z:-0.18 [[ 6.51462992e-01 7.58329356e-01 -2.30772381e-02 -4.29468253e+01] [-7.58050763e-01 6.51860124e-01 2.09145608e-02 2.03057919e+01] [ 3.09032567e-02 3.86865558e-03 9.99514893e-01 -1.78417482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839115933 meters 0.01367077253231076 Centerline is valid? [True, True] Translation: X:-42.96, Y:20.36, Z:-0.12 [[ 6.67399276e-01 7.44490671e-01 -1.76591886e-02 -4.29646373e+01] [-7.44320688e-01 6.67628527e-01 1.60891988e-02 2.03605934e+01] [ 2.37680364e-02 2.40617979e-03 9.99714605e-01 -1.20748236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.899115933 meters 0.012928262458390006 Centerline is valid? [True, True] Translation: X:-43.00, Y:20.39, Z:-0.11 [[ 6.72192752e-01 7.40257963e-01 -1.32307037e-02 -4.30018684e+01] [-7.40160693e-01 6.72320923e-01 1.21129929e-02 2.03927377e+01] [ 1.78620184e-02 1.65058078e-03 9.99839099e-01 -1.11924422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.959115933 meters 0.012779760302907802 Centerline is valid? [True, True] Translation: X:-43.05, Y:20.42, Z:-0.13 [[ 6.68634421e-01 7.43504585e-01 -1.13553603e-02 -4.30457960e+01] [-7.43432604e-01 6.68729251e-01 1.04475781e-02 2.04179741e+01] [ 1.53614838e-02 1.45633476e-03 9.99880945e-01 -1.28966019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019115933 meters 0.012616459562562018 Centerline is valid? [True, True] Translation: X:-43.09, Y:20.45, Z:-0.13 [[ 6.58659427e-01 7.52336837e-01 -1.25316764e-02 -4.30874521e+01] [-7.52249471e-01 6.58776214e-01 1.16031920e-02 2.04452825e+01] [ 1.69850791e-02 1.78439519e-03 9.99854151e-01 -1.30783389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.079115933 meters 0.014157104840074243 Centerline is valid? [True, True] Translation: X:-43.13, Y:20.47, Z:-0.14 [[ 6.57229723e-01 7.53524214e-01 -1.58224359e-02 -4.31279820e+01] [-7.53383075e-01 6.57416390e-01 1.47523937e-02 2.04730574e+01] [ 2.15182146e-02 2.22464377e-03 9.99765981e-01 -1.37473803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.139115933 meters 0.015282388623196341 Centerline is valid? [True, True] Translation: X:-43.18, Y:20.49, Z:-0.16 [[ 6.68919058e-01 7.43152179e-01 -1.64964325e-02 -4.31822173e+01] [-7.42993470e-01 6.69119728e-01 1.54755485e-02 2.04858777e+01] [ 2.25387760e-02 1.90485225e-03 9.99744155e-01 -1.59156926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199115933 meters 0.014895335125157103 Centerline is valid? [True, True] Translation: X:-43.23, Y:20.50, Z:-0.18 [[ 6.69435136e-01 7.42622564e-01 -1.91918204e-02 -4.32337962e+01] [-7.42404495e-01 6.69706832e-01 1.81197369e-02 2.05015825e+01] [ 2.63090187e-02 2.11810517e-03 9.99651614e-01 -1.82916179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.259115933 meters 0.015500698964826181 Centerline is valid? [True, True] Translation: X:-43.28, Y:20.52, Z:-0.21 [[ 6.61267709e-01 7.49790972e-01 -2.32059186e-02 -4.32830470e+01] [-7.49471622e-01 6.61668824e-01 2.20602543e-02 2.05199473e+01] [ 3.18952124e-02 2.80444360e-03 9.99487284e-01 -2.13296765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.319115933 meters 0.013989370186989796 Centerline is valid? [True, True] Translation: X:-43.34, Y:20.53, Z:-0.26 [[ 6.62116288e-01 7.48970931e-01 -2.53882997e-02 -4.33363323e+01] [-7.48582323e-01 6.62596438e-01 2.42995018e-02 2.05331165e+01] [ 3.50218175e-02 2.91613647e-03 9.99382293e-01 -2.64965767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379115933 meters 0.013731404756633508 Centerline is valid? [True, True] Translation: X:-43.36, Y:20.58, Z:-0.22 [[ 6.57165775e-01 7.53192474e-01 -2.88832368e-02 -4.33628372e+01] [-7.52685903e-01 6.57791156e-01 2.78339114e-02 2.05759098e+01] [ 3.99634303e-02 3.44851123e-03 9.99195192e-01 -2.17390486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.439115933 meters 0.013321771427058718 Centerline is valid? [True, True] Translation: X:-43.39, Y:20.61, Z:-0.19 [[ 6.54142978e-01 7.55731888e-01 -3.10849984e-02 -4.33947214e+01] [-7.55138247e-01 6.54870514e-01 3.01800952e-02 2.06107157e+01] [ 4.31647092e-02 3.73137379e-03 9.99061002e-01 -1.94128994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.499115933 meters 0.01238845029214596 Centerline is valid? [True, True] Translation: X:-43.45, Y:20.62, Z:-0.25 [[ 6.66711259e-01 7.44845941e-01 -2.64692403e-02 -4.34471396e+01] [-7.44400457e-01 6.67231972e-01 2.58738294e-02 2.06229917e+01] [ 3.69331402e-02 2.45334118e-03 9.99314727e-01 -2.45146658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559115933 meters 0.012021320528705534 Centerline is valid? [True, True] Translation: X:-43.48, Y:20.66, Z:-0.22 [[ 6.63818112e-01 7.47246363e-01 -3.11189134e-02 -4.34760302e+01] [-7.46623875e-01 6.64540791e-01 3.06321165e-02 2.06632667e+01] [ 4.35695250e-02 2.89996998e-03 9.99046188e-01 -2.22474893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.619115932999996 meters 0.012578069615978864 Centerline is valid? [True, True] Translation: X:-43.50, Y:20.71, Z:-0.19 [[ 6.55268396e-01 7.54632978e-01 -3.39469998e-02 -4.35004613e+01] [-7.53891266e-01 6.56137533e-01 3.36377202e-02 2.07083294e+01] [ 4.76580337e-02 3.55061171e-03 9.98857400e-01 -1.88216495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.679115933 meters 0.012445837907328047 Centerline is valid? [True, True] Translation: X:-43.52, Y:20.76, Z:-0.12 [[ 6.60739113e-01 7.49959198e-01 -3.13851145e-02 -4.35161669e+01] [-7.49311282e-01 6.61477999e-01 3.12963078e-02 2.07622536e+01] [ 4.42315167e-02 2.83852572e-03 9.99017275e-01 -1.24331771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739115933 meters 0.0118805784636726 Centerline is valid? [True, True] Translation: X:-43.54, Y:20.81, Z:-0.07 [[ 6.68847950e-01 7.42834655e-01 -2.89671397e-02 -4.35354592e+01] [-7.42268495e-01 6.69471761e-01 2.90696128e-02 2.08128876e+01] [ 4.09865979e-02 2.05824425e-03 9.99157576e-01 -7.03944445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.799115933 meters 0.011275368156644297 Centerline is valid? [True, True] Translation: X:-42.32, Y:21.91, Z:-2.25 [[ 7.88419127e-01 -6.15001162e-01 -1.29942329e-02 -4.23232117e+01] [-6.14922846e-01 -7.88526162e-01 9.81760425e-03 2.19129611e+01] [-1.62841306e-02 2.50063698e-04 -9.99867373e-01 -2.24854373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.859115933 meters 0.0112401917271009 Centerline is valid? [True, True] Translation: X:-43.45, Y:20.71, Z:-0.07 [[ 7.28228216e-01 6.84697494e-01 -2.95466761e-02 -4.34548956e+01] [-6.84233908e-01 7.28825093e-01 2.52575478e-02 2.07126431e+01] [ 3.88281386e-02 1.82357869e-03 9.99244240e-01 -7.02596327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919115933 meters 0.011159978767357722 Centerline is valid? [True, True] Translation: X:-43.48, Y:20.76, Z:-0.03 [[ 7.30288358e-01 6.82607624e-01 -2.69396807e-02 -4.34779836e+01] [-6.82216917e-01 7.30783580e-01 2.31395058e-02 2.07640817e+01] [ 3.54822794e-02 1.48019426e-03 9.99369209e-01 -2.58564546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979115933 meters 0.011045513105865762 Centerline is valid? [True, True] Translation: X:-43.52, Y:20.79, Z:-0.08 [[ 7.21497729e-01 6.91840221e-01 -2.82512826e-02 -4.35237736e+01] [-6.91412103e-01 7.22048072e-01 2.44107753e-02 2.07856625e+01] [ 3.72871403e-02 1.92095974e-03 9.99302746e-01 -7.66271799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03911593299999 meters 0.011677958187599828 Centerline is valid? [True, True] Translation: X:-43.54, Y:20.85, Z:-0.01 [[ 7.07018762e-01 7.06288442e-01 -3.57925459e-02 -4.35379464e+01] [-7.05609912e-01 7.07916707e-01 3.11221522e-02 2.08469175e+01] [ 4.73193577e-02 3.25162962e-03 9.98874519e-01 -1.15907776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.099115933 meters 0.010959148037607853 Centerline is valid? [True, True] Translation: X:-43.57, Y:20.88, Z:0.01 [[ 7.17034694e-01 6.96255787e-01 -3.30019181e-02 -4.35694637e+01] [-6.95659926e-01 7.17790245e-01 2.88865157e-02 2.08829936e+01] [ 4.38008586e-02 2.24547799e-03 9.99037758e-01 1.39523758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.159115933 meters 0.011173475188211471 Centerline is valid? [True, True] Translation: X:-43.61, Y:20.91, Z:-0.00 [[ 7.11397505e-01 7.02025351e-01 -3.27718769e-02 -4.36092158e+01] [-7.01436475e-01 7.12147702e-01 2.88534770e-02 2.09132530e+01] [ 4.35942891e-02 2.46109821e-03 9.99046286e-01 -4.58609591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.219115933 meters 0.011986983937367078 Centerline is valid? [True, True] Translation: X:-43.65, Y:20.94, Z:-0.03 [[ 7.01215578e-01 7.12006043e-01 -3.66620736e-02 -4.36511428e+01] [-7.11272767e-01 7.02165557e-01 3.24743138e-02 2.09402233e+01] [ 4.88647530e-02 3.30523978e-03 9.98799936e-01 -2.65812093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27911593299999 meters 0.012115127542209562 Centerline is valid? [True, True] Translation: X:-43.68, Y:20.98, Z:-0.02 [[ 7.00873949e-01 7.12425971e-01 -3.49991990e-02 -4.36826221e+01] [-7.11749385e-01 7.01740647e-01 3.11909864e-02 2.09789510e+01] [ 4.67816293e-02 3.04970857e-03 9.98900485e-01 -1.54782289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33911593299999 meters 0.012921180592745829 Centerline is valid? [True, True] Translation: X:-43.71, Y:21.02, Z:0.01 [[ 6.96184640e-01 7.16976258e-01 -3.56650055e-02 -4.37145474e+01] [-7.16271221e-01 6.97089792e-01 3.19587192e-02 2.10183983e+01] [ 4.77753541e-02 3.29664763e-03 9.98852666e-01 7.59635665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39911593299999 meters 0.012762684215920438 Centerline is valid? [True, True] Translation: X:-43.75, Y:21.05, Z:0.01 [[ 6.94445772e-01 7.18784393e-01 -3.30766741e-02 -4.37489792e+01] [-7.18172617e-01 6.95226337e-01 2.98065902e-02 2.10543922e+01] [ 4.44202867e-02 3.05570104e-03 9.99008259e-01 1.32153439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45911593299999 meters 0.013277569078241657 Centerline is valid? [True, True] Translation: X:-43.79, Y:21.08, Z:-0.00 [[ 6.94187435e-01 7.19120496e-01 -3.11370626e-02 -4.37897657e+01] [-7.18571711e-01 6.94879834e-01 2.82261001e-02 2.10821679e+01] [ 4.19344840e-02 2.78000832e-03 9.99116495e-01 -1.89562015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.519115933 meters 0.014493139414874295 Centerline is valid? [True, True] Translation: X:-43.82, Y:21.12, Z:0.01 [[ 6.83875590e-01 7.28876222e-01 -3.24596739e-02 -4.38226832e+01] [-7.28282549e-01 6.84637091e-01 2.96071306e-02 2.11195306e+01] [ 4.38030302e-02 3.39222019e-03 9.99034428e-01 1.37775003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.579115933 meters 0.015242099439764439 Centerline is valid? [True, True] Translation: X:-43.86, Y:21.15, Z:0.01 [[ 6.73760483e-01 7.38298635e-01 -3.10151103e-02 -4.38580225e+01] [-7.37758477e-01 6.74463842e-01 2.84772710e-02 2.11493550e+01] [ 4.19433008e-02 3.69480062e-03 9.99113161e-01 5.32391186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.639115933 meters 0.01611753391748503 Centerline is valid? [True, True] Translation: X:-43.90, Y:21.17, Z:-0.01 [[ 6.64504836e-01 7.46552990e-01 -3.30447602e-02 -4.39017137e+01] [-7.45941000e-01 6.65311683e-01 3.05350647e-02 2.11739166e+01] [ 4.47811089e-02 4.35874324e-03 9.98987314e-01 -1.46486466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69911593299999 meters 0.016155365074443526 Centerline is valid? [True, True] Translation: X:-43.95, Y:21.19, Z:-0.06 [[ 6.65850554e-01 7.45332533e-01 -3.35030679e-02 -4.39544574e+01] [-7.44693568e-01 6.66679579e-01 3.11420644e-02 2.11874038e+01] [ 4.55470049e-02 4.21355835e-03 9.98953310e-01 -5.80846138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75911593299999 meters 0.016843193245274293 Centerline is valid? [True, True] Translation: X:-43.98, Y:21.23, Z:-0.01 [[ 6.57712516e-01 7.52387547e-01 -3.64310976e-02 -4.39811241e+01] [-7.51632082e-01 6.58701944e-01 3.40728942e-02 2.12317333e+01] [ 4.96332561e-02 4.97261273e-03 9.98755132e-01 -1.16146933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81911593299999 meters 0.01681853177085613 Centerline is valid? [True, True] Translation: X:-44.02, Y:21.26, Z:0.00 [[ 6.61419818e-01 7.49266134e-01 -3.35273819e-02 -4.40174217e+01] [-7.48613271e-01 6.62255533e-01 3.15559803e-02 2.12632516e+01] [ 4.58475215e-02 4.22729230e-03 9.98939505e-01 7.63570031e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.879115933 meters 0.016783280621038076 Centerline is valid? [True, True] Translation: X:-44.06, Y:21.29, Z:-0.01 [[ 6.57980520e-01 7.52214146e-01 -3.51498629e-02 -4.40554045e+01] [-7.51490154e-01 6.58903329e-01 3.33009256e-02 2.12924145e+01] [ 4.82097890e-02 4.50341549e-03 9.98827080e-01 -5.16237208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.939115933 meters 0.017423856365666603 Centerline is valid? [True, True] Translation: X:-44.09, Y:21.33, Z:0.01 [[ 6.56739422e-01 7.53163761e-01 -3.79167666e-02 -4.40903374e+01] [-7.52310621e-01 6.57815702e-01 3.61556602e-02 2.13261434e+01] [ 5.21733774e-02 4.78033883e-03 9.98626600e-01 1.04202536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.999115933 meters 0.017218486110377917 Centerline is valid? [True, True] Translation: X:-44.12, Y:21.37, Z:0.05 [[ 6.53899312e-01 7.55535962e-01 -3.97630451e-02 -4.41199986e+01] [-7.54588832e-01 6.55087671e-01 3.81554470e-02 2.13657617e+01] [ 5.48760930e-02 5.05492922e-03 9.98480376e-01 5.16892506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05911593299999 meters 0.017214800906596703 Centerline is valid? [True, True] Translation: X:-44.16, Y:21.40, Z:0.05 [[ 6.42396596e-01 7.65232325e-01 -4.17863762e-02 -4.41551473e+01] [-7.64188845e-01 6.43726407e-01 4.03945644e-02 2.13951177e+01] [ 5.78102203e-02 5.98335191e-03 9.98309660e-01 4.61758859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11911593299999 meters 0.017636169200099493 Centerline is valid? [True, True] Translation: X:-44.19, Y:21.43, Z:0.06 [[ 6.48726015e-01 7.60054984e-01 -3.83533361e-02 -4.41891852e+01] [-7.59154226e-01 6.49840238e-01 3.73165740e-02 2.14296776e+01] [ 5.32861891e-02 4.90786481e-03 9.98567221e-01 6.01840312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17911593299999 meters 0.01689816658082989 Centerline is valid? [True, True] Translation: X:-44.23, Y:21.46, Z:0.04 [[ 6.44862384e-01 7.63461003e-01 -3.57743354e-02 -4.42270549e+01] [-7.62671583e-01 6.45836848e-01 3.50260160e-02 2.14596765e+01] [ 4.98453814e-02 4.69710883e-03 9.98745901e-01 3.81818761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.239115933 meters 0.016994736714997242 Centerline is valid? [True, True] Translation: X:-44.25, Y:21.50, Z:0.09 [[ 6.52157133e-01 7.57353758e-01 -3.32619862e-02 -4.42547401e+01] [-7.56654134e-01 6.52993764e-01 3.27668553e-02 2.15018426e+01] [ 4.65359706e-02 3.79868096e-03 9.98909392e-01 9.13137183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.299115933 meters 0.016691958405574494 Centerline is valid? [True, True] Translation: X:-44.29, Y:21.54, Z:0.12 [[ 6.49282502e-01 7.59741989e-01 -3.49906024e-02 -4.42854414e+01] [-7.58960321e-01 6.50212154e-01 3.46898516e-02 2.15408326e+01] [ 4.91066519e-02 4.03296517e-03 9.98785398e-01 1.17706077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.359115933 meters 0.016459123703493766 Centerline is valid? [True, True] Translation: X:-44.32, Y:21.57, Z:0.13 [[ 6.61564186e-01 7.49163885e-01 -3.29590941e-02 -4.43242135e+01] [-7.48447614e-01 6.62378274e-01 3.28814905e-02 2.15719399e+01] [ 4.64650130e-02 2.91493884e-03 9.98915665e-01 1.34113099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41911593299999 meters 0.016411779000491785 Centerline is valid? [True, True] Translation: X:-44.36, Y:21.61, Z:0.16 [[ 6.57586531e-01 7.52641689e-01 -3.33232942e-02 -4.43574341e+01] [-7.51903808e-01 6.58423240e-01 3.34589432e-02 2.16074883e+01] [ 4.71234268e-02 3.05376145e-03 9.98884406e-01 1.56967374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47911593299999 meters 0.016192823894042953 Centerline is valid? [True, True] Translation: X:-43.19, Y:22.67, Z:-2.46 [[ 7.93517257e-01 -6.08330199e-01 -1.62705889e-02 -4.31867636e+01] [-6.08199394e-01 -7.93684040e-01 1.26151275e-02 2.26708659e+01] [-2.05878697e-02 -1.14559010e-04 -9.99788041e-01 -2.45919862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53911593299999 meters 0.016467396918046447 Centerline is valid? [True, True] Translation: X:-44.29, Y:21.51, Z:0.15 [[ 7.20009172e-01 6.93140231e-01 -3.38143916e-02 -4.42943007e+01] [-6.92542176e-01 7.20798051e-01 2.89051025e-02 2.15068604e+01] [ 4.44086369e-02 2.60595341e-03 9.99010051e-01 1.50579975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.599115933 meters 0.01595148311688489 Centerline is valid? [True, True] Translation: X:-44.34, Y:21.53, Z:0.13 [[ 7.29621051e-01 6.83194466e-01 -2.99740517e-02 -4.43370415e+01] [-6.82711332e-01 7.30234549e-01 2.57437465e-02 2.15326868e+01] [ 3.94760733e-02 1.68044534e-03 9.99219103e-01 1.30279939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.659115933 meters 0.01658869000367555 Centerline is valid? [True, True] Translation: X:-44.38, Y:21.55, Z:0.11 [[ 7.27506993e-01 6.85608335e-01 -2.59766332e-02 -4.43827751e+01] [-6.85242522e-01 7.27969120e-01 2.24420682e-02 2.15544934e+01] [ 3.42966558e-02 1.47353210e-03 9.99410610e-01 1.06292254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.719115933 meters 0.01670197541511315 Centerline is valid? [True, True] Translation: X:-44.42, Y:21.59, Z:0.11 [[ 7.20597630e-01 6.92946633e-01 -2.37491157e-02 -4.44171660e+01] [-6.92640887e-01 7.20987160e-01 2.06425979e-02 2.15906691e+01] [ 3.14270262e-02 1.57460147e-03 9.99504809e-01 1.14628510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77911593299999 meters 0.017345646465543988 Centerline is valid? [True, True] Translation: X:-44.45, Y:21.62, Z:0.12 [[ 7.13730289e-01 7.00073855e-01 -2.20379595e-02 -4.44541387e+01] [-6.99810490e-01 7.14068498e-01 1.92732549e-02 2.16240843e+01] [ 2.92293145e-02 1.66648942e-03 9.99571343e-01 1.18203657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83911593299999 meters 0.017433201926546182 Centerline is valid? [True, True] Translation: X:-44.49, Y:21.66, Z:0.15 [[ 7.19702344e-01 6.94009001e-01 -1.94946783e-02 -4.44883140e+01] [-6.93798024e-01 7.19965354e-01 1.71519848e-02 2.16620906e+01] [ 2.59391248e-02 1.18104557e-03 9.99662827e-01 1.53942976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89911593299999 meters 0.017918091498931556 Centerline is valid? [True, True] Translation: X:-44.53, Y:21.69, Z:0.18 [[ 7.29657040e-01 6.83701429e-01 -1.23676968e-02 -4.45302949e+01] [-6.83614180e-01 7.29761693e-01 1.09327127e-02 2.16899472e+01] [ 1.65001826e-02 4.77602104e-04 9.99863749e-01 1.75416617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95911593299999 meters 0.018099171512050878 Centerline is valid? [True, True] Translation: X:-44.55, Y:21.75, Z:0.28 [[ 7.34700861e-01 6.78355342e-01 -6.97680570e-03 -4.45514089e+01] [-6.78327161e-01 7.34733962e-01 6.18605877e-03 2.17451345e+01] [ 9.32244211e-03 1.87654102e-04 9.99956527e-01 2.78683229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.019115933 meters 0.018433604870258684 Centerline is valid? [True, True] Translation: X:-44.59, Y:21.78, Z:0.30 [[ 7.26599845e-01 6.87030008e-01 -6.51413145e-03 -4.45898012e+01] [-6.87005524e-01 7.26628999e-01 5.80576846e-03 2.17783415e+01] [ 8.72209397e-03 2.56773827e-04 9.99961929e-01 3.03514561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.079115933 meters 0.01912915133383808 Centerline is valid? [True, True] Translation: X:-44.64, Y:21.80, Z:0.27 [[ 7.28461201e-01 6.85076562e-01 -3.79241574e-03 -4.46376808e+01] [-6.85068219e-01 7.28471060e-01 3.38371094e-03 2.17998497e+01] [ 5.08076618e-03 1.33161361e-04 9.99987084e-01 2.73336999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.139115933 meters 0.019709879924772602 Centerline is valid? [True, True] Translation: X:-44.67, Y:21.84, Z:0.33 [[ 7.13177393e-01 7.00948747e-01 -6.99002265e-03 -4.46663811e+01] [-7.00920516e-01 7.13211533e-01 6.30390059e-03 2.18443113e+01] [ 9.40407600e-03 4.03650897e-04 9.99955699e-01 3.25298650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19911593299999 meters 0.02086632586733509 Centerline is valid? [True, True] Translation: X:-44.71, Y:21.87, Z:0.30 [[ 7.05033198e-01 7.09117034e-01 -9.01230627e-03 -4.47081697e+01] [-7.09070079e-01 7.05090524e-01 8.18383529e-03 2.18723391e+01] [ 1.21577888e-02 6.20481146e-04 9.99925899e-01 3.04455441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25911593299999 meters 0.020952486502660603 Centerline is valid? [True, True] Translation: X:-44.75, Y:21.90, Z:0.33 [[ 6.89983731e-01 7.23538127e-01 -2.03722913e-02 -4.47455457e+01] [-7.23299576e-01 6.90281932e-01 1.86702701e-02 2.19039716e+01] [ 2.75712768e-02 1.85308703e-03 9.99618122e-01 3.27167171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31911593299999 meters 0.020719701507395417 Centerline is valid? [True, True] Translation: X:-44.78, Y:21.94, Z:0.35 [[ 6.79763993e-01 7.32870263e-01 -2.86721373e-02 -4.47761648e+01] [-7.32398697e-01 6.80361737e-01 2.64585580e-02 2.19444254e+01] [ 3.88981155e-02 3.01386097e-03 9.99238637e-01 3.54438285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.379115933 meters 0.020028732968940487 Centerline is valid? [True, True] Translation: X:-44.80, Y:22.00, Z:0.46 [[ 6.76731766e-01 7.35566399e-01 -3.12440264e-02 -4.47957375e+01] [-7.35001624e-01 6.77444442e-01 2.90110536e-02 2.19977578e+01] [ 4.25056483e-02 3.33170859e-03 9.99090671e-01 4.59504486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.439115933 meters 0.019733991372761845 Centerline is valid? [True, True] Translation: X:-44.83, Y:22.03, Z:0.47 [[ 6.72607639e-01 7.39225946e-01 -3.38225416e-02 -4.48280850e+01] [-7.38559280e-01 6.73447220e-01 3.16074580e-02 2.20340574e+01] [ 4.61427497e-02 3.72053425e-03 9.98927927e-01 4.74345239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.499115933 meters 0.019991273273246183 Centerline is valid? [True, True] Translation: X:-44.84, Y:22.09, Z:0.59 [[ 6.57287963e-01 7.52543077e-01 -4.06380552e-02 -4.48414213e+01] [-7.51591497e-01 6.58520704e-01 3.82191565e-02 2.20926351e+01] [ 5.55225623e-02 5.42222519e-03 9.98442710e-01 5.93242469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55911593299999 meters 0.020285814181930057 Centerline is valid? [True, True] Translation: X:-44.87, Y:22.13, Z:0.60 [[ 6.44971727e-01 7.62769118e-01 -4.68480956e-02 -4.48711175e+01] [-7.61512885e-01 6.46632107e-01 4.43288263e-02 2.21321465e+01] [ 6.41061424e-02 7.08458874e-03 9.97917938e-01 5.99912736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61911593299999 meters 0.019781638900011514 Centerline is valid? [True, True] Translation: X:-44.90, Y:22.18, Z:0.66 [[ 6.38777244e-01 7.67727569e-01 -5.05767972e-02 -4.48967311e+01] [-7.66258095e-01 6.40726452e-01 4.81471246e-02 2.21767703e+01] [ 6.93697668e-02 7.99959276e-03 9.97558942e-01 6.63297291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67911593299999 meters 0.01888017428053922 Centerline is valid? [True, True] Translation: X:-44.94, Y:22.20, Z:0.60 [[ 6.23078531e-01 7.79880993e-01 -5.96555296e-02 -4.49421810e+01] [-7.77856929e-01 6.25835017e-01 5.71762937e-02 2.21962602e+01] [ 8.19252241e-02 1.07781460e-02 9.96580197e-01 5.98972107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.739115933 meters 0.018591475180081526 Centerline is valid? [True, True] Translation: X:-44.98, Y:22.22, Z:0.57 [[ 6.16205616e-01 7.85210402e-01 -6.11167973e-02 -4.49804913e+01] [-7.83079732e-01 6.19121580e-01 5.89457595e-02 2.22247496e+01] [ 8.41235517e-02 1.15366172e-02 9.96388546e-01 5.67120393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.799115933 meters 0.018601528559947875 Centerline is valid? [True, True] Translation: X:-45.03, Y:22.24, Z:0.51 [[ 5.93599484e-01 8.01751880e-01 -6.95239187e-02 -4.50268269e+01] [-7.99057381e-01 5.97456065e-01 6.74800053e-02 2.22447567e+01] [ 9.56397080e-02 1.54975041e-02 9.95295370e-01 5.12151745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.859115933 meters 0.018124928512482538 Centerline is valid? [True, True] Translation: X:-45.06, Y:22.28, Z:0.49 [[ 5.86965995e-01 8.06609680e-01 -6.96544690e-02 -4.50621033e+01] [-8.03895824e-01 5.90866196e-01 6.80341235e-02 2.22751349e+01] [ 9.60334538e-02 1.60612198e-02 9.95248518e-01 4.87972771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91911593299999 meters 0.017708658962532098 Centerline is valid? [True, True] Translation: X:-45.08, Y:22.32, Z:0.52 [[ 5.80553007e-01 8.11318188e-01 -6.87095672e-02 -4.50830246e+01] [-8.08667805e-01 5.84375998e-01 6.75357241e-02 2.23209495e+01] [ 9.49451832e-02 1.63551472e-02 9.95348141e-01 5.16783162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97911593299999 meters 0.01710207974344585 Centerline is valid? [True, True] Translation: X:-45.09, Y:22.38, Z:0.64 [[ 5.89689395e-01 8.05225749e-01 -6.22728710e-02 -4.50885056e+01] [-8.02982647e-01 5.92810565e-01 6.15995431e-02 2.23845255e+01] [ 8.65175541e-02 1.36794375e-02 9.96156406e-01 6.42376615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03911593299999 meters 0.017161739591289603 Centerline is valid? [True, True] Translation: X:-45.16, Y:22.37, Z:0.46 [[ 6.02328707e-01 7.96032077e-01 -5.94395533e-02 -4.51626449e+01] [-7.93911615e-01 6.05144547e-01 5.91981863e-02 2.23720875e+01] [ 8.30931768e-02 1.15329847e-02 9.96475044e-01 4.57073202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.099115933 meters 0.016939670565808307 Centerline is valid? [True, True] Translation: X:-45.18, Y:22.42, Z:0.54 [[ 5.98952465e-01 7.98472678e-01 -6.08056494e-02 -4.51792815e+01] [-7.96232780e-01 6.01913147e-01 6.09419734e-02 2.24227344e+01] [ 8.52602205e-02 1.19141062e-02 9.96287483e-01 5.42618756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.159115933 meters 0.017087009617267227 Centerline is valid? [True, True] Translation: X:-44.07, Y:23.40, Z:-2.83 [[ 8.40199479e-01 -5.40135152e-01 -4.81544640e-02 -4.40680043e+01] [-5.38722164e-01 -8.41545267e-01 3.97491490e-02 2.34049824e+01] [-6.19940739e-02 -7.45533728e-03 -9.98048673e-01 -2.83314822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.219115933 meters 0.01697595686246369 Centerline is valid? [True, True] Translation: X:-45.12, Y:22.31, Z:0.46 [[ 6.74816300e-01 7.35085112e-01 -6.53669661e-02 -4.51233680e+01] [-7.33030696e-01 6.77897811e-01 5.58619536e-02 2.23056193e+01] [ 8.53754136e-02 1.02194358e-02 9.96296443e-01 4.62790363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27911593299999 meters 0.016624850640151127 Centerline is valid? [True, True] Translation: X:-45.15, Y:22.35, Z:0.52 [[ 6.75062879e-01 7.34982532e-01 -6.39592656e-02 -4.51478284e+01] [-7.32987722e-01 6.78015776e-01 5.49873393e-02 2.23511714e+01] [ 8.37801249e-02 9.76144482e-03 9.96436453e-01 5.21546185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33911593299999 meters 0.017636402869471806 Centerline is valid? [True, True] Translation: X:-45.22, Y:22.33, Z:0.34 [[ 6.79620886e-01 7.30801465e-01 -6.35977212e-02 -4.52226602e+01] [-7.28782271e-01 6.82531336e-01 5.50216021e-02 2.23340886e+01] [ 8.36173051e-02 8.95506168e-03 9.96457703e-01 3.35350311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39911593299999 meters 0.017182712816710282 Centerline is valid? [True, True] Translation: X:-45.25, Y:22.38, Z:0.36 [[ 6.78127440e-01 7.31935488e-01 -6.64350597e-02 -4.52510835e+01] [-7.29706383e-01 6.81310958e-01 5.78271050e-02 2.23751312e+01] [ 8.75886444e-02 9.26394038e-03 9.96113653e-01 3.64309249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45911593299999 meters 0.016685373164880415 Centerline is valid? [True, True] Translation: X:-45.28, Y:22.41, Z:0.40 [[ 6.68407645e-01 7.40527602e-01 -6.96425889e-02 -4.52819443e+01] [-7.38088370e-01 6.71941773e-01 6.09902651e-02 2.24128207e+01] [ 9.19607394e-02 1.06360254e-02 9.95705829e-01 4.02888054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.519115933 meters 0.016942839887361394 Centerline is valid? [True, True] Translation: X:-45.32, Y:22.44, Z:0.38 [[ 6.73665480e-01 7.36057110e-01 -6.62929206e-02 -4.53240114e+01] [-7.33793530e-01 6.76855732e-01 5.84240804e-02 2.24367567e+01] [ 8.78742031e-02 9.28703005e-03 9.96088287e-01 3.77167107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.579115933 meters 0.01771648488476716 Centerline is valid? [True, True] Translation: X:-45.36, Y:22.47, Z:0.39 [[ 6.71563597e-01 7.38002453e-01 -6.59902665e-02 -4.53556109e+01] [-7.35737330e-01 6.74734549e-01 5.85138459e-02 2.24747459e+01] [ 8.77092745e-02 9.25573371e-03 9.96103114e-01 3.86372684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.639115933 meters 0.018479153564097454 Centerline is valid? [True, True] Translation: X:-45.42, Y:22.47, Z:0.24 [[ 6.73590738e-01 7.36446608e-01 -6.26251699e-02 -4.54181543e+01] [-7.34370607e-01 6.76444178e-01 5.58845712e-02 2.24731434e+01] [ 8.35184345e-02 8.34675452e-03 9.96471275e-01 2.38286339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69911593299999 meters 0.018660263368937065 Centerline is valid? [True, True] Translation: X:-45.45, Y:22.52, Z:0.28 [[ 6.76472479e-01 7.34051184e-01 -5.96141347e-02 -4.54454184e+01] [-7.32134229e-01 6.79053482e-01 5.35335389e-02 2.25153955e+01] [ 7.97775433e-02 7.43158276e-03 9.96784989e-01 2.78714499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75911593299999 meters 0.01855337861365683 Centerline is valid? [True, True] Translation: X:-45.48, Y:22.55, Z:0.29 [[ 6.77715346e-01 7.32941905e-01 -5.91445098e-02 -4.54797023e+01] [-7.31024059e-01 6.80255090e-01 5.34493936e-02 2.25493820e+01] [ 7.94086542e-02 7.01258534e-03 9.96817480e-01 2.85790703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81911593299999 meters 0.01833275886760538 Centerline is valid? [True, True] Translation: X:-45.52, Y:22.58, Z:0.25 [[ 6.85619543e-01 7.25525402e-01 -5.94872558e-02 -4.55191562e+01] [-7.23528826e-01 6.88169764e-01 5.41148141e-02 2.25774850e+01] [ 8.01990031e-02 5.93857026e-03 9.96761182e-01 2.46804619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.879115933 meters 0.019459216837337947 Centerline is valid? [True, True] Translation: X:-45.55, Y:22.61, Z:0.23 [[ 6.69373616e-01 7.39770110e-01 -6.84042911e-02 -4.55531683e+01] [-7.37162682e-01 6.72806035e-01 6.26356145e-02 2.26119202e+01] [ 9.23587753e-02 8.49846290e-03 9.95689526e-01 2.26823378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.939115933 meters 0.019757125046186225 Centerline is valid? [True, True] Translation: X:-45.59, Y:22.65, Z:0.22 [[ 6.65097265e-01 7.42735192e-01 -7.73954978e-02 -4.55871228e+01] [-7.39367523e-01 6.69513744e-01 7.13233009e-02 2.26453364e+01] [ 1.04791675e-01 9.78678516e-03 9.94446039e-01 2.18454069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.999115933 meters 0.01954597057619869 Centerline is valid? [True, True] Translation: X:-45.63, Y:22.67, Z:0.17 [[ 6.55251035e-01 7.50730005e-01 -8.39674971e-02 -4.56280710e+01] [-7.46770487e-01 6.60506034e-01 7.78820844e-02 2.26709207e+01] [ 1.13929456e-01 1.16721323e-02 9.93420274e-01 1.72314281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05911593299999 meters 0.01895165389319635 Centerline is valid? [True, True] Translation: X:-45.67, Y:22.70, Z:0.11 [[ 6.56744299e-01 7.49124890e-01 -8.65957592e-02 -4.56680378e+01] [-7.44834731e-01 6.62330824e-01 8.08647217e-02 2.26955238e+01] [ 1.17932816e-01 1.13920841e-02 9.92956228e-01 1.11110545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11911593299999 meters 0.01967341383396353 Centerline is valid? [True, True] Translation: X:-45.72, Y:22.71, Z:0.02 [[ 6.45276557e-01 7.58700844e-01 -8.93934758e-02 -4.57180188e+01] [-7.54147345e-01 6.51305711e-01 8.40395887e-02 2.27105191e+01] [ 1.21983388e-01 1.31870760e-02 9.92444534e-01 2.11675568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17911593299999 meters 0.019620103003003635 Centerline is valid? [True, True] Translation: X:-45.76, Y:22.74, Z:-0.02 [[ 6.42868839e-01 7.60793861e-01 -8.89514321e-02 -4.57575292e+01] [-7.56238732e-01 6.48860120e-01 8.41636825e-02 2.27373545e+01] [ 1.21748250e-01 1.31623095e-02 9.92473736e-01 -2.19456822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.239115933 meters 0.019372490824868163 Centerline is valid? [True, True] Translation: X:-45.80, Y:22.76, Z:-0.10 [[ 6.43330595e-01 7.60677595e-01 -8.65756469e-02 -4.58032326e+01] [-7.56296930e-01 6.49010908e-01 8.24608697e-02 2.27573717e+01] [ 1.18914675e-01 1.24272956e-02 9.92826703e-01 -1.00835995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.299115933 meters 0.02052355067880158 Centerline is valid? [True, True] Translation: X:-45.82, Y:22.81, Z:-0.06 [[ 6.29627881e-01 7.71735462e-01 -8.94041867e-02 -4.58152347e+01] [-7.67100112e-01 6.35775731e-01 8.57125318e-02 2.28147612e+01] [ 1.22988412e-01 1.46149619e-02 9.92300485e-01 -5.56605153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.359115933 meters 0.01904314996070821 Centerline is valid? [True, True] Translation: X:-45.84, Y:22.86, Z:-0.06 [[ 6.24664637e-01 7.75515182e-01 -9.14893065e-02 -4.58415969e+01] [-7.70626141e-01 6.31142202e-01 8.82885736e-02 2.28552549e+01] [ 1.26211892e-01 1.53533014e-02 9.91884487e-01 -6.22243550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41911593299999 meters 0.01785797714150124 Centerline is valid? [True, True] Translation: X:-45.87, Y:22.90, Z:-0.08 [[ 6.23649419e-01 7.76306233e-01 -9.17062407e-02 -4.58682011e+01] [-7.71326744e-01 6.30173256e-01 8.90882761e-02 2.28956325e+01] [ 1.26950604e-01 1.51756245e-02 9.91792944e-01 -8.16062905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47911593299999 meters 0.018713414257975527 Centerline is valid? [True, True] Translation: X:-45.90, Y:22.93, Z:-0.09 [[ 6.18161034e-01 7.80693421e-01 -9.16226913e-02 -4.58992390e+01] [-7.75695592e-01 6.24717088e-01 8.95818548e-02 2.29317004e+01] [ 1.27174226e-01 1.56953058e-02 9.91756207e-01 -8.51116284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53911593299999 meters 0.018335971941705897 Centerline is valid? [True, True] Translation: X:-45.94, Y:22.96, Z:-0.13 [[ 6.20300626e-01 7.79057390e-01 -9.10863142e-02 -4.59359633e+01] [-7.74024492e-01 6.26775789e-01 8.96559884e-02 2.29618045e+01] [ 1.26937857e-01 1.48893723e-02 9.91798915e-01 -1.27474984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.599115933 meters 0.018261630860690558 Centerline is valid? [True, True] Translation: X:-45.96, Y:23.01, Z:-0.12 [[ 6.23401766e-01 7.77000214e-01 -8.74122685e-02 -4.59581104e+01] [-7.72277339e-01 6.29355149e-01 8.66014385e-02 2.30067944e+01] [ 1.22302697e-01 1.35190244e-02 9.92400769e-01 -1.22961987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.659115933 meters 0.017952699846171868 Centerline is valid? [True, True] Translation: X:-45.99, Y:23.04, Z:-0.13 [[ 6.29816857e-01 7.72269210e-01 -8.32525914e-02 -4.59884404e+01] [-7.67881289e-01 6.35188840e-01 8.30268887e-02 2.30438241e+01] [ 1.17000227e-01 1.16363731e-02 9.93063715e-01 -1.30286382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.719115933 meters 0.017253405269069114 Centerline is valid? [True, True] Translation: X:-46.02, Y:23.08, Z:-0.15 [[ 6.33766515e-01 7.69388703e-01 -7.98813327e-02 -4.60192688e+01] [-7.65266887e-01 6.38697783e-01 8.01980906e-02 2.30808975e+01] [ 1.12723535e-01 1.03036744e-02 9.93572966e-01 -1.46428281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77911593299999 meters 0.017686592592423066 Centerline is valid? [True, True] Translation: X:-44.84, Y:24.17, Z:-2.22 [[ 8.10819322e-01 -5.81704323e-01 -6.47464916e-02 -4.48408732e+01] [-5.79231166e-01 -8.13376411e-01 5.39450646e-02 2.41720301e+01] [-8.40433463e-02 -6.23651486e-03 -9.96442583e-01 -2.21715970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83911593299999 meters 0.016813785965846224 Centerline is valid? [True, True] Translation: X:-45.95, Y:22.99, Z:-0.20 [[ 7.01601511e-01 7.08766747e-01 -7.35188292e-02 -4.59501987e+01] [-7.06012029e-01 7.05400145e-01 6.29098604e-02 2.29889066e+01] [ 9.64486099e-02 7.76752470e-03 9.95307657e-01 -1.97452218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89911593299999 meters 0.016706723188638247 Centerline is valid? [True, True] Translation: X:-45.99, Y:23.02, Z:-0.22 [[ 7.01769788e-01 7.08830688e-01 -7.12616351e-02 -4.59855231e+01] [-7.06207544e-01 7.05341225e-01 6.13568315e-02 2.30222974e+01] [ 9.37553741e-02 7.26713370e-03 9.95568741e-01 -2.21701742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95911593299999 meters 0.017966669630387577 Centerline is valid? [True, True] Translation: X:-46.00, Y:23.09, Z:-0.15 [[ 6.93669218e-01 7.16270190e-01 -7.60265122e-02 -4.59967080e+01] [-7.13286062e-01 6.97770837e-01 6.58699719e-02 2.30853753e+01] [ 1.00229780e-01 8.53667960e-03 9.94927694e-01 -1.52555005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.019115933 meters 0.01612692441497801 Centerline is valid? [True, True] Translation: X:-46.05, Y:23.10, Z:-0.22 [[ 7.06575053e-01 7.04523617e-01 -6.63186814e-02 -4.60500058e+01] [-7.02170220e-01 7.09657549e-01 5.78199421e-02 2.30972972e+01] [ 8.77990676e-02 5.71287445e-03 9.96121823e-01 -2.22579617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.079115933 meters 0.01682805052873583 Centerline is valid? [True, True] Translation: X:-46.08, Y:23.13, Z:-0.22 [[ 7.07070851e-01 7.03887910e-01 -6.77688826e-02 -4.60833945e+01] [-7.01393346e-01 7.10289857e-01 5.94616904e-02 2.31344298e+01] [ 8.99899149e-02 5.48901526e-03 9.95927551e-01 -2.16154934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.139115933 meters 0.016642470332454085 Centerline is valid? [True, True] Translation: X:-46.12, Y:23.17, Z:-0.21 [[ 7.10456723e-01 7.00391932e-01 -6.85739518e-02 -4.61156583e+01] [-6.97787666e-01 7.13742041e-01 6.05365295e-02 2.31727137e+01] [ 9.13434092e-02 4.84147350e-03 9.95807683e-01 -2.13549260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19911593299999 meters 0.017170196270104215 Centerline is valid? [True, True] Translation: X:-46.13, Y:23.23, Z:-0.17 [[ 7.03059424e-01 7.07847123e-01 -6.82634335e-02 -4.61340550e+01] [-7.05266610e-01 7.06344157e-01 6.06377751e-02 2.32270889e+01] [ 9.11397521e-02 5.51196104e-03 9.95822858e-01 -1.71120777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25911593299999 meters 0.01682483209320227 Centerline is valid? [True, True] Translation: X:-46.18, Y:23.24, Z:-0.23 [[ 6.89397362e-01 7.20872104e-01 -7.12368379e-02 -4.61774745e+01] [-7.18070023e-01 6.93031701e-01 6.38944722e-02 2.32429183e+01] [ 9.54291295e-02 7.10435720e-03 9.95410875e-01 -2.33052192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31911593299999 meters 0.017230532742472316 Centerline is valid? [True, True] Translation: X:-46.20, Y:23.29, Z:-0.22 [[ 6.93760472e-01 7.16938806e-01 -6.85212143e-02 -4.62037383e+01] [-7.14289297e-01 6.97110122e-01 6.18730759e-02 2.32878642e+01] [ 9.21260412e-02 6.01887570e-03 9.95729163e-01 -2.16205602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.379115933 meters 0.01779649012496009 Centerline is valid? [True, True] Translation: X:-46.21, Y:23.36, Z:-0.14 [[ 6.86873708e-01 7.23464416e-01 -6.93090705e-02 -4.62094253e+01] [-7.20750365e-01 6.90329108e-01 6.29653353e-02 2.33569843e+01] [ 9.33992484e-02 6.70530453e-03 9.95606157e-01 -1.41334880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.439115933 meters 0.017746846075365343 Centerline is valid? [True, True] Translation: X:-46.26, Y:23.38, Z:-0.21 [[ 6.84380441e-01 7.25859175e-01 -6.89338018e-02 -4.62566583e+01] [-7.23152092e-01 6.87810325e-01 6.29921386e-02 2.33781769e+01] [ 9.31368024e-02 6.73903533e-03 9.95630515e-01 -2.05211661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.499115933 meters 0.018546853002070835 Centerline is valid? [True, True] Translation: X:-46.29, Y:23.41, Z:-0.21 [[ 6.84141660e-01 7.26162953e-01 -6.80995951e-02 -4.62923701e+01] [-7.23488719e-01 6.87492422e-01 6.25958724e-02 2.34132691e+01] [ 9.22727591e-02 6.44484482e-03 9.95712911e-01 -2.12593667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55911593299999 meters 0.018270823218802107 Centerline is valid? [True, True] Translation: X:-46.31, Y:23.47, Z:-0.16 [[ 6.75212331e-01 7.34277886e-01 -7.01733071e-02 -4.63071237e+01] [-7.31441725e-01 6.78807585e-01 6.49096704e-02 2.34706081e+01] [ 9.52959087e-02 7.49987489e-03 9.95420736e-01 -1.61143344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61911593299999 meters 0.01939150084806619 Centerline is valid? [True, True] Translation: X:-46.34, Y:23.51, Z:-0.18 [[ 6.70846774e-01 7.38235524e-01 -7.05189180e-02 -4.63393868e+01] [-7.35354172e-01 6.74497604e-01 6.56294484e-02 2.35082311e+01] [ 9.60148314e-02 7.82907680e-03 9.95349113e-01 -1.77211549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67911593299999 meters 0.019886718957513892 Centerline is valid? [True, True] Translation: X:-46.36, Y:23.55, Z:-0.18 [[ 6.66499054e-01 7.42241492e-01 -6.96891553e-02 -4.63644960e+01] [-7.39415549e-01 6.70083934e-01 6.52086341e-02 2.35535514e+01] [ 9.50981373e-02 8.06775212e-03 9.95435209e-01 -1.78746511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.739115933 meters 0.019740096108751704 Centerline is valid? [True, True] Translation: X:-46.42, Y:23.57, Z:-0.25 [[ 6.66894222e-01 7.42002580e-01 -6.84417073e-02 -4.64178612e+01] [-7.39241073e-01 6.70353497e-01 6.44113749e-02 2.35676104e+01] [ 9.36735442e-02 7.63934733e-03 9.95573657e-01 -2.51812234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.799115933 meters 0.021407381318802803 Centerline is valid? [True, True] Translation: X:-46.43, Y:23.63, Z:-0.19 [[ 6.55562407e-01 7.51760686e-01 -7.13708772e-02 -4.64294020e+01] [-7.48779017e-01 6.59372122e-01 6.75158348e-02 2.36291144e+01] [ 9.78157170e-02 9.18017215e-03 9.95162203e-01 -1.94474945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.859115933 meters 0.021457950063698987 Centerline is valid? [True, True] Translation: X:-46.47, Y:23.66, Z:-0.22 [[ 6.54689107e-01 7.52356171e-01 -7.30914782e-02 -4.64706473e+01] [-7.49199040e-01 6.58691237e-01 6.94741211e-02 2.36586271e+01] [ 1.00414000e-01 9.27611493e-03 9.94902499e-01 -2.19269465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91911593299999 meters 0.02094316937438972 Centerline is valid? [True, True] Translation: X:-46.50, Y:23.69, Z:-0.23 [[ 6.47069031e-01 7.58634007e-01 -7.60007421e-02 -4.65049658e+01] [-7.55223540e-01 6.51433747e-01 7.26049478e-02 2.36936783e+01] [ 1.04590031e-01 1.04171363e-02 9.94460863e-01 -2.33282121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97911593299999 meters 0.020077987168236007 Centerline is valid? [True, True] Translation: X:-46.54, Y:23.73, Z:-0.23 [[ 6.45337746e-01 7.60602834e-01 -7.08697572e-02 -4.65363206e+01] [-7.57611562e-01 6.49144260e-01 6.80914843e-02 2.37337222e+01] [ 9.77952721e-02 9.74974247e-03 9.95158795e-01 -2.33478412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03911593299999 meters 0.01976834250257643 Centerline is valid? [True, True] Translation: X:-46.57, Y:23.77, Z:-0.23 [[ 6.43393179e-01 7.62297370e-01 -7.03415765e-02 -4.65682052e+01] [-7.59319278e-01 6.47154894e-01 6.80057137e-02 2.37721466e+01] [ 9.73624721e-02 9.65730272e-03 9.95202133e-01 -2.27657756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.099115933 meters 0.02041579504448139 Centerline is valid? [True, True] Translation: X:-46.60, Y:23.81, Z:-0.23 [[ 6.31445237e-01 7.71896251e-01 -7.38450425e-02 -4.65990680e+01] [-7.68633666e-01 6.35646000e-01 7.18084308e-02 2.38119057e+01] [ 1.02367964e-01 1.14166941e-02 9.94681084e-01 -2.32153612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.159115933 meters 0.01921372310778801 Centerline is valid? [True, True] Translation: X:-46.63, Y:23.85, Z:-0.23 [[ 6.34887672e-01 7.69587532e-01 -6.82105157e-02 -4.66327067e+01] [-7.66757195e-01 6.38463645e-01 6.66901619e-02 2.38490147e+01] [ 9.48738516e-02 9.96014199e-03 9.95439475e-01 -2.27406032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.219115933 meters 0.019538579539874822 Centerline is valid? [True, True] Translation: X:-46.65, Y:23.90, Z:-0.20 [[ 6.28632681e-01 7.74665852e-01 -6.86568979e-02 -4.66507871e+01] [-7.71794357e-01 6.32282381e-01 6.74719244e-02 2.39021224e+01] [ 9.56787426e-02 1.05739496e-02 9.95356102e-01 -1.95043431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27911593299999 meters 0.020664056642064124 Centerline is valid? [True, True] Translation: X:-46.69, Y:23.93, Z:-0.21 [[ 6.29079800e-01 7.74430459e-01 -6.72017073e-02 -4.66918507e+01] [-7.71643695e-01 6.32578748e-01 6.64088503e-02 2.39315395e+01] [ 9.39394082e-02 1.00793075e-02 9.95526893e-01 -2.10881355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33911593299999 meters 0.020354544400537727 Centerline is valid? [True, True] Translation: X:-46.71, Y:23.98, Z:-0.17 [[ 6.29270174e-01 7.74427448e-01 -6.54306974e-02 -4.67127079e+01] [-7.71755161e-01 6.32589907e-01 6.49921658e-02 2.39818086e+01] [ 9.17225159e-02 9.59884687e-03 9.95738340e-01 -1.66884194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39911593299999 meters 0.018897171900808064 Centerline is valid? [True, True] Translation: X:-46.75, Y:24.02, Z:-0.19 [[ 6.29441292e-01 7.74576858e-01 -6.19221413e-02 -4.67462401e+01] [-7.72154816e-01 6.32417401e-01 6.18479658e-02 2.40194235e+01] [ 8.70666427e-02 8.88381613e-03 9.96162877e-01 -1.93163005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45911593299999 meters 0.018941329049709438 Centerline is valid? [True, True] Translation: X:-46.78, Y:24.06, Z:-0.18 [[ 6.30843392e-01 7.73603486e-01 -5.97851147e-02 -4.67752699e+01] [-7.71307666e-01 6.33617064e-01 6.01157179e-02 2.40574389e+01] [ 8.43865978e-02 8.18911388e-03 9.96399438e-01 -1.83263486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.519115933 meters 0.019905516708927044 Centerline is valid? [True, True] Translation: X:-45.89, Y:24.85, Z:-2.21 [[ 8.17476494e-01 -5.74221252e-01 -4.47452231e-02 -4.58890658e+01] [-5.73045949e-01 -8.18687165e-01 3.70089853e-02 2.48458493e+01] [-5.78836858e-02 -4.61290671e-03 -9.98312676e-01 -2.21082239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.579115933 meters 0.019212567141145574 Centerline is valid? [True, True] Translation: X:-46.72, Y:23.99, Z:-0.16 [[ 6.84254162e-01 7.26507571e-01 -6.31109406e-02 -4.67249353e+01] [-7.24547062e-01 6.87102827e-01 5.40486848e-02 2.39912453e+01] [ 8.26304844e-02 8.74380901e-03 9.96541895e-01 -1.56528986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63911593299999 meters 0.020126094481813045 Centerline is valid? [True, True] Translation: X:-46.77, Y:24.02, Z:-0.17 [[ 6.84068175e-01 7.26873244e-01 -6.08770850e-02 -4.67685043e+01] [-7.25031782e-01 6.86721334e-01 5.23710347e-02 2.40180946e+01] [ 7.98726969e-02 8.31246333e-03 9.96770413e-01 -1.69395856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69911593299999 meters 0.019915197753055787 Centerline is valid? [True, True] Translation: X:-46.82, Y:24.04, Z:-0.19 [[ 6.82009252e-01 7.28747338e-01 -6.15686359e-02 -4.68174801e+01] [-7.26849782e-01 6.84730569e-01 5.32300835e-02 2.40379914e+01] [ 8.09492088e-02 8.44774012e-03 9.96682428e-01 -1.94235728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75911593299999 meters 0.019645383764494463 Centerline is valid? [True, True] Translation: X:-46.86, Y:24.07, Z:-0.20 [[ 6.80488117e-01 7.30118793e-01 -6.21487838e-02 -4.68597847e+01] [-7.28169235e-01 6.83267222e-01 5.39950736e-02 2.40665593e+01] [ 8.18870449e-02 8.51182641e-03 9.96605268e-01 -1.96190268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81911593299999 meters 0.020168104787459562 Centerline is valid? [True, True] Translation: X:-46.90, Y:24.10, Z:-0.19 [[ 6.76993161e-01 7.33398704e-01 -6.16976550e-02 -4.68980713e+01] [-7.31469498e-01 6.79743516e-01 5.38621069e-02 2.40993024e+01] [ 8.14409803e-02 8.66567469e-03 9.96640493e-01 -1.91827027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.879115933 meters 0.018529146430046523 Centerline is valid? [True, True] Translation: X:-46.95, Y:24.11, Z:-0.23 [[ 6.83376083e-01 7.27673838e-01 -5.90585613e-02 -4.69538127e+01] [-7.25863370e-01 6.85882906e-01 5.18363517e-02 2.41110306e+01] [ 7.82272147e-02 7.44472330e-03 9.96907759e-01 -2.29412517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.939115933 meters 0.018322799941526226 Centerline is valid? [True, True] Translation: X:-46.99, Y:24.15, Z:-0.20 [[ 6.86060630e-01 7.25410287e-01 -5.56841674e-02 -4.69857023e+01] [-7.23771439e-01 6.88285407e-01 4.91742180e-02 2.41505356e+01] [ 7.39980834e-02 6.56611498e-03 9.97236767e-01 -2.01267594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.999115933 meters 0.017885303499060957 Centerline is valid? [True, True] Translation: X:-47.03, Y:24.18, Z:-0.21 [[ 6.83553523e-01 7.27862334e-01 -5.45069190e-02 -4.70255537e+01] [-7.26277529e-01 6.85692708e-01 4.84402941e-02 2.41795877e+01] [ 7.26328624e-02 6.47561674e-03 9.97337723e-01 -2.05785909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05911593299999 meters 0.017436035631574014 Centerline is valid? [True, True] Translation: X:-47.07, Y:24.20, Z:-0.22 [[ 6.79218367e-01 7.31935971e-01 -5.41492686e-02 -4.70724929e+01] [-7.30366379e-01 6.81340549e-01 4.83736308e-02 2.42017815e+01] [ 7.23004929e-02 6.69254670e-03 9.97360441e-01 -2.15047604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11911593299999 meters 0.016704879939765674 Centerline is valid? [True, True] Translation: X:-47.11, Y:24.23, Z:-0.22 [[ 6.77450279e-01 7.33653994e-01 -5.30371352e-02 -4.71117328e+01] [-7.32136630e-01 6.79491441e-01 4.76165591e-02 2.42334327e+01] [ 7.09723582e-02 6.57257818e-03 9.97456628e-01 -2.16249270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17911593299999 meters 0.016890844989201296 Centerline is valid? [True, True] Translation: X:-47.16, Y:24.25, Z:-0.24 [[ 6.77789862e-01 7.33435079e-01 -5.17096553e-02 -4.71634947e+01] [-7.31973115e-01 6.79731248e-01 4.66989226e-02 2.42500306e+01] [ 6.93992965e-02 6.19802119e-03 9.97569708e-01 -2.40527178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.239115933 meters 0.016347642456531534 Centerline is valid? [True, True] Translation: X:-47.20, Y:24.29, Z:-0.23 [[ 6.75936932e-01 7.35355961e-01 -4.85888215e-02 -4.71978753e+01] [-7.34054757e-01 6.77655825e-01 4.41157023e-02 2.42869583e+01] [ 6.53672426e-02 5.84742304e-03 9.97844142e-01 -2.28684866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.299115933 meters 0.016954400709144456 Centerline is valid? [True, True] Translation: X:-47.23, Y:24.32, Z:-0.19 [[ 6.67141660e-01 7.43311853e-01 -4.90866052e-02 -4.72312047e+01] [-7.41989295e-01 6.68913150e-01 4.48004850e-02 2.43245324e+01] [ 6.61354072e-02 6.53346572e-03 9.97789267e-01 -1.94198417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.359115933 meters 0.015666836134852445 Centerline is valid? [True, True] Translation: X:-47.27, Y:24.36, Z:-0.19 [[ 6.72075789e-01 7.39198227e-01 -4.35903070e-02 -4.72702168e+01] [-7.38135080e-01 6.73467044e-01 3.99843002e-02 2.43558579e+01] [ 5.89129590e-02 5.30305462e-03 9.98249038e-01 -1.93376258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41911593299999 meters 0.01561639644339206 Centerline is valid? [True, True] Translation: X:-47.32, Y:24.38, Z:-0.21 [[ 6.75114194e-01 7.36534605e-01 -4.16845343e-02 -4.73194361e+01] [-7.35544696e-01 6.76383568e-01 3.84612679e-02 2.43756249e+01] [ 5.65227889e-02 4.69509023e-03 9.98390270e-01 -2.09641901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47911593299999 meters 0.015717038012444253 Centerline is valid? [True, True] Translation: X:-47.36, Y:24.40, Z:-0.22 [[ 6.72014490e-01 7.39439513e-01 -4.03203562e-02 -4.73626100e+01] [-7.38506285e-01 6.73207102e-01 3.74254512e-02 2.44027548e+01] [ 5.48178076e-02 4.62639099e-03 9.98485656e-01 -2.21287750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53911593299999 meters 0.016110130676328008 Centerline is valid? [True, True] Translation: X:-47.41, Y:24.42, Z:-0.26 [[ 6.67424746e-01 7.43455013e-01 -4.26480026e-02 -4.74149239e+01] [-7.42404619e-01 6.68766671e-01 3.98311702e-02 2.44184842e+01] [ 5.81342459e-02 5.07776548e-03 9.98295861e-01 -2.56572820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.599115933 meters 0.01609991339507253 Centerline is valid? [True, True] Translation: X:-47.45, Y:24.46, Z:-0.23 [[ 6.68149226e-01 7.43083786e-01 -3.74579690e-02 -4.74464243e+01] [-7.42262505e-01 6.69184629e-01 3.51895555e-02 2.44575357e+01] [ 5.12150852e-02 4.29177161e-03 9.98678425e-01 -2.28312984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.659115933 meters 0.014385784856199983 Centerline is valid? [True, True] Translation: X:-47.48, Y:24.49, Z:-0.21 [[ 6.67666674e-01 7.43655375e-01 -3.46106440e-02 -4.74825291e+01] [-7.42945695e-01 6.68551926e-01 3.27110956e-02 2.44915083e+01] [ 4.74647948e-02 3.87372061e-03 9.98865400e-01 -2.10101712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.719115933 meters 0.014513140591843917 Centerline is valid? [True, True] Translation: X:-47.53, Y:24.51, Z:-0.24 [[ 6.60030944e-01 7.50462462e-01 -3.41357112e-02 -4.75307488e+01] [-7.49771752e-01 6.60899922e-01 3.24594035e-02 2.45126093e+01] [ 4.69198527e-02 4.16978124e-03 9.98889954e-01 -2.35950349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77911593299999 meters 0.015507681899083442 Centerline is valid? [True, True] Translation: X:-47.58, Y:24.53, Z:-0.25 [[ 6.55459813e-01 7.54407927e-01 -3.52294430e-02 -4.75784925e+01] [-7.53667822e-01 6.56390734e-01 3.37048678e-02 2.45334086e+01] [ 4.85514994e-02 4.45911130e-03 9.98810727e-01 -2.50892685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83911593299999 meters 0.015514306467001731 Centerline is valid? [True, True] Translation: X:-47.62, Y:24.56, Z:-0.26 [[ 6.54525460e-01 7.55345916e-01 -3.23877924e-02 -4.76210272e+01] [-7.54712981e-01 6.55313858e-01 3.11779565e-02 2.45588990e+01] [ 4.47743113e-02 4.03672107e-03 9.98988972e-01 -2.61142553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89911593299999 meters 0.014776146309113758 Centerline is valid? [True, True] Translation: X:-47.66, Y:24.59, Z:-0.24 [[ 6.51527842e-01 7.57949949e-01 -3.19897762e-02 -4.76590710e+01] [-7.57327091e-01 6.52300210e-01 3.09856837e-02 2.45914461e+01] [ 4.43525352e-02 4.03868853e-03 9.99007779e-01 -2.36868007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95911593299999 meters 0.015030833095508652 Centerline is valid? [True, True] Translation: X:-47.70, Y:24.62, Z:-0.25 [[ 6.44790468e-01 7.63721766e-01 -3.12140228e-02 -4.77010648e+01] [-7.63127330e-01 6.45531850e-01 3.04189030e-02 2.46181568e+01] [ 4.33812242e-02 4.20645518e-03 9.99049736e-01 -2.50186979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.019115933 meters 0.014983170803544674 Centerline is valid? [True, True] Translation: X:-47.75, Y:24.64, Z:-0.26 [[ 6.46499946e-01 7.62358059e-01 -2.91206011e-02 -4.77476790e+01] [-7.61832124e-01 6.47144751e-01 2.85567302e-02 2.46395553e+01] [ 4.06156976e-02 3.72308481e-03 9.99167906e-01 -2.60919077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.079115933 meters 0.014461635076382255 Centerline is valid? [True, True] Translation: X:-47.78, Y:24.67, Z:-0.24 [[ 6.49412892e-01 7.59958720e-01 -2.69377116e-02 -4.77809338e+01] [-7.59499844e-01 6.49963529e-01 2.65969442e-02 2.46745666e+01] [ 3.77211097e-02 3.18678937e-03 9.99283224e-01 -2.35532961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13911593299999 meters 0.014794511084585531 Centerline is valid? [True, True] Translation: X:-47.84, Y:24.69, Z:-0.28 [[ 6.34851705e-01 7.72012953e-01 -3.09727699e-02 -4.78365003e+01] [-7.71410859e-01 6.35591950e-01 3.07921866e-02 2.46862624e+01] [ 4.34580102e-02 4.34425890e-03 9.99045809e-01 -2.84118590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19911593299999 meters 0.014238064657169999 Centerline is valid? [True, True] Translation: X:-47.88, Y:24.71, Z:-0.28 [[ 6.34695058e-01 7.72193241e-01 -2.96611135e-02 -4.78772350e+01] [-7.71633348e-01 6.35374840e-01 2.96780953e-02 2.47143157e+01] [ 4.17631499e-02 4.05096395e-03 9.99119327e-01 -2.80672846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25911593299999 meters 0.014804024706712968 Centerline is valid? [True, True] Translation: X:-46.65, Y:25.87, Z:-2.16 [[ 8.16833821e-01 -5.76649164e-01 -1.60701944e-02 -4.66530443e+01] [-5.76516054e-01 -8.16991411e-01 1.24206938e-02 2.58683375e+01] [-2.02915935e-02 -8.80917722e-04 -9.99793716e-01 -2.15667682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31911593299999 meters 0.014838185663389443 Centerline is valid? [True, True] Translation: X:-47.82, Y:24.61, Z:-0.26 [[ 6.93714217e-01 7.19422168e-01 -3.45301057e-02 -4.78195242e+01] [-7.18832452e-01 6.94559193e-01 2.94522232e-02 2.46147028e+01] [ 4.51717846e-02 4.38993461e-03 9.98969588e-01 -2.59272769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.379115933 meters 0.014572762025247687 Centerline is valid? [True, True] Translation: X:-47.85, Y:24.66, Z:-0.20 [[ 6.91520454e-01 7.21611307e-01 -3.28113336e-02 -4.78494323e+01] [-7.21074607e-01 6.92285698e-01 2.81411199e-02 2.46562904e+01] [ 4.30217673e-02 4.19925951e-03 9.99065310e-01 -1.97332701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.439115933 meters 0.014574753129012026 Centerline is valid? [True, True] Translation: X:-47.90, Y:24.67, Z:-0.24 [[ 6.92378023e-01 7.20756500e-01 -3.35073163e-02 -4.79021086e+01] [-7.20187603e-01 6.93176179e-01 2.89240529e-02 2.46682296e+01] [ 4.40736726e-02 4.10517528e-03 9.99019849e-01 -2.38531004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.499115933 meters 0.01501921093927265 Centerline is valid? [True, True] Translation: X:-47.94, Y:24.70, Z:-0.23 [[ 6.95781009e-01 7.17434554e-01 -3.42993766e-02 -4.79427845e+01] [-7.16825422e-01 6.96615286e-01 2.98069997e-02 2.46950744e+01] [ 4.52780416e-02 3.84752072e-03 9.98967014e-01 -2.33357050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55911593299999 meters 0.014032382142276275 Centerline is valid? [True, True] Translation: X:-47.98, Y:24.72, Z:-0.21 [[ 6.96935770e-01 7.16014093e-01 -4.00543494e-02 -4.79804404e+01] [-7.15167735e-01 6.98073114e-01 3.50576557e-02 2.47241633e+01] [ 5.30626400e-02 4.21264406e-03 9.98582300e-01 -2.08125916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61911593299999 meters 0.014476219507993231 Centerline is valid? [True, True] Translation: X:-48.02, Y:24.75, Z:-0.19 [[ 6.96756505e-01 7.15916289e-01 -4.46569220e-02 -4.80209102e+01] [-7.14848159e-01 6.98171595e-01 3.93514139e-02 2.47514857e+01] [ 5.93505127e-02 4.50456491e-03 9.98227041e-01 -1.90166261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67911593299999 meters 0.014356557997470012 Centerline is valid? [True, True] Translation: X:-48.06, Y:24.78, Z:-0.19 [[ 6.98464626e-01 7.14003250e-01 -4.84409539e-02 -4.80613770e+01] [-7.12723222e-01 7.00127855e-01 4.29720173e-02 2.47781837e+01] [ 6.45970212e-02 4.51055883e-03 9.97901237e-01 -1.93684246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.739115933 meters 0.013613252427707945 Centerline is valid? [True, True] Translation: X:-48.10, Y:24.81, Z:-0.17 [[ 6.98481924e-01 7.13887554e-01 -4.98754676e-02 -4.80953677e+01] [-7.12510758e-01 7.00246345e-01 4.45362305e-02 2.48129249e+01] [ 6.67189746e-02 4.42905527e-03 9.97761977e-01 -1.72551038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.799115933 meters 0.013760201686460232 Centerline is valid? [True, True] Translation: X:-48.14, Y:24.84, Z:-0.18 [[ 6.96187735e-01 7.15839549e-01 -5.38179978e-02 -4.81382836e+01] [-7.14219373e-01 6.98248559e-01 4.83698028e-02 2.48373333e+01] [ 7.22033572e-02 4.76339323e-03 9.97378557e-01 -1.83164182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.859115933 meters 0.014014399555512695 Centerline is valid? [True, True] Translation: X:-48.17, Y:24.87, Z:-0.18 [[ 6.89889818e-01 7.21624898e-01 -5.75286507e-02 -4.81723374e+01] [-7.19760898e-01 6.92262813e-01 5.21195441e-02 2.48689767e+01] [ 7.74357063e-02 5.45013049e-03 9.96982451e-01 -1.79169036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91911593299999 meters 0.014246624931349197 Centerline is valid? [True, True] Translation: X:-48.21, Y:24.90, Z:-0.18 [[ 6.79987733e-01 7.30575006e-01 -6.22643063e-02 -4.82087331e+01] [-7.28395407e-01 6.82799237e-01 5.67920165e-02 2.49004524e+01] [ 8.40048486e-02 6.73516016e-03 9.96442584e-01 -1.78660373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97911593299999 meters 0.013676747854921543 Centerline is valid? [True, True] Translation: X:-48.24, Y:24.93, Z:-0.17 [[ 6.83909584e-01 7.27292794e-01 -5.75575668e-02 -4.82420003e+01] [-7.25391905e-01 6.86304402e-01 5.28474459e-02 2.49348934e+01] [ 7.79375780e-02 5.60891823e-03 9.96942463e-01 -1.70953384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03911593299999 meters 0.013515656384185417 Centerline is valid? [True, True] Translation: X:-48.28, Y:24.96, Z:-0.19 [[ 6.79460789e-01 7.31362251e-01 -5.86710686e-02 -4.82813084e+01] [-7.29373717e-01 6.81963230e-01 5.42230038e-02 2.49626881e+01] [ 7.96681695e-02 5.95073044e-03 9.96803678e-01 -1.94485169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.099115933 meters 0.013983000842505875 Centerline is valid? [True, True] Translation: X:-48.32, Y:24.99, Z:-0.24 [[ 6.71227970e-01 7.38719455e-01 -6.12093022e-02 -4.83249540e+01] [-7.36552174e-01 6.73978205e-01 5.69585288e-02 2.49857796e+01] [ 8.33301090e-02 6.85168687e-03 9.96498443e-01 -2.39586497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.159115933 meters 0.013776957697452382 Centerline is valid? [True, True] Translation: X:-48.36, Y:25.02, Z:-0.25 [[ 6.64066511e-01 7.45099101e-01 -6.19919221e-02 -4.83591457e+01] [-7.42870926e-01 6.66911680e-01 5.80654591e-02 2.50185706e+01] [ 8.46076583e-02 7.49266979e-03 9.96386172e-01 -2.50708789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.219115933 meters 0.01362950914946857 Centerline is valid? [True, True] Translation: X:-48.39, Y:25.06, Z:-0.23 [[ 6.62708130e-01 7.46314921e-01 -6.19029271e-02 -4.83859534e+01] [-7.44065642e-01 6.65552089e-01 5.83672599e-02 2.50606501e+01] [ 8.47599794e-02 7.37938351e-03 9.96374072e-01 -2.29535518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27911593299999 meters 0.014195522377212607 Centerline is valid? [True, True] Translation: X:-48.43, Y:25.07, Z:-0.30 [[ 6.61129137e-01 7.47725031e-01 -6.17700791e-02 -4.84322504e+01] [-7.45434337e-01 6.63970570e-01 5.89129165e-02 2.50709163e+01] [ 8.50641770e-02 7.09649236e-03 9.96350202e-01 -2.97652158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33911593299999 meters 0.014729658075984772 Centerline is valid? [True, True] Translation: X:-48.46, Y:25.11, Z:-0.29 [[ 6.58071141e-01 7.50530153e-01 -6.03892670e-02 -4.84592873e+01] [-7.48317732e-01 6.60798972e-01 5.80111307e-02 2.51125950e+01] [ 8.34442683e-02 7.01490830e-03 9.96487755e-01 -2.94327263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39911593299999 meters 0.015143455819585176 Centerline is valid? [True, True] Translation: X:-48.50, Y:25.14, Z:-0.31 [[ 6.49076266e-01 7.58176761e-01 -6.21932569e-02 -4.84987727e+01] [-7.55830672e-01 6.52000264e-01 6.01302857e-02 2.51402357e+01] [ 8.61394052e-02 7.97842989e-03 9.96251147e-01 -3.12987415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45911593299999 meters 0.014542143854096969 Centerline is valid? [True, True] Translation: X:-48.53, Y:25.17, Z:-0.33 [[ 6.37702047e-01 7.67604013e-01 -6.41886212e-02 -4.85329107e+01] [-7.65114223e-01 6.40857267e-01 6.24675018e-02 2.51730428e+01] [ 8.90860493e-02 9.27597332e-03 9.95980739e-01 -3.31093149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.519115933 meters 0.015559465905342042 Centerline is valid? [True, True] Translation: X:-48.55, Y:25.23, Z:-0.27 [[ 6.37080710e-01 7.68275215e-01 -6.23005865e-02 -4.85486440e+01] [-7.65897547e-01 6.40058776e-01 6.10386013e-02 2.52250721e+01] [ 8.67704816e-02 8.82935090e-03 9.96189202e-01 -2.73616327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.579115933 meters 0.01615923417517959 Centerline is valid? [True, True] Translation: X:-48.59, Y:25.25, Z:-0.30 [[ 6.27220380e-01 7.76401018e-01 -6.16121324e-02 -4.85862674e+01] [-7.74078317e-01 6.30166449e-01 6.07701050e-02 2.52534300e+01] [ 8.60078700e-02 9.57636747e-03 9.96248433e-01 -3.04515451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63911593299999 meters 0.016987981836197763 Centerline is valid? [True, True] Translation: X:-48.62, Y:25.29, Z:-0.31 [[ 6.28002114e-01 7.75781062e-01 -6.14580249e-02 -4.86211777e+01] [-7.73433094e-01 6.30934841e-01 6.10120947e-02 2.52851799e+01] [ 8.61080368e-02 9.21794594e-03 9.96243161e-01 -3.13581322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69911593299999 meters 0.018259169255290725 Centerline is valid? [True, True] Translation: X:-48.64, Y:25.33, Z:-0.26 [[ 6.28584863e-01 7.75616580e-01 -5.74455397e-02 -4.86416376e+01] [-7.73535661e-01 6.31148952e-01 5.73897329e-02 2.53322938e+01] [ 8.07691206e-02 8.36185612e-03 9.96697762e-01 -2.62489269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75911593299999 meters 0.01778411673318367 Centerline is valid? [True, True] Translation: X:-48.69, Y:25.35, Z:-0.33 [[ 6.34254638e-01 7.71218364e-01 -5.42520912e-02 -4.86914806e+01] [-7.69319769e-01 6.36530662e-01 5.45509759e-02 2.53489244e+01] [ 7.66038340e-02 7.13799681e-03 9.97036058e-01 -3.28787570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81911593299999 meters 0.01745392488377278 Centerline is valid? [True, True] Translation: X:-47.34, Y:26.61, Z:-2.08 [[ 8.13599921e-01 -5.80152944e-01 -3.84412653e-02 -4.73407308e+01] [-5.79302579e-01 -8.14500336e-01 3.15867737e-02 2.66056382e+01] [-4.96355833e-02 -3.42987248e-03 -9.98761505e-01 -2.07584164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.879115933 meters 0.0284257416207879 Centerline is valid? [True, True] Translation: X:-48.63, Y:25.21, Z:-0.44 [[ 6.99054873e-01 7.12538798e-01 -6.00894790e-02 -4.86311623e+01] [-7.10706922e-01 7.01600671e-01 5.14992192e-02 2.52051820e+01] [ 7.88540105e-02 6.70522859e-03 9.96863624e-01 -4.41015712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.939115933 meters 0.04422498259544165 Centerline is valid? [True, True] Translation: X:-48.68, Y:25.22, Z:-0.51 [[ 7.01117983e-01 7.09662761e-01 -6.93710278e-02 -4.86773072e+01] [-7.07171440e-01 7.04505697e-01 5.98354174e-02 2.52242481e+01] [ 9.13352518e-02 7.10552244e-03 9.95794850e-01 -5.05621641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.999115933 meters 0.051623263644730126 Centerline is valid? [True, True] Translation: X:-48.73, Y:25.24, Z:-0.60 [[ 6.91701933e-01 7.16871304e-01 -8.74297979e-02 -4.87287552e+01] [-7.12905279e-01 6.97136604e-01 7.59382560e-02 2.52366066e+01] [ 1.15388469e-01 9.80252601e-03 9.93272073e-01 -5.99312432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05911593299999 meters 0.05721663508013319 Centerline is valid? [True, True] Translation: X:-48.80, Y:25.22, Z:-0.83 [[ 6.86985203e-01 7.12914996e-01 -1.40725049e-01 -4.88045368e+01] [-7.02340680e-01 7.01106079e-01 1.23157765e-01 2.52194541e+01] [ 1.86464204e-01 1.42293646e-02 9.82358705e-01 -8.28002309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11911593299999 meters 0.06364932654478701 Centerline is valid? [True, True] Translation: X:-48.83, Y:25.26, Z:-0.75 [[ 7.00024513e-01 7.05812548e-01 -1.08601691e-01 -4.88292441e+01] [-6.99348885e-01 7.08342191e-01 9.57208282e-02 2.52649392e+01] [ 1.44488122e-01 8.94354554e-03 9.89466116e-01 -7.49589263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17911593299999 meters 0.07109534854408667 Centerline is valid? [True, True] Translation: X:-48.86, Y:25.29, Z:-0.76 [[ 6.97014317e-01 7.09175018e-01 -1.06027519e-01 -4.88641647e+01] [-7.02943610e-01 7.04976845e-01 9.42227625e-02 2.52945833e+01] [ 1.41567375e-01 8.85675282e-03 9.89889002e-01 -7.56211564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.239115933 meters 0.07646866559235309 Centerline is valid? [True, True] Translation: X:-48.91, Y:25.32, Z:-0.78 [[ 7.04084604e-01 7.04432628e-01 -8.96635005e-02 -4.89093005e+01] [-6.99873937e-01 7.09743367e-01 8.02547495e-02 2.53156904e+01] [ 1.20172139e-01 6.24701358e-03 9.92733414e-01 -7.75150326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.299115933 meters 0.08108168201502387 Centerline is valid? [True, True] Translation: X:-48.95, Y:25.34, Z:-0.82 [[ 7.05052511e-01 7.04600768e-01 -8.02416041e-02 -4.89513905e+01] [-7.00900003e-01 7.09584469e-01 7.23122936e-02 2.53397381e+01] [ 1.07889494e-01 5.25737640e-03 9.94148991e-01 -8.15369006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.359115933 meters 0.08429143386320337 Centerline is valid? [True, True] Translation: X:-48.99, Y:25.37, Z:-0.85 [[ 6.99865954e-01 7.10847446e-01 -6.98824341e-02 -4.89891808e+01] [-7.08033212e-01 7.03327661e-01 6.33969322e-02 2.53694819e+01] [ 9.42157963e-02 5.10972986e-03 9.95538686e-01 -8.46882340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41911593299999 meters 0.0863929739808293 Centerline is valid? [True, True] Translation: X:-49.04, Y:25.39, Z:-0.90 [[ 6.93619469e-01 7.18270340e-01 -5.45870961e-02 -4.90387165e+01] [-7.16552782e-01 6.95749327e-01 4.98496163e-02 2.53851698e+01] [ 7.37844362e-02 4.53787124e-03 9.97263889e-01 -9.01353975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47911593299999 meters 0.0896750851417035 Centerline is valid? [True, True] Translation: X:-49.08, Y:25.41, Z:-0.94 [[ 6.78764463e-01 7.33674345e-01 -3.16347714e-02 -4.90795619e+01] [-7.33103919e-01 6.79492643e-01 2.91271685e-02 2.54074473e+01] [ 4.28654507e-02 3.42108804e-03 9.99074997e-01 -9.39794934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53911593299999 meters 0.09457807656928788 Centerline is valid? [True, True] Translation: X:-49.13, Y:25.43, Z:-1.00 [[ 6.64234653e-01 7.47493167e-01 -6.80368376e-03 -4.91262432e+01] [-7.47467436e-01 6.64268859e-01 6.27011346e-03 2.54264177e+01] [ 9.20634222e-03 9.20705414e-04 9.99957197e-01 -9.96263753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.599115933 meters 0.0976199675658053 Centerline is valid? [True, True] Translation: X:-49.15, Y:25.47, Z:-0.98 [[ 6.38758139e-01 7.69400741e-01 3.24665342e-03 -4.91489079e+01] [-7.69394678e-01 6.38766179e-01 -3.09805754e-03 2.54719024e+01] [-4.45750016e-03 -5.19048398e-04 9.99989931e-01 -9.76639595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.659115933 meters 0.09682724938360567 Centerline is valid? [True, True] Translation: X:-49.17, Y:25.52, Z:-0.98 [[ 6.30202242e-01 7.76149696e-01 2.08993652e-02 -4.91727194e+01] [-7.75906686e-01 6.30537533e-01 -1.97796256e-02 2.55154994e+01] [-2.85297846e-02 -3.75079284e-03 9.99585906e-01 -9.82715525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.719115933 meters 0.09917396825444477 Centerline is valid? [True, True] Translation: X:-49.19, Y:25.57, Z:-0.94 [[ 6.23394050e-01 7.80052907e-01 5.38267671e-02 -4.91869674e+01] [-7.78433046e-01 6.25634162e-01 -5.12238982e-02 2.55704154e+01] [-7.36332150e-02 -9.96786095e-03 9.97235575e-01 -9.39228410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77911593299999 meters 0.08428181614268479 Centerline is valid? [True, True] Translation: X:-49.19, Y:25.64, Z:-0.89 [[ 6.75046693e-01 7.33495561e-01 7.93487551e-02 -4.91902725e+01] [-7.29570854e-01 6.79662708e-01 -7.60590049e-02 2.56387963e+01] [-1.09719332e-01 -6.54715929e-03 9.93941046e-01 -8.93825358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83911593299999 meters 0.0813526111486847 Centerline is valid? [True, True] Translation: X:-49.16, Y:25.74, Z:-0.72 [[ 6.78842210e-01 7.27324221e-01 1.00859958e-01 -4.91633720e+01] [-7.20788464e-01 6.86263146e-01 -9.75032546e-02 2.57375867e+01] [-1.40132951e-01 -6.50936924e-03 9.90111299e-01 -7.20241351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89911593299999 meters 0.07717764371296966 Centerline is valid? [True, True] Translation: X:-49.23, Y:25.74, Z:-0.82 [[ 6.64739823e-01 7.37571173e-01 1.18784393e-01 -4.92273795e+01] [-7.28528500e-01 6.75199350e-01 -1.15551124e-01 2.57400594e+01] [-1.65430322e-01 -9.72638189e-03 9.86173517e-01 -8.22893609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95911593299999 meters 0.07084866835017578 Centerline is valid? [True, True] Translation: X:-49.27, Y:25.77, Z:-0.82 [[ 6.56522388e-01 7.44900876e-01 1.18747796e-01 -4.92657346e+01] [-7.35851901e-01 6.67083806e-01 -1.16280590e-01 2.57703985e+01] [-1.65832245e-01 -1.10399805e-02 9.86092179e-01 -8.15855092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.019115933 meters 0.07077510288126802 Centerline is valid? [True, True] Translation: X:-49.31, Y:25.80, Z:-0.79 [[ 6.30351563e-01 7.69470193e-01 1.02822805e-01 -4.93068827e+01] [-7.62905266e-01 6.38516791e-01 -1.01350195e-01 2.57978539e+01] [-1.43640042e-01 -1.45578050e-02 9.89522920e-01 -7.93464200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.079115933 meters 0.07044690066755223 Centerline is valid? [True, True] Translation: X:-49.27, Y:25.90, Z:-0.54 [[ 6.13132734e-01 7.87054190e-01 6.79260844e-02 -4.92741331e+01] [-7.84256502e-01 6.16767861e-01 -6.73731802e-02 2.59041720e+01] [-9.49209695e-02 -1.19627712e-02 9.95412930e-01 -5.40097700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13911593299999 meters 0.054482034692908125 Centerline is valid? [True, True] Translation: X:-49.30, Y:25.95, Z:-0.40 [[ 6.67814076e-01 7.44214264e-01 -1.30188052e-02 -4.92985525e+01] [-7.44102627e-01 6.67940136e-01 1.29327381e-02 2.59504379e+01] [ 1.83205107e-02 1.05066258e-03 9.99831613e-01 -3.97691042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19911593299999 meters 0.03613508141313229 Centerline is valid? [True, True] Translation: X:-49.31, Y:26.01, Z:-0.30 [[ 6.55462432e-01 7.54599825e-01 -3.07912863e-02 -4.93075779e+01] [-7.53974942e-01 6.56178429e-01 3.08489262e-02 2.60124201e+01] [ 4.34831722e-02 2.99554610e-03 9.99049669e-01 -2.95969612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25911593299999 meters 0.02363244164981143 Centerline is valid? [True, True] Translation: X:-48.08, Y:27.13, Z:-2.20 [[ 8.04493665e-01 -5.93257751e-01 -2.88995614e-02 -4.80794931e+01] [-5.92799132e-01 -8.05010819e-01 2.33831291e-02 2.71287104e+01] [-3.71366821e-02 -1.67994430e-03 -9.99308783e-01 -2.20441890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31911593299999 meters 0.016573415752767127 Centerline is valid? [True, True] Translation: X:-49.20, Y:25.94, Z:-0.19 [[ 7.19765807e-01 6.92596115e-01 -4.74110201e-02 -4.91950563e+01] [-6.91421959e-01 7.21316379e-01 4.04766047e-02 2.59393311e+01] [ 6.22322844e-02 3.64734437e-03 9.98055028e-01 -1.85404827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.379115933 meters 0.01761912602020392 Centerline is valid? [True, True] Translation: X:-49.24, Y:25.96, Z:-0.21 [[ 7.21353389e-01 6.90860599e-01 -4.85893154e-02 -4.92413561e+01] [-6.89608558e-01 7.22979915e-01 4.17142614e-02 2.59600904e+01] [ 6.39478387e-02 3.41688385e-03 9.97947393e-01 -2.05010927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.439115933 meters 0.01589328731830372 Centerline is valid? [True, True] Translation: X:-49.28, Y:26.00, Z:-0.20 [[ 7.25739258e-01 6.86322089e-01 -4.75869702e-02 -4.92765974e+01] [-6.85096037e-01 7.27292439e-01 4.10989941e-02 2.59952937e+01] [ 6.28167911e-02 2.77449119e-03 9.98021219e-01 -2.00979518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.499115933 meters 0.017539275534069088 Centerline is valid? [True, True] Translation: X:-49.32, Y:26.02, Z:-0.21 [[ 7.25876696e-01 6.86108144e-01 -4.85657921e-02 -4.93169598e+01] [-6.84813705e-01 7.27494840e-01 4.22071940e-02 2.60241323e+01] [ 6.42900627e-02 2.62130150e-03 9.97927811e-01 -2.10533290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55911593299999 meters 0.016504099243770113 Centerline is valid? [True, True] Translation: X:-49.36, Y:26.05, Z:-0.22 [[ 7.30791657e-01 6.81044203e-01 -4.60689446e-02 -4.93572352e+01] [-6.79853447e-01 7.32239917e-01 4.02988245e-02 2.60519239e+01] [ 6.11788010e-02 1.87008605e-03 9.98125071e-01 -2.21603404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61911593299999 meters 0.016343849251921796 Centerline is valid? [True, True] Translation: X:-49.40, Y:26.08, Z:-0.23 [[ 7.23823761e-01 6.88443471e-01 -4.60950047e-02 -4.93980707e+01] [-6.87250488e-01 7.25286329e-01 4.05771777e-02 2.60810200e+01] [ 6.13671698e-02 2.30808911e-03 9.98112590e-01 -2.26032459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67911593299999 meters 0.016574175004073446 Centerline is valid? [True, True] Translation: X:-49.44, Y:26.10, Z:-0.27 [[ 7.22090621e-01 6.90065660e-01 -4.89338314e-02 -4.94440517e+01] [-6.88706564e-01 7.23742805e-01 4.33545884e-02 2.61031120e+01] [ 6.53330211e-02 2.39510929e-03 9.97860641e-01 -2.65401586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.739115933 meters 0.016145734320847475 Centerline is valid? [True, True] Translation: X:-49.48, Y:26.14, Z:-0.26 [[ 7.13086211e-01 6.99229403e-01 -5.08556586e-02 -4.94783931e+01] [-6.97765179e-01 7.14890399e-01 4.53373219e-02 2.61391792e+01] [ 6.80574106e-02 3.15588865e-03 9.97676415e-01 -2.55668928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.799115933 meters 0.017074436674871588 Centerline is valid? [True, True] Translation: X:-49.53, Y:26.16, Z:-0.31 [[ 7.08653265e-01 7.03618779e-01 -5.22605374e-02 -4.95287361e+01] [-7.02063284e-01 7.10569226e-01 4.68883801e-02 2.61557507e+01] [ 7.01262743e-02 3.46260087e-03 9.97532113e-01 -3.07225789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.859115933 meters 0.015967346869618218 Centerline is valid? [True, True] Translation: X:-49.55, Y:26.21, Z:-0.24 [[ 7.17294215e-01 6.95180549e-01 -4.70426912e-02 -4.95508677e+01] [-6.93885160e-01 7.18831881e-01 4.24748420e-02 2.62067077e+01] [ 6.33434701e-02 2.17526684e-03 9.97989415e-01 -2.41846718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91911593299999 meters 0.016168690988596784 Centerline is valid? [True, True] Translation: X:-49.57, Y:26.23, Z:-0.23 [[ 7.17481729e-01 6.95347212e-01 -4.13790070e-02 -4.95654718e+01] [-6.94302006e-01 7.18672654e-01 3.81358193e-02 2.62298820e+01] [ 5.62555964e-02 1.36777404e-03 9.98415463e-01 -2.34831458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97911593299999 meters 0.016067445292849907 Centerline is valid? [True, True] Translation: X:-49.61, Y:26.26, Z:-0.25 [[ 7.08574945e-01 7.04384973e-01 -4.19923504e-02 -4.96079997e+01] [-7.03301733e-01 7.09815785e-01 3.90924971e-02 2.62565293e+01] [ 5.73430007e-02 1.83332886e-03 9.98352853e-01 -2.53638521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03911593299999 meters 0.016359607774524932 Centerline is valid? [True, True] Translation: X:-49.64, Y:26.29, Z:-0.24 [[ 7.14319642e-01 6.98587560e-01 -4.15074693e-02 -4.96425330e+01] [-6.97505130e-01 7.15523620e-01 3.88914253e-02 2.62929039e+01] [ 5.68686406e-02 1.17076381e-03 9.98380983e-01 -2.39486897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.099115933 meters 0.016377883508335075 Centerline is valid? [True, True] Translation: X:-49.69, Y:26.31, Z:-0.29 [[ 7.11492986e-01 7.01510654e-01 -4.07496383e-02 -4.96919089e+01] [-7.00458383e-01 7.12657952e-01 3.84278167e-02 2.63124568e+01] [ 5.59980766e-02 1.20230364e-03 9.98430153e-01 -2.86194461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.159115933 meters 0.016084171197921084 Centerline is valid? [True, True] Translation: X:-49.73, Y:26.35, Z:-0.28 [[ 7.14655648e-01 6.98503847e-01 -3.68738434e-02 -4.97264808e+01] [-6.97627164e-01 7.15605940e-01 3.49925490e-02 2.63488272e+01] [ 5.08295714e-02 7.16572020e-04 9.98707085e-01 -2.78024343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.219115933 meters 0.016226871749906464 Centerline is valid? [True, True] Translation: X:-49.75, Y:26.39, Z:-0.24 [[ 7.13766177e-01 6.99331095e-01 -3.83909446e-02 -4.97525910e+01] [-6.98369222e-01 7.14797605e-01 3.66717058e-02 2.63939066e+01] [ 5.30874194e-02 6.36030839e-04 9.98589666e-01 -2.43154121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27911593299999 meters 0.01669922680751505 Centerline is valid? [True, True] Translation: X:-49.80, Y:26.42, Z:-0.27 [[ 7.02232826e-01 7.10740016e-01 -4.14449981e-02 -4.97973216e+01] [-7.09623539e-01 7.03453332e-01 3.98477425e-02 2.64186310e+01] [ 5.74760072e-02 1.42795343e-03 9.98345867e-01 -2.73105843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33911593299999 meters 0.017266086925451007 Centerline is valid? [True, True] Translation: X:-49.83, Y:26.45, Z:-0.28 [[ 6.89725950e-01 7.22754592e-01 -4.36338433e-02 -4.98319916e+01] [-7.21522974e-01 6.91100778e-01 4.22411210e-02 2.64513433e+01] [ 6.06853472e-02 2.34802307e-03 9.98154184e-01 -2.83222047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39911593299999 meters 0.015840679151194328 Centerline is valid? [True, True] Translation: X:-49.88, Y:26.47, Z:-0.33 [[ 6.85248297e-01 7.27168442e-01 -4.07532535e-02 -4.98782438e+01] [-7.26087503e-01 6.86454938e-01 3.97058692e-02 2.64744553e+01] [ 5.68481272e-02 2.38204875e-03 9.98379996e-01 -3.32124790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45911593299999 meters 0.016164825582594782 Centerline is valid? [True, True] Translation: X:-49.91, Y:26.51, Z:-0.33 [[ 6.76500632e-01 7.35283657e-01 -4.12896904e-02 -4.99135514e+01] [-7.34173896e-01 6.77753198e-01 4.04881883e-02 2.65084618e+01] [ 5.77545229e-02 2.92352788e-03 9.98326534e-01 -3.25383099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.519115933 meters 0.015679905122477515 Centerline is valid? [True, True] Translation: X:-49.95, Y:26.54, Z:-0.33 [[ 6.74982131e-01 7.36752285e-01 -3.99398836e-02 -4.99471946e+01] [-7.35702121e-01 6.76157059e-01 3.94210734e-02 2.65442034e+01] [ 5.60492001e-02 2.77533696e-03 9.98424151e-01 -3.28106767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.579115933 meters 0.016112288716840336 Centerline is valid? [True, True] Translation: X:-49.98, Y:26.58, Z:-0.32 [[ 6.76032024e-01 7.35665230e-01 -4.21588939e-02 -4.99835098e+01] [-7.34476403e-01 6.77340143e-01 4.18896735e-02 2.65767696e+01] [ 5.93726875e-02 2.64595199e-03 9.98232379e-01 -3.20103822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63911593299999 meters 0.015879345789907212 Centerline is valid? [True, True] Translation: X:-50.01, Y:26.62, Z:-0.31 [[ 6.77923965e-01 7.34096491e-01 -3.90056435e-02 -5.00136812e+01] [-7.33062315e-01 6.79041777e-01 3.90116389e-02 2.66157826e+01] [ 5.51247686e-02 2.14664238e-03 9.98477166e-01 -3.12952144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69911593299999 meters 0.016579897456838254 Centerline is valid? [True, True] Translation: X:-48.78, Y:27.79, Z:-2.20 [[ 7.83105693e-01 -6.21304988e-01 -2.69366817e-02 -4.87818487e+01] [-6.20927852e-01 -7.83568798e-01 2.16458364e-02 2.77883419e+01] [-3.45554095e-02 -2.25241835e-04 -9.99402758e-01 -2.20138821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75911593299999 meters 0.016148338750389596 Centerline is valid? [True, True] Translation: X:-49.96, Y:26.52, Z:-0.33 [[ 7.33118867e-01 6.78512443e-01 -4.64498742e-02 -4.99570911e+01] [-6.77364155e-01 7.34584725e-01 3.95358369e-02 2.65245901e+01] [ 6.09469254e-02 2.47901185e-03 9.98137930e-01 -3.25353506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81911593299999 meters 0.017307632394764367 Centerline is valid? [True, True] Translation: X:-49.97, Y:26.59, Z:-0.23 [[ 7.16248000e-01 6.96028157e-01 -5.03349471e-02 -4.99711713e+01] [-6.94706831e-01 7.18002652e-01 4.30651933e-02 2.65860714e+01] [ 6.61152126e-02 4.12267304e-03 9.97803479e-01 -2.30342544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.879115933 meters 0.016027234573808558 Centerline is valid? [True, True] Translation: X:-50.04, Y:26.58, Z:-0.35 [[ 7.20233207e-01 6.92186965e-01 -4.62745481e-02 -5.00389455e+01] [-6.91046727e-01 7.21710791e-01 3.98491475e-02 2.65797986e+01] [ 6.09799011e-02 3.27719574e-03 9.98133614e-01 -3.48649397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.939115933 meters 0.01641827646145515 Centerline is valid? [True, True] Translation: X:-50.07, Y:26.62, Z:-0.34 [[ 7.13574102e-01 6.98886397e-01 -4.86806527e-02 -5.00721629e+01] [-6.97622008e-01 7.15222329e-01 4.21966188e-02 2.66169423e+01] [ 6.43081326e-02 3.85028031e-03 9.97922662e-01 -3.39586479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.999115933 meters 0.015572717120586624 Centerline is valid? [True, True] Translation: X:-50.12, Y:26.63, Z:-0.38 [[ 7.16182095e-01 6.96203483e-01 -4.88253687e-02 -5.01229178e+01] [-6.94907527e-01 7.17836333e-01 4.25972698e-02 2.66331409e+01] [ 6.47049913e-02 3.42171428e-03 9.97898570e-01 -3.75457086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05911593299999 meters 0.016526060270984556 Centerline is valid? [True, True] Translation: X:-50.15, Y:26.67, Z:-0.34 [[ 7.07816932e-01 7.04531442e-01 -5.12897420e-02 -5.01522557e+01] [-7.03102815e-01 7.09660448e-01 4.50386447e-02 2.66749137e+01] [ 6.81294425e-02 4.18284668e-03 9.97667722e-01 -3.37761935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11911593299999 meters 0.016241395467785903 Centerline is valid? [True, True] Translation: X:-50.19, Y:26.71, Z:-0.33 [[ 6.98952223e-01 7.13235362e-01 -5.25462445e-02 -5.01855793e+01] [-7.11738639e-01 7.00907235e-01 4.64452118e-02 2.67108226e+01] [ 6.99564104e-02 4.93620851e-03 9.97537836e-01 -3.34002633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17911593299999 meters 0.016476612602986267 Centerline is valid? [True, True] Translation: X:-50.22, Y:26.75, Z:-0.31 [[ 7.04319007e-01 7.08220566e-01 -4.85630110e-02 -5.02181624e+01] [-7.06912260e-01 7.05980468e-01 4.32045904e-02 2.67486824e+01] [ 6.48829167e-02 3.89997366e-03 9.97885263e-01 -3.11137798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.239115933 meters 0.016123735311225504 Centerline is valid? [True, True] Translation: X:-50.27, Y:26.77, Z:-0.35 [[ 7.02412985e-01 7.09897275e-01 -5.15931959e-02 -5.02656193e+01] [-7.08399720e-01 7.04293576e-01 4.62643972e-02 2.67652353e+01] [ 6.91797259e-02 4.05189222e-03 9.97595984e-01 -3.49932445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.299115933 meters 0.014793753132715227 Centerline is valid? [True, True] Translation: X:-50.31, Y:26.79, Z:-0.38 [[ 7.10223034e-01 7.02304022e-01 -4.85005320e-02 -5.03096414e+01] [-7.00940273e-01 7.11871391e-01 4.38389819e-02 2.67866907e+01] [ 6.53144345e-02 2.86052137e-03 9.97860633e-01 -3.77909491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.359115933 meters 0.01539331161041472 Centerline is valid? [True, True] Translation: X:-50.33, Y:26.84, Z:-0.31 [[ 7.01107951e-01 7.11359459e-01 -4.91463244e-02 -5.03288780e+01] [-7.09960835e-01 7.02819485e-01 4.47256639e-02 2.68391563e+01] [ 6.63570184e-02 3.53444691e-03 9.97789684e-01 -3.11604831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41911593299999 meters 0.014819872374643406 Centerline is valid? [True, True] Translation: X:-50.37, Y:26.86, Z:-0.35 [[ 6.99947210e-01 7.12694460e-01 -4.62656338e-02 -5.03746183e+01] [-7.11440897e-01 7.01467049e-01 4.23772205e-02 2.68606179e+01] [ 6.26558279e-02 3.25344671e-03 9.98029890e-01 -3.50278223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47911593299999 meters 0.015374405320722269 Centerline is valid? [True, True] Translation: X:-50.41, Y:26.89, Z:-0.34 [[ 7.00596803e-01 7.12049707e-01 -4.63609189e-02 -5.04123979e+01] [-7.10771748e-01 7.02122635e-01 4.27472570e-02 2.68916253e+01] [ 6.29892224e-02 3.00343977e-03 9.98009688e-01 -3.40856890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53911593299999 meters 0.014700556693845363 Centerline is valid? [True, True] Translation: X:-50.45, Y:26.92, Z:-0.34 [[ 6.99189474e-01 7.13503378e-01 -4.52438909e-02 -5.04494758e+01] [-7.12272245e-01 7.00645936e-01 4.19942962e-02 2.69230412e+01] [ 6.16630205e-02 2.86399786e-03 9.98092916e-01 -3.43802788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.599115933 meters 0.014723914548688096 Centerline is valid? [True, True] Translation: X:-50.48, Y:26.96, Z:-0.33 [[ 6.95999561e-01 7.16500352e-01 -4.70303823e-02 -5.04832317e+01] [-7.15158382e-01 6.97580049e-01 4.39381835e-02 2.69590596e+01] [ 6.42891803e-02 3.05321564e-03 9.97926640e-01 -3.28486641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.659115933 meters 0.014265144058576951 Centerline is valid? [True, True] Translation: X:-50.52, Y:26.99, Z:-0.33 [[ 6.96031047e-01 7.16546297e-01 -4.58496073e-02 -5.05181020e+01] [-7.15253664e-01 6.97533966e-01 4.31110464e-02 2.69934661e+01] [ 6.28727191e-02 2.78747289e-03 9.98017661e-01 -3.28788736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.719115933 meters 0.014550634156882226 Centerline is valid? [True, True] Translation: X:-50.55, Y:27.03, Z:-0.32 [[ 6.89368610e-01 7.23098209e-01 -4.35878435e-02 -5.05529371e+01] [-7.21927394e-01 6.90738568e-01 4.12440016e-02 2.70280994e+01] [ 5.99312683e-02 3.03493825e-03 9.98197892e-01 -3.21226300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77911593299999 meters 0.01472857938625548 Centerline is valid? [True, True] Translation: X:-50.59, Y:27.06, Z:-0.33 [[ 6.87408314e-01 7.25076292e-01 -4.16434946e-02 -5.05894072e+01] [-7.23996790e-01 6.88662487e-01 3.96563680e-02 2.70604598e+01] [ 5.74322048e-02 2.88963936e-03 9.98345227e-01 -3.31732269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83911593299999 meters 0.014369673039918627 Centerline is valid? [True, True] Translation: X:-50.62, Y:27.10, Z:-0.31 [[ 6.87374312e-01 7.25184090e-01 -4.03062139e-02 -5.06210150e+01] [-7.24159201e-01 6.88549996e-01 3.86310029e-02 2.70982939e+01] [ 5.57674320e-02 2.63415660e-03 9.98440311e-01 -3.14068393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89911593299999 meters 0.01411250892912127 Centerline is valid? [True, True] Translation: X:-50.66, Y:27.13, Z:-0.32 [[ 6.82386793e-01 7.29839589e-01 -4.10175502e-02 -5.06590507e+01] [-7.28771793e-01 6.83612334e-01 3.95708223e-02 2.71277877e+01] [ 5.69204559e-02 2.88982710e-03 9.98374534e-01 -3.17718509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95911593299999 meters 0.014103423209018803 Centerline is valid? [True, True] Translation: X:-50.69, Y:27.17, Z:-0.30 [[ 6.81006118e-01 7.31070260e-01 -4.20350171e-02 -5.06888518e+01] [-7.29935654e-01 6.82296082e-01 4.08166317e-02 2.71685302e+01] [ 5.85201530e-02 2.88648182e-03 9.98282054e-01 -2.95102001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.019115933 meters 0.014888301990575444 Centerline is valid? [True, True] Translation: X:-50.72, Y:27.20, Z:-0.29 [[ 6.80279612e-01 7.31856823e-01 -4.00654436e-02 -5.07233782e+01] [-7.30813514e-01 6.81453296e-01 3.91537086e-02 2.72032566e+01] [ 5.59576374e-02 2.64489789e-03 9.98429641e-01 -2.87472539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.079115933 meters 0.014317091192686381 Centerline is valid? [True, True] Translation: X:-50.75, Y:27.25, Z:-0.25 [[ 6.72461812e-01 7.38923240e-01 -4.22794988e-02 -5.07477457e+01] [-7.37759016e-01 6.73781895e-01 4.15883701e-02 2.72476256e+01] [ 5.92177740e-02 3.22549071e-03 9.98239877e-01 -2.51672408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13911593299999 meters 0.013602999856636752 Centerline is valid? [True, True] Translation: X:-50.79, Y:27.28, Z:-0.27 [[ 6.73415941e-01 7.38230181e-01 -3.90790336e-02 -5.07883963e+01] [-7.37220957e-01 6.74543250e-01 3.86867464e-02 2.72754259e+01] [ 5.49202221e-02 2.75761080e-03 9.98486938e-01 -2.70491880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19911593299999 meters 0.013989408576364543 Centerline is valid? [True, True] Translation: X:-50.81, Y:27.32, Z:-0.25 [[ 6.63897850e-01 7.46790871e-01 -3.92815301e-02 -5.08145740e+01] [-7.45771910e-01 6.65050698e-01 3.91385611e-02 2.73184516e+01] [ 5.53525292e-02 3.31105515e-03 9.98461384e-01 -2.51677375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25911593299999 meters 0.014408151492790199 Centerline is valid? [True, True] Translation: X:-50.85, Y:27.35, Z:-0.25 [[ 6.48214939e-01 7.60310158e-01 -4.17834425e-02 -5.08460173e+01] [-7.59167785e-01 6.49544249e-01 4.19111215e-02 2.73544471e+01] [ 5.90056462e-02 4.55322847e-03 9.98247265e-01 -2.50923290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31911593299999 meters 0.01523471828577162 Centerline is valid? [True, True] Translation: X:-49.59, Y:28.52, Z:-2.28 [[ 8.16691157e-01 -5.76533022e-01 -2.50045722e-02 -4.95928832e+01] [-5.76186257e-01 -8.17071395e-01 2.00931019e-02 2.85157910e+01] [-3.20148575e-02 -2.00256775e-03 -9.99485387e-01 -2.28349647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.379115933 meters 0.016265406765475332 Centerline is valid? [True, True] Translation: X:-50.77, Y:27.25, Z:-0.30 [[ 6.81466566e-01 7.30459357e-01 -4.50826785e-02 -5.07737068e+01] [-7.29470681e-01 6.82924204e-01 3.85623832e-02 2.72469819e+01] [ 5.89563059e-02 6.60751731e-03 9.98238696e-01 -2.95879283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.439115933 meters 0.018636138687194582 Centerline is valid? [True, True] Translation: X:-50.79, Y:27.29, Z:-0.27 [[ 6.60727388e-01 7.48972477e-01 -4.97950651e-02 -5.07931625e+01] [-7.47795952e-01 6.62541417e-01 4.28962206e-02 2.72946931e+01] [ 6.51193816e-02 8.89384029e-03 9.97837845e-01 -2.70043149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.499115933 meters 0.019892580419689578 Centerline is valid? [True, True] Translation: X:-50.84, Y:27.32, Z:-0.33 [[ 6.28781387e-01 7.75749472e-01 -5.33547077e-02 -5.08352000e+01] [-7.74464229e-01 6.30922646e-01 4.62792811e-02 2.73174507e+01] [ 6.95638212e-02 1.22217620e-02 9.97502633e-01 -3.26233571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55911593299999 meters 0.02183788297062546 Centerline is valid? [True, True] Translation: X:-50.86, Y:27.36, Z:-0.33 [[ 5.97434749e-01 7.99770044e-01 -5.86480865e-02 -5.08627400e+01] [-7.98293201e-01 6.00087327e-01 5.12168405e-02 2.73558601e+01] [ 7.61556682e-02 1.62196485e-02 9.96964010e-01 -3.33248564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61911593299999 meters 0.022079626578964697 Centerline is valid? [True, True] Translation: X:-50.90, Y:27.38, Z:-0.40 [[ 5.68688347e-01 8.20324278e-01 -6.05115128e-02 -5.09009252e+01] [-8.18822373e-01 5.71573688e-01 5.32300665e-02 2.73795931e+01] [ 7.82527044e-02 1.92768620e-02 9.96747168e-01 -3.95162177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67911593299999 meters 0.024894937674894944 Centerline is valid? [True, True] Translation: X:-50.90, Y:27.44, Z:-0.42 [[ 5.44918895e-01 8.36217133e-01 -6.16790379e-02 -5.09037535e+01] [-8.34712190e-01 5.47968672e-01 5.46433383e-02 2.74446167e+01] [ 7.94918762e-02 2.17080573e-02 9.96599118e-01 -4.20039751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.739115933 meters 0.022507557327889574 Centerline is valid? [True, True] Translation: X:-50.96, Y:27.45, Z:-0.44 [[ 5.19190461e-01 8.52450776e-01 -6.13916904e-02 -5.09577863e+01] [-8.51022793e-01 5.22264986e-01 5.47675990e-02 2.74516988e+01] [ 7.87494126e-02 2.38109129e-02 9.96610039e-01 -4.44962162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.799115933 meters 0.022422321913017178 Centerline is valid? [True, True] Translation: X:-50.99, Y:27.48, Z:-0.49 [[ 4.88233830e-01 8.70210073e-01 -6.60466163e-02 -5.09893622e+01] [-8.68647542e-01 4.91862113e-01 5.93557896e-02 2.74826191e+01] [ 8.41378343e-02 2.83917264e-02 9.96049564e-01 -4.91999895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.859115933 meters 0.022550012516143966 Centerline is valid? [True, True] Translation: X:-51.02, Y:27.52, Z:-0.53 [[ 4.69597251e-01 8.80796991e-01 -6.06224672e-02 -5.10190249e+01] [-8.79517556e-01 4.72691946e-01 5.48743407e-02 2.75151476e+01] [ 7.69889061e-02 2.75496846e-02 9.96651255e-01 -5.33932929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91911593299999 meters 0.022152478704781348 Centerline is valid? [True, True] Translation: X:-51.05, Y:27.55, Z:-0.56 [[ 4.58517186e-01 8.86828107e-01 -5.74273394e-02 -5.10462470e+01] [-8.85688603e-01 4.61318345e-01 5.23553462e-02 2.75501153e+01] [ 7.29224777e-02 2.68569140e-02 9.96975937e-01 -5.56377801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97911593299999 meters 0.020485552543790777 Centerline is valid? [True, True] Translation: X:-51.07, Y:27.59, Z:-0.61 [[ 4.37625815e-01 8.97476389e-01 -5.49525004e-02 -5.10688594e+01] [-8.96465331e-01 4.40225584e-01 5.05108444e-02 2.75862038e+01] [ 6.95237868e-02 2.71581620e-02 9.97210548e-01 -6.07272762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03911593299999 meters 0.02075849818213852 Centerline is valid? [True, True] Translation: X:-51.09, Y:27.62, Z:-0.63 [[ 4.22389744e-01 9.04728821e-01 -5.52509208e-02 -5.10932962e+01] [-9.03724435e-01 4.25045693e-01 5.11693759e-02 2.76227907e+01] [ 6.97785750e-02 2.83181876e-02 9.97160484e-01 -6.30094527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.099115933 meters 0.02023619894534653 Centerline is valid? [True, True] Translation: X:-51.13, Y:27.65, Z:-0.66 [[ 4.12878732e-01 9.09202477e-01 -5.36843348e-02 -5.11262025e+01] [-9.08255426e-01 4.15406539e-01 5.00947964e-02 2.76509542e+01] [ 6.78471367e-02 2.80760124e-02 9.97300608e-01 -6.58277889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.159115933 meters 0.01890270955712035 Centerline is valid? [True, True] Translation: X:-51.15, Y:27.69, Z:-0.68 [[ 4.07584327e-01 9.11864317e-01 -4.87697041e-02 -5.11493045e+01] [-9.11074864e-01 4.09683541e-01 4.58474475e-02 2.76888775e+01] [ 6.17867965e-02 2.57461505e-02 9.97757249e-01 -6.78813298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.219115933 meters 0.020333443478277063 Centerline is valid? [True, True] Translation: X:-51.18, Y:27.72, Z:-0.69 [[ 4.03253190e-01 9.14065051e-01 -4.32660131e-02 -5.11764485e+01] [-9.13435528e-01 4.04915143e-01 4.09788181e-02 2.77216549e+01] [ 5.49763693e-02 2.29958744e-02 9.98222815e-01 -6.90036496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27911593299999 meters 0.017872159361829534 Centerline is valid? [True, True] Translation: X:-51.19, Y:27.76, Z:-0.72 [[ 4.00064526e-01 9.15846084e-01 -3.42684335e-02 -5.11923796e+01] [-9.15443158e-01 4.01113492e-01 3.27382274e-02 2.77625784e+01] [ 4.37287084e-02 1.82733996e-02 9.98876310e-01 -7.17976323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33911593299999 meters 0.01871207725840443 Centerline is valid? [True, True] Translation: X:-51.20, Y:27.81, Z:-0.70 [[ 3.97634118e-01 9.17046615e-01 -3.02095083e-02 -5.12019544e+01] [-9.16726972e-01 3.98453805e-01 2.90899391e-02 2.78135415e+01] [ 3.87139237e-02 1.61267188e-02 9.99120193e-01 -7.03757479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39911593299999 meters 0.018244368318036053 Centerline is valid? [True, True] Translation: X:-51.22, Y:27.86, Z:-0.69 [[ 3.95663160e-01 9.18045883e-01 -2.53460053e-02 -5.12154081e+01] [-9.17816550e-01 3.96242994e-01 2.45819174e-02 2.78627331e+01] [ 3.26105051e-02 1.35368240e-02 9.99376460e-01 -6.94897105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45911593299999 meters 0.017615963055375675 Centerline is valid? [True, True] Translation: X:-51.23, Y:27.91, Z:-0.69 [[ 4.03603021e-01 9.14792553e-01 -1.60992846e-02 -5.12293961e+01] [-9.14696153e-01 4.03836909e-01 1.57066464e-02 2.79117685e+01] [ 2.08698085e-02 8.38670378e-03 9.99747025e-01 -6.85707291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.519115933 meters 0.01684229274278792 Centerline is valid? [True, True] Translation: X:-51.24, Y:27.97, Z:-0.68 [[ 3.99444107e-01 9.16665882e-01 -1.29640103e-02 -5.12360889e+01] [-9.16602789e-01 3.99596569e-01 1.27243688e-02 2.79695276e+01] [ 1.68443688e-02 6.80017391e-03 9.99834999e-01 -6.83864197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.579115933 meters 0.11544482734047488 Centerline is valid? [True, False] Translation: X:-51.70, Y:27.77, Z:-0.56 [[ 0.84774872 0.34486622 0.40297568 -51.70399401] [ -0.24128731 0.9273469 -0.28602125 27.7664204 ] [ -0.47233732 0.14524123 0.86936899 -0.56047325] [ 0. 0. 0. 1. ]] SLAMing on 79.63911593299999 meters 0.11775213116751479 Centerline is valid? [False, False] Translation: X:-52.12, Y:27.70, Z:-0.32 [[ 0.85048556 0.26487356 0.45444065 -52.11697315] [ -0.17298863 0.95674789 -0.23389829 27.69957957] [ -0.4967386 0.12031405 0.85952038 -0.3205255 ] [ 0. 0. 0. 1. ]] SLAMing on 79.69911593299999 meters 0.10777916565787152 Centerline is valid? [False, False] Translation: X:-52.30, Y:27.67, Z:-0.20 [[ 0.85844258 0.21607395 0.46517566 -52.2959776 ] [ -0.13249362 0.9695707 -0.20585943 27.66986364] [ -0.49550155 0.11508569 0.86094919 -0.20380628] [ 0. 0. 0. 1. ]] SLAMing on 79.75911593299999 meters 0.10533365186907878 Centerline is valid? [False, False] Translation: X:-52.70, Y:27.63, Z:-0.01 [[ 8.72745695e-01 2.53231956e-01 4.17358993e-01 -5.26976533e+01] [-1.89682395e-01 9.63667702e-01 -1.88056241e-01 2.76329935e+01] [-4.49817231e-01 8.49596212e-02 8.89070482e-01 -1.38795562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81911593299999 meters 0.10184052420904563 Centerline is valid? [False, False] Translation: X:-53.07, Y:27.58, Z:0.17 [[ 0.88469593 0.2325938 0.40399658 -53.06750789] [ -0.18606955 0.97079387 -0.15145094 27.5808822 ] [ -0.42742395 0.05881657 0.90213601 0.16874079] [ 0. 0. 0. 1. ]] SLAMing on 79.879115933 meters SLAMing on 79.939115933 meters SLAMing on 79.999115933 meters SLAMing on 80.05911593299999 meters SLAMing on 80.11911593299999 meters SLAMing on 80.17911593299999 meters SLAMing on 80.239115933 meters 0.08694514494490929 Centerline is valid? [False, True] Translation: X:-53.44, Y:27.69, Z:0.35 [[ 0.86365509 0.28249546 0.41748796 -53.43980972] [ -0.22378111 0.95699392 -0.18462027 27.6882876 ] [ -0.45168783 0.06602232 0.88972982 0.34672061] [ 0. 0. 0. 1. ]] SLAMing on 80.299115933 meters 0.0832555376882955 Centerline is valid? [True, True] Translation: X:-52.86, Y:27.32, Z:0.75 [[ 9.79144248e-01 2.42394504e-02 2.01715121e-01 -5.28618304e+01] [-5.63338534e-02 9.86318443e-01 1.54927164e-01 2.73179332e+01] [-1.95199995e-01 -1.63059431e-01 9.67113532e-01 7.48399269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.359115933 meters 0.08623629439742114 Centerline is valid? [True, True] Translation: X:-52.89, Y:27.32, Z:0.84 [[ 9.81502865e-01 2.94530512e-02 1.89168293e-01 -5.28864729e+01] [-5.81661243e-02 9.87263188e-01 1.48081393e-01 2.73242133e+01] [-1.82397444e-01 -1.56345498e-01 9.70714818e-01 8.38237415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41911593299999 meters 0.08584787608848807 Centerline is valid? [True, True] Translation: X:-52.95, Y:27.28, Z:0.85 [[ 9.79929602e-01 4.46278832e-02 1.94284142e-01 -5.29489641e+01] [-7.45378903e-02 9.85951738e-01 1.49476668e-01 2.72795493e+01] [-1.84883960e-01 -1.60958142e-01 9.69489762e-01 8.49964474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47911593299999 meters 0.08860616756468472 Centerline is valid? [True, True] Translation: X:-53.11, Y:27.14, Z:0.78 [[ 0.97291297 0.1106649 0.20296214 -53.10765301] [ -0.14714204 0.97360489 0.17447845 27.1393765 ] [ -0.17829629 -0.19961661 0.96351629 0.78310756] [ 0. 0. 0. 1. ]] SLAMing on 80.53911593299999 meters 0.09358940298294337 Centerline is valid? [True, True] Translation: X:-53.47, Y:27.11, Z:0.49 [[ 0.9542805 0.161546 0.25149874 -53.47206738] [ -0.20557136 0.96550039 0.15984182 27.11138583] [ -0.21700033 -0.20423487 0.95456743 0.48631047] [ 0. 0. 0. 1. ]] SLAMing on 80.599115933 meters 0.10769197600137688 Centerline is valid? [True, False] Translation: X:-53.58, Y:27.12, Z:0.47 [[ 0.94462143 0.15054104 0.2915952 -53.5794518 ] [ -0.19163852 0.97437349 0.11777512 27.12112846] [ -0.26639264 -0.16713377 0.94926354 0.4697694 ] [ 0. 0. 0. 1. ]] SLAMing on 80.659115933 meters SLAMing on 80.719115933 meters 0.13864350979477894 Centerline is valid? [False, False] Translation: X:-53.80, Y:27.15, Z:0.46 [[ 9.26119991e-01 1.64007015e-01 3.39710850e-01 -5.38008186e+01] [-1.85430127e-01 9.82157247e-01 3.13498072e-02 2.71485834e+01] [-3.28507885e-01 -9.20263093e-02 9.40007302e-01 4.57595204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77911593299999 meters 0.136740195653935 Centerline is valid? [False, False] Translation: X:-54.05, Y:27.26, Z:0.60 [[ 0.93733881 0.17217809 0.30290371 -54.04917027] [ -0.19813762 0.97851989 0.05692367 27.25861069] [ -0.2865963 -0.11337338 0.95131963 0.60251988] [ 0. 0. 0. 1. ]] SLAMing on 80.83911593299999 meters 0.13121821639250442 Centerline is valid? [False, False] Translation: X:-54.27, Y:27.34, Z:0.62 [[ 9.29157381e-01 1.59439810e-01 3.33534869e-01 -5.42731968e+01] [-1.68505500e-01 9.85699118e-01 -1.77358166e-03 2.73414949e+01] [-3.29047806e-01 -5.45545235e-02 9.42736095e-01 6.24495104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89911593299999 meters 0.062122232946744585 Centerline is valid? [False, True] Translation: X:-54.53, Y:27.42, Z:0.69 [[ 9.29780793e-01 1.78482434e-01 3.21949838e-01 -5.45274720e+01] [-1.74429992e-01 9.83788567e-01 -4.16441333e-02 2.74215194e+01] [-3.24163316e-01 -1.74377923e-02 9.45840403e-01 6.90527543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95911593299999 meters 0.061377315047957175 Centerline is valid? [True, True] Translation: X:-54.65, Y:27.40, Z:0.63 [[ 9.08490971e-01 1.15888656e-01 4.01514601e-01 -5.46474776e+01] [-4.28977452e-02 9.81566344e-01 -1.86245258e-01 2.73990563e+01] [-4.15696931e-01 1.51978064e-01 8.96715523e-01 6.27304056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.019115933 meters 0.058920188260896254 Centerline is valid? [True, True] Translation: X:-54.69, Y:27.43, Z:0.66 [[ 9.04598150e-01 1.24729660e-01 4.07608512e-01 -5.46931428e+01] [-5.00631993e-02 9.80701299e-01 -1.88993752e-01 2.74284202e+01] [-4.23315324e-01 1.50557213e-01 8.93384946e-01 6.58167872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.079115933 meters 0.0420464169613776 Centerline is valid? [True, True] Translation: X:-54.73, Y:27.45, Z:0.72 [[ 0.90146892 0.14228292 0.40879011 -54.72770542] [ -0.06868917 0.97948591 -0.18944431 27.44521444] [ -0.42735885 0.14269871 0.8927494 0.71956896] [ 0. 0. 0. 1. ]] SLAMing on 81.13911593299999 meters 0.03289918406434535 Centerline is valid? [True, True] Translation: X:-54.81, Y:27.44, Z:0.72 [[ 0.89664015 0.16722087 0.40996783 -54.80684749] [ -0.09541765 0.97715903 -0.1898834 27.44197886] [ -0.43235624 0.13113891 0.89211584 0.71555608] [ 0. 0. 0. 1. ]] SLAMing on 81.19911593299999 meters 0.029948535540771582 Centerline is valid? [True, True] Translation: X:-54.85, Y:27.45, Z:0.76 [[ 0.8964635 0.18842191 0.40106156 -54.8520837 ] [ -0.12187684 0.97502762 -0.18565336 27.45302238] [ -0.42602726 0.11755135 0.89704094 0.7614117 ] [ 0. 0. 0. 1. ]] SLAMing on 81.25911593299999 meters 0.029305762877950482 Centerline is valid? [True, True] Translation: X:-54.88, Y:27.48, Z:0.82 [[ 0.89394315 0.18109757 0.40996257 -54.88024618] [ -0.11065726 0.97559292 -0.1896666 27.48068549] [ -0.43430475 0.12418582 0.89216437 0.82422851] [ 0. 0. 0. 1. ]] SLAMing on 81.31911593299999 meters 0.027484472572560363 Centerline is valid? [True, True] Translation: X:-54.97, Y:27.47, Z:0.80 [[ 0.89219293 0.19141329 0.40908768 -54.96944704] [ -0.12240579 0.97433105 -0.18893342 27.47336257] [ -0.43475119 0.11849036 0.89272137 0.80488279] [ 0. 0. 0. 1. ]] SLAMing on 81.379115933 meters 0.028237857604480086 Centerline is valid? [True, True] Translation: X:-54.95, Y:27.51, Z:0.94 [[ 0.8897291 0.20151915 0.4096 -54.95334103] [ -0.1333149 0.97287399 -0.18905907 27.51264109] [ -0.43658821 0.11360557 0.89245981 0.93974807] [ 0. 0. 0. 1. ]] SLAMing on 81.439115933 meters 0.02533680251547943 Centerline is valid? [True, True] Translation: X:-54.98, Y:27.53, Z:1.01 [[ 0.88435215 0.21425767 0.41474683 -54.98077814] [ -0.14544186 0.97068914 -0.19133545 27.52990306] [ -0.44358533 0.10888636 0.88959306 1.0134458 ] [ 0. 0. 0. 1. ]] SLAMing on 81.499115933 meters 0.02343125523932108 Centerline is valid? [True, True] Translation: X:-55.02, Y:27.55, Z:1.08 [[ 0.87902346 0.23931587 0.41236593 -55.01517523] [ -0.17387359 0.96624182 -0.19011764 27.5469883 ] [ -0.44394338 0.09541832 0.89095994 1.07507477] [ 0. 0. 0. 1. ]] SLAMing on 81.55911593299999 meters 0.02252285318344624 Centerline is valid? [True, True] Translation: X:-55.07, Y:27.54, Z:1.11 [[ 0.87608226 0.26697678 0.40150127 -55.07473605] [ -0.20791377 0.96049217 -0.18500449 27.54093559] [ -0.43503072 0.07860151 0.8969783 1.10985694] [ 0. 0. 0. 1. ]] SLAMing on 81.61911593299999 meters 0.020775263386691285 Centerline is valid? [True, True] Translation: X:-55.11, Y:27.56, Z:1.16 [[ 0.87158108 0.27750827 0.40414797 -55.11212911] [ -0.21868443 0.95788178 -0.18611723 27.56223751] [ -0.43877505 0.07383538 0.89555837 1.16146175] [ 0. 0. 0. 1. ]] SLAMing on 81.67911593299999 meters 0.01857053403198438 Centerline is valid? [True, True] Translation: X:-55.15, Y:27.58, Z:1.21 [[ 0.86640856 0.29128636 0.40557177 -55.15144715] [ -0.23345139 0.95428357 -0.18666364 27.58185374] [ -0.44140305 0.06704569 0.89480066 1.20971214] [ 0. 0. 0. 1. ]] SLAMing on 81.739115933 meters 0.017562319071418673 Centerline is valid? [True, True] Translation: X:-55.20, Y:27.59, Z:1.25 [[ 8.60476029e-01 3.14792486e-01 4.00607907e-01 -5.51988484e+01] [-2.60981468e-01 9.47632550e-01 -1.84068532e-01 2.75913795e+01] [-4.37572483e-01 5.38353194e-02 8.97570098e-01 1.25182375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.799115933 meters 0.016130394139819395 Centerline is valid? [True, True] Translation: X:-55.24, Y:27.61, Z:1.29 [[ 8.56046320e-01 3.28021667e-01 3.99482771e-01 -5.52445539e+01] [-2.75940977e-01 9.43511029e-01 -1.83421685e-01 2.76065445e+01] [-4.37082688e-01 4.67837926e-02 8.98203763e-01 1.29256429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.859115933 meters 0.015052775645502767 Centerline is valid? [True, True] Translation: X:-55.28, Y:27.63, Z:1.35 [[ 8.51332156e-01 3.42816457e-01 3.97127735e-01 -5.52805344e+01] [-2.93041056e-01 9.38608773e-01 -1.82045356e-01 2.76264176e+01] [-4.35155720e-01 3.86063347e-02 8.99527126e-01 1.34809268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91911593299999 meters 0.015316482547862931 Centerline is valid? [True, True] Translation: X:-55.34, Y:27.64, Z:1.37 [[ 8.45655902e-01 3.56896974e-01 3.96850911e-01 -5.53388790e+01] [-3.08679450e-01 9.33619653e-01 -1.81855271e-01 2.76404441e+01] [-4.35411406e-01 3.12872625e-02 8.99687732e-01 1.36632119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97911593299999 meters 0.014853176251173057 Centerline is valid? [True, True] Translation: X:-55.40, Y:27.65, Z:1.38 [[ 8.35759195e-01 3.85108260e-01 3.91405412e-01 -5.53994247e+01] [-3.41333153e-01 9.22732013e-01 -1.79045556e-01 2.76539828e+01] [-4.30114226e-01 1.60393265e-02 9.02631981e-01 1.38273439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03911593299999 meters 0.01501914314357039 Centerline is valid? [True, True] Translation: X:-55.45, Y:27.67, Z:1.41 [[ 8.28950741e-01 4.03521419e-01 3.87312706e-01 -5.54540313e+01] [-3.62632264e-01 9.14948072e-01 -1.77109759e-01 2.76699720e+01] [-4.25838595e-01 6.36318277e-03 9.04776768e-01 1.40720494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.099115933 meters 0.015807425617681618 Centerline is valid? [True, True] Translation: X:-55.50, Y:27.68, Z:1.44 [[ 8.25666168e-01 4.16635031e-01 3.80382214e-01 -5.55024635e+01] [-3.78614078e-01 9.09073733e-01 -1.73885964e-01 2.76842712e+01] [-4.18242464e-01 -4.46303782e-04 9.08335314e-01 1.44465377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.159115933 meters 0.015815389856797 Centerline is valid? [True, True] Translation: X:-55.56, Y:27.70, Z:1.47 [[ 8.22140240e-01 4.26060209e-01 3.77568700e-01 -5.55558046e+01] [-3.89731575e-01 9.04677827e-01 -1.72242068e-01 2.77035967e+01] [-4.14963522e-01 -5.54330901e-03 9.09821162e-01 1.47120667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.219115933 meters 0.015627264048848892 Centerline is valid? [True, True] Translation: X:-55.60, Y:27.72, Z:1.51 [[ 8.19304122e-01 4.36237981e-01 3.72071472e-01 -5.56030141e+01] [-4.02085613e-01 8.99767752e-01 -1.69543951e-01 2.77200217e+01] [-4.08739423e-01 -1.06965279e-02 9.12588444e-01 1.50962773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27911593299999 meters 0.01525571976133211 Centerline is valid? [True, True] Translation: X:-55.66, Y:27.74, Z:1.52 [[ 8.18228628e-01 4.40525345e-01 3.69376951e-01 -5.56641869e+01] [-4.07338320e-01 8.97648792e-01 -1.68232396e-01 2.77361887e+01] [-4.05681408e-01 -1.28088239e-02 9.13924794e-01 1.52224018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33911593299999 meters 0.014723129144514152 Centerline is valid? [True, True] Translation: X:-55.73, Y:27.75, Z:1.53 [[ 8.17928533e-01 4.40615293e-01 3.69933885e-01 -5.57277544e+01] [-4.07340057e-01 8.97603446e-01 -1.68469970e-01 2.77523578e+01] [-4.06284375e-01 -1.28924942e-02 9.13655728e-01 1.53355481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39911593299999 meters 0.015384826742768582 Centerline is valid? [True, True] Translation: X:-55.78, Y:27.77, Z:1.56 [[ 8.16480190e-01 4.46348929e-01 3.66241360e-01 -5.57820637e+01] [-4.14489408e-01 8.94716644e-01 -1.66375051e-01 2.77668958e+01] [-4.01943567e-01 -1.59612311e-02 9.15525318e-01 1.56023068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45911593299999 meters 0.014695474945257567 Centerline is valid? [True, True] Translation: X:-55.85, Y:27.78, Z:1.57 [[ 8.19428611e-01 4.41210501e-01 3.65882556e-01 -5.58493605e+01] [-4.08935758e-01 8.97302962e-01 -1.66189474e-01 2.77786840e+01] [-4.01632042e-01 -1.34420503e-02 9.15702470e-01 1.56567937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.519115933 meters 0.016249311415832617 Centerline is valid? [True, True] Translation: X:-55.91, Y:27.80, Z:1.58 [[ 8.20289399e-01 4.41419556e-01 3.63695033e-01 -5.59086864e+01] [-4.09705513e-01 8.97195215e-01 -1.64870068e-01 2.77961152e+01] [-3.99082315e-01 -1.37666913e-02 9.16811749e-01 1.58148952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.579115933 meters 0.015861111841635536 Centerline is valid? [True, True] Translation: X:-55.96, Y:27.82, Z:1.61 [[ 8.20837387e-01 4.40934169e-01 3.63046887e-01 -5.59580528e+01] [-4.09444304e-01 8.97432655e-01 -1.64225427e-01 2.78167883e+01] [-3.98222734e-01 -1.38451091e-02 9.17184260e-01 1.61427401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63911593299999 meters 0.015839603469916527 Centerline is valid? [True, True] Translation: X:-56.02, Y:27.83, Z:1.63 [[ 8.18682255e-01 4.44370563e-01 3.63722654e-01 -5.60161865e+01] [-4.13123387e-01 8.95706496e-01 -1.64435217e-01 2.78343263e+01] [-3.98858913e-01 -1.56421404e-02 9.16878886e-01 1.63145978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69911593299999 meters 0.015766921329397575 Centerline is valid? [True, True] Translation: X:-56.08, Y:27.85, Z:1.64 [[ 8.17671003e-01 4.46264913e-01 3.63678098e-01 -5.60769673e+01] [-4.15352658e-01 8.94741375e-01 -1.64073278e-01 2.78549608e+01] [-3.98617988e-01 -1.68967027e-02 9.16961395e-01 1.64320554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75911593299999 meters 0.015436703262756753 Centerline is valid? [True, True] Translation: X:-56.13, Y:27.87, Z:1.66 [[ 8.17284078e-01 4.47938696e-01 3.62488152e-01 -5.61345878e+01] [-4.17431506e-01 8.93888406e-01 -1.63445574e-01 2.78705988e+01] [-3.97237553e-01 -1.77325094e-02 9.17544486e-01 1.66305031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81911593299999 meters 0.016058610114521355 Centerline is valid? [True, True] Translation: X:-56.19, Y:27.89, Z:1.68 [[ 8.13609625e-01 4.58815480e-01 3.57110254e-01 -5.61929937e+01] [-4.30374322e-01 8.88234792e-01 -1.60676377e-01 2.78890160e+01] [-3.90918561e-01 -2.29632370e-02 9.20138777e-01 1.67781147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.879115933 meters 0.015762358029756226 Centerline is valid? [True, True] Translation: X:-56.24, Y:27.91, Z:1.70 [[ 8.11235617e-01 4.62141413e-01 3.58220727e-01 -5.62445545e+01] [-4.33825888e-01 8.86463477e-01 -1.61175688e-01 2.79126510e+01] [-3.92035552e-01 -2.46539660e-02 9.19619654e-01 1.70160832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.939115933 meters 0.014904912625236117 Centerline is valid? [True, True] Translation: X:-56.30, Y:27.93, Z:1.72 [[ 8.09482438e-01 4.65343643e-01 3.58041166e-01 -5.63035089e+01] [-4.37500249e-01 8.84732816e-01 -1.60752531e-01 2.79306987e+01] [-3.91575938e-01 -2.65167484e-02 9.19763636e-01 1.71563983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.999115933 meters 0.015683884932645636 Centerline is valid? [True, True] Translation: X:-56.36, Y:27.95, Z:1.74 [[ 8.05781506e-01 4.72773592e-01 3.56652906e-01 -5.63574758e+01] [-4.45859503e-01 8.80672189e-01 -1.60080603e-01 2.79507566e+01] [-3.89776177e-01 -3.00270983e-02 9.20419961e-01 1.73545943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05911593299999 meters 0.015669875676151506 Centerline is valid? [True, True] Translation: X:-56.42, Y:27.97, Z:1.75 [[ 8.08318491e-01 4.70712148e-01 3.53625919e-01 -5.64163539e+01] [-4.44061381e-01 8.81819725e-01 -1.58755986e-01 2.79715944e+01] [-3.86562681e-01 -2.87062148e-02 9.21816276e-01 1.74789887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11911593299999 meters 0.01433047301214355 Centerline is valid? [True, True] Translation: X:-56.46, Y:27.99, Z:1.79 [[ 8.08731257e-01 4.67952357e-01 3.56334598e-01 -5.64554965e+01] [-4.40773357e-01 8.83311027e-01 -1.59626054e-01 2.79933571e+01] [-3.89451668e-01 -2.79682176e-02 9.20622168e-01 1.79474455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17911593299999 meters 0.015427293610972236 Centerline is valid? [True, True] Translation: X:-56.50, Y:28.02, Z:1.83 [[ 8.07911513e-01 4.70443254e-01 3.54911442e-01 -5.64993714e+01] [-4.43721963e-01 8.81952007e-01 -1.58970051e-01 2.80179992e+01] [-3.87801247e-01 -2.90482670e-02 9.21285184e-01 1.83205307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.239115933 meters 0.015797569217527677 Centerline is valid? [True, True] Translation: X:-56.56, Y:28.03, Z:1.84 [[ 8.12085881e-01 4.61841215e-01 3.56678027e-01 -5.65636747e+01] [-4.34073474e-01 8.86606758e-01 -1.59714359e-01 2.80341396e+01] [-3.89995823e-01 -2.51226941e-02 9.20473850e-01 1.83751777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.299115933 meters 0.016062569605880494 Centerline is valid? [True, True] Translation: X:-56.62, Y:28.05, Z:1.85 [[ 8.13445076e-01 4.59831411e-01 3.56177179e-01 -5.66213986e+01] [-4.31953831e-01 8.87679045e-01 -1.59504860e-01 2.80518513e+01] [-3.89516363e-01 -2.41036538e-02 9.20704088e-01 1.85434618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.359115933 meters 0.01564261171690523 Centerline is valid? [True, True] Translation: X:-56.68, Y:28.07, Z:1.88 [[ 8.12802454e-01 4.60223193e-01 3.57136926e-01 -5.66753137e+01] [-4.32348138e-01 8.87461137e-01 -1.59649047e-01 2.80747615e+01] [-3.90419337e-01 -2.46443478e-02 9.20307230e-01 1.87536532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41911593299999 meters 0.015361705385559662 Centerline is valid? [True, True] Translation: X:-56.73, Y:28.09, Z:1.90 [[ 8.14257756e-01 4.55750178e-01 3.59549833e-01 -5.67287789e+01] [-4.27219624e-01 8.89810089e-01 -1.60378922e-01 2.80937625e+01] [-3.93023791e-01 -2.30169631e-02 9.19240186e-01 1.89752991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47911593299999 meters 0.015030965591780679 Centerline is valid? [True, True] Translation: X:-56.79, Y:28.11, Z:1.91 [[ 8.09786114e-01 4.66279115e-01 3.56132330e-01 -5.67897853e+01] [-4.39290378e-01 8.84199010e-01 -1.58795704e-01 2.81099252e+01] [-3.88934973e-01 -2.78549498e-02 9.20844009e-01 1.90833368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53911593299999 meters 0.015256953187550895 Centerline is valid? [True, True] Translation: X:-56.84, Y:28.13, Z:1.93 [[ 8.13701725e-01 4.58331405e-01 3.57521783e-01 -5.68399697e+01] [-4.30391741e-01 8.88453053e-01 -1.59418074e-01 2.81324025e+01] [-3.90707629e-01 -2.41556604e-02 9.20197833e-01 1.93386060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.599115933 meters 0.015118456450612716 Centerline is valid? [True, True] Translation: X:-56.88, Y:28.16, Z:1.97 [[ 8.16241309e-01 4.52108488e-01 3.59649886e-01 -5.68827033e+01] [-4.23249103e-01 8.91708008e-01 -1.60365289e-01 2.81572396e+01] [-3.93205192e-01 -2.13247184e-02 9.19203423e-01 1.97192333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.659115933 meters 0.01556637164523566 Centerline is valid? [True, True] Translation: X:-56.94, Y:28.18, Z:1.99 [[ 8.14631721e-01 4.56244293e-01 3.58073043e-01 -5.69395809e+01] [-4.28031340e-01 8.89551725e-01 -1.59646173e-01 2.81755114e+01] [-3.91362148e-01 -2.32136475e-02 9.19943909e-01 1.99049060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.719115933 meters 0.014779131521368827 Centerline is valid? [True, True] Translation: X:-57.00, Y:28.20, Z:2.00 [[ 8.16987122e-01 4.52132136e-01 3.57922582e-01 -5.70023646e+01] [-4.23590067e-01 8.91697005e-01 -1.59523998e-01 2.81967180e+01] [-3.91284420e-01 -2.12833989e-02 9.20023652e-01 1.99598078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77911593299999 meters 0.015213324137274194 Centerline is valid? [True, True] Translation: X:-57.05, Y:28.22, Z:2.02 [[ 8.17355163e-01 4.50893018e-01 3.58644702e-01 -5.70548524e+01] [-4.22173070e-01 8.92334116e-01 -1.59717637e-01 2.82181399e+01] [-3.92046471e-01 -2.08641000e-02 9.19708788e-01 2.02034887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83911593299999 meters 0.015363637226986351 Centerline is valid? [True, True] Translation: X:-57.11, Y:28.24, Z:2.03 [[ 8.15607829e-01 4.56499072e-01 3.55517180e-01 -5.71149731e+01] [-4.28945450e-01 8.89409492e-01 -1.57976445e-01 2.82383569e+01] [-3.88316455e-01 -2.36506516e-02 9.21222545e-01 2.02927922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89911593299999 meters 0.015397305634622016 Centerline is valid? [True, True] Translation: X:-57.17, Y:28.26, Z:2.06 [[ 8.18201610e-01 4.49151452e-01 3.58899844e-01 -5.71659153e+01] [-4.20390080e-01 8.93222444e-01 -1.59454838e-01 2.82562104e+01] [-3.92196768e-01 -2.04117290e-02 9.19654857e-01 2.05751285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95911593299999 meters 0.014809528302224402 Centerline is valid? [True, True] Translation: X:-57.22, Y:28.28, Z:2.07 [[ 8.21626965e-01 4.40769072e-01 3.61457820e-01 -5.72219223e+01] [-4.10807422e-01 8.97468018e-01 -1.60587728e-01 2.82780310e+01] [-3.95178937e-01 -1.65463476e-02 9.18455130e-01 2.07353983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.019115933 meters 0.014559336167207611 Centerline is valid? [True, True] Translation: X:-57.28, Y:28.30, Z:2.09 [[ 8.22860068e-01 4.38483904e-01 3.61432116e-01 -5.72796984e+01] [-4.08313967e-01 8.98606372e-01 -1.60581111e-01 2.82993167e+01] [-3.95197435e-01 -1.54419970e-02 9.18466402e-01 2.08917776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.079115933 meters 0.014855848105960492 Centerline is valid? [True, True] Translation: X:-57.33, Y:28.32, Z:2.11 [[ 8.25459611e-01 4.33686449e-01 3.61292810e-01 -5.73333535e+01] [-4.03140109e-01 9.00966788e-01 -1.60427242e-01 2.83214484e+01] [-3.95087943e-01 -1.32254141e-02 9.18548097e-01 2.11054596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13911593299999 meters 0.01616298622292073 Centerline is valid? [True, True] Translation: X:-57.38, Y:28.35, Z:2.14 [[ 8.25013761e-01 4.34641809e-01 3.61163110e-01 -5.73818534e+01] [-4.04234262e-01 9.00498553e-01 -1.60302894e-01 2.83458258e+01] [-3.94901198e-01 -1.37424099e-02 9.18620809e-01 2.13975084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19911593299999 meters 0.016573161003485413 Centerline is valid? [True, True] Translation: X:-57.44, Y:28.37, Z:2.16 [[ 8.24250973e-01 4.35774256e-01 3.61539944e-01 -5.74356424e+01] [-4.05444127e-01 8.99940928e-01 -1.60378882e-01 2.83703526e+01] [-3.95253581e-01 -1.43917971e-02 9.18459298e-01 2.15987275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25911593299999 meters 0.01771503959868762 Centerline is valid? [True, True] Translation: X:-57.47, Y:28.40, Z:2.21 [[ 8.23215952e-01 4.38129643e-01 3.61051120e-01 -5.74745699e+01] [-4.08127472e-01 8.98777133e-01 -1.60098821e-01 2.83966177e+01] [-3.94648530e-01 -1.55589776e-02 9.18700417e-01 2.20583881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31911593299999 meters 0.02773107706009548 Centerline is valid? [True, True] Translation: X:-57.55, Y:28.41, Z:2.19 [[ 8.27998616e-01 4.30088591e-01 3.59780623e-01 -5.75487820e+01] [-3.99727195e-01 9.02706768e-01 -1.59181217e-01 2.84143296e+01] [-3.93238429e-01 -1.20122717e-02 9.19358061e-01 2.18975383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.379115933 meters 0.053873801086715085 Centerline is valid? [True, True] Translation: X:-57.61, Y:28.43, Z:2.20 [[ 8.33239578e-01 4.21352153e-01 3.58014202e-01 -5.76087422e+01] [-3.90530781e-01 9.06863173e-01 -1.58382117e-01 2.84343226e+01] [-3.91404541e-01 -7.84531717e-03 9.20185273e-01 2.19651234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.439115933 meters 0.042399902968844584 Centerline is valid? [True, True] Translation: X:-57.65, Y:28.46, Z:2.23 [[ 8.29671962e-01 4.27804491e-01 3.58647114e-01 -5.76522222e+01] [-3.97283132e-01 9.03809917e-01 -1.59040080e-01 2.84620166e+01] [-3.92186879e-01 -1.05333535e-02 9.19825255e-01 2.23378769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49911593299998 meters 0.05110949987939173 Centerline is valid? [True, True] Translation: X:-57.70, Y:28.49, Z:2.27 [[ 8.26703028e-01 4.31400374e-01 3.61186684e-01 -5.76958756e+01] [-4.00795093e-01 9.02074985e-01 -1.60075029e-01 2.84915897e+01] [-3.94873900e-01 -1.24273395e-02 9.18651274e-01 2.26835058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55911593299999 meters 0.03552052508897359 Centerline is valid? [True, True] Translation: X:-57.73, Y:28.53, Z:2.32 [[ 8.23568547e-01 4.38747925e-01 3.59492845e-01 -5.77284266e+01] [-4.09148304e-01 8.98468531e-01 -1.59222999e-01 2.85266166e+01] [-3.92851769e-01 -1.59548342e-02 9.19463393e-01 2.31595481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61911593299999 meters 0.0483888450886426 Centerline is valid? [True, True] Translation: X:-57.78, Y:28.55, Z:2.34 [[ 8.21381954e-01 4.38091267e-01 3.65250227e-01 -5.77779180e+01] [-4.07438063e-01 8.98789245e-01 -1.61777990e-01 2.85482925e+01] [-3.99156500e-01 -1.59353235e-02 9.16744323e-01 2.34492719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67911593299999 meters 0.04514195306396465 Centerline is valid? [True, True] Translation: X:-57.83, Y:28.58, Z:2.37 [[ 8.20633228e-01 4.37789569e-01 3.67289256e-01 -5.78270800e+01] [-4.06769469e-01 8.98936274e-01 -1.62641244e-01 2.85772192e+01] [-4.01372276e-01 -1.59332461e-02 9.15776407e-01 2.37013566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.739115933 meters 0.043422467534394625 Centerline is valid? [True, True] Translation: X:-57.87, Y:28.60, Z:2.41 [[ 8.21285376e-01 4.34141003e-01 3.70151214e-01 -5.78660673e+01] [-4.02306038e-01 9.00730211e-01 -1.63813732e-01 2.86046055e+01] [-4.04524639e-01 -1.43762452e-02 9.14414097e-01 2.41250082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.799115933 meters 0.039244497262722444 Centerline is valid? [True, True] Translation: X:-57.93, Y:28.62, Z:2.42 [[ 8.18483709e-01 4.41200656e-01 3.68003259e-01 -5.79260710e+01] [-4.10456110e-01 8.97231786e-01 -1.62790985e-01 2.86245650e+01] [-4.02007711e-01 -1.78074167e-02 9.15463105e-01 2.42331793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.859115933 meters 0.05221409868924376 Centerline is valid? [True, True] Translation: X:-57.98, Y:28.65, Z:2.45 [[ 8.18377493e-01 4.38513770e-01 3.71434991e-01 -5.79751213e+01] [-4.06918173e-01 8.98569412e-01 -1.64288201e-01 2.86488217e+01] [-4.05802760e-01 -1.66938823e-02 9.13808204e-01 2.45103588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91911593299999 meters 0.02924241128889729 Centerline is valid? [True, True] Translation: X:-58.04, Y:28.67, Z:2.46 [[ 8.17940103e-01 4.39941090e-01 3.70709892e-01 -5.80377664e+01] [-4.08630894e-01 8.97858015e-01 -1.63926132e-01 2.86705717e+01] [-4.04962689e-01 -1.74017574e-02 9.14167599e-01 2.45655399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97911593299999 meters 0.05513691565699246 Centerline is valid? [True, True] Translation: X:-58.08, Y:28.70, Z:2.50 [[ 8.18780022e-01 4.35948440e-01 3.73561552e-01 -5.80759824e+01] [-4.03785486e-01 8.99835238e-01 -1.65087330e-01 2.86971424e+01] [-4.08113412e-01 -1.56685249e-02 9.12796768e-01 2.50078470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03911593299999 meters 0.05713459042772776 Centerline is valid? [True, True] Translation: X:-58.13, Y:28.72, Z:2.52 [[ 8.19289676e-01 4.33979791e-01 3.74734529e-01 -5.81289453e+01] [-4.01409605e-01 9.00802001e-01 -1.65608223e-01 2.87196348e+01] [-4.09432236e-01 -1.47409317e-02 9.12221436e-01 2.52280041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.099115933 meters 0.033858994878085205 Centerline is valid? [True, True] Translation: X:-58.18, Y:28.75, Z:2.54 [[ 8.16159193e-01 4.38040634e-01 3.76834943e-01 -5.81811470e+01] [-4.05651519e-01 8.98790286e-01 -1.66201282e-01 2.87459366e+01] [-4.11498502e-01 -1.72169628e-02 9.11247803e-01 2.54315793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.159115933 meters 0.0398972711075647 Centerline is valid? [True, True] Translation: X:-58.23, Y:28.77, Z:2.57 [[ 8.14725698e-01 4.42328475e-01 3.74923403e-01 -5.82338486e+01] [-4.10867186e-01 8.96638734e-01 -1.65006474e-01 2.87673712e+01] [-4.09157907e-01 -1.96087091e-02 9.12252874e-01 2.56569331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.219115933 meters 0.03728045852178152 Centerline is valid? [True, True] Translation: X:-58.29, Y:28.79, Z:2.59 [[ 8.11863272e-01 4.44221484e-01 3.78873727e-01 -5.82876839e+01] [-4.12285160e-01 8.95673983e-01 -1.66700521e-01 2.87909983e+01] [-4.13399293e-01 -2.08659847e-02 9.10310736e-01 2.58581527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27911593299999 meters 0.04032334508669443 Centerline is valid? [True, True] Translation: X:-58.35, Y:28.81, Z:2.60 [[ 8.11486559e-01 4.44708116e-01 3.79109821e-01 -5.83461960e+01] [-4.12824204e-01 8.95424064e-01 -1.66709096e-01 2.88110975e+01] [-4.13600944e-01 -2.12235192e-02 9.10210866e-01 2.60104897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33911593299999 meters 0.034262427819857805 Centerline is valid? [True, True] Translation: X:-58.39, Y:28.83, Z:2.63 [[ 8.10392301e-01 4.49816778e-01 3.75405360e-01 -5.83942367e+01] [-4.19136737e-01 8.92807756e-01 -1.64980926e-01 2.88336040e+01] [-4.09376006e-01 -2.36469052e-02 9.12059269e-01 2.63159447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39911593299999 meters 0.03209270949344691 Centerline is valid? [True, True] Translation: X:-58.44, Y:28.86, Z:2.67 [[ 8.10845363e-01 4.52933180e-01 3.70649878e-01 -5.84395442e+01] [-4.23368785e-01 8.91197738e-01 -1.62866397e-01 2.88566748e+01] [-4.04089928e-01 -2.48621255e-02 9.14381324e-01 2.66519286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45911593299999 meters 0.055034814486080726 Centerline is valid? [True, True] Translation: X:-58.49, Y:28.88, Z:2.68 [[ 8.05108527e-01 4.63264290e-01 3.70386902e-01 -5.84943954e+01] [-4.34773508e-01 8.85712037e-01 -1.62745765e-01 2.88752527e+01] [-4.03450439e-01 -3.00064095e-02 9.14509354e-01 2.68399768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.519115933 meters 0.020869133377651065 Centerline is valid? [True, True] Translation: X:-58.53, Y:28.90, Z:2.74 [[ 8.12185510e-01 4.54071675e-01 3.66297163e-01 -5.85272382e+01] [-4.25306520e-01 8.90613646e-01 -1.61002167e-01 2.89021113e+01] [-3.99335776e-01 -2.50249448e-02 9.16463142e-01 2.73666409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.579115933 meters 0.016094681459208015 Centerline is valid? [True, True] Translation: X:-58.57, Y:28.93, Z:2.76 [[ 8.10588771e-01 4.58765849e-01 3.63977664e-01 -5.85747060e+01] [-4.30811642e-01 8.88143657e-01 -1.60006794e-01 2.89296058e+01] [-3.96670106e-01 -2.71061044e-02 9.17560944e-01 2.76255441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63911593299999 meters 0.016264086239606727 Centerline is valid? [True, True] Translation: X:-58.63, Y:28.95, Z:2.78 [[ 8.05258693e-01 4.71837098e-01 3.59065719e-01 -5.86276652e+01] [-4.45873763e-01 8.81068285e-01 -1.57845698e-01 2.89511375e+01] [-3.90838873e-01 -3.29913627e-02 9.19867678e-01 2.78439556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69911593299999 meters 0.015810725328435138 Centerline is valid? [True, True] Translation: X:-58.68, Y:28.97, Z:2.80 [[ 8.05792958e-01 4.68630696e-01 3.62053835e-01 -5.86824135e+01] [-4.41912057e-01 8.82823917e-01 -1.59171809e-01 2.89711472e+01] [-3.94222581e-01 -3.17364319e-02 9.18466851e-01 2.80303759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75911593299999 meters 0.01611544598722903 Centerline is valid? [True, True] Translation: X:-58.74, Y:28.99, Z:2.82 [[ 8.04819573e-01 4.69363316e-01 3.63267852e-01 -5.87370723e+01] [-4.42537439e-01 8.82416523e-01 -1.59692504e-01 2.89916528e+01] [-3.95507358e-01 -3.22359720e-02 9.17896929e-01 2.81911096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81911593299999 meters 0.016558117952203064 Centerline is valid? [True, True] Translation: X:-58.80, Y:29.01, Z:2.83 [[ 8.01399827e-01 4.77878457e-01 3.59708906e-01 -5.87976213e+01] [-4.52247651e-01 8.77701070e-01 -1.58470481e-01 2.90083578e+01] [-3.91446521e-01 -3.56792915e-02 9.19508896e-01 2.82965508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.879115933 meters 0.016114843189246757 Centerline is valid? [True, True] Translation: X:-58.85, Y:29.03, Z:2.84 [[ 8.00919672e-01 4.78551614e-01 3.59883358e-01 -5.88515441e+01] [-4.52939164e-01 8.77321820e-01 -1.58595515e-01 2.90304703e+01] [-3.91629662e-01 -3.59829995e-02 9.19419073e-01 2.84305214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.939115933 meters 0.016101311918701636 Centerline is valid? [True, True] Translation: X:-58.90, Y:29.05, Z:2.87 [[ 7.96783686e-01 4.87783425e-01 3.56655420e-01 -5.89023695e+01] [-4.63337753e-01 8.72061250e-01 -1.57566820e-01 2.90497882e+01] [-3.87883855e-01 -3.97052490e-02 9.20852653e-01 2.86921888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99911593299998 meters 0.015451872788589987 Centerline is valid? [True, True] Translation: X:-58.95, Y:29.07, Z:2.90 [[ 7.95558278e-01 4.88693933e-01 3.58141404e-01 -5.89480991e+01] [-4.64129720e-01 8.71521685e-01 -1.58219963e-01 2.90744960e+01] [-3.89449136e-01 -4.03508684e-02 9.20163669e-01 2.89823093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05911593299999 meters 0.015408124526388706 Centerline is valid? [True, True] Translation: X:-59.02, Y:29.08, Z:2.88 [[ 7.95419313e-01 4.87317660e-01 3.60318767e-01 -5.90237188e+01] [-4.62170062e-01 8.72324646e-01 -1.59526002e-01 2.90848613e+01] [-3.92054779e-01 -3.96384842e-02 9.19087504e-01 2.88465873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11911593299999 meters 0.014894820224052432 Centerline is valid? [True, True] Translation: X:-59.06, Y:29.11, Z:2.92 [[ 7.94494217e-01 4.85386843e-01 3.64936366e-01 -5.90649842e+01] [-4.59342302e-01 8.73421258e-01 -1.61678558e-01 2.91088034e+01] [-3.97219825e-01 -3.91780313e-02 9.16886848e-01 2.92478766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17911593299999 meters 0.016278485372130693 Centerline is valid? [True, True] Translation: X:-59.11, Y:29.13, Z:2.96 [[ 7.91993923e-01 4.83978109e-01 3.72170412e-01 -5.91114427e+01] [-4.56719981e-01 8.74193696e-01 -1.64900701e-01 2.91281640e+01] [-4.05157357e-01 -3.93773108e-02 9.13398567e-01 2.95815062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.239115933 meters 0.016138124015210573 Centerline is valid? [True, True] Translation: X:-59.16, Y:29.15, Z:2.99 [[ 7.91574656e-01 4.76686867e-01 3.82333877e-01 -5.91588652e+01] [-4.47076430e-01 8.78302054e-01 -1.69434849e-01 2.91451007e+01] [-4.16571997e-01 -3.68121328e-02 9.08357109e-01 2.99221860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.299115933 meters 0.017857288282077596 Centerline is valid? [True, True] Translation: X:-59.20, Y:29.17, Z:3.04 [[ 7.89864297e-01 4.73686068e-01 3.89532927e-01 -5.91973025e+01] [-4.42567820e-01 8.79956823e-01 -1.72654898e-01 2.91694258e+01] [-4.24556377e-01 -3.60207988e-02 9.04684688e-01 3.03614507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.359115933 meters 0.016420346327667056 Centerline is valid? [True, True] Translation: X:-59.25, Y:29.19, Z:3.06 [[ 7.88274385e-01 4.70401292e-01 3.96668776e-01 -5.92489214e+01] [-4.37701575e-01 8.81757833e-01 -1.75842132e-01 2.91863269e+01] [-4.32482167e-01 -3.50106995e-02 9.00962500e-01 3.06242646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41911593299999 meters 0.017265754794351284 Centerline is valid? [True, True] Translation: X:-59.28, Y:29.21, Z:3.12 [[ 7.85797360e-01 4.70644103e-01 4.01268784e-01 -5.92781649e+01] [-4.37177768e-01 8.81603555e-01 -1.77906633e-01 2.92120170e+01] [-4.37490694e-01 -3.56272282e-02 8.98516885e-01 3.12307651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47911593299999 meters 0.017654187986615055 Centerline is valid? [True, True] Translation: X:-59.33, Y:29.23, Z:3.15 [[ 7.88525977e-01 4.59642173e-01 4.08602319e-01 -5.93296168e+01] [-4.23514840e-01 8.87590531e-01 -1.81158022e-01 2.92258998e+01] [-4.45939416e-01 -3.02013396e-02 8.94553473e-01 3.15281157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53911593299999 meters 0.01756908337935534 Centerline is valid? [True, True] Translation: X:-59.38, Y:29.25, Z:3.19 [[ 7.86114159e-01 4.62046130e-01 4.10533680e-01 -5.93751051e+01] [-4.25871748e-01 8.86287268e-01 -1.82011354e-01 2.92473412e+01] [-4.47948415e-01 -3.17529937e-02 8.93495363e-01 3.18999980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.599115933 meters 0.01737107271184906 Centerline is valid? [True, True] Translation: X:-59.41, Y:29.27, Z:3.25 [[ 7.84681112e-01 4.59079826e-01 4.16558839e-01 -5.94086667e+01] [-4.21451299e-01 8.87864096e-01 -1.84597261e-01 2.92701025e+01] [-4.54592516e-01 -3.07092800e-02 8.90169975e-01 3.24862354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.659115933 meters 0.017566131535565715 Centerline is valid? [True, True] Translation: X:-59.46, Y:29.28, Z:3.28 [[ 7.87079196e-01 4.52830248e-01 4.18868841e-01 -5.94618384e+01] [-4.14120322e-01 8.91168139e-01 -1.85266584e-01 2.92843797e+01] [-4.57176879e-01 -2.76426250e-02 8.88946110e-01 3.27688752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.719115933 meters 0.017056846906377897 Centerline is valid? [True, True] Translation: X:-59.51, Y:29.30, Z:3.30 [[ 7.88066783e-01 4.48360022e-01 4.21810426e-01 -5.95131200e+01] [-4.08512191e-01 8.93494032e-01 -1.86510599e-01 2.93046867e+01] [-4.60508995e-01 -2.53318933e-02 8.87293503e-01 3.30431624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77911593299999 meters 0.016474705842787752 Centerline is valid? [True, True] Translation: X:-59.54, Y:29.33, Z:3.36 [[ 7.86513504e-01 4.47537421e-01 4.25566404e-01 -5.95444267e+01] [-4.06930776e-01 8.93906587e-01 -1.87984993e-01 2.93309912e+01] [-4.64546930e-01 -2.53233310e-02 8.85186352e-01 3.36391171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83911593299999 meters 0.01620783479563264 Centerline is valid? [True, True] Translation: X:-59.58, Y:29.35, Z:3.42 [[ 7.88871088e-01 4.39503543e-01 4.29556798e-01 -5.95797914e+01] [-3.97171757e-01 8.97990514e-01 -1.89387518e-01 2.93534060e+01] [-4.68974415e-01 -2.12054908e-02 8.82957148e-01 3.41799715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89911593299999 meters 0.016504909494676118 Centerline is valid? [True, True] Translation: X:-59.63, Y:29.38, Z:3.45 [[ 7.88814937e-01 4.41387354e-01 4.27724442e-01 -5.96257008e+01] [-3.99728097e-01 8.97040191e-01 -1.88510861e-01 2.93782743e+01] [-4.66892325e-01 -2.22732944e-02 8.84033629e-01 3.45211614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95911593299999 meters 0.016512707063631983 Centerline is valid? [True, True] Translation: X:-59.65, Y:29.41, Z:3.53 [[ 7.86236675e-01 4.41744271e-01 4.32080883e-01 -5.96493331e+01] [-3.99438344e-01 8.96842110e-01 -1.90061147e-01 2.94067263e+01] [-4.71466754e-01 -2.31566278e-02 8.81579759e-01 3.52541294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.019115933 meters 0.016893580710086502 Centerline is valid? [True, True] Translation: X:-59.69, Y:29.44, Z:3.56 [[ 7.86664611e-01 4.45315265e-01 4.27613266e-01 -5.96919669e+01] [-4.04521945e-01 8.95019851e-01 -1.87886835e-01 2.94354387e+01] [-4.66391238e-01 -2.51750261e-02 8.84220239e-01 3.56244908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.079115933 meters 0.016743475540239482 Centerline is valid? [True, True] Translation: X:-59.74, Y:29.45, Z:3.59 [[ 7.86271566e-01 4.44508876e-01 4.29172323e-01 -5.97437493e+01] [-4.03490335e-01 8.95420125e-01 -1.88197634e-01 2.94537392e+01] [-4.67945054e-01 -2.51924360e-02 8.83398419e-01 3.59020379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13911593299999 meters 0.016941188714306187 Centerline is valid? [True, True] Translation: X:-59.78, Y:29.48, Z:3.65 [[ 7.84241487e-01 4.51355089e-01 4.25727463e-01 -5.97752172e+01] [-4.12142189e-01 8.91862310e-01 -1.86334206e-01 2.94801657e+01] [-4.63793171e-01 -2.93292341e-02 8.85457899e-01 3.64953793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19911593299999 meters 0.01695939742867312 Centerline is valid? [True, True] Translation: X:-59.82, Y:29.51, Z:3.69 [[ 7.84351579e-01 4.52720671e-01 4.24071449e-01 -5.98155557e+01] [-4.14056501e-01 8.91144998e-01 -1.85520367e-01 2.95091386e+01] [-4.61898056e-01 -3.00763472e-02 8.86422923e-01 3.68987105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25911593299999 meters 0.01722734520315721 Centerline is valid? [True, True] Translation: X:-59.85, Y:29.53, Z:3.75 [[ 7.84217063e-01 4.57815283e-01 4.18818296e-01 -5.98465324e+01] [-4.20995023e-01 8.88437966e-01 -1.82869276e-01 2.95321736e+01] [-4.55814424e-01 -3.29112114e-02 8.89466167e-01 3.75270692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31911593299999 meters 0.016874195306949676 Centerline is valid? [True, True] Translation: X:-59.91, Y:29.55, Z:3.75 [[ 7.85567060e-01 4.58527511e-01 4.15495988e-01 -5.99140822e+01] [-4.22442311e-01 8.88064703e-01 -1.81338294e-01 2.95500819e+01] [-4.52135918e-01 -3.30696954e-02 8.91335799e-01 3.75241068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.379115933 meters 0.016426203330157693 Centerline is valid? [True, True] Translation: X:-59.93, Y:29.58, Z:3.83 [[ 7.86742363e-01 4.59513745e-01 4.12169349e-01 -5.99332639e+01] [-4.24323595e-01 8.87533271e-01 -1.79538796e-01 2.95807654e+01] [-4.48314555e-01 -3.36424037e-02 8.93242547e-01 3.83118748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.439115933 meters 0.01617642913230256 Centerline is valid? [True, True] Translation: X:-59.97, Y:29.61, Z:3.88 [[ 7.89701581e-01 4.59198498e-01 4.06826932e-01 -5.99732474e+01] [-4.25073079e-01 8.87710890e-01 -1.76867900e-01 2.96064414e+01] [-4.42362172e-01 -3.32583166e-02 8.96219612e-01 3.87724872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49911593299998 meters 0.014806359564214933 Centerline is valid? [True, True] Translation: X:-59.98, Y:29.64, Z:3.97 [[ 7.97387741e-01 4.48509204e-01 4.03747797e-01 -5.99828230e+01] [-4.13815093e-01 8.93357157e-01 -1.75128695e-01 2.96365400e+01] [-4.39237816e-01 -2.74314576e-02 8.97951923e-01 3.97261967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55911593299999 meters 0.014570770524596337 Centerline is valid? [True, True] Translation: X:-60.03, Y:29.66, Z:4.01 [[ 8.04233717e-01 4.35956196e-01 4.03918710e-01 -6.00287088e+01] [-3.99764996e-01 8.99731504e-01 -1.75131860e-01 2.96617270e+01] [-4.39768208e-01 -2.06256145e-02 8.97874439e-01 4.00591754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61911593299999 meters 0.014943851077743367 Centerline is valid? [True, True] Translation: X:-60.05, Y:29.69, Z:4.08 [[ 8.05838123e-01 4.32766439e-01 4.04151120e-01 -6.00501968e+01] [-3.96176861e-01 9.01306993e-01 -1.75184471e-01 2.96904186e+01] [-4.40078190e-01 -1.89449968e-02 8.97759586e-01 4.08201896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67911593299999 meters 0.015379623343697458 Centerline is valid? [True, True] Translation: X:-60.12, Y:29.71, Z:4.08 [[ 8.08936204e-01 4.27324412e-01 4.03752480e-01 -6.01183864e+01] [-3.90343070e-01 9.03951115e-01 -1.74655861e-01 2.97061074e+01] [-4.39607217e-01 -1.63165340e-02 8.98041906e-01 4.08138260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.739115933 meters 0.015188276280928326 Centerline is valid? [True, True] Translation: X:-60.17, Y:29.73, Z:4.11 [[ 8.12437963e-01 4.18290923e-01 4.06173929e-01 -6.01699064e+01] [-3.79941894e-01 9.08235787e-01 -1.75362234e-01 2.97265816e+01] [-4.42254128e-01 -1.18515554e-02 8.96811478e-01 4.10671779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.799115933 meters 0.01505998390502145 Centerline is valid? [True, True] Translation: X:-60.23, Y:29.75, Z:4.13 [[ 8.14864763e-01 4.17190136e-01 4.02427395e-01 -6.02265474e+01] [-3.79502116e-01 9.08749884e-01 -1.73642716e-01 2.97450211e+01] [-4.38147876e-01 -1.12267171e-02 8.98832798e-01 4.12848340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.859115933 meters 0.015930124914091525 Centerline is valid? [True, True] Translation: X:-60.24, Y:29.78, Z:4.21 [[ 8.16414187e-01 4.12000740e-01 4.04627317e-01 -6.02424058e+01] [-3.73483046e-01 9.11139774e-01 -1.74168674e-01 2.97759102e+01] [-4.40429665e-01 -8.92766598e-03 8.97742729e-01 4.21251655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91911593299999 meters 0.016036753293721614 Centerline is valid? [True, True] Translation: X:-60.29, Y:29.80, Z:4.25 [[ 8.15062033e-01 4.19000138e-01 4.00140934e-01 -6.02909844e+01] [-3.82344272e-01 9.07894470e-01 -1.71873467e-01 2.97963072e+01] [-4.35300748e-01 -1.29040566e-02 9.00192615e-01 4.24524267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97911593299999 meters 0.015546040927566385 Centerline is valid? [True, True] Translation: X:-60.32, Y:29.82, Z:4.30 [[ 8.12740073e-01 4.25705037e-01 3.97779833e-01 -6.03220487e+01] [-3.90304773e-01 9.04712025e-01 -1.70758120e-01 2.98229274e+01] [-4.32568790e-01 -1.64734007e-02 9.01450425e-01 4.30374949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03911593299999 meters 0.016422203062925897 Centerline is valid? [True, True] Translation: X:-60.38, Y:29.84, Z:4.31 [[ 8.13900681e-01 4.28534025e-01 3.92331837e-01 -6.03842228e+01] [-3.94482550e-01 9.03351238e-01 -1.68345059e-01 2.98426983e+01] [-4.26555036e-01 -1.77519054e-02 9.04287383e-01 4.30948614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.099115933 meters 0.0157131974535677 Centerline is valid? [True, True] Translation: X:-60.43, Y:29.86, Z:4.35 [[ 8.15746893e-01 4.27125058e-01 3.90027167e-01 -6.04304483e+01] [-3.93453712e-01 9.04030038e-01 -1.67104358e-01 2.98608391e+01] [-4.23970733e-01 -1.71427753e-02 9.05513635e-01 4.34783021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.159115933 meters 0.015616011423468922 Centerline is valid? [True, True] Translation: X:-60.48, Y:29.89, Z:4.37 [[ 8.16398888e-01 4.25995483e-01 3.89898326e-01 -6.04806271e+01] [-3.92386396e-01 9.04567557e-01 -1.66704680e-01 2.98860585e+01] [-4.23704817e-01 -1.68932833e-02 9.05642780e-01 4.37472376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.219115933 meters 0.015450273733156272 Centerline is valid? [True, True] Translation: X:-60.51, Y:29.92, Z:4.43 [[ 8.19624053e-01 4.19394897e-01 3.90287499e-01 -6.05117039e+01] [-3.85195306e-01 9.07697477e-01 -1.66462807e-01 2.99158852e+01] [-4.24076630e-01 -1.38999924e-02 9.05519631e-01 4.43300349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27911593299999 meters 0.015288476692864489 Centerline is valid? [True, True] Translation: X:-60.58, Y:29.93, Z:4.43 [[ 8.20616155e-01 4.18772254e-01 3.88868778e-01 -6.05821185e+01] [-3.84804048e-01 9.07989428e-01 -1.65774072e-01 2.99322839e+01] [-4.22510321e-01 -1.36013989e-02 9.06256051e-01 4.42821185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33911593299999 meters 0.015754288434454224 Centerline is valid? [True, True] Translation: X:-60.62, Y:29.96, Z:4.47 [[ 8.20478144e-01 4.17711897e-01 3.90297818e-01 -6.06234438e+01] [-3.83533643e-01 9.08479726e-01 -1.66031720e-01 2.99604140e+01] [-4.23931079e-01 -1.34669467e-02 9.05594325e-01 4.46787388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39911593299999 meters 0.01527282648056581 Centerline is valid? [True, True] Translation: X:-60.68, Y:29.98, Z:4.49 [[ 8.20486143e-01 4.18653551e-01 3.89270720e-01 -6.06770235e+01] [-3.84924367e-01 9.08034136e-01 -1.65249024e-01 2.99770650e+01] [-4.22653193e-01 -1.42552514e-02 9.06179379e-01 4.49359856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45911593299999 meters 0.01572211595534452 Centerline is valid? [True, True] Translation: X:-60.74, Y:30.00, Z:4.49 [[ 8.16037776e-01 4.29199533e-01 3.87130611e-01 -6.07437773e+01] [-3.97141651e-01 9.02989677e-01 -1.63976074e-01 2.99952982e+01] [-4.19953399e-01 -1.99350195e-02 9.07326698e-01 4.49283486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.519115933 meters 0.015959808912171015 Centerline is valid? [True, True] Translation: X:-60.77, Y:30.03, Z:4.56 [[ 8.15028119e-01 4.29787097e-01 3.88602903e-01 -6.07677555e+01] [-3.97573583e-01 9.02699655e-01 -1.64525313e-01 3.00282817e+01] [-4.21502563e-01 -2.04054917e-02 9.06597598e-01 4.56113914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.579115933 meters 0.015619608258407766 Centerline is valid? [True, True] Translation: X:-60.83, Y:30.05, Z:4.57 [[ 8.11281254e-01 4.37062615e-01 3.88328466e-01 -6.08310343e+01] [-4.05846720e-01 8.99097067e-01 -1.64051531e-01 3.00453331e+01] [-4.20845776e-01 -2.45099026e-02 9.06801024e-01 4.56739945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63911593299999 meters 0.01670421766900015 Centerline is valid? [True, True] Translation: X:-60.87, Y:30.07, Z:4.62 [[ 8.07608099e-01 4.44887789e-01 3.87096905e-01 -6.08654469e+01] [-4.14785597e-01 8.95129322e-01 -1.63390347e-01 3.00716729e+01] [-4.19192160e-01 -2.86068534e-02 9.07446737e-01 4.62091513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69911593299999 meters 0.015694449581933143 Centerline is valid? [True, True] Translation: X:-60.90, Y:30.10, Z:4.67 [[ 8.05886791e-01 4.48028670e-01 3.87061741e-01 -6.09044142e+01] [-4.18414054e-01 8.93497541e-01 -1.63069995e-01 3.00978795e+01] [-4.18898747e-01 -3.05361176e-02 9.07519358e-01 4.66653052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75911593299999 meters 0.015714889526259445 Centerline is valid? [True, True] Translation: X:-60.96, Y:30.12, Z:4.70 [[ 8.07461002e-01 4.45200562e-01 3.87044171e-01 -6.09551090e+01] [-4.15307755e-01 8.94957214e-01 -1.63006300e-01 3.01170574e+01] [-4.18958469e-01 -2.91212154e-02 9.07538294e-01 4.69572729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81911593299999 meters 0.015991032862790404 Centerline is valid? [True, True] Translation: X:-61.05, Y:30.12, Z:4.65 [[ 8.08530590e-01 4.43409836e-01 3.86866906e-01 -6.10496666e+01] [-4.13500600e-01 8.95865901e-01 -1.62608553e-01 3.01244770e+01] [-4.18683101e-01 -2.84957088e-02 9.07685218e-01 4.65380859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.879115933 meters 0.015842319649585584 Centerline is valid? [True, True] Translation: X:-61.07, Y:30.15, Z:4.73 [[ 8.12416745e-01 4.32380734e-01 3.91185292e-01 -6.10709032e+01] [-4.00729733e-01 9.01385756e-01 -1.64071324e-01 3.01501381e+01] [-4.23550130e-01 -2.34652866e-02 9.05568698e-01 4.73187957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.939115933 meters 0.015224483051728643 Centerline is valid? [True, True] Translation: X:-61.12, Y:30.17, Z:4.76 [[ 8.14682503e-01 4.26531665e-01 3.92890771e-01 -6.11208112e+01] [-3.93976191e-01 9.04238301e-01 -1.64729648e-01 3.01703128e+01] [-4.25529294e-01 -2.05872470e-02 9.04710443e-01 4.76232532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99911593299998 meters 0.01620936714792948 Centerline is valid? [True, True] Translation: X:-61.18, Y:30.18, Z:4.78 [[ 8.16039636e-01 4.26295855e-01 3.90321863e-01 -6.11807265e+01] [-3.94181277e-01 9.04354714e-01 -1.63596063e-01 3.01849417e+01] [-4.22729741e-01 -2.03566988e-02 9.06027136e-01 4.77755217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05911593299999 meters 0.015986825712681424 Centerline is valid? [True, True] Translation: X:-61.23, Y:30.20, Z:4.81 [[ 8.19750612e-01 4.18425446e-01 3.91061478e-01 -6.12277752e+01] [-3.85495958e-01 9.08098029e-01 -1.63556828e-01 3.02018335e+01] [-4.23558496e-01 -1.66768089e-02 9.05715234e-01 4.81433037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11911593299999 meters 0.015173290449193853 Centerline is valid? [True, True] Translation: X:-61.27, Y:30.22, Z:4.86 [[ 8.21241366e-01 4.14101433e-01 3.92533592e-01 -6.12659065e+01] [-3.80585571e-01 9.10110184e-01 -1.63872133e-01 3.02237711e+01] [-4.25108505e-01 -1.48140471e-02 9.05021162e-01 4.86384287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17911593299999 meters 0.01582624161226851 Centerline is valid? [True, True] Translation: X:-61.33, Y:30.24, Z:4.88 [[ 8.16675602e-01 4.24105277e-01 3.91376641e-01 -6.13265425e+01] [-3.92031985e-01 9.05386043e-01 -1.63055314e-01 3.02413709e+01] [-4.23499567e-01 -2.02688644e-02 9.05669526e-01 4.87547316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.239115933 meters 0.014914300910057018 Centerline is valid? [True, True] Translation: X:-61.37, Y:30.26, Z:4.92 [[ 8.20588335e-01 4.13853022e-01 3.94157914e-01 -6.13658582e+01] [-3.80217413e-01 9.10217133e-01 -1.64132535e-01 3.02637864e+01] [-4.26696032e-01 -1.51804591e-02 9.04267687e-01 4.92169980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.299115933 meters 0.01532730873133108 Centerline is valid? [True, True] Translation: X:-61.43, Y:30.27, Z:4.93 [[ 8.22133629e-01 4.14603600e-01 3.90128379e-01 -6.14332289e+01] [-3.81898915e-01 9.09867114e-01 -1.62157494e-01 3.02746012e+01] [-4.22196063e-01 -1.56744756e-02 9.06369017e-01 4.92636972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.359115933 meters 0.015550287463953491 Centerline is valid? [True, True] Translation: X:-61.50, Y:30.29, Z:4.93 [[ 8.20648222e-01 4.20603545e-01 3.86819276e-01 -6.14999124e+01] [-3.89262451e-01 9.07047393e-01 -1.60436191e-01 3.02888652e+01] [-4.18343447e-01 -1.89125449e-02 9.08091998e-01 4.92882881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41911593299999 meters 0.015529127983802868 Centerline is valid? [True, True] Translation: X:-61.53, Y:30.32, Z:4.99 [[ 8.20603807e-01 4.17694831e-01 3.90051818e-01 -6.15310073e+01] [-3.85562066e-01 9.08413970e-01 -1.61635243e-01 3.03151669e+01] [-4.21842726e-01 -1.77506894e-02 9.06495244e-01 4.99089146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47911593299999 meters 0.014994059636850635 Centerline is valid? [True, True] Translation: X:-61.59, Y:30.33, Z:5.01 [[ 8.16941990e-01 4.26153979e-01 3.88585346e-01 -6.15892389e+01] [-3.95218511e-01 9.04380506e-01 -1.60929266e-01 3.03297768e+01] [-4.20009659e-01 -2.21062470e-02 9.07250351e-01 5.00974615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53911593299999 meters 0.01589577293337674 Centerline is valid? [True, True] Translation: X:-61.64, Y:30.35, Z:5.04 [[ 8.17936756e-01 4.22523146e-01 3.90453141e-01 -6.16381598e+01] [-3.90907585e-01 9.06122418e-01 -1.61658355e-01 3.03498442e+01] [-4.22102741e-01 -2.04047840e-02 9.06318333e-01 5.04121580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.599115933 meters 0.01538453086814455 Centerline is valid? [True, True] Translation: X:-61.69, Y:30.37, Z:5.07 [[ 8.14774637e-01 4.30744603e-01 3.88073933e-01 -6.16898021e+01] [-4.00554499e-01 9.02133156e-01 -1.60349191e-01 3.03701539e+01] [-4.19163910e-01 -2.47963062e-02 9.07571903e-01 5.06785182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.659115933 meters 0.014820779603767782 Centerline is valid? [True, True] Translation: X:-61.75, Y:30.39, Z:5.09 [[ 8.19908199e-01 4.19261166e-01 3.89834093e-01 -6.17460373e+01] [-3.87585998e-01 9.07664983e-01 -1.61001160e-01 3.03852734e+01] [-4.21340289e-01 -1.90880648e-02 9.06701718e-01 5.08964705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.719115933 meters 0.014816927112757323 Centerline is valid? [True, True] Translation: X:-61.80, Y:30.41, Z:5.11 [[ 8.23789090e-01 4.11630679e-01 3.89784196e-01 -6.17989623e+01] [-3.79289168e-01 9.11219399e-01 -1.60682711e-01 3.04064066e+01] [-4.21320855e-01 -1.54722597e-02 9.06779657e-01 5.11164494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77911593299999 meters 0.015739786247781114 Centerline is valid? [True, True] Translation: X:-61.84, Y:30.43, Z:5.16 [[ 8.22408843e-01 4.17221296e-01 3.86742919e-01 -6.18369364e+01] [-3.86123656e-01 9.08617435e-01 -1.59131640e-01 3.04285205e+01] [-4.17794468e-01 -1.84593216e-02 9.08354026e-01 5.16133339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83911593299999 meters 0.01483912289527398 Centerline is valid? [True, True] Translation: X:-61.89, Y:30.44, Z:5.19 [[ 8.21954654e-01 4.17674645e-01 3.87218850e-01 -6.18882888e+01] [-3.86596165e-01 9.08401556e-01 -1.59216888e-01 3.04440793e+01] [-4.18251063e-01 -1.88282597e-02 9.08136303e-01 5.19150359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89911593299999 meters 0.015168538661721813 Centerline is valid? [True, True] Translation: X:-61.95, Y:30.47, Z:5.20 [[ 8.22886807e-01 4.17518984e-01 3.85402648e-01 -6.19488795e+01] [-3.86876117e-01 9.08470158e-01 -1.58141843e-01 3.04652366e+01] [-4.16154026e-01 -1.89702434e-02 9.09096231e-01 5.20099638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95911593299999 meters 0.015790465773790036 Centerline is valid? [True, True] Translation: X:-62.00, Y:30.49, Z:5.23 [[ 8.17993737e-01 4.26993334e-01 3.85438632e-01 -6.19994210e+01] [-3.97497441e-01 9.03932757e-01 -1.57801630e-01 3.04887989e+01] [-4.15790850e-01 -2.41301248e-02 9.09140092e-01 5.22693530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.019115933 meters 0.015255909159665435 Centerline is valid? [True, True] Translation: X:-62.06, Y:30.51, Z:5.25 [[ 8.17515483e-01 4.26304662e-01 3.87211532e-01 -6.20565818e+01] [-3.96486592e-01 9.04261695e-01 -1.58458734e-01 3.05066963e+01] [-4.17692253e-01 -2.39817121e-02 9.08272018e-01 5.24503225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.079115933 meters 0.014532344923680626 Centerline is valid? [True, True] Translation: X:-62.09, Y:30.54, Z:5.29 [[ 8.11465055e-01 4.37642537e-01 3.87289911e-01 -6.20915089e+01] [-4.09176725e-01 8.98644021e-01 -1.58156033e-01 3.05350860e+01] [-4.17251570e-01 -3.01319228e-02 9.08291360e-01 5.29478734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13911593299999 meters 0.015590674949860106 Centerline is valid? [True, True] Translation: X:-62.14, Y:30.56, Z:5.32 [[ 8.12296660e-01 4.35766960e-01 3.87661312e-01 -6.21429383e+01] [-4.07154054e-01 8.99577905e-01 -1.58066973e-01 3.05583167e+01] [-4.17611916e-01 -2.94406009e-02 9.08148412e-01 5.32057554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19911593299999 meters 0.015662674864692545 Centerline is valid? [True, True] Translation: X:-62.21, Y:30.57, Z:5.32 [[ 8.10782093e-01 4.41085800e-01 3.84806075e-01 -6.22092021e+01] [-4.13617418e-01 8.96886538e-01 -1.56573205e-01 3.05728777e+01] [-4.14189606e-01 -3.22157444e-02 9.09620314e-01 5.32334058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25911593299999 meters 0.015319105196482665 Centerline is valid? [True, True] Translation: X:-62.24, Y:30.60, Z:5.38 [[ 8.11394532e-01 4.38099526e-01 3.86920818e-01 -6.22403104e+01] [-4.10095631e-01 8.98388263e-01 -1.57226276e-01 3.06020964e+01] [-4.16485878e-01 -3.11019967e-02 9.08610026e-01 5.37998648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31911593299999 meters 0.01460612705973719 Centerline is valid? [True, True] Translation: X:-62.30, Y:30.62, Z:5.40 [[ 8.10415623e-01 4.40852091e-01 3.85844467e-01 -6.22956474e+01] [-4.13348660e-01 8.96990887e-01 -1.56685144e-01 3.06189940e+01] [-4.15173944e-01 -3.25082046e-02 9.09161049e-01 5.40188190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.379115933 meters 0.015750207756723592 Centerline is valid? [True, True] Translation: X:-62.35, Y:30.64, Z:5.42 [[ 8.10211486e-01 4.41501876e-01 3.85530078e-01 -6.23495621e+01] [-4.14145169e-01 8.96657798e-01 -1.56488251e-01 3.06420535e+01] [-4.14778407e-01 -3.28768413e-02 9.09328316e-01 5.42210685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.439115933 meters 0.016390967555390688 Centerline is valid? [True, True] Translation: X:-62.38, Y:30.67, Z:5.49 [[ 8.08845440e-01 4.46358106e-01 3.82796937e-01 -6.23781676e+01] [-4.20051763e-01 8.94154926e-01 -1.55059615e-01 3.06672375e+01] [-4.11491883e-01 -3.53752656e-02 9.10726644e-01 5.48633356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49911593299998 meters 0.015604510940896441 Centerline is valid? [True, True] Translation: X:-62.46, Y:30.68, Z:5.47 [[ 8.08228595e-01 4.48281015e-01 3.81851635e-01 -6.24589666e+01] [-4.22434956e-01 8.93146368e-01 -1.54396483e-01 3.06786525e+01] [-4.10262412e-01 -3.65198262e-02 9.11236004e-01 5.46557049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55911593299999 meters 0.015235218541623144 Centerline is valid? [True, True] Translation: X:-62.51, Y:30.70, Z:5.49 [[ 8.10586875e-01 4.41483747e-01 3.84760989e-01 -6.25114036e+01] [-4.14542581e-01 8.96645495e-01 -1.55503389e-01 3.07008782e+01] [-4.13646426e-01 -3.34508070e-02 9.09822883e-01 5.48939845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61911593299999 meters 0.015716287758641007 Centerline is valid? [True, True] Translation: X:-62.54, Y:30.73, Z:5.54 [[ 8.08827263e-01 4.45126540e-01 3.84266604e-01 -6.25441740e+01] [-4.18660711e-01 8.94771782e-01 -1.55263220e-01 3.07284890e+01] [-4.12942694e-01 -3.52962039e-02 9.10072805e-01 5.54496746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67911593299999 meters 0.015275374246905398 Centerline is valid? [True, True] Translation: X:-62.61, Y:30.74, Z:5.55 [[ 8.11903942e-01 4.38145834e-01 3.85798156e-01 -6.26137587e+01] [-4.10781773e-01 8.98333068e-01 -1.55743487e-01 3.07390774e+01] [-4.14813601e-01 -3.20301000e-02 9.09342482e-01 5.54580860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.739115933 meters 0.014875519572087229 Centerline is valid? [True, True] Translation: X:-62.64, Y:30.77, Z:5.61 [[ 8.13168636e-01 4.35083220e-01 3.86599744e-01 -6.26409617e+01] [-4.07288340e-01 8.99871092e-01 -1.56039182e-01 3.07652832e+01] [-4.15779964e-01 -3.05713994e-02 9.08951270e-01 5.61310929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.799115933 meters 0.01501104308520313 Centerline is valid? [True, True] Translation: X:-62.70, Y:30.79, Z:5.63 [[ 8.15063127e-01 4.31714342e-01 3.86386886e-01 -6.26975166e+01] [-4.03735602e-01 9.01539529e-01 -1.55640745e-01 3.07855867e+01] [-4.15535393e-01 -2.91411097e-02 9.09110077e-01 5.63171052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.859115933 meters 0.014440348434787583 Centerline is valid? [True, True] Translation: X:-62.74, Y:30.80, Z:5.68 [[ 8.19859713e-01 4.18178757e-01 3.91096635e-01 -6.27386195e+01] [-3.88072898e-01 9.08081228e-01 -1.57441764e-01 3.08049849e+01] [-4.20986314e-01 -2.26938455e-02 9.06783057e-01 5.67908154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91911593299999 meters 0.015704858487207363 Centerline is valid? [True, True] Translation: X:-62.81, Y:30.82, Z:5.68 [[ 8.21791983e-01 4.18505130e-01 3.86667031e-01 -6.28050310e+01] [-3.89155990e-01 9.07933344e-01 -1.55610601e-01 3.08169778e+01] [-4.16191725e-01 -2.25942462e-02 9.08996121e-01 5.68387215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97911593299999 meters 0.015212456030698058 Centerline is valid? [True, True] Translation: X:-62.84, Y:30.84, Z:5.74 [[ 8.21917554e-01 4.18992722e-01 3.85871265e-01 -6.28412548e+01] [-3.89973797e-01 9.07695135e-01 -1.54951536e-01 3.08434002e+01] [-4.15177036e-01 -2.31222948e-02 9.09446749e-01 5.73586303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03911593299999 meters 0.015391416806420394 Centerline is valid? [True, True] Translation: X:-62.89, Y:30.86, Z:5.76 [[ 8.23906672e-01 4.14898384e-01 3.86053269e-01 -6.28938944e+01] [-3.85574033e-01 9.09616144e-01 -1.54696915e-01 3.08597528e+01] [-4.15343787e-01 -2.13962953e-02 9.09412853e-01 5.76313929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.099115933 meters 0.014657878308267798 Centerline is valid? [True, True] Translation: X:-62.96, Y:30.87, Z:5.76 [[ 8.22298947e-01 4.17180617e-01 3.87020381e-01 -6.29632115e+01] [-3.88090007e-01 9.08534122e-01 -1.54763999e-01 3.08732273e+01] [-4.16185762e-01 -2.29364694e-02 9.08990280e-01 5.76371344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.159115933 meters 0.015191710726583247 Centerline is valid? [True, True] Translation: X:-63.02, Y:30.89, Z:5.78 [[ 8.22511589e-01 4.17432716e-01 3.86296019e-01 -6.30196040e+01] [-3.88555606e-01 9.08412258e-01 -1.54310435e-01 3.08933859e+01] [-4.15330263e-01 -2.31753631e-02 9.09375431e-01 5.78131766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.219115933 meters 0.015987406250194444 Centerline is valid? [True, True] Translation: X:-63.07, Y:30.91, Z:5.82 [[ 8.26583210e-01 4.11115464e-01 3.84375171e-01 -6.30656226e+01] [-3.82032898e-01 9.11359463e-01 -1.53214862e-01 3.09108441e+01] [-4.13292948e-01 -2.01991275e-02 9.10374063e-01 5.81988897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27911593299999 meters 0.015726191645384364 Centerline is valid? [True, True] Translation: X:-63.12, Y:30.93, Z:5.85 [[ 8.31091216e-01 4.02940091e-01 3.83310153e-01 -6.31170815e+01] [-3.73338455e-01 9.15079650e-01 -1.52471741e-01 3.09271579e+01] [-4.12196298e-01 -1.63864958e-02 9.10947690e-01 5.84930247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33911593299999 meters 0.014463948239424004 Centerline is valid? [True, True] Translation: X:-63.17, Y:30.94, Z:5.88 [[ 8.35070062e-01 3.92517264e-01 3.85471387e-01 -6.31706315e+01] [-3.61532212e-01 9.19674425e-01 -1.53275611e-01 3.09425725e+01] [-4.14671499e-01 -1.13644494e-02 9.09900213e-01 5.87561504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39911593299999 meters 0.014885763944523468 Centerline is valid? [True, True] Translation: X:-63.24, Y:30.96, Z:5.87 [[ 8.35848033e-01 3.92138864e-01 3.84168163e-01 -6.32449470e+01] [-3.61371470e-01 9.19837665e-01 -1.52673933e-01 3.09560061e+01] [-4.13241728e-01 -1.12152073e-02 9.10552301e-01 5.86607703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45911593299999 meters 0.01607629369911866 Centerline is valid? [True, True] Translation: X:-63.28, Y:30.98, Z:5.93 [[ 8.33951902e-01 3.98983127e-01 3.81230494e-01 -6.32752160e+01] [-3.69536953e-01 9.16838530e-01 -1.51160676e-01 3.09808564e+01] [-4.09837365e-01 -1.48180218e-02 9.12038245e-01 5.92808466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.519115933 meters 0.015502733966671896 Centerline is valid? [True, True] Translation: X:-63.34, Y:31.00, Z:5.94 [[ 8.36836661e-01 3.91551601e-01 3.82611744e-01 -6.33370243e+01] [-3.61193454e-01 9.20086295e-01 -1.51593198e-01 3.09952370e+01] [-4.11392381e-01 -1.13381112e-02 9.11387819e-01 5.93937942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.579115933 meters 0.014789341018774028 Centerline is valid? [True, True] Translation: X:-63.39, Y:31.02, Z:5.96 [[ 8.37444624e-01 3.88383300e-01 3.84506065e-01 -6.33905167e+01] [-3.57535025e-01 9.21441942e-01 -1.52031093e-01 3.10176985e+01] [-4.13346353e-01 -1.01567645e-02 9.10517234e-01 5.96082269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63911593299999 meters 0.01545719250828195 Centerline is valid? [True, True] Translation: X:-63.42, Y:31.04, Z:6.02 [[ 8.36536218e-01 3.90000556e-01 3.84846361e-01 -6.34226146e+01] [-3.59412117e-01 9.20745159e-01 -1.51826487e-01 3.10426141e+01] [-4.13557838e-01 -1.13100901e-02 9.10407599e-01 6.02020639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69911593299999 meters 0.014749382954244033 Centerline is valid? [True, True] Translation: X:-63.49, Y:31.06, Z:6.02 [[ 8.37124316e-01 3.86711414e-01 3.86881329e-01 -6.34868891e+01] [-3.55605920e-01 9.22145557e-01 -1.52289205e-01 3.10627725e+01] [-4.15652872e-01 -1.00922944e-02 9.09467336e-01 6.02388015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75911593299999 meters 0.015095442863541529 Centerline is valid? [True, True] Translation: X:-63.53, Y:31.09, Z:6.07 [[ 8.33592844e-01 3.94563449e-01 3.86578137e-01 -6.35253490e+01] [-3.64468517e-01 9.18756776e-01 -1.51817935e-01 3.10922550e+01] [-4.15073091e-01 -1.43412158e-02 9.09675029e-01 6.06853345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81911593299999 meters 0.015533616618772422 Centerline is valid? [True, True] Translation: X:-63.58, Y:31.11, Z:6.10 [[ 8.32287443e-01 3.96279389e-01 3.87634180e-01 -6.35762467e+01] [-3.66214256e-01 9.18002479e-01 -1.52179395e-01 3.11141789e+01] [-4.16154695e-01 -1.53001629e-02 9.09165098e-01 6.09521855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.879115933 meters 0.014785070313076801 Centerline is valid? [True, True] Translation: X:-63.64, Y:31.13, Z:6.10 [[ 8.27622117e-01 4.07643580e-01 3.85834605e-01 -6.36403862e+01] [-3.79190695e-01 9.12894267e-01 -1.51124032e-01 3.11311836e+01] [-4.13830941e-01 -2.12313006e-02 9.10106139e-01 6.10129044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.939115933 meters 0.015034124646951568 Centerline is valid? [True, True] Translation: X:-63.67, Y:31.16, Z:6.16 [[ 8.32995484e-01 3.97466464e-01 3.84888209e-01 -6.36702308e+01] [-3.68150839e-01 9.17474107e-01 -1.50685840e-01 3.11575655e+01] [-4.13017534e-01 -1.61762934e-02 9.10579400e-01 6.16314759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99911593299998 meters 0.015164608447451303 Centerline is valid? [True, True] Translation: X:-63.71, Y:31.18, Z:6.20 [[ 8.34831402e-01 3.96314535e-01 3.82088104e-01 -6.37138627e+01] [-3.67452611e-01 9.17979618e-01 -1.49305058e-01 3.11791692e+01] [-4.09920857e-01 -1.57547205e-02 9.11985022e-01 6.20476550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05911593299999 meters 0.015381029748170396 Centerline is valid? [True, True] Translation: X:-63.78, Y:31.20, Z:6.21 [[ 8.36239126e-01 3.92888301e-01 3.82547915e-01 -6.37774396e+01] [-3.63759106e-01 9.19473099e-01 -1.49159425e-01 3.11978816e+01] [-4.10345510e-01 -1.44223402e-02 9.11816077e-01 6.21067423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11911593299999 meters 0.015079907408514791 Centerline is valid? [True, True] Translation: X:-63.84, Y:31.22, Z:6.21 [[ 8.37391734e-01 3.90995733e-01 3.81965208e-01 -6.38429295e+01] [-3.61919600e-01 9.20288983e-01 -1.48601450e-01 3.12186511e+01] [-4.09620906e-01 -1.38030690e-02 9.12151407e-01 6.21337550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17911593299999 meters 0.015219016905674615 Centerline is valid? [True, True] Translation: X:-63.87, Y:31.25, Z:6.28 [[ 8.34523565e-01 3.91464368e-01 3.87719057e-01 -6.38735228e+01] [-3.61696577e-01 9.20076135e-01 -1.50450963e-01 3.12453420e+01] [-4.15627243e-01 -1.46817813e-02 9.09416538e-01 6.27514448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.239115933 meters 0.014830218403214735 Centerline is valid? [True, True] Translation: X:-63.93, Y:31.27, Z:6.28 [[ 8.33221174e-01 3.97710615e-01 3.84146771e-01 -6.39330021e+01] [-3.69294934e-01 9.17335340e-01 -1.48718273e-01 3.12698473e+01] [-4.11538245e-01 -1.79482424e-02 9.11215745e-01 6.28405110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.299115933 meters 0.01602434476967795 Centerline is valid? [True, True] Translation: X:-63.97, Y:31.30, Z:6.33 [[ 8.29228175e-01 4.08305731e-01 3.81663548e-01 -6.39708349e+01] [-3.81349320e-01 9.12553871e-01 -1.47709612e-01 3.12969310e+01] [-4.08599229e-01 -2.30621621e-02 9.12422494e-01 6.32954321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.359115933 meters 0.015561164196120168 Centerline is valid? [True, True] Translation: X:-64.03, Y:31.32, Z:6.34 [[ 8.34041675e-01 3.97841064e-01 3.82226336e-01 -6.40328789e+01] [-3.69883552e-01 9.17272933e-01 -1.47636458e-01 3.13152470e+01] [-4.09341718e-01 -1.82442765e-02 9.12198720e-01 6.33656171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41911593299999 meters 0.015286618962181565 Centerline is valid? [True, True] Translation: X:-64.07, Y:31.34, Z:6.39 [[ 8.35074908e-01 3.95230118e-01 3.82678785e-01 -6.40692720e+01] [-3.66972309e-01 9.18423835e-01 -1.47746349e-01 3.13404893e+01] [-4.09855124e-01 -1.70532486e-02 9.11991208e-01 6.38833070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47911593299999 meters 0.014968156062359364 Centerline is valid? [True, True] Translation: X:-64.16, Y:31.35, Z:6.34 [[ 8.38168443e-01 3.88697694e-01 3.82606539e-01 -6.41639175e+01] [-3.59959071e-01 9.21255853e-01 -1.47367299e-01 3.13486100e+01] [-4.09759842e-01 -1.42040747e-02 9.12082845e-01 6.34390980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53911593299999 meters 0.015136075647452823 Centerline is valid? [True, True] Translation: X:-64.22, Y:31.37, Z:6.36 [[ 8.41316015e-01 3.85179532e-01 3.79241467e-01 -6.42218851e+01] [-3.56652412e-01 9.22758034e-01 -1.46002289e-01 3.13654759e+01] [-4.06185203e-01 -1.24233195e-02 9.13706321e-01 6.36166965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.599115933 meters 0.01572957225942291 Centerline is valid? [True, True] Translation: X:-64.28, Y:31.38, Z:6.38 [[ 8.45361591e-01 3.75709029e-01 3.79745318e-01 -6.42816980e+01] [-3.46335140e-01 9.26701309e-01 -1.45865194e-01 3.13813704e+01] [-4.06713354e-01 -8.21031550e-03 9.13518932e-01 6.37562288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.659115933 meters 0.01630890363498424 Centerline is valid? [True, True] Translation: X:-64.35, Y:31.40, Z:6.38 [[ 8.47704824e-01 3.69413646e-01 3.80696848e-01 -6.43470744e+01] [-3.39415166e-01 9.29248711e-01 -1.45925246e-01 3.13984556e+01] [-4.07668832e-01 -5.51274922e-03 9.13113209e-01 6.37970326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.719115933 meters 0.016221399596387187 Centerline is valid? [True, True] Translation: X:-64.39, Y:31.42, Z:6.42 [[ 8.50147264e-01 3.61352219e-01 3.82980682e-01 -6.43949881e+01] [-3.30346691e-01 9.32427240e-01 -1.46459913e-01 3.14157808e+01] [-4.10025235e-01 -2.00390650e-03 9.12071977e-01 6.41614343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77911593299999 meters 0.016595033474628002 Centerline is valid? [True, True] Translation: X:-64.46, Y:31.44, Z:6.42 [[ 8.54127029e-01 3.48845223e-01 3.85712366e-01 -6.44580652e+01] [-3.16308755e-01 9.37173098e-01 -1.47157588e-01 3.14366247e+01] [-4.12814475e-01 3.68707515e-03 9.10807672e-01 6.42047754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83911593299999 meters 0.018060318456792422 Centerline is valid? [True, True] Translation: X:-64.50, Y:31.46, Z:6.47 [[ 8.55906779e-01 3.44398297e-01 3.85763398e-01 -6.44966280e+01] [-3.11581675e-01 9.38807697e-01 -1.46822909e-01 3.14595476e+01] [-4.12723207e-01 5.46991743e-03 9.10840071e-01 6.46981472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89911593299999 meters 0.016862608219480588 Centerline is valid? [True, True] Translation: X:-64.56, Y:31.48, Z:6.48 [[ 8.57815588e-01 3.33361939e-01 3.91180565e-01 -6.45588593e+01] [-2.98630320e-01 9.42739376e-01 -1.48534176e-01 3.14788465e+01] [-4.18296963e-01 1.05965544e-02 9.08248514e-01 6.47952795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95911593299999 meters 0.016691497899773183 Centerline is valid? [True, True] Translation: X:-64.61, Y:31.50, Z:6.50 [[ 8.59210818e-01 3.27109453e-01 3.93390615e-01 -6.46105251e+01] [-2.91528471e-01 9.44892826e-01 -1.48958713e-01 3.15020549e+01] [-4.20437773e-01 1.33023732e-02 9.07223857e-01 6.50470926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.019115933 meters 0.01645197725749359 Centerline is valid? [True, True] Translation: X:-64.66, Y:31.52, Z:6.54 [[ 8.60246860e-01 3.22047351e-01 3.95298423e-01 -6.46569385e+01] [-2.85756886e-01 9.46596732e-01 -1.49323910e-01 3.15201756e+01] [-4.22277564e-01 1.54961781e-02 9.06334114e-01 6.54236706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.079115933 meters 0.017000297512865838 Centerline is valid? [True, True] Translation: X:-64.72, Y:31.54, Z:6.55 [[ 8.61584960e-01 3.15766832e-01 3.97445172e-01 -6.47217733e+01] [-2.78590984e-01 9.48660031e-01 -1.49770523e-01 3.15355600e+01] [-4.24332913e-01 1.83153883e-02 9.05321007e-01 6.54844603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13911593299999 meters 0.017676462501792493 Centerline is valid? [True, True] Translation: X:-64.78, Y:31.55, Z:6.57 [[ 8.61179168e-01 3.14449584e-01 3.99364370e-01 -6.47760945e+01] [-2.76927386e-01 9.49090076e-01 -1.50130779e-01 3.15549654e+01] [-4.26241321e-01 1.86945682e-02 9.04416303e-01 6.57226738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19911593299999 meters 0.016985750345356244 Centerline is valid? [True, True] Translation: X:-64.83, Y:31.57, Z:6.59 [[ 8.61857494e-01 3.07877266e-01 4.03005272e-01 -6.48320894e+01] [-2.69142999e-01 9.51177737e-01 -1.51072690e-01 3.15745950e+01] [-4.29841490e-01 2.17370820e-02 9.02642672e-01 6.59119208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25911593299999 meters 0.0163934801545011 Centerline is valid? [True, True] Translation: X:-64.88, Y:31.59, Z:6.63 [[ 8.63081235e-01 3.02212094e-01 4.04671016e-01 -6.48796460e+01] [-2.62580896e-01 9.52923193e-01 -1.51620124e-01 3.15943132e+01] [-4.31441832e-01 2.46016058e-02 9.01805249e-01 6.62624042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31911593299999 meters 0.01567668175961166 Centerline is valid? [True, True] Translation: X:-64.94, Y:31.61, Z:6.65 [[ 8.66217918e-01 2.89795000e-01 4.07044686e-01 -6.49352717e+01] [-2.48397648e-01 9.56588716e-01 -1.52435680e-01 3.16115587e+01] [-4.33549451e-01 3.09335748e-02 9.00598683e-01 6.64552611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.379115933 meters 0.015620793090176005 Centerline is valid? [True, True] Translation: X:-64.99, Y:31.63, Z:6.67 [[ 8.63683090e-01 2.98674025e-01 4.06011511e-01 -6.49914871e+01] [-2.58584628e-01 9.53999622e-01 -1.51719187e-01 3.16267948e+01] [-4.32649409e-01 2.60489610e-02 9.01185853e-01 6.66760810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.439115933 meters 0.015750767363450165 Centerline is valid? [True, True] Translation: X:-65.04, Y:31.65, Z:6.70 [[ 8.61902583e-01 3.03351095e-01 4.06327516e-01 -6.50416536e+01] [-2.63721539e-01 9.52585376e-01 -1.51763145e-01 3.16478221e+01] [-4.33099166e-01 2.36477284e-02 9.01036013e-01 6.69547870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49911593299998 meters 0.015517106525049717 Centerline is valid? [True, True] Translation: X:-65.11, Y:31.66, Z:6.69 [[ 8.62357548e-01 3.00984363e-01 4.07121447e-01 -6.51094752e+01] [-2.61102571e-01 9.53313358e-01 -1.51720430e-01 3.16646350e+01] [-4.33779791e-01 2.45368013e-02 9.00684761e-01 6.69338101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55911593299999 meters 0.015165589942421865 Centerline is valid? [True, True] Translation: X:-65.17, Y:31.68, Z:6.72 [[ 8.61843804e-01 3.02103302e-01 4.07380477e-01 -6.51663330e+01] [-2.62462078e-01 9.52982902e-01 -1.51450472e-01 3.16765125e+01] [-4.33980317e-01 2.36047240e-02 9.00613070e-01 6.71691767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61911593299999 meters 0.016214825295598936 Centerline is valid? [True, True] Translation: X:-65.22, Y:31.69, Z:6.74 [[ 8.59175181e-01 3.14679756e-01 4.03478201e-01 -6.52196911e+01] [-2.77325997e-01 9.49051502e-01 -1.49638026e-01 3.16946703e+01] [-4.30009650e-01 1.66702839e-02 9.02670373e-01 6.74030448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67911593299999 meters 0.01515282199549267 Centerline is valid? [True, True] Translation: X:-65.29, Y:31.71, Z:6.74 [[ 8.58544760e-01 3.17817900e-01 4.02358891e-01 -6.52861932e+01] [-2.81156410e-01 9.48037412e-01 -1.48916548e-01 3.17104966e+01] [-4.28779626e-01 1.47257402e-02 9.03289093e-01 6.74149554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.739115933 meters 0.015578964809569492 Centerline is valid? [True, True] Translation: X:-65.32, Y:31.73, Z:6.81 [[ 8.56471953e-01 3.23123295e-01 4.02550779e-01 -6.53186899e+01] [-2.87152161e-01 9.46284558e-01 -1.48624260e-01 3.17292047e+01] [-4.28951547e-01 1.16991842e-02 9.03251736e-01 6.80503497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.799115933 meters 0.01921692317299154 Centerline is valid? [True, True] Translation: X:-65.34, Y:31.75, Z:6.88 [[ 8.63423052e-01 2.98921553e-01 4.06382256e-01 -6.53441316e+01] [-2.59828954e-01 9.53984806e-01 -1.49672656e-01 3.17479378e+01] [-4.32422881e-01 2.36409446e-02 9.01360948e-01 6.88272114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.859115933 meters 0.018155847075632132 Centerline is valid? [True, True] Translation: X:-65.39, Y:31.76, Z:6.92 [[ 8.62439630e-01 3.04217348e-01 4.04536389e-01 -6.53895198e+01] [-2.66086860e-01 9.52375615e-01 -1.48924379e-01 3.17632987e+01] [-4.30575972e-01 2.07964687e-02 9.02314712e-01 6.92458609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91911593299999 meters 0.020377808905403836 Centerline is valid? [True, True] Translation: X:-65.46, Y:31.77, Z:6.93 [[ 8.59565631e-01 3.15426532e-01 4.02060976e-01 -6.54566994e+01] [-2.79024331e-01 9.48832897e-01 -1.47856540e-01 3.17728393e+01] [-4.28126556e-01 1.49076050e-02 9.03595825e-01 6.92792139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97911593299999 meters 0.024739625132640084 Centerline is valid? [True, True] Translation: X:-65.46, Y:31.80, Z:7.03 [[ 8.63401209e-01 2.98397597e-01 4.06813504e-01 -6.54641106e+01] [-2.59424486e-01 9.54155894e-01 -1.49283175e-01 3.17962068e+01] [-4.32709243e-01 2.33538898e-02 9.01230995e-01 7.03497002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03911593299999 meters 0.019190264077510604 Centerline is valid? [True, True] Translation: X:-65.56, Y:31.81, Z:6.99 [[ 8.56576834e-01 3.21312805e-01 4.03774947e-01 -6.55567448e+01] [-2.85507191e-01 9.46905033e-01 -1.47839451e-01 3.18111653e+01] [-4.29839238e-01 1.13551976e-02 9.02834032e-01 6.98727980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.099115933 meters 0.022620674637664814 Centerline is valid? [True, True] Translation: X:-65.58, Y:31.83, Z:7.07 [[ 8.55501467e-01 3.23946466e-01 4.03950401e-01 -6.55829968e+01] [-2.88424740e-01 9.46023055e-01 -1.47822695e-01 3.18270814e+01] [-4.30033032e-01 9.95324285e-03 9.02758287e-01 7.06526160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.159115933 meters 0.023063020909293713 Centerline is valid? [True, True] Translation: X:-65.65, Y:31.84, Z:7.06 [[ 8.56987771e-01 3.21677727e-01 4.02610731e-01 -6.56546968e+01] [-2.86332916e-01 9.46788956e-01 -1.46983445e-01 3.18397821e+01] [-4.28468694e-01 1.06823098e-02 9.03493479e-01 7.05844137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.219115933 meters 0.02977250352163885 Centerline is valid? [True, True] Translation: X:-65.66, Y:31.86, Z:7.18 [[ 8.59061675e-01 3.15526579e-01 4.03058328e-01 -6.56565876e+01] [-2.79624084e-01 9.48822185e-01 -1.46788392e-01 3.18602062e+01] [-4.28746323e-01 1.33954665e-02 9.03325607e-01 7.17981074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27911593299999 meters 0.03407842809377683 Centerline is valid? [True, True] Translation: X:-65.70, Y:31.87, Z:7.22 [[ 8.56562596e-01 3.17877787e-01 4.06514736e-01 -6.57026033e+01] [-2.81743592e-01 9.48056182e-01 -1.47682171e-01 3.18749059e+01] [-4.32343691e-01 1.19661018e-02 9.01629495e-01 7.22039569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33911593299999 meters 0.031077677190616892 Centerline is valid? [True, True] Translation: X:-65.77, Y:31.89, Z:7.22 [[ 8.52804831e-01 3.33795201e-01 4.01627543e-01 -6.57722926e+01] [-3.00410232e-01 9.42639221e-01 -1.45550652e-01 3.18893740e+01] [-4.27173983e-01 3.47327567e-03 9.04162775e-01 7.21772177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39911593299999 meters 0.03746515145528317 Centerline is valid? [True, True] Translation: X:-65.81, Y:31.91, Z:7.28 [[ 8.52660251e-01 3.31987703e-01 4.03428632e-01 -6.58065382e+01] [-2.98135564e-01 9.43273867e-01 -1.46115011e-01 3.19074104e+01] [-4.29052073e-01 4.31003908e-03 9.03269474e-01 7.27926309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45911593299999 meters 0.02935977390859358 Centerline is valid? [True, True] Translation: X:-65.89, Y:31.92, Z:7.25 [[ 8.48144348e-01 3.46820760e-01 4.00457894e-01 -6.58873062e+01] [-3.15216561e-01 9.37924851e-01 -1.44691030e-01 3.19225003e+01] [-4.25781264e-01 -3.51208097e-03 9.04819308e-01 7.25347530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.519115933 meters 0.049058142360126275 Centerline is valid? [True, True] Translation: X:-65.90, Y:31.93, Z:7.36 [[ 8.44353567e-01 3.57489780e-01 3.99084089e-01 -6.58973053e+01] [-3.27397170e-01 9.33871797e-01 -1.43856036e-01 3.19326517e+01] [-4.24120438e-01 -9.19364444e-03 9.05559126e-01 7.36485410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.579115933 meters 0.04925030165406934 Centerline is valid? [True, True] Translation: X:-65.94, Y:31.94, Z:7.42 [[ 8.38930297e-01 3.72914000e-01 3.96397661e-01 -6.59390885e+01] [-3.44994839e-01 9.27707982e-01 -1.42605968e-01 3.19418825e+01] [-4.20921035e-01 -1.71186801e-02 9.06935738e-01 7.41743993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63911593299999 meters 0.027086902517660175 Centerline is valid? [True, True] Translation: X:-66.03, Y:31.96, Z:7.36 [[ 8.40044132e-01 3.72133229e-01 3.94769192e-01 -6.60329156e+01] [-3.44499779e-01 9.28024882e-01 -1.41738209e-01 3.19632270e+01] [-4.19101131e-01 -1.69315486e-02 9.07781672e-01 7.36393876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69911593299999 meters 0.030884918591375224 Centerline is valid? [True, True] Translation: X:-66.08, Y:31.97, Z:7.41 [[ 8.33018346e-01 3.88599591e-01 3.93790290e-01 -6.60785869e+01] [-3.62992406e-01 9.21055202e-01 -1.41045482e-01 3.19727150e+01] [-4.17512811e-01 -2.54494105e-02 9.08314582e-01 7.40886845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75911593299999 meters 0.025746381075268488 Centerline is valid? [True, True] Translation: X:-66.14, Y:31.99, Z:7.43 [[ 8.33773343e-01 3.86480562e-01 3.94277551e-01 -6.61366457e+01] [-3.60605020e-01 9.21972845e-01 -1.41173978e-01 3.19895000e+01] [-4.18074194e-01 -2.44713650e-02 9.08083212e-01 7.42507301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81911593299999 meters 0.025439906535275288 Centerline is valid? [True, True] Translation: X:-66.20, Y:32.01, Z:7.44 [[ 8.33576843e-01 3.88998231e-01 3.92211706e-01 -6.61984260e+01] [-3.63818217e-01 9.20874021e-01 -1.40097616e-01 3.20057395e+01] [-4.15675296e-01 -2.59116355e-02 9.09143903e-01 7.43577227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.879115933 meters 0.02275800947204702 Centerline is valid? [True, True] Translation: X:-66.26, Y:32.02, Z:7.44 [[ 8.32522467e-01 3.92065574e-01 3.91396126e-01 -6.62649611e+01] [-3.67343877e-01 9.19527900e-01 -1.39738745e-01 3.20228395e+01] [-4.14686410e-01 -2.74413253e-02 9.09550524e-01 7.43635177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.939115933 meters 0.026996340880757943 Centerline is valid? [True, True] Translation: X:-66.32, Y:32.04, Z:7.46 [[ 8.25547985e-01 4.07844447e-01 3.90042859e-01 -6.63196932e+01] [-3.84971099e-01 9.12371106e-01 -1.39198483e-01 3.20405866e+01] [-4.12635163e-01 -3.52402009e-02 9.10214453e-01 7.45799282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99911593299998 meters 0.01873300017608999 Centerline is valid? [True, True] Translation: X:-66.38, Y:32.07, Z:7.45 [[ 8.40372405e-01 3.74793279e-01 3.91540826e-01 -6.63830854e+01] [-3.48388867e-01 9.26910210e-01 -1.39508637e-01 3.20711616e+01] [-4.15210089e-01 -1.91692564e-02 9.09523569e-01 7.45358175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05911593299999 meters 0.016366132862807123 Centerline is valid? [True, True] Translation: X:-66.43, Y:32.10, Z:7.48 [[ 8.46602985e-01 3.59553384e-01 3.92408907e-01 -6.64339639e+01] [-3.31468752e-01 9.33050972e-01 -1.39801108e-01 3.20968620e+01] [-4.16403473e-01 -1.17152555e-02 9.09104449e-01 7.47610599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11911593299999 meters 0.015874798162560384 Centerline is valid? [True, True] Translation: X:-66.49, Y:32.12, Z:7.50 [[ 8.47013615e-01 3.55906729e-01 3.94839633e-01 -6.64893874e+01] [-3.27205287e-01 9.34465007e-01 -1.40398901e-01 3.21156781e+01] [-4.18932734e-01 -1.02738344e-02 9.07959147e-01 7.49629656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17911593299999 meters 0.016239947084873765 Centerline is valid? [True, True] Translation: X:-66.54, Y:32.13, Z:7.52 [[ 8.44907397e-01 3.61357350e-01 3.94401263e-01 -6.65441518e+01] [-3.33449416e-01 9.32332229e-01 -1.39886028e-01 3.21288782e+01] [-4.18261853e-01 -1.33221306e-02 9.08228794e-01 7.52360303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.239115933 meters 0.016205987660183642 Centerline is valid? [True, True] Translation: X:-66.60, Y:32.15, Z:7.55 [[ 8.45865096e-01 3.62184289e-01 3.91579851e-01 -6.65970110e+01] [-3.34858952e-01 9.32004299e-01 -1.38699206e-01 3.21468347e+01] [-4.15188777e-01 -1.38032016e-02 9.09630557e-01 7.55157149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.299115933 meters 0.01589726084047104 Centerline is valid? [True, True] Translation: X:-66.62, Y:32.17, Z:7.63 [[ 8.48517755e-01 3.50470027e-01 3.96469898e-01 -6.66233414e+01] [-3.21267340e-01 9.36536986e-01 -1.40305989e-01 3.21667274e+01] [-4.20481767e-01 -8.32070720e-03 9.07262834e-01 7.62667708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.359115933 meters 0.016285469087014712 Centerline is valid? [True, True] Translation: X:-66.69, Y:32.18, Z:7.64 [[ 8.48898547e-01 3.49094733e-01 3.96867893e-01 -6.66851592e+01] [-3.19711418e-01 9.37055793e-01 -1.40396048e-01 3.21786347e+01] [-4.20898878e-01 -7.70119588e-03 9.07074873e-01 7.64073469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41911593299999 meters 0.015542557209447303 Centerline is valid? [True, True] Translation: X:-66.75, Y:32.19, Z:7.65 [[ 8.50678336e-01 3.49598835e-01 3.92590147e-01 -6.67487053e+01] [-3.21075970e-01 9.36863708e-01 -1.38551844e-01 3.21945538e+01] [-4.16241024e-01 -8.18820960e-03 9.09217445e-01 7.64779819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47911593299999 meters 0.015438188559253538 Centerline is valid? [True, True] Translation: X:-66.81, Y:32.21, Z:7.65 [[ 8.46879292e-01 3.57615274e-01 3.93581986e-01 -6.68143692e+01] [-3.29922454e-01 9.33785138e-01 -1.38551398e-01 3.22120376e+01] [-4.17069105e-01 -1.25152250e-02 9.08788606e-01 7.65124270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53911593299999 meters 0.016756785042852523 Centerline is valid? [True, True] Translation: X:-66.86, Y:32.23, Z:7.68 [[ 8.45877494e-01 3.58780871e-01 3.94673982e-01 -6.68646340e+01] [-3.31126287e-01 9.33326953e-01 -1.38766642e-01 3.22321634e+01] [-4.18146681e-01 -1.33073507e-02 9.08282042e-01 7.68138054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.599115933 meters 0.016147059452604917 Centerline is valid? [True, True] Translation: X:-66.88, Y:32.27, Z:7.77 [[ 8.47021316e-01 3.54810450e-01 3.95808584e-01 -6.68806281e+01] [-3.26731427e-01 9.34864687e-01 -1.38832962e-01 3.22675264e+01] [-4.19286854e-01 -1.17286252e-02 9.07778042e-01 7.76519941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.659115933 meters 0.015991974014397534 Centerline is valid? [True, True] Translation: X:-66.95, Y:32.28, Z:7.77 [[ 8.45804236e-01 3.58605829e-01 3.94989941e-01 -6.69487006e+01] [-3.31194558e-01 9.33385291e-01 -1.38210217e-01 3.22797661e+01] [-4.18240790e-01 -1.39197323e-02 9.08229532e-01 7.76617567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.719115933 meters 0.016245619044783027 Centerline is valid? [True, True] Translation: X:-66.99, Y:32.30, Z:7.82 [[ 8.46903580e-01 3.53869530e-01 3.96901351e-01 -6.69857640e+01] [-3.25847441e-01 9.35217739e-01 -1.38532401e-01 3.23005073e+01] [-4.20211580e-01 -1.20057026e-02 9.07346732e-01 7.82109440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77911593299999 meters 0.016129501564881178 Centerline is valid? [True, True] Translation: X:-67.05, Y:32.31, Z:7.83 [[ 8.48353095e-01 3.52674886e-01 3.94863839e-01 -6.70494521e+01] [-3.24864988e-01 9.35676185e-01 -1.37741845e-01 3.23114785e+01] [-4.18042780e-01 -1.14237158e-02 9.08355510e-01 7.83030193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83911593299999 meters 0.016230899504957815 Centerline is valid? [True, True] Translation: X:-67.08, Y:32.34, Z:7.89 [[ 8.49738802e-01 3.47656238e-01 3.96332068e-01 -6.70804755e+01] [-3.19265855e-01 9.37575537e-01 -1.37918184e-01 3.23361745e+01] [-4.19539368e-01 -9.34086376e-03 9.07689080e-01 7.89366887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89911593299999 meters 0.01597773068780571 Centerline is valid? [True, True] Translation: X:-67.15, Y:32.35, Z:7.90 [[ 8.49145430e-01 3.52069915e-01 3.93698888e-01 -6.71479915e+01] [-3.24681660e-01 9.35899462e-01 -1.36652905e-01 3.23465813e+01] [-4.16573954e-01 -1.17886191e-02 9.09025395e-01 7.89711330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95911593299999 meters 0.01610300093068495 Centerline is valid? [True, True] Translation: X:-67.21, Y:32.36, Z:7.92 [[ 8.47911724e-01 3.58753606e-01 3.90309566e-01 -6.72051985e+01] [-3.32556506e-01 9.33311971e-01 -1.35406557e-01 3.23607890e+01] [-4.12858181e-01 -1.49871781e-02 9.10672008e-01 7.91722685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.019115933 meters 0.015532184972721956 Centerline is valid? [True, True] Translation: X:-67.24, Y:32.38, Z:7.98 [[ 8.49333386e-01 3.58641120e-01 3.87310400e-01 -6.72408892e+01] [-3.32875156e-01 9.33357315e-01 -1.34306564e-01 3.23807704e+01] [-4.09666852e-01 -1.48549610e-02 9.12114248e-01 7.97647197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.079115933 meters 0.015654691179895684 Centerline is valid? [True, True] Translation: X:-67.32, Y:32.39, Z:7.95 [[ 8.48414078e-01 3.59590327e-01 3.88443495e-01 -6.73218925e+01] [-3.33834387e-01 9.32981033e-01 -1.34539932e-01 3.23928901e+01] [-4.10789672e-01 -1.55302242e-02 9.11597860e-01 7.95276007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13911593299999 meters 0.015615497589311656 Centerline is valid? [True, True] Translation: X:-67.35, Y:32.42, Z:8.02 [[ 8.48668660e-01 3.59944495e-01 3.87558338e-01 -6.73529954e+01] [-3.34490448e-01 9.32836693e-01 -1.33909833e-01 3.24157854e+01] [-4.09728745e-01 -1.59894834e-02 9.12067263e-01 8.01614345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19911593299999 meters 0.014949700418186327 Centerline is valid? [True, True] Translation: X:-67.43, Y:32.43, Z:8.00 [[ 8.49052529e-01 3.58872305e-01 3.87711840e-01 -6.74307122e+01] [-3.33433608e-01 9.33252860e-01 -1.33645536e-01 3.24298831e+01] [-4.09794865e-01 -1.58040777e-02 9.12040788e-01 7.99892265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25911593299999 meters 0.014501181675536148 Centerline is valid? [True, True] Translation: X:-67.47, Y:32.45, Z:8.05 [[ 8.47211431e-01 3.61750977e-01 3.89061720e-01 -6.74686543e+01] [-3.36590462e-01 9.32107468e-01 -1.33725569e-01 3.24534338e+01] [-4.11022691e-01 -1.76606335e-02 9.11454031e-01 8.05009593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31911593299999 meters 0.014678874619207666 Centerline is valid? [True, True] Translation: X:-67.51, Y:32.48, Z:8.09 [[ 8.45820318e-01 3.64886509e-01 3.89160411e-01 -6.75149895e+01] [-3.40172324e-01 9.30847431e-01 -1.33438564e-01 3.24753748e+01] [-4.10938901e-01 -1.95165532e-02 9.11453962e-01 8.08580874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.379115933 meters 0.014443146681852818 Centerline is valid? [True, True] Translation: X:-67.58, Y:32.49, Z:8.10 [[ 8.45662116e-01 3.64446781e-01 3.89915541e-01 -6.75767973e+01] [-3.39731521e-01 9.31016449e-01 -1.33382402e-01 3.24891042e+01] [-4.11628569e-01 -1.96701555e-02 9.11139400e-01 8.09953255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.439115933 meters 0.014711429930825904 Centerline is valid? [True, True] Translation: X:-67.62, Y:32.51, Z:8.15 [[ 8.46113941e-01 3.63368989e-01 3.89941249e-01 -6.76165990e+01] [-3.38709698e-01 9.31440633e-01 -1.33019125e-01 3.25103919e+01] [-4.11542148e-01 -1.95275462e-02 9.11181505e-01 8.14994092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49911593299998 meters 0.01475669583704453 Centerline is valid? [True, True] Translation: X:-67.67, Y:32.53, Z:8.18 [[ 8.47934581e-01 3.58953995e-01 3.90075602e-01 -6.76695989e+01] [-3.33997597e-01 9.33186194e-01 -1.32699405e-01 3.25279051e+01] [-4.11646148e-01 -1.77638995e-02 9.11170617e-01 8.17570795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55911593299999 meters 0.014021386234899423 Centerline is valid? [True, True] Translation: X:-67.71, Y:32.55, Z:8.22 [[ 8.49440501e-01 3.53592537e-01 3.91692676e-01 -6.77138382e+01] [-3.28035833e-01 9.35269533e-01 -1.32903696e-01 3.25479135e+01] [-4.13331981e-01 -1.55954514e-02 9.10446844e-01 8.21766176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61911593299999 meters 0.015110146482625942 Centerline is valid? [True, True] Translation: X:-67.76, Y:32.57, Z:8.26 [[ 8.47682747e-01 3.57138700e-01 3.92282946e-01 -6.77563101e+01] [-3.31896483e-01 9.33888698e-01 -1.33028658e-01 3.25718111e+01] [-4.13858292e-01 -1.74312324e-02 9.10174415e-01 8.25920469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67911593299999 meters 0.014693565040035121 Centerline is valid? [True, True] Translation: X:-67.81, Y:32.59, Z:8.29 [[ 8.47021325e-01 3.55267875e-01 3.95398042e-01 -6.78066221e+01] [-3.29565015e-01 9.34609715e-01 -1.33759417e-01 3.25934815e+01] [-4.17063275e-01 -1.70122827e-02 9.08718222e-01 8.28691891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.739115933 meters 0.01475303599316789 Centerline is valid? [True, True] Translation: X:-67.86, Y:32.61, Z:8.32 [[ 8.44401978e-01 3.64601451e-01 3.92493415e-01 -6.78553134e+01] [-3.40396137e-01 9.30909025e-01 -1.32434349e-01 3.26125730e+01] [-4.13661418e-01 -2.17754161e-02 9.10170348e-01 8.31867275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.799115933 meters 0.01526613125769375 Centerline is valid? [True, True] Translation: X:-67.90, Y:32.64, Z:8.36 [[ 8.48759767e-01 3.53068339e-01 3.93636387e-01 -6.78976549e+01] [-3.27564050e-01 9.35456145e-01 -1.32753888e-01 3.26372668e+01] [-4.15100771e-01 -1.62649704e-02 9.09630035e-01 8.35866874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.859115933 meters 0.014498676336650316 Centerline is valid? [True, True] Translation: X:-67.95, Y:32.65, Z:8.39 [[ 8.50651549e-01 3.48722656e-01 3.93426552e-01 -6.79494898e+01] [-3.22931641e-01 9.37115013e-01 -1.32403203e-01 3.26524500e+01] [-4.14857925e-01 -1.44208920e-02 9.09771917e-01 8.38888335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91911593299999 meters 0.014067315219698387 Centerline is valid? [True, True] Translation: X:-67.99, Y:32.68, Z:8.43 [[ 8.51140115e-01 3.47216732e-01 3.93701722e-01 -6.79929958e+01] [-3.21385753e-01 9.37679826e-01 -1.32165583e-01 3.26797936e+01] [-4.15056264e-01 -1.40386947e-02 9.09687426e-01 8.42713226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97911593299999 meters 0.014787363516474228 Centerline is valid? [True, True] Translation: X:-68.05, Y:32.70, Z:8.45 [[ 8.52368831e-01 3.49473114e-01 3.89019174e-01 -6.80463999e+01] [-3.24655417e-01 9.36821785e-01 -1.30245169e-01 3.26982771e+01] [-4.09958821e-01 -1.52802596e-02 9.11976030e-01 8.45242115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03911593299999 meters 0.014869515915876248 Centerline is valid? [True, True] Translation: X:-68.09, Y:32.72, Z:8.50 [[ 8.51877042e-01 3.50647223e-01 3.89039884e-01 -6.80884701e+01] [-3.25964302e-01 9.36372733e-01 -1.30205142e-01 3.27210019e+01] [-4.09942411e-01 -1.58943425e-02 9.11972911e-01 8.49655975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.099115933 meters 0.014745875441232813 Centerline is valid? [True, True] Translation: X:-68.14, Y:32.74, Z:8.52 [[ 8.50734280e-01 3.54275714e-01 3.88252371e-01 -6.81407259e+01] [-3.30202675e-01 9.34968978e-01 -1.29611744e-01 3.27415933e+01] [-4.08922215e-01 -1.79368175e-02 9.12392949e-01 8.52082751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.159115933 meters 0.014578117098336172 Centerline is valid? [True, True] Translation: X:-68.19, Y:32.76, Z:8.54 [[ 8.51023708e-01 3.52275805e-01 3.89436009e-01 -6.81948123e+01] [-3.27955163e-01 9.35736798e-01 -1.29776945e-01 3.27615787e+01] [-4.10126882e-01 -1.72742931e-02 9.11864869e-01 8.54278749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.219115933 meters 0.014727264184900175 Centerline is valid? [True, True] Translation: X:-68.25, Y:32.78, Z:8.56 [[ 8.50862147e-01 3.52531142e-01 3.89557956e-01 -6.82494883e+01] [-3.28364683e-01 9.35632041e-01 -1.29496401e-01 3.27823459e+01] [-4.10134420e-01 -1.77334895e-02 9.11852664e-01 8.56320270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27911593299999 meters 0.01465342067490946 Centerline is valid? [True, True] Translation: X:-68.29, Y:32.80, Z:8.61 [[ 8.48289020e-01 3.60898711e-01 3.87502077e-01 -6.82902654e+01] [-3.37972276e-01 9.32345939e-01 -1.28474864e-01 3.28035951e+01] [-4.07652401e-01 -2.19811427e-02 9.12872581e-01 8.61051993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33911593299999 meters 0.014619513699738188 Centerline is valid? [True, True] Translation: X:-68.35, Y:32.82, Z:8.63 [[ 8.48476470e-01 3.59685953e-01 3.88218618e-01 -6.83477009e+01] [-3.36565806e-01 9.32826186e-01 -1.28680868e-01 3.28210954e+01] [-4.08425194e-01 -2.14784233e-02 9.12539061e-01 8.62866111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39911593299999 meters 0.014077606087811237 Centerline is valid? [True, True] Translation: X:-68.40, Y:32.84, Z:8.65 [[ 8.50415513e-01 3.56086805e-01 3.87292709e-01 -6.84010949e+01] [-3.32864992e-01 9.34238561e-01 -1.28059397e-01 3.28437479e+01] [-4.07424044e-01 -2.00124865e-02 9.13019796e-01 8.64985253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45911593299999 meters 0.014343196656324202 Centerline is valid? [True, True] Translation: X:-68.44, Y:32.86, Z:8.70 [[ 8.50733894e-01 3.55805801e-01 3.86851488e-01 -6.84392900e+01] [-3.32744550e-01 9.34342495e-01 -1.27613348e-01 3.28628672e+01] [-4.06857354e-01 -2.01577240e-02 9.13269270e-01 8.70411483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.519115933 meters 0.014300937732554505 Centerline is valid? [True, True] Translation: X:-68.49, Y:32.88, Z:8.72 [[ 8.50597445e-01 3.60334371e-01 3.82940111e-01 -6.84947813e+01] [-3.38330365e-01 9.32554480e-01 -1.25994865e-01 3.28839707e+01] [-4.02512796e-01 -2.23893577e-02 9.15140517e-01 8.72180186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.579115933 meters 0.014189832274252214 Centerline is valid? [True, True] Translation: X:-68.55, Y:32.90, Z:8.75 [[ 8.52540829e-01 3.55757696e-01 3.82897633e-01 -6.85457074e+01] [-3.33372637e-01 9.34356680e-01 -1.25858169e-01 3.29034056e+01] [-4.02537974e-01 -2.03483658e-02 9.15177100e-01 8.74970074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63911593299999 meters 0.014672238564974502 Centerline is valid? [True, True] Translation: X:-68.60, Y:32.92, Z:8.77 [[ 8.49984867e-01 3.64321920e-01 3.80519729e-01 -6.86012039e+01] [-3.43160246e-01 9.30950467e-01 -1.24788917e-01 3.29235077e+01] [-3.99708357e-01 -2.45105526e-02 9.16314609e-01 8.76866318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69911593299999 meters 0.0139183422765725 Centerline is valid? [True, True] Translation: X:-68.63, Y:32.95, Z:8.83 [[ 8.54512662e-01 3.49898820e-01 3.83899630e-01 -6.86313824e+01] [-3.27077944e-01 9.36610322e-01 -1.25622943e-01 3.29460074e+01] [-4.03519675e-01 -1.82187058e-02 9.14789566e-01 8.83323184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75911593299999 meters 0.014530446877978324 Centerline is valid? [True, True] Translation: X:-68.68, Y:32.97, Z:8.87 [[ 8.52811134e-01 3.57774073e-01 3.80408837e-01 -6.86777404e+01] [-3.36226507e-01 9.33550177e-01 -1.24240911e-01 3.29652423e+01] [-3.99580914e-01 -2.19495025e-02 9.16435111e-01 8.87070886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81911593299999 meters 0.014619085042823079 Centerline is valid? [True, True] Translation: X:-68.76, Y:32.98, Z:8.85 [[ 8.53796370e-01 3.56980922e-01 3.78941130e-01 -6.87569261e+01] [-3.35643538e-01 9.33858493e-01 -1.23497895e-01 3.29753175e+01] [-3.97963785e-01 -2.17470866e-02 9.17143331e-01 8.85160834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.879115933 meters 0.01472458647272297 Centerline is valid? [True, True] Translation: X:-68.78, Y:33.00, Z:8.93 [[ 8.55632197e-01 3.52703238e-01 3.78805978e-01 -6.87799241e+01] [-3.31126853e-01 9.35519571e-01 -1.23118396e-01 3.30025131e+01] [-3.97804663e-01 -2.00887677e-02 9.17250179e-01 8.93067321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.939115933 meters 0.014121627308543137 Centerline is valid? [True, True] Translation: X:-68.84, Y:33.02, Z:8.95 [[ 8.57845161e-01 3.47300432e-01 3.78792938e-01 -6.88356365e+01] [-3.25260353e-01 9.37587449e-01 -1.23026333e-01 3.30184900e+01] [-3.97878603e-01 -1.76687805e-02 9.17267917e-01 8.95353599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99911593299998 meters 0.014804510068825806 Centerline is valid? [True, True] Translation: X:-68.89, Y:33.04, Z:8.98 [[ 8.58221834e-01 3.49812792e-01 3.75614556e-01 -6.88885113e+01] [-3.28419837e-01 9.36632196e-01 -1.21903816e-01 3.30375125e+01] [-3.94456200e-01 -1.87387544e-02 9.18723661e-01 8.97876984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05911593299999 meters 0.014528039823599848 Centerline is valid? [True, True] Translation: X:-68.95, Y:33.05, Z:9.00 [[ 8.56659059e-01 3.57488913e-01 3.71936734e-01 -6.89474425e+01] [-3.37238556e-01 9.33656396e-01 -1.20647794e-01 3.30527053e+01] [-3.90391360e-01 -2.20773811e-02 9.20384254e-01 8.99520304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11911593299999 meters 0.01475907410878693 Centerline is valid? [True, True] Translation: X:-69.00, Y:33.07, Z:9.02 [[ 8.58511412e-01 3.51994973e-01 3.72904404e-01 -6.89985260e+01] [-3.31175420e-01 9.35794149e-01 -1.20880736e-01 3.30693363e+01] [-3.91511171e-01 -1.97192815e-02 9.19962039e-01 9.02396595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17911593299999 meters 0.01443267876342957 Centerline is valid? [True, True] Translation: X:-69.06, Y:33.09, Z:9.04 [[ 8.58312861e-01 3.53590706e-01 3.71850299e-01 -6.90587757e+01] [-3.33062564e-01 9.35176764e-01 -1.20473025e-01 3.30879985e+01] [-3.90343901e-01 -2.04458672e-02 9.20442071e-01 9.03739675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.239115933 meters 0.013742306734066853 Centerline is valid? [True, True] Translation: X:-69.10, Y:33.11, Z:9.09 [[ 8.60773140e-01 3.47588474e-01 3.71822343e-01 -6.90989933e+01] [-3.26563024e-01 9.37478150e-01 -1.20379857e-01 3.31078206e+01] [-3.90417973e-01 -1.78036816e-02 9.20465554e-01 9.08611480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.299115933 meters 0.013509784093008242 Centerline is valid? [True, True] Translation: X:-69.15, Y:33.12, Z:9.12 [[ 8.62813569e-01 3.39768492e-01 3.74312861e-01 -6.91487185e+01] [-3.17871484e-01 9.40394632e-01 -1.20895224e-01 3.31233434e+01] [-3.93078193e-01 -1.46733445e-02 9.19387963e-01 9.11764352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.359115933 meters 0.014357304684047558 Centerline is valid? [True, True] Translation: X:-69.21, Y:33.14, Z:9.13 [[ 8.62383630e-01 3.45136089e-01 3.70372184e-01 -6.92075060e+01] [-3.24307496e-01 9.38394918e-01 -1.19329901e-01 3.31397308e+01] [-3.88740431e-01 -1.72063225e-02 9.21186637e-01 9.13348310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41911593299999 meters 0.014487990133755766 Centerline is valid? [True, True] Translation: X:-69.24, Y:33.16, Z:9.19 [[ 8.62424117e-01 3.41365958e-01 3.73756505e-01 -6.92424246e+01] [-3.19826055e-01 9.39798906e-01 -1.20371553e-01 3.31586692e+01] [-3.92346705e-01 -1.57257376e-02 9.19682969e-01 9.19272853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47911593299999 meters 0.014685226055064733 Centerline is valid? [True, True] Translation: X:-69.30, Y:33.18, Z:9.22 [[ 8.64029110e-01 3.36497856e-01 3.74463470e-01 -6.92976532e+01] [-3.14479511e-01 9.41585332e-01 -1.20497718e-01 3.31753000e+01] [-3.93136534e-01 -1.36475528e-02 9.19378817e-01 9.21571819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53911593299999 meters 0.014776535868244137 Centerline is valid? [True, True] Translation: X:-69.34, Y:33.19, Z:9.26 [[ 8.65805104e-01 3.33585814e-01 3.72963841e-01 -6.93439393e+01] [-3.11512897e-01 9.42639245e-01 -1.19962365e-01 3.31929618e+01] [-3.91588097e-01 -1.23190188e-02 9.20058153e-01 9.25607194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.599115933 meters 0.014380597963282546 Centerline is valid? [True, True] Translation: X:-69.39, Y:33.21, Z:9.29 [[ 8.66779163e-01 3.29369316e-01 3.74445905e-01 -6.93939678e+01] [-3.06905771e-01 9.44138645e-01 -1.20046105e-01 3.32106429e+01] [-3.93068353e-01 -1.08661465e-02 9.19445048e-01 9.28884443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.659115933 meters 0.014887013732126383 Centerline is valid? [True, True] Translation: X:-69.45, Y:33.23, Z:9.30 [[ 8.68763809e-01 3.23662458e-01 3.74822702e-01 -6.94544633e+01] [-3.00668300e-01 9.46135745e-01 -1.20107140e-01 3.32275569e+01] [-3.93507329e-01 -8.35256849e-03 9.19283534e-01 9.30168046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.719115933 meters 0.014843941961564836 Centerline is valid? [True, True] Translation: X:-69.51, Y:33.24, Z:9.33 [[ 8.66333140e-01 3.25466643e-01 3.78864561e-01 -6.95084310e+01] [-3.02259936e-01 9.45504573e-01 -1.21078623e-01 3.32378352e+01] [-3.97625228e-01 -9.62115441e-03 9.17497472e-01 9.32997751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77911593299999 meters 0.014919715710140112 Centerline is valid? [True, True] Translation: X:-69.58, Y:33.25, Z:9.32 [[ 8.69076803e-01 3.19323981e-01 3.77806440e-01 -6.95804566e+01] [-2.95829815e-01 9.47618972e-01 -1.20428422e-01 3.32483905e+01] [-3.96472233e-01 -7.10486114e-03 9.18019220e-01 9.32341399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83911593299999 meters 0.01573071815206942 Centerline is valid? [True, True] Translation: X:-69.67, Y:33.25, Z:9.28 [[ 8.72536968e-01 3.06512520e-01 3.80433061e-01 -6.96747298e+01] [-2.81658117e-01 9.51865204e-01 -1.20918729e-01 3.32530372e+01] [-3.99184098e-01 -1.64599820e-03 9.16869318e-01 9.27904845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89911593299999 meters 0.01647414493401555 Centerline is valid? [True, True] Translation: X:-69.74, Y:33.27, Z:9.29 [[ 8.68081861e-01 3.17079337e-01 3.81961486e-01 -6.97356513e+01] [-2.93019953e-01 9.48376093e-01 -1.21334632e-01 3.32710070e+01] [-4.00715847e-01 -6.59394308e-03 9.16178656e-01 9.29061435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95911593299999 meters 0.017402772606956992 Centerline is valid? [True, True] Translation: X:-69.81, Y:33.28, Z:9.28 [[ 8.64722105e-01 3.31048512e-01 3.77706981e-01 -6.98085810e+01] [-3.08945704e-01 9.43521236e-01 -1.19667161e-01 3.32835562e+01] [-3.95990193e-01 -1.32121094e-02 9.18159685e-01 9.27998577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.019115933 meters 0.017496852199284964 Centerline is valid? [True, True] Translation: X:-69.87, Y:33.31, Z:9.29 [[ 8.59660784e-01 3.49289651e-01 3.72800316e-01 -6.98652685e+01] [-3.29513482e-01 9.36767317e-01 -1.17846764e-01 3.33097685e+01] [-3.90389807e-01 -2.15344886e-02 9.20397775e-01 9.29323606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.079115933 meters 0.017967697573497376 Centerline is valid? [True, True] Translation: X:-69.92, Y:33.33, Z:9.30 [[ 8.54564278e-01 3.62169574e-01 3.72227207e-01 -6.99244485e+01] [-3.43632944e-01 9.31709479e-01 -1.17617375e-01 3.33287621e+01] [-3.89405052e-01 -2.73979237e-02 9.20659035e-01 9.30498981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13911593299999 meters 0.01814295905058124 Centerline is valid? [True, True] Translation: X:-70.00, Y:33.34, Z:9.29 [[ 8.47660485e-01 3.86460984e-01 3.63482614e-01 -7.00018448e+01] [-3.70923827e-01 9.21542063e-01 -1.14785631e-01 3.33422419e+01] [-3.79324685e-01 -3.75251186e-02 9.24502379e-01 9.28645939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19911593299999 meters 0.01879967742893075 Centerline is valid? [True, True] Translation: X:-70.07, Y:33.36, Z:9.29 [[ 8.46648450e-01 3.88916718e-01 3.63221955e-01 -7.00673133e+01] [-3.73640062e-01 9.20461772e-01 -1.14643928e-01 3.33604060e+01] [-3.78918865e-01 -3.86511700e-02 9.24622399e-01 9.28861652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25911593299999 meters 0.017988485673398995 Centerline is valid? [True, True] Translation: X:-70.14, Y:33.37, Z:9.28 [[ 8.45169252e-01 3.88778756e-01 3.66796965e-01 -7.01424273e+01] [-3.73200736e-01 9.20502506e-01 -1.15742594e-01 3.33704294e+01] [-3.82635787e-01 -3.90668160e-02 9.23072932e-01 9.27591716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31911593299999 meters 0.01771568183143194 Centerline is valid? [True, True] Translation: X:-70.19, Y:33.40, Z:9.31 [[ 8.43177789e-01 3.91358448e-01 3.68632312e-01 -7.01850974e+01] [-3.75982767e-01 9.19334604e-01 -1.16020881e-01 3.33999018e+01] [-3.84302193e-01 -4.07731673e-02 9.22306551e-01 9.31451648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.379115933 meters 0.01973655519358324 Centerline is valid? [True, True] Translation: X:-70.29, Y:33.40, Z:9.25 [[ 8.38527711e-01 4.03821156e-01 3.65786484e-01 -7.02864191e+01] [-3.89819299e-01 9.13675166e-01 -1.15059139e-01 3.34044040e+01] [-3.80673341e-01 -4.61103541e-02 9.23559225e-01 9.25334791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.439115933 meters 0.017191587569828717 Centerline is valid? [True, True] Translation: X:-70.33, Y:33.43, Z:9.29 [[ 8.34832504e-01 4.09005382e-01 3.68468843e-01 -7.03279561e+01] [-3.95282722e-01 9.11220467e-01 -1.15882826e-01 3.34349707e+01] [-3.83153051e-01 -4.89066174e-02 9.22389225e-01 9.29283043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49911593299998 meters 0.01684448113152821 Centerline is valid? [True, True] Translation: X:-70.40, Y:33.45, Z:9.29 [[ 8.33088831e-01 4.11045369e-01 3.70141466e-01 -7.03982004e+01] [-3.97400487e-01 9.10235106e-01 -1.16382578e-01 3.34530746e+01] [-3.84754276e-01 -5.01373735e-02 9.21656330e-01 9.28519113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55911593299999 meters 0.01668260454672169 Centerline is valid? [True, True] Translation: X:-70.44, Y:33.48, Z:9.33 [[ 8.32904040e-01 4.07713988e-01 3.74219406e-01 -7.04400839e+01] [-3.93477166e-01 9.11778955e-01 -1.17621671e-01 3.34780581e+01] [-3.89161379e-01 -4.92792267e-02 9.19850520e-01 9.32650493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61911593299999 meters 0.018360832930881914 Centerline is valid? [True, True] Translation: X:-70.47, Y:33.51, Z:9.39 [[ 8.30188276e-01 4.13964171e-01 3.73391338e-01 -7.04686223e+01] [-4.00388289e-01 9.08801725e-01 -1.17339864e-01 3.35115669e+01] [-3.87913191e-01 -5.20873395e-02 9.20222943e-01 9.38931076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67911593299999 meters 0.016745963813640654 Centerline is valid? [True, True] Translation: X:-70.54, Y:33.52, Z:9.38 [[ 8.32274607e-01 4.04976389e-01 3.78567172e-01 -7.05424365e+01] [-3.90170953e-01 9.13028307e-01 -1.18936701e-01 3.35208288e+01] [-3.93809100e-01 -4.87179185e-02 9.17900298e-01 9.37919045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.739115933 meters 0.016191473041299937 Centerline is valid? [True, True] Translation: X:-70.57, Y:33.56, Z:9.45 [[ 8.35103767e-01 3.91245298e-01 3.86689559e-01 -7.05650241e+01] [-3.74434815e-01 9.19264332e-01 -1.21456403e-01 3.35571798e+01] [-4.02989165e-01 -4.33613338e-02 9.14176967e-01 9.45146290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.799115933 meters 0.015004296490600378 Centerline is valid? [True, True] Translation: X:-70.64, Y:33.57, Z:9.44 [[ 8.40283227e-01 3.70809144e-01 3.95505597e-01 -7.06370753e+01] [-3.51097257e-01 9.28067595e-01 -1.24182349e-01 3.35668830e+01] [-4.13103879e-01 -3.45125855e-02 9.10029707e-01 9.44489656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.859115933 meters 0.01447531017460684 Centerline is valid? [True, True] Translation: X:-70.68, Y:33.59, Z:9.48 [[ 8.42346291e-01 3.61963209e-01 3.99293577e-01 -7.06829984e+01] [-3.40946518e-01 9.31691068e-01 -1.25328472e-01 3.35934788e+01] [-4.17382555e-01 -3.05677818e-02 9.08216611e-01 9.47805600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91911593299999 meters 0.013918938400217018 Centerline is valid? [True, True] Translation: X:-70.71, Y:33.62, Z:9.54 [[ 8.46432669e-01 3.49214408e-01 4.01996312e-01 -7.07133294e+01] [-3.26560108e-01 9.36722207e-01 -1.26134858e-01 3.36196262e+01] [-4.20606982e-01 -2.45112946e-02 9.06911772e-01 9.54118279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97911593299999 meters 0.01400744749784295 Centerline is valid? [True, True] Translation: X:-70.73, Y:33.65, Z:9.62 [[ 8.47919073e-01 3.43122682e-01 4.04104035e-01 -7.07349963e+01] [-3.19573153e-01 9.39041340e-01 -1.26784708e-01 3.36537109e+01] [-4.22973103e-01 -2.16376286e-02 9.05883860e-01 9.61521480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03911593299999 meters 0.015126459557774401 Centerline is valid? [True, True] Translation: X:-70.79, Y:33.67, Z:9.64 [[ 8.47756219e-01 3.48243777e-01 4.00044579e-01 -7.07893399e+01] [-3.25844484e-01 9.37092016e-01 -1.25235481e-01 3.36727161e+01] [-4.18491058e-01 -2.41831613e-02 9.07898898e-01 9.63764661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.099115933 meters 0.014820288886222515 Centerline is valid? [True, True] Translation: X:-70.84, Y:33.69, Z:9.67 [[ 8.50121422e-01 3.41238735e-01 4.01060711e-01 -7.08386183e+01] [-3.18010565e-01 9.39745211e-01 -1.25491908e-01 3.36913035e+01] [-4.19717583e-01 -2.08581842e-02 9.07415058e-01 9.67060055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.159115933 meters 0.014771733443206824 Centerline is valid? [True, True] Translation: X:-70.89, Y:33.71, Z:9.70 [[ 8.48580213e-01 3.47716806e-01 3.98753864e-01 -7.08909339e+01] [-3.25464367e-01 9.37293656e-01 -1.24713864e-01 3.37096880e+01] [-4.17114574e-01 -2.39504565e-02 9.08538281e-01 9.69612100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.219115933 meters 0.014340299706813877 Centerline is valid? [True, True] Translation: X:-70.95, Y:33.73, Z:9.71 [[ 8.47457226e-01 3.51526133e-01 3.97800991e-01 -7.09526440e+01] [-3.29841758e-01 9.35820006e-01 -1.24279244e-01 3.37259213e+01] [-4.15957528e-01 -2.58900348e-02 9.09015424e-01 9.70543198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27911593299999 meters 0.014613303564157585 Centerline is valid? [True, True] Translation: X:-71.00, Y:33.74, Z:9.74 [[ 8.49574814e-01 3.49496269e-01 3.95063278e-01 -7.10040688e+01] [-3.27917706e-01 9.36611893e-01 -1.23402351e-01 3.37437666e+01] [-4.13149626e-01 -2.47087143e-02 9.10327889e-01 9.73614850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33911593299999 meters 0.013708215757241023 Centerline is valid? [True, True] Translation: X:-71.05, Y:33.77, Z:9.78 [[ 8.51299601e-01 3.42800371e-01 3.97211399e-01 -7.10477605e+01] [-3.20467112e-01 9.39150552e-01 -1.23681327e-01 3.37660231e+01] [-4.15439310e-01 -2.20033254e-02 9.09354735e-01 9.77760050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39911593299999 meters 0.013796163296427742 Centerline is valid? [True, True] Translation: X:-71.12, Y:33.77, Z:9.77 [[ 8.52877295e-01 3.40693625e-01 3.95636416e-01 -7.11214525e+01] [-3.18347100e-01 9.39941572e-01 -1.23146116e-01 3.37742227e+01] [-4.13830212e-01 -2.09211795e-02 9.10113652e-01 9.76862984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45911593299999 meters 0.01456761798761651 Centerline is valid? [True, True] Translation: X:-71.17, Y:33.80, Z:9.81 [[ 8.52454880e-01 3.44710268e-01 3.93059167e-01 -7.11665074e+01] [-3.23209286e-01 9.38426892e-01 -1.22027562e-01 3.37958465e+01] [-4.10921447e-01 -2.30173821e-02 9.11380143e-01 9.80717243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.519115933 meters 0.01436346799023191 Centerline is valid? [True, True] Translation: X:-71.20, Y:33.82, Z:9.87 [[ 8.52227205e-01 3.49946968e-01 3.88903471e-01 -7.11995561e+01] [-3.29445763e-01 9.36428745e-01 -1.20692567e-01 3.38188388e+01] [-4.06416387e-01 -2.52651114e-02 9.13338598e-01 9.86783721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.579115933 meters 0.014466618538441743 Centerline is valid? [True, True] Translation: X:-71.26, Y:33.83, Z:9.88 [[ 8.55913766e-01 3.39749844e-01 3.89848264e-01 -7.12599776e+01] [-3.18151667e-01 9.40292299e-01 -1.20954163e-01 3.38303162e+01] [-4.07665478e-01 -2.05045418e-02 9.12901102e-01 9.88270604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63911593299999 meters 0.014565436385780178 Centerline is valid? [True, True] Translation: X:-71.29, Y:33.86, Z:9.94 [[ 8.56616939e-01 3.37069820e-01 3.90629436e-01 -7.12940582e+01] [-3.15215687e-01 9.41277656e-01 -1.20977042e-01 3.38571969e+01] [-4.08468470e-01 -1.95015424e-02 9.12564079e-01 9.93998980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69911593299999 meters 0.015402486808443912 Centerline is valid? [True, True] Translation: X:-71.31, Y:33.89, Z:10.02 [[ 8.62600226e-01 3.18574767e-01 3.92977059e-01 -7.13147376e+01] [-2.94762484e-01 9.47832199e-01 -1.21363920e-01 3.38870818e+01] [-4.11139792e-01 -1.11463497e-02 9.11504158e-01 1.00186229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75911593299999 meters 0.014603104639219463 Centerline is valid? [True, True] Translation: X:-71.39, Y:33.89, Z:10.00 [[ 8.63750828e-01 3.15157627e-01 3.93205006e-01 -7.13949164e+01] [-2.91050560e-01 9.48989865e-01 -1.21275749e-01 3.38888450e+01] [-4.11368543e-01 -9.69050904e-03 9.11417586e-01 1.00028106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81911593299999 meters 0.0136479408946344 Centerline is valid? [True, True] Translation: X:-71.43, Y:33.91, Z:10.06 [[ 8.68191605e-01 3.00840719e-01 3.94636793e-01 -7.14325853e+01] [-2.75284748e-01 9.53668852e-01 -1.21383808e-01 3.39083599e+01] [-4.12870010e-01 -3.25308736e-03 9.10784153e-01 1.00561773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.879115933 meters 0.01367104240621037 Centerline is valid? [True, True] Translation: X:-71.52, Y:33.91, Z:10.03 [[ 8.71108463e-01 2.92554477e-01 3.94438746e-01 -7.15180918e+01] [-2.66352681e-01 9.56248791e-01 -1.21014457e-01 3.39111339e+01] [-4.12584895e-01 3.56900205e-04 9.10919084e-01 1.00300053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.939115933 meters 0.013852681334060674 Centerline is valid? [True, True] Translation: X:-71.57, Y:33.93, Z:10.06 [[ 8.74758584e-01 2.82833421e-01 3.93449711e-01 -7.15669292e+01] [-2.56003097e-01 9.59158350e-01 -1.20323206e-01 3.39310351e+01] [-4.11412000e-01 4.52941309e-03 9.11438232e-01 1.00624369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99911593299998 meters 0.013028052272946854 Centerline is valid? [True, True] Translation: X:-71.61, Y:33.95, Z:10.10 [[ 8.76802341e-01 2.72639982e-01 3.96087231e-01 -7.16142798e+01] [-2.44591938e-01 9.62073806e-01 -1.20784004e-01 3.39509431e+01] [-4.13995699e-01 9.02395415e-03 9.10234107e-01 1.00990195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05911593299999 meters 0.0135974001311873 Centerline is valid? [True, True] Translation: X:-71.65, Y:33.98, Z:10.16 [[ 8.79242156e-01 2.70529389e-01 3.92105957e-01 -7.16454868e+01] [-2.43024818e-01 9.62664429e-01 -1.19231434e-01 3.39783484e+01] [-4.09722064e-01 9.54182395e-03 9.12160503e-01 1.01612547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11911593299999 meters 0.014005142880223607 Centerline is valid? [True, True] Translation: X:-71.68, Y:34.00, Z:10.21 [[ 8.79727486e-01 2.67445136e-01 3.93131847e-01 -7.16830307e+01] [-2.39647493e-01 9.63514194e-01 -1.19203514e-01 3.40012666e+01] [-4.10668515e-01 1.06535465e-02 9.11722476e-01 1.02139817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17911593299999 meters 0.013861876694807134 Centerline is valid? [True, True] Translation: X:-71.75, Y:34.02, Z:10.22 [[ 8.79911878e-01 2.67409025e-01 3.92743556e-01 -7.17462897e+01] [-2.39817085e-01 9.63528032e-01 -1.18749727e-01 3.40188491e+01] [-4.10174175e-01 1.03026807e-02 9.11949012e-01 1.02228771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.239115933 meters 0.014585522025247022 Centerline is valid? [True, True] Translation: X:-71.80, Y:34.04, Z:10.25 [[ 8.78335581e-01 2.75476716e-01 3.90690654e-01 -7.17970136e+01] [-2.49122613e-01 9.61288491e-01 -1.17738525e-01 3.40371431e+01] [-4.08000651e-01 6.08405942e-03 9.12961364e-01 1.02522237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.299115933 meters 0.0140853132450599 Centerline is valid? [True, True] Translation: X:-71.83, Y:34.07, Z:10.31 [[ 8.78493093e-01 2.71550101e-01 3.93078144e-01 -7.18296040e+01] [-2.44632258e-01 9.62394232e-01 -1.18120283e-01 3.40701575e+01] [-4.10371713e-01 7.60825860e-03 9.11886600e-01 1.03081400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35911593299998 meters 0.014408763516158404 Centerline is valid? [True, True] Translation: X:-71.90, Y:34.08, Z:10.31 [[ 8.77754322e-01 2.74965804e-01 3.92353358e-01 -7.18976104e+01] [-2.48631349e-01 9.61437477e-01 -1.17560323e-01 3.40809994e+01] [-4.09548291e-01 5.63773726e-03 9.12271020e-01 1.03097177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41911593299999 meters 0.014443154897746243 Centerline is valid? [True, True] Translation: X:-71.95, Y:34.10, Z:10.33 [[ 8.75794346e-01 2.82049659e-01 3.91704294e-01 -7.19511523e+01] [-2.56633074e-01 9.59397790e-01 -1.17027117e-01 3.41006858e+01] [-4.08807692e-01 1.96741024e-03 9.12618431e-01 1.03328276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47911593299999 meters 0.013894272724171982 Centerline is valid? [True, True] Translation: X:-71.99, Y:34.13, Z:10.39 [[ 8.75520203e-01 2.85663889e-01 3.89692849e-01 -7.19860768e+01] [-2.61009203e-01 9.58329869e-01 -1.16095041e-01 3.41299113e+01] [-4.06618457e-01 -6.98659736e-05 9.13598066e-01 1.03876009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53911593299999 meters 0.014582897322097195 Centerline is valid? [True, True] Translation: X:-72.03, Y:34.16, Z:10.43 [[ 8.75575613e-01 2.85386639e-01 3.89771487e-01 -7.20319243e+01] [-2.60842684e-01 9.58412429e-01 -1.15787352e-01 3.41554336e+01] [-4.06606001e-01 -2.88459439e-04 9.13603567e-01 1.04254107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.599115933 meters 0.014795673763950615 Centerline is valid? [True, True] Translation: X:-72.08, Y:34.18, Z:10.46 [[ 8.74741521e-01 2.90407964e-01 3.87931033e-01 -7.20771351e+01] [-2.66748132e-01 9.56898185e-01 -1.14853372e-01 3.41793142e+01] [-4.04564835e-01 -3.01286518e-03 9.14504356e-01 1.04632376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.659115933 meters 0.014461258436339747 Centerline is valid? [True, True] Translation: X:-72.12, Y:34.20, Z:10.51 [[ 8.73244665e-01 2.93500290e-01 3.88974722e-01 -7.21192379e+01] [-2.70142526e-01 9.55946961e-01 -1.14840858e-01 3.42044330e+01] [-4.05545028e-01 -4.79444718e-03 9.14062494e-01 1.05090060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.719115933 meters 0.015584706902604415 Centerline is valid? [True, True] Translation: X:-72.17, Y:34.22, Z:10.53 [[ 8.70618740e-01 3.00588137e-01 3.89448048e-01 -7.21721175e+01] [-2.78018808e-01 9.53716088e-01 -1.14591298e-01 3.42236936e+01] [-4.05867654e-01 -8.50855028e-03 9.13892254e-01 1.05347348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77911593299999 meters 0.01486792949689446 Centerline is valid? [True, True] Translation: X:-72.19, Y:34.26, Z:10.61 [[ 8.69322896e-01 3.05238808e-01 3.88724803e-01 -7.21928461e+01] [-2.83342980e-01 9.52212388e-01 -1.14054040e-01 3.42582185e+01] [-4.04962292e-01 -1.09926559e-02 9.14267304e-01 1.06133994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83911593299999 meters 0.015295757321336199 Centerline is valid? [True, True] Translation: X:-72.26, Y:34.27, Z:10.62 [[ 8.68318027e-01 3.01909642e-01 3.93540814e-01 -7.22559265e+01] [-2.79281116e-01 9.53284564e-01 -1.15111245e-01 3.42727330e+01] [-4.09909578e-01 -9.95534810e-03 9.12071833e-01 1.06230579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89911593299999 meters 0.015347456749125285 Centerline is valid? [True, True] Translation: X:-72.31, Y:34.29, Z:10.64 [[ 8.64679774e-01 3.15754491e-01 3.90676324e-01 -7.23107774e+01] [-2.94839158e-01 9.48698453e-01 -1.14197706e-01 3.42921266e+01] [-4.06692462e-01 -1.64422316e-02 9.13417152e-01 1.06436837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95911593299999 meters 0.015714346686676258 Centerline is valid? [True, True] Translation: X:-72.36, Y:34.31, Z:10.68 [[ 8.63947329e-01 3.13504522e-01 3.94093806e-01 -7.23606908e+01] [-2.92125544e-01 9.49454139e-01 -1.14889101e-01 3.43105092e+01] [-4.10192247e-01 -1.58667358e-02 9.11861046e-01 1.06756413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.019115933 meters 0.015553197495594976 Centerline is valid? [True, True] Translation: X:-72.40, Y:34.34, Z:10.73 [[ 8.61653240e-01 3.21937885e-01 3.92313259e-01 -7.23950537e+01] [-3.01628860e-01 9.46552310e-01 -1.14274915e-01 3.43361825e+01] [-4.08134445e-01 -1.98676500e-02 9.12705621e-01 1.07340488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.079115933 meters 0.01613696926773171 Centerline is valid? [True, True] Translation: X:-72.45, Y:34.36, Z:10.75 [[ 8.59979177e-01 3.25043381e-01 3.93424219e-01 -7.24498815e+01] [-3.04943599e-01 9.45455662e-01 -1.14555632e-01 3.43572646e+01] [-4.09200705e-01 -2.14567388e-02 9.12192080e-01 1.07549262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13911593299999 meters 0.016054239803695542 Centerline is valid? [True, True] Translation: X:-72.48, Y:34.38, Z:10.82 [[ 8.59490434e-01 3.29154610e-01 3.91067049e-01 -7.24821629e+01] [-3.09856594e-01 9.43981114e-01 -1.13527738e-01 3.43817162e+01] [-4.06528087e-01 -2.35986983e-02 9.13333464e-01 1.08175417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19911593299999 meters 0.016342496783618946 Centerline is valid? [True, True] Translation: X:-72.56, Y:34.39, Z:10.80 [[ 8.58458641e-01 3.30092556e-01 3.92540018e-01 -7.25617797e+01] [-3.10758730e-01 9.43638372e-01 -1.13910642e-01 3.43924605e+01] [-4.08016878e-01 -2.41976629e-02 9.12653658e-01 1.07972788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25911593299999 meters 0.015647324658695706 Centerline is valid? [True, True] Translation: X:-72.55, Y:34.43, Z:10.93 [[ 8.56517945e-01 3.35254469e-01 3.92404703e-01 -7.25544847e+01] [-3.16594343e-01 9.41741136e-01 -1.13541423e-01 3.44340877e+01] [-4.07608920e-01 -2.69828425e-02 9.12757851e-01 1.09251628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31911593299999 meters 0.016843027044097056 Centerline is valid? [True, True] Translation: X:-72.63, Y:34.44, Z:10.92 [[ 8.53014209e-01 3.48888809e-01 3.88128018e-01 -7.26251520e+01] [-3.32067686e-01 9.36573069e-01 -1.12080050e-01 3.44423828e+01] [-4.02613725e-01 -3.32788981e-02 9.14764835e-01 1.09215354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.379115933 meters 0.01742854877272758 Centerline is valid? [True, True] Translation: X:-72.66, Y:34.47, Z:10.97 [[ 8.51932063e-01 3.51905744e-01 3.87781004e-01 -7.26623769e+01] [-3.35532167e-01 9.35382710e-01 -1.11702060e-01 3.44668588e+01] [-4.02032243e-01 -3.49504340e-02 9.14958219e-01 1.09732387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.439115933 meters 0.016575236824591163 Centerline is valid? [True, True] Translation: X:-72.70, Y:34.49, Z:11.03 [[ 8.49455932e-01 3.55473664e-01 3.89952682e-01 -7.27000395e+01] [-3.39382337e-01 9.33948081e-01 -1.12074130e-01 3.44866816e+01] [-4.04034961e-01 -3.71410180e-02 9.13989220e-01 1.10283662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49911593299998 meters 0.016709270159933905 Centerline is valid? [True, True] Translation: X:-72.78, Y:34.49, Z:11.00 [[ 8.48726982e-01 3.52390069e-01 3.94314277e-01 -7.27840896e+01] [-3.35644688e-01 9.35152589e-01 -1.13279648e-01 3.44873239e+01] [-4.08662640e-01 -3.62059987e-02 9.11967090e-01 1.10028214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55911593299999 meters 0.01681071906168511 Centerline is valid? [True, True] Translation: X:-72.88, Y:34.48, Z:10.96 [[ 8.46592657e-01 3.54651554e-01 3.96866664e-01 -7.28797920e+01] [-3.38056108e-01 9.34230446e-01 -1.13716934e-01 3.44837451e+01] [-4.11094808e-01 -3.78912786e-02 9.10804760e-01 1.09601243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61911593299999 meters 0.016814284051289093 Centerline is valid? [True, True] Translation: X:-72.90, Y:34.51, Z:11.04 [[ 8.47959550e-01 3.43784498e-01 4.03456094e-01 -7.29012671e+01] [-3.25519020e-01 9.38454638e-01 -1.15500041e-01 3.45084412e+01] [-4.18332367e-01 -3.33932693e-02 9.07679966e-01 1.10415326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67911593299999 meters 0.016945515343294616 Centerline is valid? [True, True] Translation: X:-72.98, Y:34.51, Z:11.02 [[ 8.45474718e-01 3.49457458e-01 4.03796961e-01 -7.29815875e+01] [-3.31903338e-01 9.36239705e-01 -1.15305637e-01 3.45077507e+01] [-4.18345162e-01 -3.65335582e-02 9.07553097e-01 1.10239283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.739115933 meters 0.01813089592590071 Centerline is valid? [True, True] Translation: X:-73.06, Y:34.51, Z:11.02 [[ 8.42660268e-01 3.59037323e-01 4.01267832e-01 -7.30580304e+01] [-3.42763901e-01 9.32419283e-01 -1.14486630e-01 3.45067234e+01] [-4.15254838e-01 -4.10667931e-02 9.08777717e-01 1.10154924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.799115933 meters 0.01735063764894629 Centerline is valid? [True, True] Translation: X:-73.12, Y:34.52, Z:11.02 [[ 8.40696429e-01 3.61475871e-01 4.03193141e-01 -7.31210561e+01] [-3.45351769e-01 9.31407354e-01 -1.14945621e-01 3.45184695e+01] [-4.17087125e-01 -4.26090918e-02 9.07867168e-01 1.10245558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85911593299998 meters 0.018211424989994535 Centerline is valid? [True, True] Translation: X:-73.18, Y:34.53, Z:11.04 [[ 8.37635469e-01 3.72842691e-01 3.99193123e-01 -7.31801832e+01] [-3.58306506e-01 9.26660699e-01 -1.13650330e-01 3.45285020e+01] [-4.12290273e-01 -4.78359457e-02 9.09795830e-01 1.10433681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91911593299999 meters 0.016978979166098307 Centerline is valid? [True, True] Translation: X:-73.22, Y:34.54, Z:11.09 [[ 8.37478101e-01 3.67630468e-01 4.04324460e-01 -7.32236565e+01] [-3.52185099e-01 9.28831550e-01 -1.15054799e-01 3.45424852e+01] [-4.17846964e-01 -4.60411756e-02 9.07350056e-01 1.10885929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97911593299999 meters 0.017060664759966593 Centerline is valid? [True, True] Translation: X:-73.26, Y:34.56, Z:11.15 [[ 8.35334436e-01 3.73482972e-01 4.03394162e-01 -7.32595480e+01] [-3.58826066e-01 9.26341416e-01 -1.14609926e-01 3.45604301e+01] [-4.16485574e-01 -4.90107226e-02 9.07820310e-01 1.11468686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03911593299999 meters 0.01647033575923837 Centerline is valid? [True, True] Translation: X:-73.29, Y:34.58, Z:11.22 [[ 8.33499394e-01 3.76607319e-01 4.04284167e-01 -7.32902625e+01] [-3.62359386e-01 9.24968489e-01 -1.14581717e-01 3.45787680e+01] [-4.17102428e-01 -5.09923712e-02 9.07427872e-01 1.12166193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.099115933 meters 0.01588857144801111 Centerline is valid? [True, True] Translation: X:-73.35, Y:34.59, Z:11.23 [[ 8.35187460e-01 3.68953185e-01 4.07842437e-01 -7.33493182e+01] [-3.53631751e-01 9.28221647e-01 -1.15538563e-01 3.45869092e+01] [-4.21196499e-01 -4.77296760e-02 9.05712641e-01 1.12342312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.159115933 meters 0.01759252217210285 Centerline is valid? [True, True] Translation: X:-73.40, Y:34.60, Z:11.27 [[ 8.32289848e-01 3.82024751e-01 4.01684826e-01 -7.33960818e+01] [-3.68682732e-01 9.22596201e-01 -1.13531021e-01 3.46024471e+01] [-4.13964555e-01 -5.36035430e-02 9.08713380e-01 1.12741345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.219115933 meters 0.01568307950105801 Centerline is valid? [True, True] Translation: X:-73.47, Y:34.61, Z:11.27 [[ 8.34113894e-01 3.72588706e-01 4.06732921e-01 -7.34693824e+01] [-3.57917387e-01 9.26661225e-01 -1.14865651e-01 3.46092858e+01] [-4.19701271e-01 -4.97657489e-02 9.06296979e-01 1.12662899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27911593299999 meters 0.01547799458542969 Centerline is valid? [True, True] Translation: X:-73.53, Y:34.60, Z:11.29 [[ 8.32617257e-01 3.77464537e-01 4.05301156e-01 -7.35307419e+01] [-3.63558906e-01 9.24547063e-01 -1.14182528e-01 3.46049472e+01] [-4.17819848e-01 -5.22805020e-02 9.07024434e-01 1.12856427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33911593299999 meters 0.015079300577051022 Centerline is valid? [True, True] Translation: X:-73.54, Y:34.64, Z:11.39 [[ 8.33478918e-01 3.75567039e-01 4.05292849e-01 -7.35388361e+01] [-3.61569257e-01 9.25358479e-01 -1.13926980e-01 3.46360954e+01] [-4.17828393e-01 -5.15856979e-02 9.07060279e-01 1.13907375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39911593299999 meters 0.014460254497955911 Centerline is valid? [True, True] Translation: X:-73.58, Y:34.65, Z:11.44 [[ 8.38212604e-01 3.61998453e-01 4.07868546e-01 -7.35800781e+01] [-3.46459152e-01 9.31069494e-01 -1.14348823e-01 3.46521898e+01] [-4.21148058e-01 -4.54611656e-02 9.05851862e-01 1.14408378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45911593299999 meters 0.014871334345649101 Centerline is valid? [True, True] Translation: X:-73.65, Y:34.65, Z:11.44 [[ 8.39452688e-01 3.60519892e-01 4.06625862e-01 -7.36540180e+01] [-3.44945467e-01 9.31683244e-01 -1.13925226e-01 3.46479307e+01] [-4.19918812e-01 -4.46289108e-02 9.06463707e-01 1.14387597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.519115933 meters 0.014679718076545925 Centerline is valid? [True, True] Translation: X:-73.70, Y:34.66, Z:11.48 [[ 8.42626292e-01 3.51555055e-01 4.07909274e-01 -7.37016119e+01] [-3.35046010e-01 9.35284573e-01 -1.13960249e-01 3.46577289e+01] [-4.21574553e-01 -4.06424725e-02 9.05882490e-01 1.14782050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.579115933 meters 0.014699934934252234 Centerline is valid? [True, True] Translation: X:-73.77, Y:34.66, Z:11.49 [[ 8.43139636e-01 3.52107704e-01 4.06368945e-01 -7.37660628e+01] [-3.35903186e-01 9.35061083e-01 -1.13268796e-01 3.46610006e+01] [-4.19862602e-01 -4.09992118e-02 9.06661161e-01 1.14900356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63911593299999 meters 0.013676775551166266 Centerline is valid? [True, True] Translation: X:-73.81, Y:34.67, Z:11.54 [[ 8.47377148e-01 3.40755177e-01 4.07231971e-01 -7.38074932e+01] [-3.23395155e-01 9.39470665e-01 -1.13183228e-01 3.46698957e+01] [-4.21150261e-01 -3.57879654e-02 9.06284546e-01 1.15439926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69911593299999 meters 0.013917709816030015 Centerline is valid? [True, True] Translation: X:-73.87, Y:34.67, Z:11.56 [[ 8.51082321e-01 3.31834544e-01 4.06871870e-01 -7.38687617e+01] [-3.13569894e-01 9.42815098e-01 -1.13020410e-01 3.46698480e+01] [-4.21109018e-01 -3.13930964e-02 9.06466584e-01 1.15624230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75911593299999 meters 0.012993941247142595 Centerline is valid? [True, True] Translation: X:-73.90, Y:34.69, Z:11.62 [[ 8.53386244e-01 3.28883311e-01 4.04435022e-01 -7.39048665e+01] [-3.10655057e-01 9.43893720e-01 -1.12062845e-01 3.46851211e+01] [-4.18599277e-01 -3.00068942e-02 9.07675180e-01 1.16230046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81911593299999 meters 0.015562548515805137 Centerline is valid? [True, True] Translation: X:-73.96, Y:34.69, Z:11.65 [[ 8.55524898e-01 3.22199284e-01 4.05295905e-01 -7.39588860e+01] [-3.03338390e-01 9.46282316e-01 -1.11962490e-01 3.46917887e+01] [-4.19598582e-01 -2.71551094e-02 9.07303494e-01 1.16538194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.879115933 meters 0.01356764738993877 Centerline is valid? [True, True] Translation: X:-74.02, Y:34.70, Z:11.67 [[ 8.58040281e-01 3.11166571e-01 4.08585659e-01 -7.40205054e+01] [-2.90838569e-01 9.50099637e-01 -1.12798963e-01 3.47004837e+01] [-4.23296353e-01 -2.20464147e-02 9.05723000e-01 1.16668154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.939115933 meters 0.013915065888024943 Centerline is valid? [True, True] Translation: X:-74.04, Y:34.72, Z:11.76 [[ 8.57998850e-01 3.11114324e-01 4.08712431e-01 -7.40366503e+01] [-2.90907114e-01 9.50109849e-01 -1.12535882e-01 3.47245868e+01] [-4.23333231e-01 -2.23416965e-02 9.05698528e-01 1.17618022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99911593299998 meters 0.01355232686711049 Centerline is valid? [True, True] Translation: X:-74.13, Y:34.72, Z:11.72 [[ 8.57946071e-01 3.08619122e-01 4.10710088e-01 -7.41290120e+01] [-2.88091319e-01 9.50940874e-01 -1.12760129e-01 3.47184044e+01] [-4.25360942e-01 -2.15799014e-02 9.04766476e-01 1.17237787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05911593299999 meters 0.012978289771195334 Centerline is valid? [True, True] Translation: X:-74.14, Y:34.75, Z:11.82 [[ 8.57686859e-01 3.09055338e-01 4.10923411e-01 -7.41420747e+01] [-2.88706599e-01 9.50786006e-01 -1.12492093e-01 3.47489386e+01] [-4.25466510e-01 -2.21533106e-02 9.04702978e-01 1.18201585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11911593299999 meters 0.012931186340531833 Centerline is valid? [True, True] Translation: X:-74.21, Y:34.75, Z:11.83 [[ 8.55651937e-01 3.13127849e-01 4.12080953e-01 -7.42065942e+01] [-2.93269205e-01 9.49391813e-01 -1.12464924e-01 3.47536726e+01] [-4.26442183e-01 -2.46198236e-02 9.04179699e-01 1.18308441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17911593299999 meters 0.015811325480026985 Centerline is valid? [True, True] Translation: X:-74.25, Y:34.77, Z:11.88 [[ 8.54470665e-01 3.19114601e-01 4.09933842e-01 -7.42458948e+01] [-3.00144846e-01 9.47317218e-01 -1.11817531e-01 3.47691968e+01] [-4.24019994e-01 -2.74947297e-02 9.05235375e-01 1.18833115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.239115933 meters 0.01237744622526384 Centerline is valid? [True, True] Translation: X:-74.27, Y:34.79, Z:11.96 [[ 8.58714775e-01 3.00037350e-01 4.15435343e-01 -7.42712073e+01] [-2.78547567e-01 9.53745361e-01 -1.13053257e-01 3.47921276e+01] [-4.30139731e-01 -1.86380019e-02 9.02569907e-01 1.19600411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.299115933 meters 0.013158922354766416 Centerline is valid? [True, True] Translation: X:-74.32, Y:34.80, Z:12.00 [[ 8.60069710e-01 3.01045438e-01 4.11888016e-01 -7.43170412e+01] [-2.80090263e-01 9.53419487e-01 -1.11985380e-01 3.48031547e+01] [-4.26414749e-01 -1.90505898e-02 9.04327118e-01 1.20040140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35911593299998 meters 0.013630405473777474 Centerline is valid? [True, True] Translation: X:-74.36, Y:34.82, Z:12.06 [[ 8.61598699e-01 2.96252024e-01 4.12167950e-01 -7.43560822e+01] [-2.74900555e-01 9.54957911e-01 -1.11736620e-01 3.48201796e+01] [-4.26705245e-01 -1.70330721e-02 9.04230340e-01 1.20569876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41911593299999 meters 0.013994630963222279 Centerline is valid? [True, True] Translation: X:-74.43, Y:34.84, Z:12.05 [[ 8.61212924e-01 2.94721740e-01 4.14066898e-01 -7.44263674e+01] [-2.73142225e-01 9.55437411e-01 -1.11949450e-01 3.48369186e+01] [-4.28608942e-01 -1.66868407e-02 9.03335998e-01 1.20500198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47911593299999 meters 0.013888510877719857 Centerline is valid? [True, True] Translation: X:-74.44, Y:34.87, Z:12.15 [[ 8.58817371e-01 2.92017899e-01 4.20901733e-01 -7.44376512e+01] [-2.69557039e-01 9.56278568e-01 -1.13447360e-01 3.48666448e+01] [-4.35627967e-01 -1.60264610e-02 8.99984126e-01 1.21506485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53911593299999 meters 0.015285571577105465 Centerline is valid? [True, True] Translation: X:-74.48, Y:34.89, Z:12.20 [[ 8.56349360e-01 2.96052163e-01 4.23106240e-01 -7.44783795e+01] [-2.73974625e-01 9.54991649e-01 -1.13705126e-01 3.48878558e+01] [-4.37725575e-01 -1.85490613e-02 8.98917267e-01 1.21987284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.599115933 meters 0.014779389789522448 Centerline is valid? [True, True] Translation: X:-74.51, Y:34.92, Z:12.27 [[ 8.55451865e-01 2.95656522e-01 4.25193283e-01 -7.45059018e+01] [-2.73472766e-01 9.55108931e-01 -1.13927945e-01 3.49163646e+01] [-4.39789442e-01 -1.88189103e-02 8.97903723e-01 1.22698469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.659115933 meters 0.015823562115615607 Centerline is valid? [True, True] Translation: X:-74.61, Y:34.92, Z:12.20 [[ 8.54558842e-01 2.95627899e-01 4.27005072e-01 -7.46111581e+01] [-2.73440651e-01 9.55107638e-01 -1.14015832e-01 3.49166967e+01] [-4.41542066e-01 -1.93273077e-02 8.97032362e-01 1.22040468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.719115933 meters 0.016576865660527674 Centerline is valid? [True, True] Translation: X:-74.57, Y:34.96, Z:12.39 [[ 8.51617665e-01 3.07536796e-01 4.24462568e-01 -7.45724317e+01] [-2.87172252e-01 9.51190152e-01 -1.13001739e-01 3.49643722e+01] [-4.38496807e-01 -2.56595943e-02 8.98366370e-01 1.23928899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77911593299999 meters 0.017163216252565693 Centerline is valid? [True, True] Translation: X:-74.57, Y:34.99, Z:12.51 [[ 8.53561154e-01 2.94762609e-01 4.29590923e-01 -7.45747000e+01] [-2.72426190e-01 9.55371049e-01 -1.14237166e-01 3.49926825e+01] [-4.44091575e-01 -1.95234112e-02 8.95768669e-01 1.25116147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83911593299999 meters 0.018117389529047494 Centerline is valid? [True, True] Translation: X:-74.55, Y:35.02, Z:12.68 [[ 8.59786149e-01 2.53666239e-01 4.43194333e-01 -7.45537519e+01] [-2.24815023e-01 9.67290808e-01 -1.17501907e-01 3.50157426e+01] [-4.58504072e-01 1.38976782e-03 8.88691220e-01 1.26792333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89911593299999 meters 0.019737335719166485 Centerline is valid? [True, True] Translation: X:-74.40, Y:35.11, Z:13.06 [[ 8.60795718e-01 2.08717148e-01 4.64185184e-01 -7.44037604e+01] [-1.70887103e-01 9.77622836e-01 -1.22683285e-01 3.51122243e+01] [-4.79404141e-01 2.62819847e-02 8.77200619e-01 1.30621643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95911593299999 meters 0.02145119968033547 Centerline is valid? [True, True] Translation: X:-74.46, Y:35.11, Z:13.09 [[ 8.58916928e-01 1.88670783e-01 4.76093528e-01 -7.44629049e+01] [-1.45952891e-01 9.81290886e-01 -1.25562536e-01 3.51102964e+01] [-4.90876222e-01 3.83605606e-02 8.70384399e-01 1.30888235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.019115933 meters 0.02375204533911072 Centerline is valid? [True, True] Translation: X:-74.52, Y:35.12, Z:13.11 [[ 8.57995422e-01 1.66056091e-01 4.86075334e-01 -7.45187013e+01] [-1.18216438e-01 9.84736904e-01 -1.27742335e-01 3.51239834e+01] [-4.99868712e-01 5.21402442e-02 8.64530315e-01 1.31143148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.079115933 meters 0.02388446922282502 Centerline is valid? [True, True] Translation: X:-77.77, Y:36.70, Z:9.01 [[ 3.91704540e-01 8.23662006e-01 -4.10059085e-01 -7.77664980e+01] [ 9.19768442e-01 -3.38728438e-01 1.98214680e-01 3.66991830e+01] [ 2.43632279e-02 -4.54800996e-01 -8.90259786e-01 9.01406610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13911593299999 meters 0.02275098056821321 Centerline is valid? [True, True] Translation: X:-76.19, Y:35.47, Z:7.79 [[-3.58771864e-01 -9.33374262e-01 -9.75891848e-03 -7.61864027e+01] [-9.29514803e-01 3.58205302e-01 -8.76994474e-02 3.54741147e+01] [ 8.53521034e-02 -2.23930350e-02 -9.96099177e-01 7.78781929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19911593299999 meters 0.02427316395014914 Centerline is valid? [True, True] Translation: X:-76.04, Y:35.52, Z:8.36 [[-2.06159666e-01 -9.78516622e-01 -1.84722913e-03 -7.60387377e+01] [-9.76124750e-01 2.05786960e-01 -6.95140273e-02 3.55217389e+01] [ 6.84007668e-02 -1.25278626e-02 -9.97579264e-01 8.36099208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25911593299999 meters 0.025053603785572698 Centerline is valid? [True, True] Translation: X:-76.05, Y:35.50, Z:8.38 [[-1.06165127e-01 -9.94341800e-01 3.65381308e-03 -7.60473425e+01] [-9.92142006e-01 1.05684165e-01 -6.69708632e-02 3.55007977e+01] [ 6.62057785e-02 -1.07350716e-02 -9.97748241e-01 8.37547250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31911593299999 meters 0.0238706094934075 Centerline is valid? [True, True] Translation: X:-76.36, Y:35.48, Z:7.30 [[-6.38074411e-02 -9.97922343e-01 8.92232415e-03 -7.63608958e+01] [-9.95289739e-01 6.29801585e-02 -7.37009858e-02 3.54769755e+01] [ 7.29859310e-02 -1.35829690e-02 -9.97240471e-01 7.29800404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.379115933 meters 0.023927132696881778 Centerline is valid? [True, True] Translation: X:-76.56, Y:35.37, Z:15.00 [[ 1.42727798e-01 9.89761430e-01 -1.04314805e-03 -7.65631746e+01] [-9.85314528e-01 1.41986578e-01 -9.48424635e-02 3.53708902e+01] [-9.37232993e-02 1.45644849e-02 9.95491747e-01 1.50047346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.439115933 meters 0.023600457909742908 Centerline is valid? [True, True] Translation: X:-76.18, Y:35.55, Z:7.89 [[ 3.05650335e-02 -9.99515188e-01 5.93031249e-03 -7.61849243e+01] [-9.98791544e-01 -3.07702813e-02 -3.83228632e-02 3.55537733e+01] [ 3.84867611e-02 -4.75180637e-03 -9.99247812e-01 7.88691042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49911593299998 meters 0.02394359543309027 Centerline is valid? [True, True] Translation: X:-76.18, Y:35.58, Z:7.92 [[ 1.43761139e-01 -9.89593907e-01 6.05267038e-03 -7.61848869e+01] [-9.89333173e-01 -1.43863171e-01 -2.28748946e-02 3.55822588e+01] [ 2.35076127e-02 -2.69958669e-03 -9.99720013e-01 7.92421603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55911593299999 meters 0.022640642765407924 Centerline is valid? [True, True] Translation: X:-76.06, Y:35.64, Z:8.45 [[ 2.72836285e-01 -9.62059312e-01 1.49728060e-03 -7.60587632e+01] [-9.62060425e-01 -2.72835425e-01 7.54990118e-04 3.56364982e+01] [-3.17834083e-04 -1.64646311e-03 -9.99998594e-01 8.45223693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61911593299999 meters 0.02203811618379609 Centerline is valid? [True, True] Translation: X:-76.15, Y:35.60, Z:8.08 [[ 3.52476714e-01 -9.35816775e-01 -2.67017891e-03 -7.61523193e+01] [-9.35740013e-01 -3.52482373e-01 1.21163068e-02 3.55985539e+01] [-1.22798341e-02 -1.77212275e-03 -9.99923030e-01 8.07953239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67911593299999 meters 0.023256068915464428 Centerline is valid? [True, True] Translation: X:-75.94, Y:35.70, Z:9.01 [[ 4.59532662e-01 -8.88043465e-01 -1.44408100e-02 -7.59429547e+01] [-8.87335897e-01 -4.59745762e-01 3.56207899e-02 3.56976625e+01] [-3.82719108e-02 -3.55506734e-03 -9.99261038e-01 9.01026905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.739115933 meters 0.022487242603855553 Centerline is valid? [True, True] Translation: X:-75.97, Y:35.60, Z:8.80 [[ 5.20917016e-01 -8.53365960e-01 -2.02977968e-02 -7.59744821e+01] [-8.52441381e-01 -5.21300819e-01 3.98641330e-02 3.55986611e+01] [-4.45999522e-02 -3.46322324e-03 -9.98998924e-01 8.80489386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.799115933 meters 0.020836222706393313 Centerline is valid? [True, True] Translation: X:-76.14, Y:35.51, Z:8.12 [[ 5.98786724e-01 -8.00438572e-01 -2.74326630e-02 -7.61408488e+01] [-7.99229401e-01 -5.99397519e-01 4.42151398e-02 3.55112979e+01] [-5.18345735e-02 -4.55044792e-03 -9.98645318e-01 8.12409667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85911593299998 meters 0.020681946287845296 Centerline is valid? [True, True] Translation: X:-75.91, Y:35.57, Z:9.05 [[ 6.54057661e-01 -7.55627374e-01 -3.51546179e-02 -7.59131059e+01] [-7.54154871e-01 -6.54986515e-01 4.73613398e-02 3.55685355e+01] [-5.88133256e-02 -4.46502082e-03 -9.98259013e-01 9.04621015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91911593299999 meters 0.020688863331485705 Centerline is valid? [True, True] Translation: X:-75.92, Y:35.51, Z:8.94 [[ 7.10105784e-01 -7.02714534e-01 -4.40688048e-02 -7.59226722e+01] [-7.00943162e-01 -7.11456560e-01 5.00824004e-02 3.55051741e+01] [-6.65466710e-02 -4.67407478e-03 -9.97772366e-01 8.93854972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97911593299999 meters 0.01942722809293862 Centerline is valid? [True, True] Translation: X:-75.97, Y:35.44, Z:8.67 [[ 7.69415527e-01 -6.36521113e-01 -5.32974534e-02 -7.59672367e+01] [-6.34469740e-01 -7.71238085e-01 5.13805954e-02 3.54417499e+01] [-7.38098597e-02 -5.71740647e-03 -9.97255943e-01 8.67479740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03911593299999 meters 0.01725525790004361 Centerline is valid? [True, True] Translation: X:-76.54, Y:34.74, Z:14.40 [[ 7.03763744e-01 7.09943149e-01 -2.64067945e-02 -7.65375852e+01] [-7.09524384e-01 7.04257299e-01 2.44295970e-02 3.47372000e+01] [ 3.59408028e-02 1.54359999e-03 9.99352729e-01 1.43957637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.099115933 meters 0.01853498289015786 Centerline is valid? [True, True] Translation: X:-76.64, Y:34.71, Z:14.04 [[ 6.99106375e-01 7.14457060e-01 -2.83087657e-02 -7.66425278e+01] [-7.13974546e-01 6.99676938e-01 2.63159534e-02 3.47122238e+01] [ 3.86086092e-02 1.81408741e-03 9.99252763e-01 1.40425432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.159115933 meters 0.01746399192201152 Centerline is valid? [True, True] Translation: X:-76.65, Y:34.78, Z:14.20 [[ 7.02584670e-01 7.11069140e-01 -2.74856101e-02 -7.66489110e+01] [-7.10608072e-01 7.03120467e-01 2.56471627e-02 3.47790068e+01] [ 3.75626009e-02 1.51219307e-03 9.99293132e-01 1.41952258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.219115933 meters 0.01740536323595734 Centerline is valid? [True, True] Translation: X:-76.68, Y:34.83, Z:14.23 [[ 7.09425101e-01 7.04233129e-01 -2.77799397e-02 -7.66787888e+01] [-7.03753466e-01 7.09967953e-01 2.60108476e-02 3.48253853e+01] [ 3.80405675e-02 1.09748065e-03 9.99275593e-01 1.42282110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27911593299999 meters 0.017990604794666812 Centerline is valid? [True, True] Translation: X:-76.78, Y:34.80, Z:13.92 [[ 6.95631532e-01 7.17658492e-01 -3.26046128e-02 -7.67802146e+01] [-7.17006974e-01 6.96392158e-01 3.06424724e-02 3.48038504e+01] [ 4.46964271e-02 2.06186477e-03 9.98998488e-01 1.39244295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33911593299999 meters 0.01862520587759918 Centerline is valid? [True, True] Translation: X:-76.89, Y:34.77, Z:13.53 [[ 7.00729281e-01 7.12733025e-01 -3.14660002e-02 -7.68920738e+01] [-7.12114897e-01 7.01433626e-01 2.97193853e-02 3.47710601e+01] [ 4.32532980e-02 1.58216398e-03 9.99062885e-01 1.35309588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39911593299999 meters 0.016735386210571086 Centerline is valid? [True, True] Translation: X:-76.85, Y:34.88, Z:13.94 [[ 6.94924693e-01 7.18348318e-01 -3.24863775e-02 -7.68527164e+01] [-7.17690559e-01 6.95680978e-01 3.07934720e-02 3.48783434e+01] [ 4.47205937e-02 1.91602238e-03 9.98997696e-01 1.39390353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45911593299999 meters 0.01643556362940724 Centerline is valid? [True, True] Translation: X:-76.91, Y:34.89, Z:13.82 [[ 7.06160681e-01 7.07336598e-01 -3.18124172e-02 -7.69123612e+01] [-7.06688480e-01 7.06876049e-01 3.02926156e-02 3.48948670e+01] [ 4.39145114e-02 1.09001466e-03 9.99034698e-01 1.38222494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.519115933 meters 0.016739620795240828 Centerline is valid? [True, True] Translation: X:-76.96, Y:34.92, Z:13.78 [[ 7.07499223e-01 7.06059714e-01 -3.04060714e-02 -7.69636530e+01] [-7.05461153e-01 7.08151758e-01 2.90800342e-02 3.49178015e+01] [ 4.20643536e-02 8.76200628e-04 9.99114519e-01 1.37817017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.579115933 meters 0.017659014861389585 Centerline is valid? [True, True] Translation: X:-77.01, Y:34.95, Z:13.75 [[ 7.07024470e-01 7.06475668e-01 -3.17573614e-02 -7.70077390e+01] [-7.05817057e-01 7.07736829e-01 3.05100549e-02 3.49478722e+01] [ 4.40304656e-02 8.43531949e-04 9.99029833e-01 1.37460459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63911593299999 meters 0.017158770961501403 Centerline is valid? [True, True] Translation: X:-77.06, Y:34.97, Z:13.70 [[ 7.18687518e-01 6.94799434e-01 -2.72396420e-02 -7.70551131e+01] [-6.94301509e-01 7.19203550e-01 2.62995799e-02 3.49749784e+01] [ 3.78637805e-02 1.13447703e-05 9.99282910e-01 1.36980470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69911593299999 meters 0.0168348053356297 Centerline is valid? [True, True] Translation: X:-77.12, Y:34.98, Z:13.54 [[ 7.14496011e-01 6.99060596e-01 -2.84557987e-02 -7.71246290e+01] [-6.98515729e-01 7.15062415e-01 2.75956527e-02 3.49819649e+01] [ 3.96387056e-02 1.59839135e-04 9.99214065e-01 1.35406659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75911593299999 meters 0.016803001236848632 Centerline is valid? [True, True] Translation: X:-77.16, Y:35.02, Z:13.56 [[ 7.23340900e-01 6.90120790e-01 -2.26105821e-02 -7.71564389e+01] [-6.89767570e-01 7.23694103e-01 2.20804037e-02 3.50201476e+01] [ 3.16012905e-02 -3.75612851e-04 9.99500484e-01 1.35616132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81911593299999 meters 0.016212116301067992 Centerline is valid? [True, True] Translation: X:-77.19, Y:35.06, Z:13.58 [[ 7.29481172e-01 6.83732760e-01 -1.91502677e-02 -7.71865334e+01] [-6.83475040e-01 7.29732238e-01 1.87811321e-02 3.50637937e+01] [ 2.68158430e-02 -6.11752299e-04 9.99640203e-01 1.35804878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.879115933 meters 0.015303024511167329 Centerline is valid? [True, True] Translation: X:-77.21, Y:35.12, Z:13.67 [[ 7.21765457e-01 6.91813955e-01 -2.11678350e-02 -7.72055993e+01] [-6.91500320e-01 7.22075684e-01 2.08330249e-02 3.51174212e+01] [ 2.96973563e-02 -3.98993027e-04 9.99558857e-01 1.36724641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.939115933 meters 0.015962487784727076 Centerline is valid? [True, True] Translation: X:-77.24, Y:35.16, Z:13.65 [[ 7.09733957e-01 7.04030406e-01 -2.48776575e-02 -7.72397426e+01] [-7.03601124e-01 7.10169828e-01 2.45819725e-02 3.51586052e+01] [ 3.49738178e-02 5.72871897e-05 9.99388227e-01 1.36460835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99911593299998 meters 0.01663573564373478 Centerline is valid? [True, True] Translation: X:-77.30, Y:35.18, Z:13.54 [[ 6.79247116e-01 7.33324894e-01 -2.92908890e-02 -7.72972046e+01] [-7.32751083e-01 6.79876178e-01 2.90556709e-02 3.51771722e+01] [ 4.12214244e-02 1.72694998e-03 9.99148543e-01 1.35399757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05911593299999 meters 0.01669498068939032 Centerline is valid? [True, True] Translation: X:-77.32, Y:35.22, Z:13.57 [[ 6.78555496e-01 7.34074783e-01 -2.63941659e-02 -7.73201335e+01] [-7.33603122e-01 6.79067021e-01 2.63522423e-02 3.52248423e+01] [ 3.72679241e-02 1.48138364e-03 9.99304212e-01 1.35662454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11911593299999 meters 0.01722550648442009 Centerline is valid? [True, True] Translation: X:-77.33, Y:35.29, Z:13.67 [[ 6.72214371e-01 7.39794368e-01 -2.88467214e-02 -7.73286618e+01] [-7.39232320e-01 6.72830350e-01 2.88945943e-02 3.52877626e+01] [ 4.07850078e-02 1.90106728e-03 9.99166137e-01 1.36678114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17911593299999 meters 0.016565843643312546 Centerline is valid? [True, True] Translation: X:-77.37, Y:35.32, Z:13.63 [[ 6.71044875e-01 7.40788256e-01 -3.05210841e-02 -7.73690051e+01] [-7.40154485e-01 6.71735666e-01 3.07007012e-02 3.53219316e+01] [ 4.32448197e-02 1.98876910e-03 9.99062526e-01 1.36348300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.239115933 meters 0.01634558483679404 Centerline is valid? [True, True] Translation: X:-76.65, Y:36.05, Z:8.90 [[ 7.80925932e-01 -6.21603158e-01 -6.13531048e-02 -7.66482787e+01] [-6.19226490e-01 -7.83319004e-01 5.44967106e-02 3.60545478e+01] [-8.19343803e-02 -4.56642675e-03 -9.96627265e-01 8.90400604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.299115933 meters 0.01711102209449093 Centerline is valid? [True, True] Translation: X:-77.33, Y:35.20, Z:13.42 [[ 7.33069609e-01 6.79047368e-01 -3.87765306e-02 -7.73318208e+01] [-6.78239725e-01 7.34091773e-01 3.31684126e-02 3.52021797e+01] [ 5.09884553e-02 1.98502819e-03 9.98697270e-01 1.34219214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35911593299998 meters 0.01765592020091107 Centerline is valid? [True, True] Translation: X:-77.38, Y:35.23, Z:13.38 [[ 7.41163250e-01 6.70240229e-01 -3.81453999e-02 -7.73795415e+01] [-6.69436709e-01 7.42143240e-01 3.28314277e-02 3.52257569e+01] [ 5.03142943e-02 1.20248331e-03 9.98732710e-01 1.33759113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41911593299999 meters 0.016525303857595187 Centerline is valid? [True, True] Translation: X:-77.42, Y:35.26, Z:13.35 [[ 7.52029938e-01 6.58207476e-01 -3.48409407e-02 -7.74184335e+01] [-6.57516901e-01 7.52836543e-01 3.01440624e-02 3.52596566e+01] [ 4.60705806e-02 2.39269994e-04 9.98938158e-01 1.33542383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47911593299999 meters 0.017929819134463294 Centerline is valid? [True, True] Translation: X:-77.49, Y:35.26, Z:13.24 [[ 7.43340459e-01 6.67747099e-01 -3.94813218e-02 -7.74853703e+01] [-6.66865719e-01 7.44387754e-01 3.43072058e-02 3.52638070e+01] [ 5.22979496e-02 8.26805953e-04 9.98631184e-01 1.32431419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53911593299999 meters 0.017462305689029962 Centerline is valid? [True, True] Translation: X:-77.54, Y:35.28, Z:13.13 [[ 7.44870300e-01 6.66103478e-01 -3.83978243e-02 -7.75445200e+01] [-6.65259015e-01 7.45859127e-01 3.35351390e-02 3.52763795e+01] [ 5.09772404e-02 5.65169741e-04 9.98699655e-01 1.31279477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.599115933 meters 0.01753247149802356 Centerline is valid? [True, True] Translation: X:-77.57, Y:35.33, Z:13.20 [[ 7.39065330e-01 6.72535402e-01 -3.84521998e-02 -7.75652428e+01] [-6.71689089e-01 7.40064415e-01 3.37406176e-02 3.53280882e+01] [ 5.11488645e-02 8.91402384e-04 9.98690642e-01 1.32020419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.659115933 meters 0.01743625985638416 Centerline is valid? [True, True] Translation: X:-77.59, Y:35.38, Z:13.26 [[ 7.35536099e-01 6.76521376e-01 -3.61313720e-02 -7.75879112e+01] [-6.75771829e-01 7.36422333e-01 3.18525100e-02 3.53782638e+01] [ 4.81568531e-02 9.87892391e-04 9.98839297e-01 1.32576194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.719115933 meters 0.01757512597452957 Centerline is valid? [True, True] Translation: X:-77.64, Y:35.40, Z:13.16 [[ 7.35254799e-01 6.76854305e-01 -3.56178512e-02 -7.76404750e+01] [-6.76119029e-01 7.36116480e-01 3.15529291e-02 3.53987328e+01] [ 4.75756231e-02 8.82464439e-04 9.98867249e-01 1.31643300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77911593299999 meters 0.01742774830030112 Centerline is valid? [True, True] Translation: X:-77.69, Y:35.42, Z:13.10 [[ 7.29725971e-01 6.82905933e-01 -3.37564065e-02 -7.76900126e+01] [-6.82245321e-01 7.30505492e-01 3.00507593e-02 3.54223932e+01] [ 4.51810821e-02 1.10133087e-03 9.98978206e-01 1.30963570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83911593299999 meters 0.017988219716102715 Centerline is valid? [True, True] Translation: X:-77.71, Y:35.47, Z:13.14 [[ 7.13904382e-01 6.99424524e-01 -3.38506897e-02 -7.77144847e+01] [-6.98771963e-01 7.14703555e-01 3.02749283e-02 3.54696110e+01] [ 4.53682355e-02 2.04050891e-03 9.98968248e-01 1.31406401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89911593299999 meters 0.017634099119725914 Centerline is valid? [True, True] Translation: X:-77.76, Y:35.50, Z:13.11 [[ 7.06347371e-01 7.07181848e-01 -3.11002576e-02 -7.77550590e+01] [-7.06631733e-01 7.07028236e-01 2.79762061e-02 3.55014784e+01] [ 4.17730254e-02 2.21550933e-03 9.99124670e-01 1.31075910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95911593299999 meters 0.01875279541331201 Centerline is valid? [True, True] Translation: X:-77.83, Y:35.50, Z:12.91 [[ 7.05271754e-01 7.08349522e-01 -2.88566638e-02 -7.78265514e+01] [-7.07872063e-01 7.05858929e-01 2.60828357e-02 3.55028759e+01] [ 3.88444980e-02 2.03133891e-03 9.99243203e-01 1.29146743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.019115933 meters 0.01845426376570831 Centerline is valid? [True, True] Translation: X:-77.81, Y:35.59, Z:13.18 [[ 6.87188918e-01 7.25863664e-01 -2.98886534e-02 -7.78087497e+01] [-7.25362999e-01 6.87831885e-01 2.71259403e-02 3.55919612e+01] [ 4.02481033e-02 3.03947771e-03 9.99185094e-01 1.31750597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.079115933 meters 0.01826099198377012 Centerline is valid? [True, True] Translation: X:-77.85, Y:35.62, Z:13.16 [[ 6.78803403e-01 7.33773877e-01 -2.83167484e-02 -7.78479213e+01] [-7.33326756e-01 6.79386040e-01 2.58162241e-02 3.56249807e+01] [ 3.81812744e-02 3.24128843e-03 9.99265572e-01 1.31574292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13911593299999 meters 0.01785515985317188 Centerline is valid? [True, True] Translation: X:-77.91, Y:35.63, Z:13.00 [[ 6.79362528e-01 7.33343407e-01 -2.59615693e-02 -7.79129828e+01] [-7.32962754e-01 6.79852380e-01 2.37979332e-02 3.56333242e+01] [ 3.51020921e-02 2.86143932e-03 9.99379635e-01 1.29983986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19911593299999 meters 0.01834323272207742 Centerline is valid? [True, True] Translation: X:-77.91, Y:35.71, Z:13.17 [[ 6.66714969e-01 7.44826526e-01 -2.69183155e-02 -7.79115217e+01] [-7.44422769e-01 6.67248860e-01 2.47729581e-02 3.57056451e+01] [ 3.64127717e-02 3.52210495e-03 9.99330628e-01 1.31726784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25911593299999 meters 0.01778658851704625 Centerline is valid? [True, True] Translation: X:-77.95, Y:35.74, Z:13.16 [[ 6.76136708e-01 7.36397914e-01 -2.36064543e-02 -7.79520041e+01] [-7.36078707e-01 6.76543637e-01 2.18367618e-02 3.57370001e+01] [ 3.20513422e-02 2.61157210e-03 9.99482812e-01 1.31633087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31911593299999 meters 0.018407710047750162 Centerline is valid? [True, True] Translation: X:-78.05, Y:35.71, Z:12.89 [[ 6.76433352e-01 7.36142523e-01 -2.30674418e-02 -7.80497889e+01] [-7.35834217e-01 6.76822058e-01 2.14454443e-02 3.57130417e+01] [ 3.13994568e-02 2.46739919e-03 9.99503870e-01 1.28880302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.379115933 meters 0.01810807132102919 Centerline is valid? [True, True] Translation: X:-78.09, Y:35.74, Z:12.89 [[ 6.73945739e-01 7.38408266e-01 -2.34600442e-02 -7.80895090e+01] [-7.38087622e-01 6.74349112e-01 2.19074851e-02 3.57447481e+01] [ 3.19969281e-02 2.55111199e-03 9.99484711e-01 1.28914560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.439115933 meters 0.017846093730828332 Centerline is valid? [True, True] Translation: X:-78.14, Y:35.77, Z:12.84 [[ 6.72692060e-01 7.39571109e-01 -2.28027714e-02 -7.81377156e+01] [-7.39265567e-01 6.73073926e-01 2.13988676e-02 3.57687892e+01] [ 3.11739351e-02 2.46245536e-03 9.99510941e-01 1.28437964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49911593299998 meters 0.018176043389211704 Centerline is valid? [True, True] Translation: X:-78.16, Y:35.82, Z:12.92 [[ 6.68850160e-01 7.42999092e-01 -2.43272100e-02 -7.81604719e+01] [-7.42649881e-01 6.69286883e-01 2.29395363e-02 3.58159014e+01] [ 3.33259372e-02 2.72348710e-03 9.99440826e-01 1.29196296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55911593299999 meters 0.017647782868960227 Centerline is valid? [True, True] Translation: X:-78.17, Y:35.88, Z:13.07 [[ 6.63329613e-01 7.47900676e-01 -2.52666255e-02 -7.81685939e+01] [-7.47523948e-01 6.63803796e-01 2.39262914e-02 3.58769363e+01] [ 3.46665714e-02 3.01639003e-03 9.99394382e-01 1.30658960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61911593299999 meters 0.017458405039449308 Centerline is valid? [True, True] Translation: X:-78.21, Y:35.91, Z:13.04 [[ 6.65904118e-01 7.45621051e-01 -2.49189605e-02 -7.82088208e+01] [-7.45248782e-01 6.66364427e-01 2.37213556e-02 3.59075452e+01] [ 3.42922509e-02 2.77467656e-03 9.99407996e-01 1.30393675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67911593299999 meters 0.01784484376105261 Centerline is valid? [True, True] Translation: X:-78.26, Y:35.92, Z:12.98 [[ 6.62782494e-01 7.48405732e-01 -2.46622350e-02 -7.82642041e+01] [-7.48039251e-01 6.63235203e-01 2.35869592e-02 3.59239515e+01] [ 3.40094779e-02 2.81529614e-03 9.99417545e-01 1.29806087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.739115933 meters 0.01754159584556508 Centerline is valid? [True, True] Translation: X:-78.34, Y:35.93, Z:12.85 [[ 6.71251460e-01 7.40915089e-01 -2.15942039e-02 -7.83356797e+01] [-7.40625995e-01 6.71595632e-01 2.07952467e-02 3.59253682e+01] [ 2.99100851e-02 2.03438903e-03 9.99550523e-01 1.28482051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.799115933 meters 0.01676564139704674 Centerline is valid? [True, True] Translation: X:-78.33, Y:36.00, Z:13.03 [[ 6.54700238e-01 7.55438743e-01 -2.60749822e-02 -7.83312129e+01] [-7.55024789e-01 6.55211544e-01 2.52071511e-02 3.59974648e+01] [ 3.61270878e-02 3.18413011e-03 9.99342131e-01 1.30332017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85911593299998 meters 0.01713349942710417 Centerline is valid? [True, True] Translation: X:-78.37, Y:36.03, Z:13.00 [[ 6.52207963e-01 7.57543835e-01 -2.74246356e-02 -7.83707425e+01] [-7.57082973e-01 6.52775495e-01 2.66369165e-02 3.60298389e+01] [ 3.80807619e-02 3.38991556e-03 9.99268915e-01 1.30025530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91911593299999 meters 0.017137199833880595 Centerline is valid? [True, True] Translation: X:-78.41, Y:36.06, Z:12.98 [[ 6.51291525e-01 7.58267057e-01 -2.91619698e-02 -7.84123658e+01] [-7.57741498e-01 6.51934311e-01 2.84512871e-02 3.60602839e+01] [ 4.05853624e-02 3.56715251e-03 9.99169707e-01 1.29805776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97911593299999 meters 0.017086823370758897 Centerline is valid? [True, True] Translation: X:-78.45, Y:36.10, Z:12.98 [[ 6.48660689e-01 7.60517105e-01 -2.92069272e-02 -7.84470243e+01] [-7.59986720e-01 6.49307771e-01 2.86287150e-02 3.60965228e+01] [ 4.07369123e-02 3.62655478e-03 9.99163326e-01 1.29831813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03911593299999 meters 0.017205882777547116 Centerline is valid? [True, True] Translation: X:-78.48, Y:36.14, Z:12.97 [[ 6.40948914e-01 7.67068056e-01 -2.81262721e-02 -7.84768158e+01] [-7.66576907e-01 6.41554474e-01 2.77074448e-02 3.61371552e+01] [ 3.92980315e-02 3.80189399e-03 9.99220301e-01 1.29700260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.099115933 meters 0.01692486757935567 Centerline is valid? [True, True] Translation: X:-78.49, Y:36.19, Z:13.01 [[ 6.43384695e-01 7.65092684e-01 -2.62548743e-02 -7.84939176e+01] [-7.64658376e-01 6.43911441e-01 2.59927723e-02 3.61898525e+01] [ 3.67926939e-02 3.35265763e-03 9.99317296e-01 1.30111587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.159115933 meters 0.017316957426301058 Centerline is valid? [True, True] Translation: X:-78.52, Y:36.24, Z:13.04 [[ 6.40540469e-01 7.67468446e-01 -2.64592438e-02 -7.85174868e+01] [-7.67025011e-01 6.41077485e-01 2.63114377e-02 3.62364890e+01] [ 3.71556237e-02 3.44136112e-03 9.99303566e-01 1.30424954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.219115933 meters 0.01773215436764675 Centerline is valid? [True, True] Translation: X:-78.60, Y:36.23, Z:12.84 [[ 6.46236129e-01 7.62824274e-01 -2.18630470e-02 -7.86005889e+01] [-7.62514058e-01 6.46600943e-01 2.18982259e-02 3.62295354e+01] [ 3.08411651e-02 2.51945595e-03 9.99521123e-01 1.28392630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27911593299999 meters 0.017452305227952405 Centerline is valid? [True, True] Translation: X:-78.60, Y:36.30, Z:12.97 [[ 6.29818090e-01 7.76347504e-01 -2.47735058e-02 -7.85973134e+01] [-7.75956169e-01 6.30295182e-01 2.48999490e-02 3.63007135e+01] [ 3.49456346e-02 3.54071637e-03 9.99382943e-01 1.29685042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33911593299999 meters 0.01711253205750331 Centerline is valid? [True, True] Translation: X:-77.74, Y:37.17, Z:9.59 [[ 8.22558104e-01 -5.65931346e-01 -5.58558681e-02 -7.77371644e+01] [-5.63820129e-01 -8.24398555e-01 4.97381596e-02 3.71720887e+01] [-7.41958806e-02 -9.41986348e-03 -9.97199196e-01 9.58708053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39911593299999 meters 0.01678238956860025 Centerline is valid? [True, True] Translation: X:-78.51, Y:36.25, Z:13.07 [[ 6.89107889e-01 7.24203675e-01 -2.56778904e-02 -7.85104219e+01] [-7.23879425e-01 6.89577425e-01 2.19443032e-02 3.62461761e+01] [ 3.35990386e-02 3.46570406e-03 9.99429384e-01 1.30715900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45911593299999 meters 0.017255837865569276 Centerline is valid? [True, True] Translation: X:-78.57, Y:36.26, Z:13.00 [[ 6.96332775e-01 7.17359325e-01 -2.27214739e-02 -7.85663393e+01] [-7.17097957e-01 6.96698218e-01 1.95477167e-02 3.62608209e+01] [ 2.98527472e-02 2.68180677e-03 9.99550710e-01 1.30024458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.519115933 meters 0.017787038286784542 Centerline is valid? [True, True] Translation: X:-78.65, Y:36.25, Z:12.82 [[ 6.92316627e-01 7.21143080e-01 -2.55018873e-02 -7.86487967e+01] [-7.20812938e-01 6.92779118e-01 2.20409244e-02 3.62473277e+01] [ 3.35618351e-02 3.12279189e-03 9.99431764e-01 1.28169629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.579115933 meters 0.017130597302325905 Centerline is valid? [True, True] Translation: X:-78.67, Y:36.30, Z:12.89 [[ 6.98390685e-01 7.15372824e-01 -2.21849941e-02 -7.86712963e+01] [-7.15116974e-01 6.98738840e-01 1.92807481e-02 3.62963858e+01] [ 2.92944403e-02 2.39937099e-03 9.99567946e-01 1.28881184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63911593299999 meters 0.01803234626166961 Centerline is valid? [True, True] Translation: X:-78.71, Y:36.32, Z:12.89 [[ 7.00306121e-01 7.13378212e-01 -2.57461413e-02 -7.87146339e+01] [-7.13029214e-01 7.00774312e-01 2.24656077e-02 3.63236423e+01] [ 3.40687096e-02 2.62494832e-03 9.99416046e-01 1.28859614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69911593299999 meters 0.018134586318470564 Centerline is valid? [True, True] Translation: X:-78.76, Y:36.35, Z:12.90 [[ 7.04411041e-01 7.09291497e-01 -2.66581541e-02 -7.87553368e+01] [-7.08910207e-01 7.04911110e-01 2.33804281e-02 3.63516546e+01] [ 3.53751678e-02 2.42880580e-03 9.99371151e-01 1.29022626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75911593299999 meters 0.017939623298341735 Centerline is valid? [True, True] Translation: X:-78.80, Y:36.38, Z:12.89 [[ 7.07744447e-01 7.05996140e-01 -2.58311431e-02 -7.87970536e+01] [-7.05632298e-01 7.08212514e-01 2.27616919e-02 3.63808297e+01] [ 3.43636054e-02 2.11782785e-03 9.99407153e-01 1.28936410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81911593299999 meters 0.017779323484758237 Centerline is valid? [True, True] Translation: X:-78.83, Y:36.42, Z:12.93 [[ 7.14345292e-01 6.99330605e-01 -2.54462094e-02 -7.88297998e+01] [-6.98968794e-01 7.14796406e-01 2.25548672e-02 3.64189723e+01] [ 3.39621679e-02 1.67414309e-03 9.99421717e-01 1.29251779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.879115933 meters 0.017644870786707317 Centerline is valid? [True, True] Translation: X:-78.87, Y:36.45, Z:12.90 [[ 7.14831258e-01 6.98631730e-01 -3.04955470e-02 -7.88746118e+01] [-6.98107023e-01 7.15478954e-01 2.71376271e-02 3.64456384e+01] [ 4.07781295e-02 1.89033141e-03 9.99166438e-01 1.29046476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.939115933 meters 0.017088906922239428 Centerline is valid? [True, True] Translation: X:-78.89, Y:36.50, Z:12.97 [[ 7.17216377e-01 6.96250594e-01 -2.89098342e-02 -7.88949236e+01] [-6.95772042e-01 7.17797080e-01 2.58576428e-02 3.64970334e+01] [ 3.87547937e-02 1.56912943e-03 9.99247519e-01 1.29674675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99911593299998 meters 0.016992567040564434 Centerline is valid? [True, True] Translation: X:-78.93, Y:36.53, Z:12.98 [[ 7.12433973e-01 7.01109420e-01 -2.97223048e-02 -7.89313499e+01] [-7.00602813e-01 7.13051441e-01 2.67084632e-02 3.65322344e+01] [ 3.99190873e-02 1.79551379e-03 9.99201302e-01 1.29817444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05911593299999 meters 0.016773482464037016 Centerline is valid? [True, True] Translation: X:-78.98, Y:36.56, Z:12.94 [[ 7.08849208e-01 7.04631232e-01 -3.20566342e-02 -7.89771029e+01] [-7.04039085e-01 7.09570746e-01 2.89538145e-02 3.65583049e+01] [ 4.31482119e-02 2.04523494e-03 9.99066589e-01 1.29406437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11911593299999 meters 0.01721824996546207 Centerline is valid? [True, True] Translation: X:-79.01, Y:36.60, Z:12.94 [[ 7.04463759e-01 7.08996597e-01 -3.24751897e-02 -7.90118218e+01] [-7.08387435e-01 7.05208329e-01 2.94695559e-02 3.65957075e+01] [ 4.37955891e-02 2.24478223e-03 9.99037991e-01 1.29430107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17911593299999 meters 0.016987838705492808 Centerline is valid? [True, True] Translation: X:-79.06, Y:36.61, Z:12.89 [[ 7.08891463e-01 7.04699467e-01 -2.95220873e-02 -7.90642437e+01] [-7.04186409e-01 7.09503909e-01 2.69389075e-02 3.66142115e+01] [ 3.99298701e-02 1.69229110e-03 9.99201052e-01 1.28858667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.239115933 meters 0.016509425754443675 Centerline is valid? [True, True] Translation: X:-79.11, Y:36.64, Z:12.85 [[ 7.02563052e-01 7.10932823e-01 -3.12998213e-02 -7.91112906e+01] [-7.10356711e-01 7.03256857e-01 2.86903698e-02 3.66388415e+01] [ 4.24087395e-02 2.07724437e-03 9.99098185e-01 1.28518125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.299115933 meters 0.016383400060884606 Centerline is valid? [True, True] Translation: X:-79.13, Y:36.69, Z:12.92 [[ 7.09840276e-01 7.03900574e-01 -2.55100790e-02 -7.91321450e+01] [-7.03508041e-01 7.10297435e-01 2.35369739e-02 3.66882659e+01] [ 3.46874331e-02 1.23905372e-03 9.99397442e-01 1.29186009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35911593299998 meters 0.016591632588585 Centerline is valid? [True, True] Translation: X:-79.17, Y:36.72, Z:12.90 [[ 7.02968186e-01 7.10676536e-01 -2.78314770e-02 -7.91734335e+01] [-7.10210617e-01 7.03516997e-01 2.57820800e-02 3.67193112e+01] [ 3.79026364e-02 1.64222842e-03 9.99280087e-01 1.29034720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41911593299999 meters 0.016323350827012684 Centerline is valid? [True, True] Translation: X:-79.21, Y:36.75, Z:12.89 [[ 7.05636169e-01 7.08066407e-01 -2.68246104e-02 -7.92118833e+01] [-7.07626969e-01 7.06144550e-01 2.49789271e-02 3.67525975e+01] [ 3.66287916e-02 1.35578331e-03 9.99328021e-01 1.28934400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47911593299999 meters 0.015849831719871123 Centerline is valid? [True, True] Translation: X:-79.25, Y:36.79, Z:12.91 [[ 7.04489915e-01 7.09307096e-01 -2.40292208e-02 -7.92462801e+01] [-7.08949236e-01 7.04898671e-01 2.25575828e-02 3.67855303e+01] [ 3.29384193e-02 1.14390817e-03 9.99456728e-01 1.29099296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53911593299999 meters 0.01624208085763681 Centerline is valid? [True, True] Translation: X:-79.27, Y:36.84, Z:12.95 [[ 6.94509433e-01 7.18938497e-01 -2.80015371e-02 -7.92690347e+01] [-7.18456660e-01 6.95071368e-01 2.63784202e-02 3.68352031e+01] [ 3.84275284e-02 1.79782925e-03 9.99259772e-01 1.29536264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.599115933 meters 0.015748378915570176 Centerline is valid? [True, True] Translation: X:-79.30, Y:36.88, Z:12.97 [[ 7.06144841e-01 7.07688194e-01 -2.31707251e-02 -7.92988003e+01] [-7.07348283e-01 7.06524329e-01 2.19494805e-02 3.68772887e+01] [ 3.19040693e-02 8.90260171e-04 9.99490539e-01 1.29668507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.659115933 meters 0.016013815933993182 Centerline is valid? [True, True] Translation: X:-79.35, Y:36.90, Z:12.90 [[ 6.91056287e-01 7.22359936e-01 -2.52454313e-02 -7.93487458e+01] [-7.21962103e-01 6.91515357e-01 2.40256681e-02 3.68998990e+01] [ 3.48127835e-02 1.62315566e-03 9.99392533e-01 1.29030438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.719115933 meters 0.016036779435881242 Centerline is valid? [True, True] Translation: X:-79.40, Y:36.92, Z:12.84 [[ 6.93143432e-01 7.20496846e-01 -2.08920539e-02 -7.93992392e+01] [-7.20220374e-01 6.93457196e-01 1.99932566e-02 3.69214593e+01] [ 2.88928234e-02 1.18868836e-03 9.99581808e-01 1.28440847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77911593299999 meters 0.01590064247892092 Centerline is valid? [True, True] Translation: X:-79.43, Y:36.97, Z:12.86 [[ 6.95321823e-01 7.18381773e-01 -2.13351752e-02 -7.94269791e+01] [-7.18089600e-01 6.95648266e-01 2.05138034e-02 3.69656446e+01] [ 2.95785201e-02 1.05687225e-03 9.99561901e-01 1.28631311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83911593299999 meters 0.015971381056546143 Centerline is valid? [True, True] Translation: X:-79.46, Y:37.01, Z:12.88 [[ 6.91528128e-01 7.22024472e-01 -2.16681723e-02 -7.94560431e+01] [-7.21721955e-01 6.91866538e-01 2.09311641e-02 3.70089417e+01] [ 3.01042961e-02 1.16390692e-03 9.99546085e-01 1.28772703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89911593299999 meters 0.01586103899534574 Centerline is valid? [True, True] Translation: X:-79.50, Y:37.04, Z:12.86 [[ 6.88655334e-01 7.24749408e-01 -2.21839295e-02 -7.94983505e+01] [-7.24430559e-01 6.89011430e-01 2.15317090e-02 3.70391246e+01] [ 3.08900744e-02 1.24279025e-03 9.99522015e-01 1.28578624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95911593299999 meters 0.016196234293813047 Centerline is valid? [True, True] Translation: X:-79.53, Y:37.08, Z:12.89 [[ 6.77636300e-01 7.34986302e-01 -2.45800892e-02 -7.95269300e+01] [-7.34597712e-01 6.78079521e-01 2.39659229e-02 3.70823024e+01] [ 3.42818802e-02 1.81629797e-03 9.99410553e-01 1.28907890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.019115933 meters 0.016254261805348422 Centerline is valid? [True, True] Translation: X:-79.58, Y:37.10, Z:12.84 [[ 6.95061459e-01 7.18725058e-01 -1.79960838e-02 -7.95765178e+01] [-7.18508205e-01 6.95294087e-01 1.76661262e-02 3.71048058e+01] [ 2.52096582e-02 6.51290420e-04 9.99681974e-01 1.28447886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.079115933 meters 0.017464210579187046 Centerline is valid? [True, True] Translation: X:-79.62, Y:37.14, Z:12.83 [[ 7.17622598e-01 6.96405280e-01 -6.12315597e-03 -7.96186033e+01] [-6.96378648e-01 7.17648712e-01 6.09133501e-03 3.71351281e+01] [ 8.63631286e-03 -1.07244573e-04 9.99962701e-01 1.28275652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13911593299999 meters 0.019209476382956323 Centerline is valid? [True, True] Translation: X:-79.67, Y:37.16, Z:12.79 [[ 7.22268863e-01 6.91609461e-01 -2.01069008e-03 -7.96692774e+01] [-6.91606408e-01 7.22271655e-01 2.05722448e-03 3.71575237e+01] [ 2.87506037e-03 -9.52630380e-05 9.99995862e-01 1.27947877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19911593299999 meters 0.019374825631721375 Centerline is valid? [True, True] Translation: X:-79.70, Y:37.20, Z:12.81 [[ 7.38257680e-01 6.74444204e-01 1.00306171e-02 -7.97036158e+01] [-6.74371956e-01 7.38325626e-01 -9.88609231e-03 3.71963651e+01] [-1.40734793e-02 5.34116684e-04 9.99900821e-01 1.28099356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25911593299999 meters 0.020106012194662987 Centerline is valid? [True, True] Translation: X:-79.73, Y:37.24, Z:12.85 [[ 7.34565296e-01 6.78440417e-01 1.15076863e-02 -7.97284140e+01] [-6.78344713e-01 7.34655205e-01 -1.14096273e-02 3.72448777e+01] [-1.61949339e-02 5.74938021e-04 9.99868688e-01 1.28483632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31911593299999 meters 0.02051457237623895 Centerline is valid? [True, True] Translation: X:-79.76, Y:37.28, Z:12.87 [[ 7.31135984e-01 6.82060990e-01 1.52636370e-02 -7.97629770e+01] [-6.81891476e-01 7.31294937e-01 -1.52226953e-02 3.72845488e+01] [-2.15450271e-02 7.21716325e-04 9.99767618e-01 1.28697075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.379115933 meters 0.020113696916069485 Centerline is valid? [True, True] Translation: X:-78.85, Y:38.22, Z:9.71 [[ 7.36420597e-01 -6.76491984e-01 -6.58026775e-03 -7.88451573e+01] [-6.76448919e-01 -7.36448945e-01 7.73381639e-03 3.82241300e+01] [-1.00778960e-02 -1.24412668e-03 -9.99948443e-01 9.71126847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.439115933 meters 0.020140394823757464 Centerline is valid? [True, True] Translation: X:-79.64, Y:37.27, Z:13.08 [[ 7.80761338e-01 6.24294816e-01 2.58402091e-02 -7.96445599e+01] [-6.23908105e-01 7.81188119e-01 -2.19954333e-02 3.72713993e+01] [-3.39176993e-02 1.05126801e-03 9.99424076e-01 1.30827233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49911593299998 meters 0.01993409525405609 Centerline is valid? [True, True] Translation: X:-79.69, Y:37.31, Z:13.07 [[ 7.70426912e-01 6.37024529e-01 2.53401169e-02 -7.96889951e+01] [-6.36658120e-01 7.70843359e-01 -2.16091442e-02 3.73051230e+01] [-3.32988158e-02 5.15275026e-04 9.99445308e-01 1.30672392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55911593299999 meters 0.019115513738001615 Centerline is valid? [True, True] Translation: X:-79.75, Y:37.33, Z:13.01 [[ 7.59949357e-01 6.49331471e-01 2.90794665e-02 -7.97454007e+01] [-6.48855156e-01 7.60505516e-01 -2.48665747e-02 3.73252430e+01] [-3.82617442e-02 2.89757083e-05 9.99267751e-01 1.30072247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61911593299999 meters 0.0201494725695139 Centerline is valid? [True, True] Translation: X:-79.75, Y:37.41, Z:13.14 [[ 7.47600082e-01 6.63516782e-01 2.89758073e-02 -7.97461532e+01] [-6.63051860e-01 7.48161126e-01 -2.48427030e-02 3.74055232e+01] [-3.81621230e-02 -6.40056157e-04 9.99271356e-01 1.31382105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67911593299999 meters 0.019666783741297208 Centerline is valid? [True, True] Translation: X:-79.80, Y:37.43, Z:13.09 [[ 7.41829929e-01 6.70008317e-01 2.78785312e-02 -7.97994261e+01] [-6.69580189e-01 7.42353059e-01 -2.39646897e-02 3.74297311e+01] [-3.67522543e-02 -8.89188068e-04 9.99324012e-01 1.30870015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.739115933 meters 0.020309180061081532 Centerline is valid? [True, True] Translation: X:-79.84, Y:37.47, Z:13.13 [[ 7.29034642e-01 6.84032992e-01 2.46446063e-02 -7.98358419e+01] [-6.83704542e-01 7.29449793e-01 -2.12390646e-02 3.74699063e+01] [-3.25052238e-02 -1.36561541e-03 9.99470633e-01 1.31263702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.799115933 meters 0.020638733288489333 Centerline is valid? [True, True] Translation: X:-79.91, Y:37.48, Z:12.99 [[ 7.08388184e-01 7.05592751e-01 1.80291663e-02 -7.99059842e+01] [-7.05422914e-01 7.08615568e-01 -1.55720390e-02 3.74754756e+01] [-2.37632657e-02 -1.68713857e-03 9.99716190e-01 1.29909935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85911593299998 meters 0.020374827484374528 Centerline is valid? [True, True] Translation: X:-79.91, Y:37.55, Z:13.13 [[ 7.12566887e-01 7.01288149e-01 2.10561934e-02 -7.99127522e+01] [-7.01052417e-01 7.12875783e-01 -1.82654382e-02 3.75452132e+01] [-2.78197857e-02 -1.74614885e-03 9.99611430e-01 1.31349481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91911593299999 meters 0.01917151069880497 Centerline is valid? [True, True] Translation: X:-79.92, Y:37.62, Z:13.28 [[ 7.01751720e-01 7.12231244e-01 1.64674710e-02 -7.99170798e+01] [-7.12089081e-01 7.01942918e-01 -1.43276319e-02 3.76196692e+01] [-2.17638118e-02 -1.67186591e-03 9.99761742e-01 1.32849719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97911593299999 meters 0.019698621103741546 Centerline is valid? [True, True] Translation: X:-79.96, Y:37.65, Z:13.29 [[ 6.77193876e-01 7.35792091e-01 4.29566825e-03 -7.99642131e+01] [-7.35782972e-01 6.77207196e-01 -3.71912034e-03 3.76490983e+01] [-5.64555678e-03 -6.42114033e-04 9.99983858e-01 1.32886831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03911593299999 meters 0.019027034611617963 Centerline is valid? [True, True] Translation: X:-80.00, Y:37.68, Z:13.29 [[ 6.59808874e-01 7.51403470e-01 -6.71375563e-03 -8.00047943e+01] [-7.51380621e-01 6.59842098e-01 5.96398333e-03 3.76783476e+01] [ 8.91137637e-03 1.10949675e-03 9.99959677e-01 1.32926359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.099115933 meters 0.01978227701540372 Centerline is valid? [True, True] Translation: X:-80.08, Y:37.68, Z:13.13 [[ 6.39156553e-01 7.68851243e-01 -1.86189976e-02 -8.00758172e+01] [-7.68683995e-01 6.39416505e-01 1.64757341e-02 3.76807245e+01] [ 2.45726830e-02 3.78155209e-03 9.99690894e-01 1.31298880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.159115933 meters 0.017928748644792925 Centerline is valid? [True, True] Translation: X:-80.08, Y:37.75, Z:13.31 [[ 6.27803195e-01 7.77960038e-01 -2.53244710e-02 -8.00767570e+01] [-7.77655559e-01 6.28288915e-01 2.24693358e-02 3.77519607e+01] [ 3.33913297e-02 5.58739479e-03 9.99426736e-01 1.33101697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.219115933 meters 0.01782294941648578 Centerline is valid? [True, True] Translation: X:-80.11, Y:37.79, Z:13.32 [[ 6.20172427e-01 7.83802766e-01 -3.22395005e-02 -8.01142589e+01] [-7.83311732e-01 6.20965253e-01 2.87208062e-02 3.77863739e+01] [ 4.25310569e-02 7.44172691e-03 9.99067430e-01 1.33240657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27911593299999 meters 0.018273910486432374 Centerline is valid? [True, True] Translation: X:-80.10, Y:37.87, Z:13.53 [[ 6.16660466e-01 7.86452267e-01 -3.49671608e-02 -8.01046716e+01] [-7.85873233e-01 6.17596647e-01 3.12672865e-02 3.78685490e+01] [ 4.61858296e-02 8.19845631e-03 9.98899221e-01 1.35262052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33911593299999 meters 0.017944384079235747 Centerline is valid? [True, True] Translation: X:-80.14, Y:37.90, Z:13.50 [[ 6.18137644e-01 7.85237315e-01 -3.61692330e-02 -8.01448386e+01] [-7.84609394e-01 6.19139244e-01 3.24760739e-02 3.79018404e+01] [ 4.78952166e-02 8.30403624e-03 9.98817847e-01 1.35015968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39911593299999 meters 0.018680700350484088 Centerline is valid? [True, True] Translation: X:-80.20, Y:37.92, Z:13.42 [[ 6.38183817e-01 7.69268361e-01 -3.07831964e-02 -8.01984297e+01] [-7.68790110e-01 6.38898139e-01 2.77657063e-02 3.79207105e+01] [ 4.10266062e-02 5.94619256e-03 9.99140361e-01 1.34234372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45911593299999 meters 0.018658288096390363 Centerline is valid? [True, True] Translation: X:-80.25, Y:37.94, Z:13.35 [[ 6.54344367e-01 7.55676733e-01 -2.80379102e-02 -8.02546066e+01] [-7.55263831e-01 6.54928901e-01 2.53905578e-02 3.79371508e+01] [ 3.75498915e-02 4.56185106e-03 9.99284342e-01 1.33508917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.519115933 meters 0.01889356550984991 Centerline is valid? [True, True] Translation: X:-80.28, Y:37.99, Z:13.43 [[ 6.74696320e-01 7.37742643e-01 -2.28181544e-02 -8.02762890e+01] [-7.37456290e-01 6.75076134e-01 2.07468867e-02 3.79895121e+01] [ 3.07098545e-02 2.82954339e-03 9.99524336e-01 1.34276287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.579115933 meters 0.019281954577265864 Centerline is valid? [True, True] Translation: X:-80.34, Y:38.00, Z:13.32 [[ 6.81304512e-01 7.31668139e-01 -2.20430572e-02 -8.03393720e+01] [-7.31395192e-01 6.81656755e-01 2.01281255e-02 3.80017593e+01] [ 2.97529069e-02 2.40880333e-03 9.99554382e-01 1.33193015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63911593299999 meters 0.01944700286036355 Centerline is valid? [True, True] Translation: X:-80.40, Y:38.02, Z:13.24 [[ 6.95803963e-01 7.18017758e-01 -1.75312547e-02 -8.03951894e+01] [-7.17838969e-01 6.96023388e-01 1.60828752e-02 3.80202085e+01] [ 2.37499533e-02 1.39408950e-03 9.99716958e-01 1.32417195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69911593299999 meters 0.01979925977471041 Centerline is valid? [True, True] Translation: X:-80.44, Y:38.05, Z:13.24 [[ 7.02273720e-01 7.11699585e-01 -1.71849635e-02 -8.04367336e+01] [-7.11524290e-01 7.02483077e-01 1.58338470e-02 3.80530265e+01] [ 2.33410884e-02 1.10782431e-03 9.99726946e-01 1.32413829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75911593299999 meters 0.019517555180404465 Centerline is valid? [True, True] Translation: X:-80.47, Y:38.09, Z:13.25 [[ 7.05194677e-01 7.08822981e-01 -1.64453332e-02 -8.04707428e+01] [-7.08660256e-01 7.05385801e-01 1.52155774e-02 3.80937864e+01] [ 2.23854555e-02 9.24209867e-04 9.99748987e-01 1.32479106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81911593299999 meters 0.018894615649546583 Centerline is valid? [True, True] Translation: X:-80.50, Y:38.14, Z:13.29 [[ 7.12588276e-01 7.01436967e-01 -1.42873974e-02 -8.04967291e+01] [-7.01311740e-01 7.12731268e-01 1.32658666e-02 3.81432743e+01] [ 1.94882441e-02 5.66818482e-04 9.99809925e-01 1.32894792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.879115933 meters 0.01861172981764193 Centerline is valid? [True, True] Translation: X:-80.50, Y:38.22, Z:13.43 [[ 7.04609226e-01 7.09425751e-01 -1.55222997e-02 -8.05001618e+01] [-7.09279413e-01 7.04779681e-01 1.44331695e-02 3.82154290e+01] [ 2.11790635e-02 8.39903236e-04 9.99775346e-01 1.34341687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.939115933 meters 0.01946556255698699 Centerline is valid? [True, True] Translation: X:-80.54, Y:38.25, Z:13.44 [[ 7.04870504e-01 7.09091420e-01 -1.86260936e-02 -8.05432021e+01] [-7.08879601e-01 7.05115891e-01 1.73577540e-02 3.82490396e+01] [ 2.54417890e-02 9.68688946e-04 9.99675836e-01 1.34359054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99911593299998 meters 0.018487815313728197 Centerline is valid? [True, True] Translation: X:-80.55, Y:38.32, Z:13.57 [[ 6.95924813e-01 7.17839715e-01 -1.98695167e-02 -8.05468511e+01] [-7.17600968e-01 6.96207113e-01 1.85609159e-02 3.83212698e+01] [ 2.71570614e-02 1.34138252e-03 9.99630279e-01 1.35689589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05911593299999 meters 0.01797863220919146 Centerline is valid? [True, True] Translation: X:-80.58, Y:38.36, Z:13.56 [[ 6.92589853e-01 7.21082387e-01 -1.89601159e-02 -8.05833066e+01] [-7.20865135e-01 6.92847968e-01 1.77524688e-02 3.83635407e+01] [ 2.59374704e-02 1.37250673e-03 9.99662625e-01 1.35625984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11911593299999 meters 0.017405342751187342 Centerline is valid? [True, True] Translation: X:-80.58, Y:38.45, Z:13.76 [[ 6.92609827e-01 7.21101789e-01 -1.74309320e-02 -8.05767231e+01] [-7.20917407e-01 6.92828025e-01 1.63529924e-02 3.84472018e+01] [ 2.38688102e-02 1.24001905e-03 9.99714330e-01 1.37559231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17911593299999 meters 0.016882800805307865 Centerline is valid? [True, True] Translation: X:-80.64, Y:38.46, Z:13.66 [[ 6.95725846e-01 7.18144183e-01 -1.53127224e-02 -8.06406666e+01] [-7.18000362e-01 6.95893660e-01 1.44046423e-02 3.84624391e+01] [ 2.10006365e-02 9.72858252e-04 9.99778989e-01 1.36623233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.239115933 meters 0.017769351332972413 Centerline is valid? [True, True] Translation: X:-80.71, Y:38.47, Z:13.57 [[ 6.80284713e-01 7.32655321e-01 -2.07096434e-02 -8.07074683e+01] [-7.32397822e-01 6.80597238e-01 1.95148358e-02 3.84742817e+01] [ 2.83925744e-02 1.89205326e-03 9.99595059e-01 1.35660460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.299115933 meters 0.017018974271722113 Centerline is valid? [True, True] Translation: X:-80.73, Y:38.53, Z:13.65 [[ 6.86428054e-01 7.26990684e-01 -1.73514198e-02 -8.07273214e+01] [-7.26807007e-01 6.86645984e-01 1.63971885e-02 3.85308477e+01] [ 2.38348860e-02 1.35564327e-03 9.99714990e-01 1.36489247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35911593299998 meters 0.016606388117061263 Centerline is valid? [True, True] Translation: X:-80.79, Y:38.53, Z:13.55 [[ 6.74506983e-01 7.37955449e-01 -2.14961920e-02 -8.07922054e+01] [-7.37673550e-01 6.74846372e-01 2.04965286e-02 3.85340114e+01] [ 2.96321521e-02 2.03212062e-03 9.99558806e-01 1.35542687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41911593299999 meters 0.017200775998072525 Centerline is valid? [True, True] Translation: X:-80.87, Y:38.53, Z:13.39 [[ 6.79176140e-01 7.33650173e-01 -2.18447838e-02 -8.08690307e+01] [-7.33355309e-01 6.79524865e-01 2.08794031e-02 3.85344443e+01] [ 3.01622515e-02 1.83919580e-03 9.99543324e-01 1.33888016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47911593299999 meters 0.01699728690785165 Centerline is valid? [True, True] Translation: X:-80.88, Y:38.57, Z:13.46 [[ 6.68867900e-01 7.42861609e-01 -2.77914174e-02 -8.08800831e+01] [-7.42374035e-01 6.69440154e-01 2.70309353e-02 3.85737143e+01] [ 3.86849348e-02 2.55150174e-03 9.99248200e-01 1.34632643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53911593299999 meters 0.01785943400994242 Centerline is valid? [True, True] Translation: X:-80.96, Y:38.57, Z:13.33 [[ 6.69705227e-01 7.41991206e-01 -3.07239007e-02 -8.09580867e+01] [-7.41395399e-01 6.70403841e-01 2.98588576e-02 3.85713619e+01] [ 4.27524308e-02 2.78192565e-03 9.99081824e-01 1.33315385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.599115933 meters 0.017544992077461925 Centerline is valid? [True, True] Translation: X:-81.02, Y:38.59, Z:13.24 [[ 6.82576730e-01 7.30143665e-01 -3.12927549e-02 -8.10190675e+01] [-7.29506916e-01 6.83290807e-01 3.05504987e-02 3.85855865e+01] [ 4.36883048e-02 1.97522166e-03 9.99043258e-01 1.32353036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.659115933 meters 0.017083249264325077 Centerline is valid? [True, True] Translation: X:-81.05, Y:38.63, Z:13.27 [[ 6.91391432e-01 7.21941725e-01 -2.78932422e-02 -8.10464912e+01] [-7.21424185e-01 6.91952807e-01 2.73579718e-02 3.86319341e+01] [ 3.90516686e-02 1.20779227e-03 9.99236463e-01 1.32670928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.719115933 meters 0.01670525305515843 Centerline is valid? [True, True] Translation: X:-81.09, Y:38.67, Z:13.27 [[ 6.79076390e-01 7.33417233e-01 -3.08936653e-02 -8.10859756e+01] [-7.32788940e-01 6.79775865e-01 3.04161462e-02 3.86668782e+01] [ 4.33084939e-02 1.98364944e-03 9.99059778e-01 1.32658092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77911593299999 meters 0.017594798290271458 Centerline is valid? [True, True] Translation: X:-81.13, Y:38.70, Z:13.19 [[ 6.71693556e-01 7.40220196e-01 -3.00304467e-02 -8.11328502e+01] [-7.39627647e-01 6.72360721e-01 2.96985511e-02 3.86956852e+01] [ 4.21747601e-02 2.26302326e-03 9.99107686e-01 1.31921806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83911593299999 meters 0.017415372360186584 Centerline is valid? [True, True] Translation: X:-81.15, Y:38.75, Z:13.24 [[ 6.63421007e-01 7.47693106e-01 -2.87678150e-02 -8.11519959e+01] [-7.47151454e-01 6.64039579e-01 2.85682039e-02 3.87497619e+01] [ 4.04632169e-02 2.54116828e-03 9.99177797e-01 1.32430697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89911593299999 meters 0.017472566217611195 Centerline is valid? [True, True] Translation: X:-81.19, Y:38.78, Z:13.23 [[ 6.65002314e-01 7.46333592e-01 -2.75334558e-02 -8.11913074e+01] [-7.45831387e-01 6.65568195e-01 2.74685202e-02 3.87837681e+01] [ 3.88260718e-02 2.26868602e-03 9.99243408e-01 1.32285448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95911593299999 meters 0.017991681266881835 Centerline is valid? [True, True] Translation: X:-81.23, Y:38.82, Z:13.22 [[ 6.57542792e-01 7.52873366e-01 -2.86211666e-02 -8.12316163e+01] [-7.52332189e-01 6.58159932e-01 2.86667227e-02 3.88176815e+01] [ 4.04197171e-02 2.68302803e-03 9.99179187e-01 1.32165259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.019115933 meters 0.01747521844294888 Centerline is valid? [True, True] Translation: X:-81.27, Y:38.85, Z:13.18 [[ 6.62657835e-01 7.48440832e-01 -2.68498490e-02 -8.12731065e+01] [-7.47955715e-01 6.63198017e-01 2.70303430e-02 3.88488920e+01] [ 3.80373790e-02 2.17062944e-03 9.99273960e-01 1.31782335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.079115933 meters 0.01736425242219788 Centerline is valid? [True, True] Translation: X:-80.54, Y:39.64, Z:9.65 [[ 7.99165873e-01 -5.98049301e-01 -6.05882992e-02 -8.05389877e+01] [-5.95660706e-01 -8.01429245e-01 5.38468880e-02 3.96368091e+01] [-8.07603286e-02 -6.94252612e-03 -9.96709371e-01 9.64674628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13911593299999 meters 0.017214991063818474 Centerline is valid? [True, True] Translation: X:-81.26, Y:38.77, Z:13.09 [[ 7.21913376e-01 6.91363656e-01 -2.92809168e-02 -8.12611791e+01] [-6.90912422e-01 7.22503796e-01 2.50657069e-02 3.87742870e+01] [ 3.84850923e-02 2.13527999e-03 9.99256893e-01 1.30921065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19911593299999 meters 0.017765872001974266 Centerline is valid? [True, True] Translation: X:-81.32, Y:38.79, Z:13.02 [[ 7.34817106e-01 6.77796029e-01 -2.52262629e-02 -8.13208534e+01] [-6.77448368e-01 7.35249137e-01 2.17351262e-02 3.87862741e+01] [ 3.32795703e-02 1.11814814e-03 9.99445456e-01 1.30157400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25911593299999 meters 0.01708703112245728 Centerline is valid? [True, True] Translation: X:-81.37, Y:38.82, Z:13.01 [[ 7.46817800e-01 6.64679978e-01 -2.15337195e-02 -8.13650847e+01] [-6.64418456e-01 7.47128089e-01 1.86476193e-02 3.88150260e+01] [ 2.84831459e-02 3.81026685e-04 9.99594200e-01 1.30066476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31911593299999 meters 0.018033371084675762 Centerline is valid? [True, True] Translation: X:-81.40, Y:38.85, Z:13.04 [[ 7.35431124e-01 6.77127070e-01 -2.52980926e-02 -8.14006316e+01] [-6.76770841e-01 7.35865490e-01 2.19820150e-02 3.88528674e+01] [ 3.35006107e-02 9.54753358e-04 9.99438241e-01 1.30381609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.379115933 meters 0.01733178792317884 Centerline is valid? [True, True] Translation: X:-81.45, Y:38.88, Z:13.03 [[ 7.35854896e-01 6.76673607e-01 -2.51078080e-02 -8.14453330e+01] [-6.76319120e-01 7.36282623e-01 2.19168293e-02 3.88823248e+01] [ 3.33169827e-02 8.53284428e-04 9.99444471e-01 1.30286298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.439115933 meters 0.016970638862322314 Centerline is valid? [True, True] Translation: X:-81.46, Y:38.95, Z:13.13 [[ 7.35227035e-01 6.77445474e-01 -2.25574083e-02 -8.14553897e+01] [-6.77156907e-01 7.35572633e-01 1.97844483e-02 3.89480262e+01] [ 2.99954972e-02 7.28843535e-04 9.99549768e-01 1.31269395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49911593299998 meters 0.015871108501983 Centerline is valid? [True, True] Translation: X:-81.51, Y:38.97, Z:13.09 [[ 7.27142096e-01 6.85961902e-01 -2.68447748e-02 -8.15090736e+01] [-6.85556104e-01 7.27636424e-01 2.36233591e-02 3.89686424e+01] [ 3.57379603e-02 1.22606034e-03 9.99360443e-01 1.30882641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55911593299999 meters 0.015387506204334257 Centerline is valid? [True, True] Translation: X:-81.55, Y:39.01, Z:13.10 [[ 7.34480665e-01 6.78253813e-01 -2.25813763e-02 -8.15455794e+01] [-6.77959755e-01 7.34827438e-01 1.99801689e-02 3.90051986e+01] [ 3.01450406e-02 6.34216630e-04 9.99545334e-01 1.30957512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61911593299999 meters 0.01629457258118477 Centerline is valid? [True, True] Translation: X:-81.60, Y:39.03, Z:13.06 [[ 7.31664360e-01 6.81218645e-01 -2.46662142e-02 -8.15962186e+01] [-6.80866498e-01 7.32079626e-01 2.19142162e-02 3.90283854e+01] [ 3.29860056e-02 7.60547881e-04 9.99455524e-01 1.30563207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67911593299999 meters 0.015041569245578697 Centerline is valid? [True, True] Translation: X:-81.59, Y:39.11, Z:13.23 [[ 7.29928773e-01 6.83110491e-01 -2.37496002e-02 -8.15874853e+01] [-6.82782581e-01 7.30314646e-01 2.11769946e-02 3.91138552e+01] [ 3.18109081e-02 7.58115598e-04 9.99493617e-01 1.32347689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.739115933 meters 0.016658228539863942 Centerline is valid? [True, True] Translation: X:-81.65, Y:39.12, Z:13.14 [[ 7.23268430e-01 6.90086640e-01 -2.57528217e-02 -8.16547521e+01] [-6.89702007e-01 7.23725957e-01 2.30625587e-02 3.91201138e+01] [ 3.45531492e-02 1.08135218e-03 9.99402277e-01 1.31394872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.799115933 meters 0.015922681226438567 Centerline is valid? [True, True] Translation: X:-81.69, Y:39.15, Z:13.14 [[ 7.32636260e-01 6.80296171e-01 -2.10054764e-02 -8.16939370e+01] [-6.80033405e-01 7.32937198e-01 1.89111668e-02 3.91538155e+01] [ 2.82608893e-02 4.29419087e-04 9.99600489e-01 1.31357128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85911593299998 meters 0.015967386297537255 Centerline is valid? [True, True] Translation: X:-81.74, Y:39.18, Z:13.11 [[ 7.27051576e-01 6.86213752e-01 -2.25098548e-02 -8.17391977e+01] [-6.85912159e-01 7.27399666e-01 2.03527877e-02 3.91813346e+01] [ 3.03400236e-02 6.42256741e-04 9.99539429e-01 1.31113946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91911593299999 meters 0.016322888512300984 Centerline is valid? [True, True] Translation: X:-81.80, Y:39.19, Z:13.01 [[ 7.16266749e-01 6.97361463e-01 -2.54741790e-02 -8.18028400e+01] [-6.96979057e-01 7.16718610e-01 2.31220271e-02 3.91914341e+01] [ 3.43822288e-02 1.19343007e-03 9.99408044e-01 1.30079396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97911593299999 meters 0.015974327349042 Centerline is valid? [True, True] Translation: X:-81.83, Y:39.23, Z:13.04 [[ 7.17332856e-01 6.96341679e-01 -2.32774325e-02 -8.18340194e+01] [-6.96018560e-01 7.17709777e-01 2.12329957e-02 3.92331731e+01] [ 3.14918608e-02 9.70399636e-04 9.99503537e-01 1.30426221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03911593299999 meters 0.015740692087105004 Centerline is valid? [True, True] Translation: X:-81.85, Y:39.29, Z:13.13 [[ 7.13212642e-01 7.00470732e-01 -2.58550172e-02 -8.18521057e+01] [-7.00071063e-01 7.13680113e-01 2.36897263e-02 3.92869385e+01] [ 3.50461715e-02 1.20453706e-03 9.99384968e-01 1.31257360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.099115933 meters 0.015676787031969383 Centerline is valid? [True, True] Translation: X:-81.91, Y:39.31, Z:13.06 [[ 7.16251971e-01 6.97508379e-01 -2.15679202e-02 -8.19066697e+01] [-6.97225866e-01 7.16576170e-01 1.98666689e-02 3.93054088e+01] [ 2.93122257e-02 8.08171103e-04 9.99569978e-01 1.30580498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.159115933 meters 0.015992079724353833 Centerline is valid? [True, True] Translation: X:-81.94, Y:39.34, Z:13.07 [[ 7.10295968e-01 7.03553436e-01 -2.21856096e-02 -8.19422305e+01] [-7.03254926e-01 7.10641616e-01 2.05183543e-02 3.93435512e+01] [ 3.02017761e-02 1.02803488e-03 9.99543294e-01 1.30706709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21911593299998 meters 0.014397255620163989 Centerline is valid? [True, True] Translation: X:-81.96, Y:39.40, Z:13.13 [[ 7.09063668e-01 7.04842741e-01 -2.06258192e-02 -8.19625393e+01] [-7.04582848e-01 7.09362965e-01 1.91623064e-02 3.93968938e+01] [ 2.81376049e-02 9.45303178e-04 9.99603612e-01 1.31296026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27911593299999 meters 0.01595737816817397 Centerline is valid? [True, True] Translation: X:-81.99, Y:39.44, Z:13.17 [[ 7.09919952e-01 7.03997457e-01 -2.00310330e-02 -8.19921396e+01] [-7.03749746e-01 7.10202011e-01 1.86921863e-02 3.94411231e+01] [ 2.73853316e-02 8.26878413e-04 9.99624609e-01 1.31669078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33911593299999 meters 0.01525073688547006 Centerline is valid? [True, True] Translation: X:-82.03, Y:39.48, Z:13.17 [[ 7.10579381e-01 7.03411744e-01 -1.69959458e-02 -8.20300639e+01] [-7.03231444e-01 7.10782334e-01 1.59377092e-02 3.94772279e+01] [ 2.32911899e-02 6.27075935e-04 9.99728527e-01 1.31677642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39911593299999 meters 0.014490949563718802 Centerline is valid? [True, True] Translation: X:-82.07, Y:39.51, Z:13.18 [[ 6.96558404e-01 7.17159448e-01 -2.21069184e-02 -8.20660753e+01] [-7.16858838e-01 6.96907807e-01 2.08066275e-02 3.95144928e+01] [ 3.03281535e-02 1.35450859e-03 9.99539078e-01 1.31757327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45911593299999 meters 0.01637413112402324 Centerline is valid? [True, True] Translation: X:-82.12, Y:39.53, Z:13.12 [[ 7.06203209e-01 7.07814765e-01 -1.65917505e-02 -8.21196910e+01] [-7.07641009e-01 7.06397783e-01 1.56963023e-02 3.95348262e+01] [ 2.28304502e-02 6.56224007e-04 9.99739136e-01 1.31218018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.519115933 meters 0.015734511370513786 Centerline is valid? [True, True] Translation: X:-82.15, Y:39.58, Z:13.15 [[ 7.02042153e-01 7.11967993e-01 -1.54399752e-02 -8.21474411e+01] [-7.11817233e-01 7.02211575e-01 1.46673444e-02 3.95817067e+01] [ 2.12848090e-02 6.93346441e-04 9.99773212e-01 1.31526233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.579115933 meters 0.016290189964190536 Centerline is valid? [True, True] Translation: X:-82.17, Y:39.63, Z:13.19 [[ 7.03606398e-01 7.10471720e-01 -1.29604025e-02 -8.21742093e+01] [-7.10364463e-01 7.03725566e-01 1.23554632e-02 3.96299238e+01] [ 1.78987738e-02 5.13226402e-04 9.99839672e-01 1.31894506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63911593299999 meters 0.015664585191412252 Centerline is valid? [True, True] Translation: X:-82.21, Y:39.66, Z:13.19 [[ 6.99213933e-01 7.14757375e-01 -1.48919650e-02 -8.22141617e+01] [-7.14615595e-01 6.99372173e-01 1.42518375e-02 3.96645706e+01] [ 2.06016320e-02 6.76947070e-04 9.99787535e-01 1.31901363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69911593299999 meters 0.015061428896880568 Centerline is valid? [True, True] Translation: X:-82.26, Y:39.69, Z:13.14 [[ 7.04308928e-01 7.09768961e-01 -1.33024524e-02 -8.22648802e+01] [-7.09653778e-01 7.04434409e-01 1.27936603e-02 3.96895130e+01] [ 1.84512482e-02 4.29446396e-04 9.99829669e-01 1.31431167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75911593299999 meters 0.015163996860390234 Centerline is valid? [True, True] Translation: X:-82.31, Y:39.72, Z:13.12 [[ 7.00911852e-01 7.13143357e-01 -1.22118049e-02 -8.23102694e+01] [-7.13045730e-01 7.01018093e-01 1.18076488e-02 3.97171347e+01] [ 1.69812425e-02 4.31454310e-04 9.99855715e-01 1.31182020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81911593299999 meters 0.015922583507410538 Centerline is valid? [True, True] Translation: X:-82.32, Y:39.78, Z:13.23 [[ 6.93214072e-01 7.20604302e-01 -1.35532136e-02 -8.23183575e+01] [-7.20484771e-01 6.93346241e-01 1.31409463e-02 3.97815385e+01] [ 1.88664921e-02 6.55395088e-04 9.99821797e-01 1.32283817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.879115933 meters 0.016148125033271628 Centerline is valid? [True, True] Translation: X:-82.37, Y:39.80, Z:13.17 [[ 6.91045654e-01 7.22723845e-01 -1.12316056e-02 -8.23725089e+01] [-7.22641098e-01 6.91136703e-01 1.09499559e-02 3.98027801e+01] [ 1.56763691e-02 5.49500338e-04 9.99876967e-01 1.31730830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.939115933 meters 0.01597495778257224 Centerline is valid? [True, True] Translation: X:-82.40, Y:39.85, Z:13.21 [[ 6.82096175e-01 7.31128990e-01 -1.39716902e-02 -8.23978221e+01] [-7.31001759e-01 6.82238673e-01 1.36682706e-02 3.98502287e+01] [ 1.95252963e-02 8.90255017e-04 9.99808967e-01 1.32107695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99911593299998 meters 0.01724373829714412 Centerline is valid? [True, True] Translation: X:-82.44, Y:39.89, Z:13.22 [[ 6.83847242e-01 7.29483645e-01 -1.43722542e-02 -8.24354112e+01] [-7.29347562e-01 6.83997750e-01 1.41142051e-02 3.98863118e+01] [ 2.01266713e-02 8.30408312e-04 9.99797093e-01 1.32212131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05911593299999 meters 0.01651021467788635 Centerline is valid? [True, True] Translation: X:-82.47, Y:39.92, Z:13.21 [[ 6.80123732e-01 7.32955036e-01 -1.44438358e-02 -8.24737655e+01] [-7.32817129e-01 6.80276498e-01 1.42457580e-02 3.99226136e+01] [ 2.02673021e-02 8.95812152e-04 9.99794196e-01 1.32084003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11911593299999 meters 0.015576200272991787 Centerline is valid? [True, True] Translation: X:-82.50, Y:39.97, Z:13.22 [[ 6.80719679e-01 7.32404372e-01 -1.43022205e-02 -8.25027650e+01] [-7.32267740e-01 6.80869409e-01 1.41705800e-02 3.99666609e+01] [ 2.01165392e-02 8.26861997e-04 9.99797300e-01 1.32242769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17911593299999 meters 0.016883449565018624 Centerline is valid? [True, True] Translation: X:-82.55, Y:40.00, Z:13.19 [[ 6.73416168e-01 7.39113008e-01 -1.49206535e-02 -8.25479759e+01] [-7.38964864e-01 6.73580646e-01 1.48338374e-02 3.99974436e+01] [ 2.10141456e-02 1.03649277e-03 9.99778641e-01 1.31949380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.239115933 meters 0.016959276064916 Centerline is valid? [True, True] Translation: X:-82.61, Y:40.02, Z:13.13 [[ 6.64164906e-01 7.47382773e-01 -1.74347097e-02 -8.26052981e+01] [-7.47181616e-01 6.64392076e-01 1.74012076e-02 4.00152086e+01] [ 2.45888458e-02 1.46962311e-03 9.99696568e-01 1.31329067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.299115933 meters 0.016842099518065597 Centerline is valid? [True, True] Translation: X:-82.57, Y:40.12, Z:13.38 [[ 6.64783327e-01 7.46805334e-01 -1.85720538e-02 -8.25732091e+01] [-7.46575298e-01 6.65041000e-01 1.85954807e-02 4.01172312e+01] [ 2.62383814e-02 1.50347107e-03 9.99654584e-01 1.33811011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35911593299998 meters 0.016504461705535437 Centerline is valid? [True, True] Translation: X:-82.66, Y:40.11, Z:13.22 [[ 6.67956871e-01 7.44011978e-01 -1.67271026e-02 -8.26562553e+01] [-7.43822516e-01 6.68165204e-01 1.68322487e-02 4.01127570e+01] [ 2.36998626e-02 1.19877934e-03 9.99718400e-01 1.32175702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41911593299999 meters 0.016966974960064662 Centerline is valid? [True, True] Translation: X:-81.94, Y:40.86, Z:9.59 [[ 7.86270036e-01 -6.16112402e-01 -4.67433260e-02 -8.19394660e+01] [-6.14695282e-01 -7.87646635e-01 4.19819967e-02 4.08582058e+01] [-6.26828522e-02 -4.27628405e-03 -9.98024335e-01 9.58625960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47911593299999 meters 0.015892739988617195 Centerline is valid? [True, True] Translation: X:-82.59, Y:40.07, Z:13.30 [[ 7.36063378e-01 6.76675848e-01 -1.79025438e-02 -8.25915321e+01] [-6.76503082e-01 7.36280580e-01 1.53129913e-02 4.00711392e+01] [ 2.35432267e-02 8.39794014e-04 9.99722467e-01 1.32962291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53911593299999 meters 0.01583308778726266 Centerline is valid? [True, True] Translation: X:-82.66, Y:40.07, Z:13.19 [[ 7.44091443e-01 6.67865661e-01 -1.68340192e-02 -8.26644170e+01] [-6.67708541e-01 7.44281701e-01 1.44931958e-02 4.00716734e+01] [ 2.22087602e-02 4.55955459e-04 9.99753251e-01 1.31913338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.599115933 meters 0.016392711393284062 Centerline is valid? [True, True] Translation: X:-82.70, Y:40.11, Z:13.21 [[ 7.51009860e-01 6.60109820e-01 -1.54665882e-02 -8.27003625e+01] [-6.59974380e-01 7.51169088e-01 1.33723206e-02 4.01115451e+01] [ 2.04452231e-02 1.64807324e-04 9.99790961e-01 1.32145282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.659115933 meters 0.016507523903045968 Centerline is valid? [True, True] Translation: X:-82.75, Y:40.13, Z:13.17 [[ 7.59620760e-01 6.50245421e-01 -1.25377147e-02 -8.27521698e+01] [-6.50154211e-01 7.59724212e-01 1.08915018e-02 4.01347886e+01] [ 1.66073546e-02 -1.21962852e-04 9.99862081e-01 1.31695832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71911593299998 meters 0.017074779577474934 Centerline is valid? [True, True] Translation: X:-82.76, Y:40.21, Z:13.31 [[ 7.51899478e-01 6.59041421e-01 -1.76516473e-02 -8.27570528e+01] [-6.58862888e-01 7.52106639e-01 1.53394245e-02 4.02076104e+01] [ 2.33852372e-02 9.63100051e-05 9.99726523e-01 1.33127842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77911593299999 meters 0.015419843079663055 Centerline is valid? [True, True] Translation: X:-82.81, Y:40.23, Z:13.27 [[ 7.55132348e-01 6.55331130e-01 -1.77833374e-02 -8.28100141e+01] [-6.55147045e-01 7.55341713e-01 1.55320537e-02 4.02298726e+01] [ 2.36111349e-02 -7.80552514e-05 9.99721215e-01 1.32708786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83911593299999 meters 0.017232270990888997 Centerline is valid? [True, True] Translation: X:-82.87, Y:40.24, Z:13.18 [[ 7.56750509e-01 6.53548602e-01 -1.42440223e-02 -8.28729071e+01] [-6.53428829e-01 7.56884535e-01 1.25126705e-02 4.02403186e+01] [ 1.89587185e-02 -1.61514961e-04 9.99820254e-01 1.31773162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89911593299999 meters 0.016718863122737206 Centerline is valid? [True, True] Translation: X:-82.92, Y:40.27, Z:13.18 [[ 7.47912313e-01 6.63511834e-01 -1.94735242e-02 -8.29150890e+01] [-6.63290061e-01 7.48165783e-01 1.71538923e-02 4.02733781e+01] [ 2.59512350e-02 8.69877707e-05 9.99663206e-01 1.31751672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95911593299999 meters 0.016118525353464357 Centerline is valid? [True, True] Translation: X:-82.95, Y:40.32, Z:13.20 [[ 7.59198935e-01 6.50702645e-01 -1.42494153e-02 -8.29467222e+01] [-6.50580305e-01 7.59332583e-01 1.26212436e-02 4.03174307e+01] [ 1.90327220e-02 -3.11645761e-04 9.99818813e-01 1.32017526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.019115933 meters 0.017052824660237633 Centerline is valid? [True, True] Translation: X:-82.99, Y:40.35, Z:13.20 [[ 7.62055926e-01 6.47322171e-01 -1.56452300e-02 -8.29888957e+01] [-6.47172987e-01 7.62216364e-01 1.39046879e-02 4.03511209e+01] [ 2.09258631e-02 -4.70979606e-04 9.99780919e-01 1.31975276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.079115933 meters 0.01717342846578726 Centerline is valid? [True, True] Translation: X:-83.05, Y:40.36, Z:13.11 [[ 7.73211457e-01 6.34045661e-01 -1.14080476e-02 -8.30547277e+01] [-6.33963991e-01 7.73295335e-01 1.01972525e-02 4.03601973e+01] [ 1.52873137e-02 -6.52341060e-04 9.99882929e-01 1.31136882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13911593299999 meters 0.02133761310800998 Centerline is valid? [True, True] Translation: X:-83.11, Y:40.38, Z:13.07 [[ 7.72620854e-01 6.34861813e-01 -2.73760082e-03 -8.31065742e+01] [-6.34856933e-01 7.72625680e-01 2.49645928e-03 4.03843155e+01] [ 3.70004736e-03 -1.90831639e-04 9.99993137e-01 1.30745618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19911593299999 meters 0.021262955640260307 Centerline is valid? [True, True] Translation: X:-83.14, Y:40.43, Z:13.11 [[ 7.71610349e-01 6.36089015e-01 2.86949778e-03 -8.31395442e+01] [-6.36084041e-01 7.71615676e-01 -2.51833033e-03 4.04280349e+01] [-3.81603173e-03 1.17927998e-04 9.99992712e-01 1.31075482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25911593299999 meters 0.023962411676427795 Centerline is valid? [True, True] Translation: X:-83.19, Y:40.46, Z:13.07 [[ 7.60600285e-01 6.49206383e-01 4.27548333e-03 -8.31873069e+01] [-6.49195302e-01 7.60612293e-01 -3.79455921e-03 4.04570555e+01] [-5.71543724e-03 1.10519117e-04 9.99983661e-01 1.30695427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31911593299999 meters 0.023809824300140163 Centerline is valid? [True, True] Translation: X:-83.21, Y:40.51, Z:13.16 [[ 7.49660906e-01 6.61737884e-01 1.05592845e-02 -8.32112062e+01] [-6.61669892e-01 7.49735258e-01 -9.48671342e-03 4.05093509e+01] [-1.41943856e-02 1.25057543e-04 9.99899247e-01 1.31554932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.379115933 meters 0.024289000666327536 Centerline is valid? [True, True] Translation: X:-83.25, Y:40.54, Z:13.14 [[ 7.35874393e-01 6.77010201e-01 1.20857460e-02 -8.32506184e+01] [-6.76922403e-01 7.35973616e-01 -1.09039958e-02 4.05449504e+01] [-1.62769066e-02 -1.57140894e-04 9.99867510e-01 1.31448983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.439115933 meters 0.024281983496592927 Centerline is valid? [True, True] Translation: X:-83.27, Y:40.60, Z:13.21 [[ 7.35483352e-01 6.77310018e-01 1.77588877e-02 -8.32691547e+01] [-6.77118274e-01 7.35697703e-01 -1.61162205e-02 4.06041094e+01] [-2.39808504e-02 -1.71655518e-04 9.99712403e-01 1.32108083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49911593299998 meters 0.023726984601396633 Centerline is valid? [True, True] Translation: X:-83.28, Y:40.68, Z:13.34 [[ 7.40550752e-01 6.71468950e-01 2.67213840e-02 -8.32755626e+01] [-6.71027908e-01 7.41032685e-01 -2.43332236e-02 4.06752776e+01] [-3.61404231e-02 8.91925988e-05 9.99346718e-01 1.33423787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55911593299999 meters 0.023109635029049336 Centerline is valid? [True, True] Translation: X:-83.28, Y:40.75, Z:13.49 [[ 7.47245547e-01 6.63524640e-01 3.68665739e-02 -8.32796021e+01] [-6.62670870e-01 7.48154085e-01 -3.36568520e-02 4.07516442e+01] [-4.99140284e-02 7.19528165e-04 9.98753259e-01 1.34866754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61911593299999 meters 0.023164748528824317 Centerline is valid? [True, True] Translation: X:-83.33, Y:40.78, Z:13.45 [[ 7.30203834e-01 6.82354643e-01 3.45615729e-02 -8.33328236e+01] [-6.81622540e-01 7.31021142e-01 -3.16038386e-02 4.07812639e+01] [-4.68302665e-02 -4.80703039e-04 9.98902746e-01 1.34545896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67911593299999 meters 0.022437451243446333 Centerline is valid? [True, True] Translation: X:-83.36, Y:40.83, Z:13.50 [[ 7.19169655e-01 6.93870183e-01 3.65947570e-02 -8.33620348e+01] [-6.93061892e-01 7.20098998e-01 -3.35059264e-02 4.08348542e+01] [-4.96006111e-02 -1.26598596e-03 9.98768330e-01 1.34953358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.739115933 meters 0.022600953374245003 Centerline is valid? [True, True] Translation: X:-83.37, Y:40.91, Z:13.64 [[ 7.23124397e-01 6.89458445e-01 4.16912384e-02 -8.33670173e+01] [-6.88398885e-01 7.24324464e-01 -3.82236297e-02 4.09124926e+01] [-5.65515882e-02 -1.05976286e-03 9.98399116e-01 1.36438121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.799115933 meters 0.021457858804427264 Centerline is valid? [True, True] Translation: X:-83.38, Y:40.98, Z:13.73 [[ 7.00673107e-01 7.12337283e-01 4.04078222e-02 -8.33840135e+01] [-7.11376309e-01 7.01831886e-01 -3.70911024e-02 4.09802355e+01] [-5.47808733e-02 -2.75642947e-03 9.98494596e-01 1.37296186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85911593299998 meters 0.022185933801104174 Centerline is valid? [True, True] Translation: X:-83.43, Y:41.02, Z:13.75 [[ 6.83131820e-01 7.29429258e-01 3.55509917e-02 -8.34292393e+01] [-7.28706925e-01 6.84046780e-01 -3.26530232e-02 4.10176046e+01] [-4.81366119e-02 -3.59993464e-03 9.98834274e-01 1.37453139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91911593299999 meters 0.02246626333671341 Centerline is valid? [True, True] Translation: X:-83.43, Y:41.10, Z:13.89 [[ 6.78615417e-01 7.33688691e-01 3.43805173e-02 -8.34341455e+01] [-7.33018028e-01 6.79475333e-01 -3.15886288e-02 4.10953189e+01] [-4.65369332e-02 -3.76500855e-03 9.98909475e-01 1.38937904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97911593299999 meters 0.02264756720346526 Centerline is valid? [True, True] Translation: X:-83.48, Y:41.14, Z:13.91 [[ 6.66678730e-01 7.44762982e-01 2.94545694e-02 -8.34786995e+01] [-7.44280464e-01 6.67317874e-01 -2.70822290e-02 4.11352447e+01] [-3.98254022e-02 -3.86731450e-03 9.99199170e-01 1.39064948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03911593299999 meters 0.024614236042613136 Centerline is valid? [True, True] Translation: X:-83.67, Y:41.03, Z:13.25 [[ 6.74634503e-01 7.37508287e-01 3.08190680e-02 -8.36709567e+01] [-7.36970191e-01 6.75328706e-01 -2.83914752e-02 4.10259026e+01] [-4.17519496e-02 -3.55886564e-03 9.99121669e-01 1.32500710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.099115933 meters 0.02244030586556553 Centerline is valid? [True, True] Translation: X:-83.55, Y:41.22, Z:13.95 [[ 6.61025846e-01 7.50062789e-01 2.12283626e-02 -8.35536987e+01] [-7.49813023e-01 6.61359943e-01 -1.95820494e-02 4.12205761e+01] [-2.87273552e-02 -2.97306190e-03 9.99582863e-01 1.39543274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.159115933 meters 0.023005142864714615 Centerline is valid? [True, True] Translation: X:-83.59, Y:41.27, Z:14.00 [[ 6.51059128e-01 7.58932626e-01 1.19700113e-02 -8.35874432e+01] [-7.58854641e-01 6.51166401e-01 -1.10431374e-02 4.12694577e+01] [-1.61754665e-02 -1.89376328e-03 9.99867375e-01 1.40048476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21911593299998 meters 0.024776954909651688 Centerline is valid? [True, True] Translation: X:-83.82, Y:41.12, Z:13.19 [[ 6.70177688e-01 7.42150315e-01 8.64726988e-03 -8.38202125e+01] [-7.42108387e-01 6.70232602e-01 -7.96248360e-03 4.11192092e+01] [-1.17050419e-02 -1.08093265e-03 9.99930909e-01 1.31948204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27911593299999 meters 0.02129708282008378 Centerline is valid? [True, True] Translation: X:-83.68, Y:41.33, Z:13.97 [[ 6.92174945e-01 7.21674987e-01 8.89144421e-03 -8.36794120e+01] [-7.21628386e-01 6.92231679e-01 -8.23260603e-03 4.13343271e+01] [-1.20962052e-02 -7.17914909e-04 9.99926581e-01 1.39716645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33911593299999 meters 0.01958673666390669 Centerline is valid? [True, True] Translation: X:-83.56, Y:41.53, Z:14.61 [[ 7.36363524e-01 6.76400267e-01 1.58568348e-02 -8.35620227e+01] [-6.76240486e-01 7.36534228e-01 -1.47015799e-02 4.15313608e+01] [-2.16232542e-02 1.02673523e-04 9.99766185e-01 1.46146645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39911593299999 meters 0.017232087349349137 Centerline is valid? [True, True] Translation: X:-83.62, Y:41.56, Z:14.55 [[ 7.67748257e-01 6.40373980e-01 2.19950169e-02 -8.36223542e+01] [-6.40051176e-01 7.68061637e-01 -2.03915267e-02 4.15580141e+01] [-2.99517318e-02 1.57762263e-03 9.99550101e-01 1.45512157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45911593299999 meters 0.017172343960310966 Centerline is valid? [True, True] Translation: X:-83.66, Y:41.61, Z:14.58 [[ 7.69441066e-01 6.38345673e-01 2.18001778e-02 -8.36608434e+01] [-6.38028089e-01 7.69748098e-01 -2.01995833e-02 4.16070382e+01] [-2.96749620e-02 1.63326315e-03 9.99558267e-01 1.45824524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.519115933 meters 0.016616450569154107 Centerline is valid? [True, True] Translation: X:-83.69, Y:41.66, Z:14.68 [[ 7.79117182e-01 6.26308003e-01 2.67339116e-02 -8.36879678e+01] [-6.25824153e-01 7.79571541e-01 -2.47455188e-02 4.16643500e+01] [-3.63393132e-02 2.54893129e-03 9.99336258e-01 1.46765614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.579115933 meters 0.0172790616667067 Centerline is valid? [True, True] Translation: X:-83.74, Y:41.70, Z:14.65 [[ 7.81678122e-01 6.23150571e-01 2.57425637e-02 -8.37429747e+01] [-6.22700832e-01 7.82097625e-01 -2.38113346e-02 4.16970143e+01] [-3.49712446e-02 2.58288349e-03 9.99384981e-01 1.46451648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63911593299999 meters 0.017106943481245317 Centerline is valid? [True, True] Translation: X:-83.78, Y:41.75, Z:14.71 [[ 7.81194185e-01 6.23837062e-01 2.37269063e-02 -8.37807751e+01] [-6.23456338e-01 7.81550960e-01 -2.19155701e-02 4.17454612e+01] [-3.22155313e-02 2.32762579e-03 9.99478235e-01 1.47071583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69911593299999 meters 0.01707051631675267 Centerline is valid? [True, True] Translation: X:-83.82, Y:41.79, Z:14.71 [[ 7.74437725e-01 6.32363992e-01 1.90260944e-02 -8.38211995e+01] [-6.32122166e-01 7.74669811e-01 -1.75570652e-02 4.17906991e+01] [-2.58413968e-02 1.57003762e-03 9.99664822e-01 1.47141697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75911593299999 meters 0.017477222979971365 Centerline is valid? [True, True] Translation: X:-83.89, Y:41.81, Z:14.61 [[ 7.77320746e-01 6.28806069e-01 1.93748662e-02 -8.38949677e+01] [-6.28554406e-01 7.77560282e-01 -1.78708146e-02 4.18057523e+01] [-2.63024031e-02 1.71319747e-03 9.99652564e-01 1.46090697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81911593299999 meters 0.017068615411364597 Centerline is valid? [True, True] Translation: X:-83.80, Y:41.99, Z:15.24 [[ 7.84232366e-01 6.20139466e-01 2.01652753e-02 -8.37955297e+01] [-6.19864582e-01 7.84488852e-01 -1.85779656e-02 4.19851828e+01] [-2.73403633e-02 2.06970201e-03 9.99624040e-01 1.52368530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.879115933 meters 0.018633435480822847 Centerline is valid? [True, True] Translation: X:-84.08, Y:41.79, Z:14.21 [[ 7.79954625e-01 6.25604256e-01 1.70322489e-02 -8.40837083e+01] [-6.25409489e-01 7.80138963e-01 -1.56897812e-02 4.17911934e+01] [-2.31031148e-02 1.58518732e-03 9.99731831e-01 1.42128098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.939115933 meters 0.017288628115040363 Centerline is valid? [True, True] Translation: X:-83.95, Y:42.01, Z:14.99 [[ 7.94285006e-01 6.07102987e-01 2.31795859e-02 -8.39478343e+01] [-6.06734243e-01 7.94617876e-01 -2.13539054e-02 4.20055487e+01] [-3.13829331e-02 2.89723838e-03 9.99503235e-01 1.49895446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99911593299998 meters 0.017490133510725616 Centerline is valid? [True, True] Translation: X:-83.91, Y:42.12, Z:15.33 [[ 8.07406391e-01 5.89311862e-01 2.83980431e-02 -8.39149652e+01] [-5.88747575e-01 8.07893668e-01 -2.61555601e-02 4.21217959e+01] [-3.83563810e-02 4.39888736e-03 9.99254441e-01 1.53341827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05911593299999 meters 0.018395281439858177 Centerline is valid? [True, True] Translation: X:-84.00, Y:42.13, Z:15.20 [[ 8.07523857e-01 5.89244908e-01 2.63753346e-02 -8.39963977e+01] [-5.88758817e-01 8.07944213e-01 -2.42735293e-02 4.21285215e+01] [-3.56128525e-02 4.07274319e-03 9.99357362e-01 1.51965270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11911593299999 meters 0.018742656870036217 Centerline is valid? [True, True] Translation: X:-84.13, Y:42.08, Z:14.82 [[ 7.99964280e-01 5.99645514e-01 2.19638042e-02 -8.41324463e+01] [-5.99312754e-01 8.00260142e-01 -2.01972183e-02 4.20818456e+01] [-2.96879284e-02 2.99386523e-03 9.99554733e-01 1.48205056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17911593299999 meters 0.017609186366484644 Centerline is valid? [True, True] Translation: X:-84.11, Y:42.19, Z:15.12 [[ 8.01811117e-01 5.97189628e-01 2.15285930e-02 -8.41129359e+01] [-5.96869140e-01 8.02094395e-01 -1.97942115e-02 4.21853991e+01] [-2.90888616e-02 3.02146604e-03 9.99572263e-01 1.51180519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.239115933 meters 0.017749033822889303 Centerline is valid? [True, True] Translation: X:-84.21, Y:42.18, Z:14.89 [[ 8.13741477e-01 5.80547535e-01 2.80956992e-02 -8.42068434e+01] [-5.79991977e-01 8.14212668e-01 -2.58270801e-02 4.21797405e+01] [-3.78697219e-02 4.72128621e-03 9.99271531e-01 1.48926313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.299115933 meters 0.018041559545232337 Centerline is valid? [True, True] Translation: X:-84.22, Y:42.26, Z:15.08 [[ 8.17556880e-01 5.75217273e-01 2.69413521e-02 -8.42150127e+01] [-5.74703797e-01 8.17986814e-01 -2.47612176e-02 4.22564215e+01] [-3.62807508e-02 4.76040645e-03 9.99330299e-01 1.50799057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35911593299998 meters 0.019108292506752302 Centerline is valid? [True, True] Translation: X:-84.39, Y:42.18, Z:14.54 [[ 8.13175150e-01 5.81522466e-01 2.40374082e-02 -8.43854557e+01] [-5.81116569e-01 8.13520548e-01 -2.20873505e-02 4.21770886e+01] [-3.23992161e-02 3.99234838e-03 9.99467034e-01 1.45353352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41911593299999 meters 0.020204519689883085 Centerline is valid? [True, True] Translation: X:-84.45, Y:42.20, Z:14.46 [[ 8.14754619e-01 5.79359643e-01 2.27445724e-02 -8.44532415e+01] [-5.78995818e-01 8.15062939e-01 -2.08865596e-02 4.21977371e+01] [-3.06390877e-02 3.84840862e-03 9.99523104e-01 1.44555558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47911593299999 meters 0.01805294626441969 Centerline is valid? [True, True] Translation: X:-84.40, Y:42.33, Z:14.90 [[ 8.24313991e-01 5.65482820e-01 2.71224216e-02 -8.44034144e+01] [-5.64958875e-01 8.24743750e-01 -2.48840707e-02 4.23286761e+01] [-3.64405622e-02 5.18923479e-03 9.99322349e-01 1.48973249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53911593299999 meters 0.01859214427510753 Centerline is valid? [True, True] Translation: X:-84.52, Y:42.30, Z:14.58 [[ 8.13996372e-01 5.80424236e-01 2.27511106e-02 -8.45227811e+01] [-5.80061224e-01 8.14305421e-01 -2.08724183e-02 4.22973997e+01] [-3.06412102e-02 3.79303573e-03 9.99523251e-01 1.45804086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.599115933 meters 0.01782425045318003 Centerline is valid? [True, True] Translation: X:-84.43, Y:42.47, Z:15.23 [[ 8.17722475e-01 5.75067455e-01 2.50474668e-02 -8.44296786e+01] [-5.74625098e-01 8.18094192e-01 -2.29758720e-02 4.24703940e+01] [-3.37038633e-02 4.39498392e-03 9.99422200e-01 1.52315465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.659115933 meters 0.018167607891988388 Centerline is valid? [True, True] Translation: X:-84.54, Y:42.45, Z:14.97 [[ 8.15188583e-01 5.78854569e-01 1.98736675e-02 -8.45380484e+01] [-5.78577267e-01 8.15423874e-01 -1.82277852e-02 4.24505276e+01] [-2.67566997e-02 3.36063017e-03 9.99636326e-01 1.49675239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71911593299998 meters 0.018548231758738595 Centerline is valid? [True, True] Translation: X:-84.52, Y:42.55, Z:15.27 [[ 8.22365858e-01 5.68489798e-01 2.31029367e-02 -8.45221165e+01] [-5.68111143e-01 8.22679087e-01 -2.11860571e-02 4.25489974e+01] [-3.10503601e-02 4.29765423e-03 9.99508582e-01 1.52705004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77911593299999 meters 0.0175555206884148 Centerline is valid? [True, True] Translation: X:-84.61, Y:42.55, Z:15.07 [[ 8.23735745e-01 5.66520273e-01 2.26760213e-02 -8.46095497e+01] [-5.66155205e-01 8.24036691e-01 -2.07801820e-02 4.25513080e+01] [-3.04582680e-02 4.27923122e-03 9.99526879e-01 1.50694001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83911593299999 meters 0.01934672530757291 Centerline is valid? [True, True] Translation: X:-84.74, Y:42.51, Z:14.73 [[ 8.20449472e-01 5.71447416e-01 1.76214440e-02 -8.47429181e+01] [-5.71228459e-01 8.20632563e-01 -1.61320810e-02 4.25054421e+01] [-2.36793668e-02 3.16968700e-03 9.99714580e-01 1.47332958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89911593299999 meters 0.018983853528389546 Centerline is valid? [True, True] Translation: X:-84.78, Y:42.55, Z:14.76 [[ 8.27005437e-01 5.61894898e-01 1.83338917e-02 -8.47811233e+01] [-5.61655644e-01 8.27200880e-01 -1.67822015e-02 4.25525175e+01] [-2.45956447e-02 3.58163810e-03 9.99691065e-01 1.47617675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95911593299999 meters 0.018926348720843953 Centerline is valid? [True, True] Translation: X:-84.77, Y:42.64, Z:15.02 [[ 8.46544977e-01 5.31649897e-01 2.66456110e-02 -8.47733052e+01] [-5.31129941e-01 8.46939330e-01 -2.43876533e-02 4.26443900e+01] [-3.55329093e-02 6.49296363e-03 9.99347414e-01 1.50197821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.019115933 meters 0.01874700891155825 Centerline is valid? [True, True] Translation: X:-84.90, Y:42.61, Z:14.67 [[ 8.30021808e-01 5.57412380e-01 1.88477150e-02 -8.48976177e+01] [-5.57158513e-01 8.30227005e-01 -1.72485064e-02 4.26085608e+01] [-2.52624130e-02 3.81547159e-03 9.99673573e-01 1.46658051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.079115933 meters 0.018048571774516377 Centerline is valid? [True, True] Translation: X:-84.89, Y:42.70, Z:14.94 [[ 8.30325593e-01 5.56990699e-01 1.79101004e-02 -8.48901426e+01] [-5.56761520e-01 8.30510786e-01 -1.63842914e-02 4.27006973e+01] [-2.40004294e-02 3.63264174e-03 9.99705348e-01 1.49428188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13911593299999 meters 0.01905664589712415 Centerline is valid? [True, True] Translation: X:-84.95, Y:42.73, Z:14.86 [[ 8.36475686e-01 5.47624794e-01 2.03841046e-02 -8.49500505e+01] [-5.47325851e-01 8.36712332e-01 -1.86248871e-02 4.27280811e+01] [-2.72550817e-02 4.42251778e-03 9.99618728e-01 1.48601102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19911593299999 meters 0.01763559577995281 Centerline is valid? [True, True] Translation: X:-85.01, Y:42.75, Z:14.82 [[ 8.32084326e-01 5.54446961e-01 1.49746768e-02 -8.50123831e+01] [-5.54286706e-01 8.32213347e-01 -1.36818395e-02 4.27517380e+01] [-2.00479802e-02 3.08417994e-03 9.99794262e-01 1.48221328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25911593299999 meters 0.020046515656467218 Centerline is valid? [True, True] Translation: X:-85.27, Y:42.59, Z:13.79 [[ 8.06997587e-01 5.90537325e-01 4.53458780e-03 -8.52710939e+01] [-5.90523203e-01 8.07010056e-01 -4.13706768e-03 4.25865857e+01] [-6.10255083e-03 6.60824318e-04 9.99981161e-01 1.37851710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31911593299999 meters 0.01831334853989547 Centerline is valid? [True, True] Translation: X:-85.14, Y:42.80, Z:14.68 [[ 8.45883948e-01 5.33010991e-01 1.94840660e-02 -8.51362933e+01] [-5.32733963e-01 8.46095344e-01 -1.78099510e-02 4.27975765e+01] [-2.59782771e-02 4.68532798e-03 9.99651528e-01 1.46758441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.379115933 meters 0.018416667238962514 Centerline is valid? [True, True] Translation: X:-85.23, Y:42.79, Z:14.50 [[ 8.16069917e-01 5.77911048e-01 6.97930667e-03 -8.52282674e+01] [-5.77877015e-01 8.16098917e-01 -6.38073973e-03 4.27899234e+01] [-9.38330461e-03 1.17394884e-03 9.99955287e-01 1.45027193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.439115933 meters 0.018006583381085198 Centerline is valid? [True, True] Translation: X:-85.26, Y:42.84, Z:14.59 [[ 8.26227712e-01 5.63273491e-01 8.41084076e-03 -8.52634667e+01] [-5.63223332e-01 8.26268942e-01 -7.68851715e-03 4.28375554e+01] [-1.12803544e-02 1.61528417e-03 9.99935070e-01 1.45868306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49911593299998 meters 0.018513012762098584 Centerline is valid? [True, True] Translation: X:-85.37, Y:42.82, Z:14.31 [[ 8.18672662e-01 5.74237665e-01 5.11622657e-03 -8.53670085e+01] [-5.74219323e-01 8.18688166e-01 -4.67510046e-03 4.28212022e+01] [-6.87321291e-03 8.89540781e-04 9.99975984e-01 1.43123772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55911593299999 meters 0.01871814231856539 Centerline is valid? [True, True] Translation: X:-85.42, Y:42.85, Z:14.30 [[ 8.25625190e-01 5.64169697e-01 7.45646607e-03 -8.54167268e+01] [-5.64130310e-01 8.25657637e-01 -6.81618833e-03 4.28547585e+01] [-1.00019751e-02 1.42119827e-03 9.99948969e-01 1.43012894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61911593299999 meters 0.01827137147762566 Centerline is valid? [True, True] Translation: X:-85.43, Y:42.93, Z:14.47 [[ 8.28929691e-01 5.59287804e-01 8.52754032e-03 -8.54261792e+01] [-5.59235975e-01 8.28971816e-01 -7.80081255e-03 4.29280245e+01] [-1.14319899e-02 1.69741781e-03 9.99933212e-01 1.44722451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67911593299999 meters 0.018020666994000085 Centerline is valid? [True, True] Translation: X:-85.55, Y:42.89, Z:14.14 [[ 8.17547761e-01 5.75859701e-01 1.12415736e-03 -8.55469909e+01] [-5.75858839e-01 8.17548514e-01 -1.01245990e-03 4.28938492e+01] [-1.50208803e-03 1.80378374e-04 9.99998856e-01 1.41436772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.739115933 meters 0.018373334767020494 Centerline is valid? [True, True] Translation: X:-85.59, Y:42.93, Z:14.18 [[ 8.11999575e-01 5.83657579e-01 -7.20931732e-04 -8.55895738e+01] [-5.83657197e-01 8.11999885e-01 6.81022598e-04 4.29337754e+01] [ 9.82880485e-04 -1.32213066e-04 9.99999508e-01 1.41836216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.799115933 meters 0.01760324474392259 Centerline is valid? [True, True] Translation: X:-85.64, Y:42.96, Z:14.14 [[ 8.02517357e-01 5.96619844e-01 -3.26408167e-03 -8.56428990e+01] [-5.96612386e-01 8.02523853e-01 3.02110046e-03 4.29638316e+01] [ 4.42195188e-03 -4.77094005e-04 9.99990109e-01 1.41441394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85911593299998 meters 0.017925038265410434 Centerline is valid? [True, True] Translation: X:-85.72, Y:42.97, Z:13.99 [[ 8.00265113e-01 5.99605703e-01 -6.98205840e-03 -8.57225431e+01] [-5.99571755e-01 8.00294971e-01 6.45520904e-03 4.29664493e+01] [ 9.45828638e-03 -9.79633579e-04 9.99954790e-01 1.39910983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91911593299999 meters 0.016753000513260986 Centerline is valid? [True, True] Translation: X:-85.72, Y:43.05, Z:14.22 [[ 7.91109885e-01 6.11594375e-01 -9.87274531e-03 -8.57220581e+01] [-6.11527389e-01 7.91170600e-01 9.12880086e-03 4.30464285e+01] [ 1.33941491e-02 -1.18443043e-03 9.99909593e-01 1.42156879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97911593299999 meters 0.01692071037400179 Centerline is valid? [True, True] Translation: X:-85.81, Y:43.04, Z:13.99 [[ 7.91575267e-01 6.10979558e-01 -1.06101726e-02 -8.58141637e+01] [-6.10901719e-01 7.91645294e-01 9.83966754e-03 4.30363654e+01] [ 1.44113289e-02 -1.30706481e-03 9.99895297e-01 1.39916331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03911593299999 meters 0.017126438154208962 Centerline is valid? [True, True] Translation: X:-85.85, Y:43.08, Z:14.00 [[ 7.94415694e-01 6.07313153e-01 -8.62784849e-03 -8.58516866e+01] [-6.07261089e-01 7.94461722e-01 8.03375981e-03 4.30767308e+01] [ 1.17335034e-02 -1.14278821e-03 9.99930507e-01 1.39994996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.099115933 meters 0.017737006547764132 Centerline is valid? [True, True] Translation: X:-85.90, Y:43.10, Z:13.98 [[ 7.94853634e-01 6.06756712e-01 -7.34800346e-03 -8.59029186e+01] [-6.06718752e-01 7.94886976e-01 6.85938702e-03 4.31045956e+01] [ 1.00028114e-02 -9.94037211e-04 9.99949477e-01 1.39784627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.159115933 meters 0.01625575764099227 Centerline is valid? [True, True] Translation: X:-85.94, Y:43.14, Z:14.00 [[ 7.83883565e-01 6.20814162e-01 -1.07857676e-02 -8.59390952e+01] [-6.20733023e-01 7.83956797e-01 1.01121414e-02 4.31425150e+01] [ 1.47333364e-02 -1.23165932e-03 9.99890700e-01 1.40025660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21911593299998 meters 0.01647918453744198 Centerline is valid? [True, True] Translation: X:-85.98, Y:43.18, Z:14.02 [[ 7.85496020e-01 6.18802938e-01 -8.88405262e-03 -8.59800914e+01] [-6.18747680e-01 7.85545556e-01 8.33596713e-03 4.31808809e+01] [ 1.21371490e-02 -1.05088206e-03 9.99925790e-01 1.40205065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27911593299999 meters 0.017578762446607703 Centerline is valid? [True, True] Translation: X:-86.04, Y:43.20, Z:13.93 [[ 7.87457745e-01 6.16275568e-01 -1.07109232e-02 -8.60407612e+01] [-6.16194696e-01 7.87529461e-01 1.00719723e-02 4.32001234e+01] [ 1.46422780e-02 -1.33123849e-03 9.99891910e-01 1.39330201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33911593299999 meters 0.01633444947401869 Centerline is valid? [True, True] Translation: X:-86.10, Y:43.22, Z:13.88 [[ 7.74412590e-01 6.32478526e-01 -1.60017045e-02 -8.60974327e+01] [-6.32300992e-01 7.74576347e-01 1.50645026e-02 4.32224298e+01] [ 2.19225162e-02 -1.54824683e-03 9.99758474e-01 1.38788568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39911593299999 meters 0.016143334871693976 Centerline is valid? [True, True] Translation: X:-86.15, Y:43.25, Z:13.83 [[ 7.72949668e-01 6.34231085e-01 -1.73130685e-02 -8.61492926e+01] [-6.34022472e-01 7.73141754e-01 1.63503177e-02 4.32487892e+01] [ 2.37553359e-02 -1.66109808e-03 9.99716422e-01 1.38289406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45911593299999 meters 0.016788178992034452 Centerline is valid? [True, True] Translation: X:-86.22, Y:43.25, Z:13.68 [[ 7.72197307e-01 6.35105948e-01 -1.87551220e-02 -8.62228660e+01] [-6.34859040e-01 7.72422842e-01 1.78031612e-02 4.32527183e+01] [ 2.57937782e-02 -1.84069438e-03 9.99665591e-01 1.36816480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.519115933 meters 0.017440984732660304 Centerline is valid? [True, True] Translation: X:-86.25, Y:43.31, Z:13.69 [[ 7.68926088e-01 6.38999661e-01 -2.07871164e-02 -8.62478285e+01] [-6.38695785e-01 7.69204548e-01 1.98004274e-02 4.33052301e+01] [ 2.86420109e-02 -1.94842153e-03 9.99587834e-01 1.36947668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.579115933 meters 0.016963086590707718 Centerline is valid? [True, True] Translation: X:-86.31, Y:43.32, Z:13.62 [[ 7.55602503e-01 6.54720333e-01 -2.01530104e-02 -8.63050174e+01] [-6.54437801e-01 7.55869949e-01 1.92817124e-02 4.33241606e+01] [ 2.78571842e-02 -1.38041836e-03 9.99610960e-01 1.36224225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63911593299999 meters 0.017346676694842557 Centerline is valid? [True, True] Translation: X:-86.32, Y:43.38, Z:13.71 [[ 7.59078888e-01 6.50747395e-01 -1.80850546e-02 -8.63211067e+01] [-6.50516705e-01 7.59292946e-01 1.73850312e-02 4.33816849e+01] [ 2.50451181e-02 -1.43198007e-03 9.99685296e-01 1.37087078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69911593299999 meters 0.01786189193366558 Centerline is valid? [True, True] Translation: X:-86.40, Y:43.38, Z:13.49 [[ 7.47815319e-01 6.63523994e-01 -2.25423656e-02 -8.63974349e+01] [-6.63168906e-01 7.48153854e-01 2.17442379e-02 4.33849315e+01] [ 3.12929813e-02 -1.31127830e-03 9.99509395e-01 1.34947092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75911593299999 meters 0.017080760274391343 Centerline is valid? [True, True] Translation: X:-86.42, Y:43.44, Z:13.60 [[ 7.43705494e-01 6.68156553e-01 -2.16554688e-02 -8.64169623e+01] [-6.67828493e-01 7.44019854e-01 2.09657030e-02 4.34375526e+01] [ 3.01204706e-02 -1.13016947e-03 9.99545637e-01 1.35987702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81911593299999 meters 0.016771968652227666 Centerline is valid? [True, True] Translation: X:-86.44, Y:43.47, Z:13.62 [[ 7.36229378e-01 6.76402661e-01 -2.11126302e-02 -8.64419976e+01] [-6.76084221e-01 7.36531325e-01 2.07782083e-02 4.34716765e+01] [ 2.96045488e-02 -1.02361125e-03 9.99561165e-01 1.36203355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.879115933 meters 0.016361353112932357 Centerline is valid? [True, True] Translation: X:-86.48, Y:43.51, Z:13.61 [[ 7.36698187e-01 6.75832672e-01 -2.29342742e-02 -8.64804769e+01] [-6.75457140e-01 7.37054228e-01 2.25547608e-02 4.35090186e+01] [ 3.21470480e-02 -1.12493219e-03 9.99482517e-01 1.36144858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.939115933 meters 0.01598466401811011 Centerline is valid? [True, True] Translation: X:-86.54, Y:43.52, Z:13.50 [[ 7.25966939e-01 6.87263064e-01 -2.53275401e-02 -8.65442036e+01] [-6.86807886e-01 7.26408212e-01 2.50207567e-02 4.35217574e+01] [ 3.55939750e-02 -7.69087903e-04 9.99366038e-01 1.35040970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99911593299998 meters 0.01652987266510675 Centerline is valid? [True, True] Translation: X:-86.61, Y:43.53, Z:13.39 [[ 7.23128079e-01 6.90215241e-01 -2.62431303e-02 -8.66078942e+01] [-6.89724046e-01 7.23603747e-01 2.60453061e-02 4.35343916e+01] [ 3.69664946e-02 -7.33574198e-04 9.99316236e-01 1.33905934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05911593299999 meters 0.016209371973035864 Centerline is valid? [True, True] Translation: X:-86.64, Y:43.58, Z:13.43 [[ 7.26755765e-01 6.86504919e-01 -2.31744161e-02 -8.66377044e+01] [-6.86116170e-01 7.27124601e-01 2.31174552e-02 4.35768953e+01] [ 3.27209347e-02 -9.00402262e-04 9.99464121e-01 1.34276578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11911593299999 meters 0.01536491001852763 Centerline is valid? [True, True] Translation: X:-86.69, Y:43.60, Z:13.37 [[ 7.25852174e-01 6.87416668e-01 -2.44324800e-02 -8.66913088e+01] [-6.86981279e-01 7.26262592e-01 2.44820151e-02 4.35985168e+01] [ 3.45737415e-02 -9.85667464e-04 9.99401663e-01 1.33728284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17911593299999 meters 0.016232642505646485 Centerline is valid? [True, True] Translation: X:-86.73, Y:43.62, Z:13.32 [[ 7.29278381e-01 6.83894734e-01 -2.10008323e-02 -8.67336800e+01] [-6.83561799e-01 7.29579658e-01 2.13726418e-02 4.36195835e+01] [ 2.99384172e-02 -1.23123893e-03 9.99550987e-01 1.33217821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.239115933 meters 0.015500931599850016 Centerline is valid? [True, True] Translation: X:-85.80, Y:44.61, Z:9.72 [[ 7.35739672e-01 -6.75304037e-01 -5.14936157e-02 -8.58010356e+01] [-6.73717141e-01 -7.37539178e-01 4.62728422e-02 4.46122917e+01] [-6.92267961e-02 6.47365806e-04 -9.97600738e-01 9.71928482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.299115933 meters 0.015984822135964 Centerline is valid? [True, True] Translation: X:-86.71, Y:43.54, Z:13.26 [[ 7.82977057e-01 6.21710151e-01 -2.05770617e-02 -8.67065642e+01] [-6.21459481e-01 7.83246683e-01 1.76846551e-02 4.35389484e+01] [ 2.71116449e-02 -1.05886909e-03 9.99631851e-01 1.32598179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35911593299998 meters 0.016292604789971812 Centerline is valid? [True, True] Translation: X:-86.74, Y:43.57, Z:13.30 [[ 7.82161142e-01 6.22725080e-01 -2.09146316e-02 -8.67444934e+01] [-6.22462992e-01 7.82439887e-01 1.81010260e-02 4.35737710e+01] [ 2.76364049e-02 -1.13933499e-03 9.99617392e-01 1.32992816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41911593299999 meters 0.014662614538020907 Centerline is valid? [True, True] Translation: X:-86.80, Y:43.59, Z:13.25 [[ 7.79638912e-01 6.25711422e-01 -2.54633784e-02 -8.67996945e+01] [-6.25321373e-01 7.80053489e-01 2.21299673e-02 4.35914412e+01] [ 3.37097704e-02 -1.33058888e-03 9.99430778e-01 1.32470108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47911593299999 meters 0.01574467244595733 Centerline is valid? [True, True] Translation: X:-86.86, Y:43.60, Z:13.20 [[ 7.82189584e-01 6.22446327e-01 -2.72034004e-02 -8.68558047e+01] [-6.21992476e-01 7.82660604e-01 2.38272605e-02 4.36035507e+01] [ 3.61222206e-02 -1.71712458e-03 9.99345904e-01 1.31964164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53911593299999 meters 0.015399848442047066 Centerline is valid? [True, True] Translation: X:-86.89, Y:43.65, Z:13.18 [[ 7.77838638e-01 6.27794336e-01 -2.90056091e-02 -8.68876107e+01] [-6.27278357e-01 7.78377531e-01 2.55006464e-02 4.36460129e+01] [ 3.85864757e-02 -1.64079726e-03 9.99253918e-01 1.31757013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.599115933 meters 0.014431239439212382 Centerline is valid? [True, True] Translation: X:-86.94, Y:43.67, Z:13.14 [[ 7.69496271e-01 6.38055206e-01 -2.75870107e-02 -8.69395123e+01] [-6.37590453e-01 7.69989732e-01 2.43767533e-02 4.36655216e+01] [ 3.67954294e-02 -1.16860610e-03 9.99322136e-01 1.31351990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.659115933 meters 0.014872346597584534 Centerline is valid? [True, True] Translation: X:-86.98, Y:43.70, Z:13.12 [[ 7.59559913e-01 6.49884325e-01 -2.68161088e-02 -8.69798509e+01] [-6.49447760e-01 7.60032828e-01 2.38266025e-02 4.36967939e+01] [ 3.58656585e-02 -6.82070268e-04 9.99356388e-01 1.31163693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71911593299998 meters 0.015965557381086095 Centerline is valid? [True, True] Translation: X:-87.01, Y:43.74, Z:13.14 [[ 7.66459746e-01 6.41834132e-01 -2.42570799e-02 -8.70074910e+01] [-6.41468433e-01 7.66842758e-01 2.16894877e-02 4.37422530e+01] [ 3.25224195e-02 -1.06396821e-03 9.99470440e-01 1.31360718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77911593299999 meters 0.01453887290110568 Centerline is valid? [True, True] Translation: X:-87.06, Y:43.76, Z:13.09 [[ 7.62487541e-01 6.46559007e-01 -2.39624985e-02 -8.70604997e+01] [-6.46201333e-01 7.62863417e-01 2.15231107e-02 4.37611884e+01] [ 3.21960746e-02 -9.26505226e-04 9.99481143e-01 1.30927642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83911593299999 meters 0.015538111708322715 Centerline is valid? [True, True] Translation: X:-87.10, Y:43.79, Z:13.09 [[ 7.59237974e-01 6.50286056e-01 -2.61867213e-02 -8.71017885e+01] [-6.49857075e-01 7.59688875e-01 2.36346300e-02 4.37916146e+01] [ 3.52630311e-02 -9.26682462e-04 9.99377636e-01 1.30943117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89911593299999 meters 0.014717625868420065 Centerline is valid? [True, True] Translation: X:-87.13, Y:43.83, Z:13.12 [[ 7.65049902e-01 6.43582717e-01 -2.23591962e-02 -8.71327056e+01] [-6.43263578e-01 7.65375707e-01 2.02976805e-02 4.38320125e+01] [ 3.01764220e-02 -1.14588187e-03 9.99543931e-01 1.31230966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95911593299999 meters 0.013650730938671357 Centerline is valid? [True, True] Translation: X:-87.19, Y:43.84, Z:13.04 [[ 7.55906963e-01 6.54134700e-01 -2.66918964e-02 -8.71936736e+01] [-6.53682506e-01 7.56377482e-01 2.43369392e-02 4.38429370e+01] [ 3.61087859e-02 -9.48436078e-04 9.99347415e-01 1.30418887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.019115933 meters 0.013586573880284624 Centerline is valid? [True, True] Translation: X:-87.23, Y:43.87, Z:13.05 [[ 7.44836355e-01 6.66652380e-01 -2.81675198e-02 -8.72336220e+01] [-6.66152186e-01 7.45368622e-01 2.58240635e-02 4.38748257e+01] [ 3.82108589e-02 -4.70846408e-04 9.99269588e-01 1.30482323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.079115933 meters 0.01419457156001716 Centerline is valid? [True, True] Translation: X:-87.27, Y:43.91, Z:13.03 [[ 7.44911679e-01 6.66536045e-01 -2.89186884e-02 -8.72692409e+01] [-6.66003466e-01 7.45472570e-01 2.66463947e-02 4.39113357e+01] [ 3.93188715e-02 -5.89263884e-04 9.99226540e-01 1.30349516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13911593299999 meters 0.014535105143544098 Centerline is valid? [True, True] Translation: X:-87.31, Y:43.94, Z:13.01 [[ 7.36459171e-01 6.75965594e-01 -2.64273752e-02 -8.73122841e+01] [-6.75521475e-01 7.36933158e-01 2.45001381e-02 4.39406817e+01] [ 3.60364595e-02 -1.91091843e-04 9.99350458e-01 1.30134757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19911593299999 meters 0.014381008145378084 Centerline is valid? [True, True] Translation: X:-87.35, Y:43.97, Z:13.01 [[ 7.42083829e-01 6.69828341e-01 -2.53295156e-02 -8.73505259e+01] [-6.69412591e-01 7.42515778e-01 2.36029949e-02 4.39745673e+01] [ 3.46175199e-02 -5.59504196e-04 9.99400477e-01 1.30144484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25911593299999 meters 0.01465689392638942 Centerline is valid? [True, True] Translation: X:-87.39, Y:44.00, Z:12.99 [[ 7.41636917e-01 6.70255120e-01 -2.70694780e-02 -8.73933938e+01] [-6.69775846e-01 7.42130463e-01 2.53513881e-02 4.40043949e+01] [ 3.70809819e-02 -6.71042733e-04 9.99312039e-01 1.29865834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31911593299999 meters 0.014610020337643876 Centerline is valid? [True, True] Translation: X:-87.44, Y:44.03, Z:12.96 [[ 7.45842042e-01 6.65522504e-01 -2.82744738e-02 -8.74439658e+01] [-6.64989303e-01 7.46377004e-01 2.66569935e-02 4.40252886e+01] [ 3.88442460e-02 -1.07968383e-03 9.99244694e-01 1.29609395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.379115933 meters 0.014263050442365052 Centerline is valid? [True, True] Translation: X:-87.48, Y:44.06, Z:12.98 [[ 7.59024922e-01 6.50640774e-01 -2.34040680e-02 -8.74815184e+01] [-6.50263064e-01 7.59383863e-01 2.22282917e-02 4.40593776e+01] [ 3.22353045e-02 -1.65302645e-03 9.99478941e-01 1.29808781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.439115933 meters 0.015161009520776949 Centerline is valid? [True, True] Translation: X:-87.51, Y:44.10, Z:13.01 [[ 7.55934463e-01 6.54302897e-01 -2.12322154e-02 -8.75142810e+01] [-6.53989385e-01 7.56231166e-01 2.03053753e-02 4.40971531e+01] [ 2.93423289e-02 -1.46388945e-03 9.99568349e-01 1.30055459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49911593299998 meters 0.0165980664713755 Centerline is valid? [True, True] Translation: X:-87.55, Y:44.13, Z:13.00 [[ 7.50930511e-01 6.60113694e-01 -1.87957021e-02 -8.75546421e+01] [-6.59867065e-01 7.51164783e-01 1.80810792e-02 4.41291313e+01] [ 2.60542375e-02 -1.17496928e-03 9.99659840e-01 1.29992395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55911593299999 meters 0.016797740692268266 Centerline is valid? [True, True] Translation: X:-87.60, Y:44.16, Z:12.97 [[ 7.34599291e-01 6.78317809e-01 -1.57743893e-02 -8.75992345e+01] [-6.78146175e-01 7.34768455e-01 1.52670869e-02 4.41568382e+01] [ 2.19464605e-02 -5.17849435e-04 9.99759013e-01 1.29724707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61911593299999 meters 0.016842510586178354 Centerline is valid? [True, True] Translation: X:-87.63, Y:44.20, Z:12.97 [[ 7.29565979e-01 6.83756404e-01 -1.45141829e-02 -8.76281882e+01] [-6.83610316e-01 7.29710233e-01 1.41389773e-02 4.42005149e+01] [ 2.02587641e-02 -3.93271679e-04 9.99794693e-01 1.29726749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67911593299999 meters 0.017463982338517484 Centerline is valid? [True, True] Translation: X:-87.67, Y:44.23, Z:12.96 [[ 7.28470581e-01 6.85015188e-01 -9.20896151e-03 -8.76660520e+01] [-6.84955275e-01 7.28528726e-01 9.06458067e-03 4.42343586e+01] [ 1.29183684e-02 -2.95553591e-04 9.99916511e-01 1.29584725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.739115933 meters 0.017148364104875004 Centerline is valid? [True, True] Translation: X:-87.70, Y:44.27, Z:12.96 [[ 7.11385228e-01 7.02731128e-01 -1.00008948e-02 -8.76992729e+01] [-7.02661883e-01 7.11455523e-01 9.86492354e-03 4.42730519e+01] [ 1.40475807e-02 9.48668831e-06 9.99901328e-01 1.29598673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.799115933 meters 0.01747964201913208 Centerline is valid? [True, True] Translation: X:-87.73, Y:44.31, Z:12.99 [[ 7.08968773e-01 7.05179053e-01 -9.26188647e-03 -8.77279282e+01] [-7.05118812e-01 7.09029268e-01 9.21730120e-03 4.43145954e+01] [ 1.30667963e-02 -4.04833666e-06 9.99914626e-01 1.29897763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85911593299998 meters 0.017022219489578206 Centerline is valid? [True, True] Translation: X:-87.76, Y:44.35, Z:12.98 [[ 7.03672432e-01 7.10436125e-01 -1.12080790e-02 -8.77640754e+01] [-7.10348220e-01 7.03761681e-01 1.11760229e-02 4.43510994e+01] [ 1.58276669e-02 9.73797422e-05 9.99874730e-01 1.29796822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91911593299999 meters 0.017121091344307948 Centerline is valid? [True, True] Translation: X:-87.78, Y:44.41, Z:13.02 [[ 6.93125574e-01 7.20770403e-01 -8.18318834e-03 -8.77793794e+01] [-7.20723279e-01 6.93173855e-01 8.24398047e-03 4.44053858e+01] [ 1.16143893e-02 1.83700631e-04 9.99932534e-01 1.30178013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97911593299999 meters 0.017033474940395716 Centerline is valid? [True, True] Translation: X:-87.83, Y:44.43, Z:12.97 [[ 6.80299795e-01 7.32898507e-01 -7.20885551e-03 -8.78280077e+01] [-7.32861994e-01 6.80337921e-01 7.32192631e-03 4.44282485e+01] [ 1.02706866e-02 3.01991261e-04 9.99947210e-01 1.29672211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03911593299999 meters 0.01715816188264359 Centerline is valid? [True, True] Translation: X:-86.72, Y:45.59, Z:10.15 [[ 7.86594799e-01 -6.16180892e-01 -3.98714157e-02 -8.67202073e+01] [-6.15136146e-01 -7.87595264e-01 3.60724527e-02 4.55897715e+01] [-5.36296942e-02 -3.84805472e-03 -9.98553478e-01 1.01490413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.099115933 meters 0.017008129184904453 Centerline is valid? [True, True] Translation: X:-87.76, Y:44.37, Z:12.98 [[ 7.38689974e-01 6.73977385e-01 -9.57114524e-03 -8.77628647e+01] [-6.73927768e-01 7.38751868e-01 8.18783883e-03 4.43686888e+01] [ 1.25891196e-02 4.01986094e-04 9.99920673e-01 1.29793759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.159115933 meters 0.017282017204959314 Centerline is valid? [True, True] Translation: X:-87.81, Y:44.39, Z:12.96 [[ 7.37218340e-01 6.75523452e-01 -1.33110573e-02 -8.78078330e+01] [-6.75426151e-01 7.37338311e-01 1.14773105e-02 4.43944954e+01] [ 1.75679449e-02 5.29352401e-04 9.99845532e-01 1.29615912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21911593299998 meters 0.017372449083519755 Centerline is valid? [True, True] Translation: X:-87.85, Y:44.43, Z:12.96 [[ 7.38331512e-01 6.74192687e-01 -1.81878569e-02 -8.78475750e+01] [-6.74009276e-01 7.38555219e-01 1.57379908e-02 4.44258615e+01] [ 2.40431750e-02 6.38929736e-04 9.99710717e-01 1.29632553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27911593299999 meters 0.01846539010332356 Centerline is valid? [True, True] Translation: X:-87.87, Y:44.48, Z:13.04 [[ 7.36476067e-01 6.76071179e-01 -2.30382912e-02 -8.78701045e+01] [-6.75775294e-01 7.36835855e-01 2.00168664e-02 4.44750677e+01] [ 3.05082655e-02 8.26764955e-04 9.99534173e-01 1.30400282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33911593299999 meters 0.018304073180796916 Centerline is valid? [True, True] Translation: X:-87.92, Y:44.49, Z:12.99 [[ 7.35715494e-01 6.76572822e-01 -3.11757747e-02 -8.79217733e+01] [-6.76024330e-01 7.36375021e-01 2.72568003e-02 4.44927126e+01] [ 4.13982720e-02 1.02233194e-03 9.99142201e-01 1.29854997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39911593299999 meters 0.017541314056595297 Centerline is valid? [True, True] Translation: X:-87.97, Y:44.51, Z:12.94 [[ 7.34477967e-01 6.77687005e-01 -3.58111576e-02 -8.79743511e+01] [-6.76955418e-01 7.35349644e-01 3.15002026e-02 4.45093525e+01] [ 4.76809999e-02 1.10635244e-03 9.98862002e-01 1.29377239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45911593299999 meters 0.01754688261271522 Centerline is valid? [True, True] Translation: X:-88.01, Y:44.54, Z:12.93 [[ 7.30294821e-01 6.81639825e-01 -4.51289786e-02 -8.80118180e+01] [-6.80472404e-01 7.31686204e-01 3.99074659e-02 4.45426297e+01] [ 6.02227691e-02 1.56480887e-03 9.98183735e-01 1.29329120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.519115933 meters 0.016477031760472032 Centerline is valid? [True, True] Translation: X:-88.04, Y:44.58, Z:12.95 [[ 7.38882077e-01 6.72340003e-01 -4.48575187e-02 -8.80418828e+01] [-6.71150873e-01 7.40242255e-01 3.99738598e-02 4.45799218e+01] [ 6.00814557e-02 5.70194274e-04 9.98193315e-01 1.29491602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.579115933 meters 0.016252022275951072 Centerline is valid? [True, True] Translation: X:-88.07, Y:44.62, Z:12.93 [[ 7.34058340e-01 6.77490201e-01 -4.65336630e-02 -8.80725180e+01] [-6.76205041e-01 7.35531317e-01 4.17183861e-02 4.46201725e+01] [ 6.24907642e-02 8.42568330e-04 9.98045187e-01 1.29286594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63911593299999 meters 0.01688065508803536 Centerline is valid? [True, True] Translation: X:-88.12, Y:44.65, Z:12.88 [[ 7.24091689e-01 6.88206564e-01 -4.54197229e-02 -8.81165912e+01] [-6.86987230e-01 7.25513184e-01 4.09776186e-02 4.46463563e+01] [ 6.11536739e-02 1.53121658e-03 9.98127188e-01 1.28783810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69911593299999 meters 0.016949370921350102 Centerline is valid? [True, True] Translation: X:-88.15, Y:44.68, Z:12.86 [[ 7.16337163e-01 6.96152862e-01 -4.72468210e-02 -8.81544962e+01] [-6.94833583e-01 7.17890494e-01 4.28897558e-02 4.46795485e+01] [ 6.37758699e-02 2.10515196e-03 9.97962027e-01 1.28626177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75911593299999 meters 0.01771197493095301 Centerline is valid? [True, True] Translation: X:-88.18, Y:44.73, Z:12.90 [[ 7.21241059e-01 6.91232501e-01 -4.48214594e-02 -8.81788428e+01] [-6.90019857e-01 7.22631088e-01 4.09500600e-02 4.47263462e+01] [ 6.06953924e-02 1.39283242e-03 9.98155363e-01 1.28957336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81911593299999 meters 0.01717654570119773 Centerline is valid? [True, True] Translation: X:-88.22, Y:44.75, Z:12.86 [[ 7.09322840e-01 7.03141891e-01 -4.95236316e-02 -8.82208190e+01] [-7.01669467e-01 7.11045369e-01 4.55460511e-02 4.47529357e+01] [ 6.72388854e-02 2.44236582e-03 9.97733916e-01 1.28617503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.879115933 meters 0.017312911236838317 Centerline is valid? [True, True] Translation: X:-88.26, Y:44.78, Z:12.86 [[ 7.10848558e-01 7.01576829e-01 -4.98425632e-02 -8.82599252e+01] [-7.00060862e-01 7.12590750e-01 4.61433829e-02 4.47829057e+01] [ 6.78904778e-02 2.09187058e-03 9.97690587e-01 1.28576381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.939115933 meters 0.01735012335595001 Centerline is valid? [True, True] Translation: X:-88.30, Y:44.81, Z:12.84 [[ 7.09160763e-01 7.03040776e-01 -5.31477173e-02 -8.83011465e+01] [-7.01296149e-01 7.11146327e-01 4.95440547e-02 4.48094291e+01] [ 7.26272945e-02 2.13758985e-03 9.97356860e-01 1.28446825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99911593299998 meters 0.016834125280010836 Centerline is valid? [True, True] Translation: X:-87.24, Y:46.06, Z:10.29 [[ 7.84661917e-01 -6.13899222e-01 -8.62172863e-02 -8.72404189e+01] [-6.09345427e-01 -7.89359816e-01 7.48948023e-02 4.60625531e+01] [-1.14034322e-01 -6.23099012e-03 -9.93457270e-01 1.02930417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05911593299999 meters 0.016660709902166154 Centerline is valid? [True, True] Translation: X:-88.31, Y:44.76, Z:12.79 [[ 7.67805334e-01 6.37870753e-01 -5.99655808e-02 -8.83086330e+01] [-6.36003384e-01 7.70143123e-01 4.87777039e-02 4.47561232e+01] [ 7.72959504e-02 6.86531068e-04 9.97007956e-01 1.27906256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11911593299999 meters 0.016007722107714832 Centerline is valid? [True, True] Translation: X:-88.35, Y:44.78, Z:12.77 [[ 7.66599500e-01 6.39032510e-01 -6.29496424e-02 -8.83500816e+01] [-6.36946578e-01 7.69179534e-01 5.15936275e-02 4.47842617e+01] [ 8.13895819e-02 5.43910236e-04 9.96682216e-01 1.27662984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17911593299999 meters 0.016049153056506272 Centerline is valid? [True, True] Translation: X:-88.39, Y:44.81, Z:12.74 [[ 7.68728725e-01 6.36893593e-01 -5.85038354e-02 -8.83935027e+01] [-6.35060048e-01 7.70951717e-01 4.82927024e-02 4.48087460e+01] [ 7.58609452e-02 2.94609684e-05 9.97118406e-01 1.27401553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.239115933 meters 0.016553961311390235 Centerline is valid? [True, True] Translation: X:-88.43, Y:44.84, Z:12.73 [[ 7.65370560e-01 6.40828693e-01 -5.95524250e-02 -8.84336611e+01] [-6.38916272e-01 7.67683888e-01 4.94716711e-02 4.48385883e+01] [ 7.74203035e-02 1.84852700e-04 9.96998527e-01 1.27332014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.299115933 meters 0.01734690097827972 Centerline is valid? [True, True] Translation: X:-88.47, Y:44.88, Z:12.76 [[ 7.60247002e-01 6.46570639e-01 -6.30151150e-02 -8.84671431e+01] [-6.44422750e-01 7.62853906e-01 5.26615469e-02 4.48758831e+01] [ 8.21207366e-02 5.72590487e-04 9.96622224e-01 1.27641212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35911593299998 meters 0.017514423161869023 Centerline is valid? [True, True] Translation: X:-88.51, Y:44.91, Z:12.77 [[ 7.62943388e-01 6.43587731e-01 -6.09279836e-02 -8.85053249e+01] [-6.41545356e-01 7.65372349e-01 5.12320564e-02 4.49079572e+01] [ 7.96049169e-02 9.06304866e-07 9.96826493e-01 1.27677800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41911593299999 meters 0.01590524793442092 Centerline is valid? [True, True] Translation: X:-88.55, Y:44.93, Z:12.73 [[ 7.66521310e-01 6.39588834e-01 -5.80620816e-02 -8.85511882e+01] [-6.37697370e-01 7.68716916e-01 4.91565661e-02 4.49310171e+01] [ 7.60732951e-02 -6.53518701e-04 9.97102014e-01 1.27322315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47911593299999 meters 0.015982996051343817 Centerline is valid? [True, True] Translation: X:-88.59, Y:44.96, Z:12.73 [[ 7.58283355e-01 6.48890530e-01 -6.28286010e-02 -8.85885041e+01] [-6.46680097e-01 7.60881776e-01 5.35142550e-02 4.49646760e+01] [ 8.25300308e-02 5.10369667e-05 9.96588577e-01 1.27307134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53911593299999 meters 0.015914001828127914 Centerline is valid? [True, True] Translation: X:-88.64, Y:44.98, Z:12.69 [[ 7.56420075e-01 6.51173100e-01 -6.16625019e-02 -8.86408070e+01] [-6.49023618e-01 7.58929241e-01 5.28654004e-02 4.49811011e+01] [ 8.12220025e-02 3.19699101e-05 9.96696035e-01 1.26884990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.599115933 meters 0.01731300060609745 Centerline is valid? [True, True] Translation: X:-88.67, Y:44.97, Z:12.59 [[ 7.39155442e-01 6.71145607e-01 -5.66816256e-02 -8.86726863e+01] [-6.69011117e-01 7.41323759e-01 5.35089708e-02 4.49719314e+01] [ 7.79317464e-02 -1.63080931e-03 9.96957363e-01 1.25903012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.659115933 meters 0.015817177388413775 Centerline is valid? [True, True] Translation: X:-88.72, Y:44.99, Z:12.55 [[ 7.35110669e-01 6.75472119e-01 -5.78767758e-02 -8.87231628e+01] [-6.73309526e-01 7.37385160e-01 5.40130406e-02 4.49924502e+01] [ 7.91617786e-02 -7.36577919e-04 9.96861510e-01 1.25537656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71911593299998 meters 0.016115645687936164 Centerline is valid? [True, True] Translation: X:-88.73, Y:45.06, Z:12.65 [[ 7.24259892e-01 6.86565961e-01 -6.38340797e-02 -8.87291588e+01] [-6.83944808e-01 7.27067479e-01 5.99364700e-02 4.50559641e+01] [ 8.75620235e-02 2.49406066e-04 9.96159038e-01 1.26524026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77911593299999 meters 0.01892516231722476 Centerline is valid? [True, True] Translation: X:-88.77, Y:45.08, Z:12.63 [[ 7.20065776e-01 6.90817841e-01 -6.53910430e-02 -8.87715759e+01] [-6.88048127e-01 7.23028677e-01 6.18005369e-02 4.50826120e+01] [ 8.99725129e-02 4.91733108e-04 9.95944128e-01 1.26279870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83911593299999 meters 0.01555858111518641 Centerline is valid? [True, True] Translation: X:-88.80, Y:45.12, Z:12.64 [[ 7.16532762e-01 6.94396593e-01 -6.62885534e-02 -8.88032111e+01] [-6.91528787e-01 7.19592197e-01 6.30476538e-02 4.51206459e+01] [ 9.14808017e-02 6.64733409e-04 9.95806618e-01 1.26422549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89911593299999 meters 0.015183068693800716 Centerline is valid? [True, True] Translation: X:-88.84, Y:45.16, Z:12.64 [[ 7.19897204e-01 6.91059456e-01 -6.46903699e-02 -8.88381610e+01] [-6.88277335e-01 7.22797913e-01 6.19474525e-02 4.51556129e+01] [ 8.95674371e-02 -7.08824431e-05 9.95980757e-01 1.26363676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95911593299999 meters 0.01670722237461685 Centerline is valid? [True, True] Translation: X:-88.87, Y:45.19, Z:12.66 [[ 7.11500932e-01 6.99309590e-01 -6.87933230e-02 -8.88674104e+01] [-6.96159332e-01 7.14818570e-01 6.63068298e-02 4.51941114e+01] [ 9.55437467e-02 7.13742570e-04 9.95424976e-01 1.26632902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.019115933 meters 0.015889162591308112 Centerline is valid? [True, True] Translation: X:-88.90, Y:45.23, Z:12.65 [[ 7.09766719e-01 7.01284670e-01 -6.65658813e-02 -8.88983645e+01] [-6.98298693e-01 7.12881094e-01 6.46489058e-02 4.52295758e+01] [ 9.27908449e-02 5.97226120e-04 9.95685444e-01 1.26539834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.079115933 meters 0.015694714615272554 Centerline is valid? [True, True] Translation: X:-88.94, Y:45.25, Z:12.62 [[ 7.03788991e-01 7.07308264e-01 -6.63029085e-02 -8.89404402e+01] [-7.04309584e-01 7.06904663e-01 6.50677108e-02 4.52526442e+01] [ 9.28927648e-02 9.03835304e-04 9.95675709e-01 1.26212526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13911593299999 meters 0.015482100768423932 Centerline is valid? [True, True] Translation: X:-88.97, Y:45.29, Z:12.63 [[ 7.01776728e-01 7.09361355e-01 -6.56954446e-02 -8.89694961e+01] [-7.06391315e-01 7.04844426e-01 6.48509500e-02 4.52921233e+01] [ 9.23078257e-02 8.95803999e-04 9.95730115e-01 1.26323510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19911593299999 meters 0.013728147933621336 Centerline is valid? [True, True] Translation: X:-89.03, Y:45.31, Z:12.54 [[ 7.02987533e-01 7.08487554e-01 -6.20799051e-02 -8.90275266e+01] [-7.05795816e-01 7.05723169e-01 6.17015002e-02 4.53057167e+01] [ 8.75259723e-02 4.40351879e-04 9.96162141e-01 1.25445487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25911593299999 meters 0.01406981935405101 Centerline is valid? [True, True] Translation: X:-89.06, Y:45.34, Z:12.55 [[ 6.87597596e-01 7.23249811e-01 -6.41814307e-02 -8.90577189e+01] [-7.20396362e-01 6.90583361e-01 6.42160585e-02 4.53446296e+01] [ 9.07668803e-02 2.08126169e-03 9.95869992e-01 1.25539059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31911593299999 meters 0.01521080420436868 Centerline is valid? [True, True] Translation: X:-89.08, Y:45.39, Z:12.56 [[ 6.76563819e-01 7.33552258e-01 -6.45173126e-02 -8.90848141e+01] [-7.30676479e-01 6.79625585e-01 6.49688145e-02 4.53862928e+01] [ 9.15056369e-02 3.18573356e-03 9.95799463e-01 1.25626185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.379115933 meters 0.014559453051905076 Centerline is valid? [True, True] Translation: X:-87.82, Y:46.66, Z:10.57 [[ 7.75422057e-01 -6.23538129e-01 -9.96033921e-02 -8.78188551e+01] [-6.17463861e-01 -7.81770051e-01 8.70285441e-02 4.66571532e+01] [-1.32132564e-01 -5.98235762e-03 -9.91214002e-01 1.05703540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.439115933 meters 0.014579062504191543 Centerline is valid? [True, True] Translation: X:-89.01, Y:45.29, Z:12.56 [[ 7.36922463e-01 6.72155913e-01 -7.17754303e-02 -8.90060139e+01] [-6.69343884e-01 7.40404580e-01 6.14802653e-02 4.52888268e+01] [ 9.44671811e-02 2.73625678e-03 9.95524216e-01 1.25635417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49911593299998 meters 0.013407808995666173 Centerline is valid? [True, True] Translation: X:-89.05, Y:45.31, Z:12.55 [[ 7.41628319e-01 6.67462895e-01 -6.69381787e-02 -8.90520015e+01] [-6.64961215e-01 7.44641173e-01 5.77590347e-02 4.53115428e+01] [ 8.83969364e-02 1.67555685e-03 9.96083919e-01 1.25455809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55911593299999 meters 0.014545144876186319 Centerline is valid? [True, True] Translation: X:-89.08, Y:45.35, Z:12.55 [[ 7.33900754e-01 6.75739822e-01 -6.90316981e-02 -8.90837591e+01] [-6.73076632e-01 7.37136170e-01 5.99842756e-02 4.53484007e+01] [ 9.14195253e-02 2.44111777e-03 9.95809475e-01 1.25513518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61911593299999 meters 0.013351465494897937 Centerline is valid? [True, True] Translation: X:-89.11, Y:45.39, Z:12.60 [[ 7.33670481e-01 6.76137314e-01 -6.75718767e-02 -8.91075461e+01] [-6.73553085e-01 7.36772481e-01 5.90978256e-02 4.53949871e+01] [ 8.97433444e-02 2.15491588e-03 9.95962594e-01 1.26027543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67911593299999 meters 0.014769700940507524 Centerline is valid? [True, True] Translation: X:-89.15, Y:45.42, Z:12.56 [[ 7.37046767e-01 6.72565754e-01 -6.64632966e-02 -8.91538677e+01] [-6.70017255e-01 7.40036033e-01 5.85110969e-02 4.54174077e+01] [ 8.85377944e-02 1.40614071e-03 9.96071826e-01 1.25631838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.739115933 meters 0.013762855678199288 Centerline is valid? [True, True] Translation: X:-89.20, Y:45.44, Z:12.55 [[ 7.37640367e-01 6.72030580e-01 -6.52808422e-02 -8.91985777e+01] [-6.69539194e-01 7.40522643e-01 5.78228627e-02 4.54417499e+01] [ 8.72006738e-02 1.05560484e-03 9.96190207e-01 1.25463975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.799115933 meters 0.01337760740444005 Centerline is valid? [True, True] Translation: X:-89.25, Y:45.46, Z:12.51 [[ 7.36251763e-01 6.73753293e-01 -6.31651922e-02 -8.92458219e+01] [-6.71395487e-01 7.38955762e-01 5.63247878e-02 4.54631225e+01] [ 8.46252939e-02 9.39600679e-04 9.96412403e-01 1.25143106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85911593299998 meters 0.01370628564343495 Centerline is valid? [True, True] Translation: X:-89.27, Y:45.51, Z:12.54 [[ 7.30977012e-01 6.79355063e-01 -6.44151112e-02 -8.92722956e+01] [-6.76893088e-01 7.33808471e-01 5.78003083e-02 4.55063189e+01] [ 8.65352863e-02 1.35144687e-03 9.96247870e-01 1.25400796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91911593299999 meters 0.013439656024701669 Centerline is valid? [True, True] Translation: X:-89.32, Y:45.53, Z:12.51 [[ 7.27728708e-01 6.82686659e-01 -6.59534097e-02 -8.93157905e+01] [-6.80085286e-01 7.30709685e-01 5.95597211e-02 4.55320011e+01] [ 8.88534222e-02 1.51062464e-03 9.96043567e-01 1.25146693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97911593299999 meters 0.012803584087216224 Centerline is valid? [True, True] Translation: X:-89.35, Y:45.56, Z:12.51 [[ 7.28060099e-01 6.82496174e-01 -6.42453430e-02 -8.93514295e+01] [-6.79992119e-01 7.30888258e-01 5.84215045e-02 4.55646506e+01] [ 8.68286201e-02 1.15196059e-03 9.96222597e-01 1.25148569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03911593299999 meters 0.01464380166774157 Centerline is valid? [True, True] Translation: X:-89.39, Y:45.59, Z:12.51 [[ 7.25659232e-01 6.84982770e-01 -6.49406148e-02 -8.93933961e+01] [-6.82401187e-01 7.28558290e-01 5.94259010e-02 4.55912527e+01] [ 8.80187416e-02 1.19259892e-03 9.96118105e-01 1.25076856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.099115933 meters 0.014203302587658222 Centerline is valid? [True, True] Translation: X:-89.43, Y:45.62, Z:12.50 [[ 7.27094455e-01 6.83555320e-01 -6.39200996e-02 -8.94302545e+01] [-6.81012425e-01 7.29898376e-01 5.89104253e-02 4.56215719e+01] [ 8.69237115e-02 6.96938501e-04 9.96214727e-01 1.25047795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.159115933 meters 0.012956723127388688 Centerline is valid? [True, True] Translation: X:-89.47, Y:45.65, Z:12.50 [[ 7.31089301e-01 6.79502842e-01 -6.15168344e-02 -8.94694147e+01] [-6.77102084e-01 7.33672872e-01 5.70691324e-02 4.56512656e+01] [ 8.39118702e-02 -6.94554053e-05 9.96473177e-01 1.24959315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21911593299998 meters 0.014969504044603165 Centerline is valid? [True, True] Translation: X:-89.52, Y:45.67, Z:12.47 [[ 7.31020440e-01 6.79844620e-01 -5.84842577e-02 -8.95163291e+01] [-6.77647879e-01 7.33356127e-01 5.46090092e-02 4.56743589e+01] [ 8.00154299e-02 -2.88568760e-04 9.96793583e-01 1.24706164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27911593299999 meters 0.01315219180683352 Centerline is valid? [True, True] Translation: X:-89.53, Y:45.73, Z:12.53 [[ 7.21108657e-01 6.90112770e-01 -6.12100514e-02 -8.95313989e+01] [-6.87713061e-01 7.23701576e-01 5.75045709e-02 4.57293803e+01] [ 8.39824493e-02 6.27907936e-04 9.96467036e-01 1.25257393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33911593299999 meters 0.013052030649712412 Centerline is valid? [True, True] Translation: X:-89.59, Y:45.74, Z:12.47 [[ 7.20608391e-01 6.90790465e-01 -5.94313008e-02 -8.95871992e+01] [-6.88499723e-01 7.23054883e-01 5.62118102e-02 4.57425922e+01] [ 8.18026748e-02 4.11732068e-04 9.96648460e-01 1.24678181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39911593299999 meters 0.013172480139307685 Centerline is valid? [True, True] Translation: X:-89.62, Y:45.77, Z:12.47 [[ 7.20499479e-01 6.90894593e-01 -5.95412627e-02 -8.96212632e+01] [-6.88554057e-01 7.22955502e-01 5.68212334e-02 4.57729350e+01] [ 8.23031664e-02 5.77089739e-05 9.96607338e-01 1.24674785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45911593299999 meters 0.012285305595295773 Centerline is valid? [True, True] Translation: X:-89.66, Y:45.80, Z:12.45 [[ 7.15225734e-01 6.96200250e-01 -6.12973296e-02 -8.96615149e+01] [-6.93708850e-01 7.17847494e-01 5.88473213e-02 4.58016620e+01] [ 8.49716542e-02 4.33381434e-04 9.96383275e-01 1.24491105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.519115933 meters 0.012722287027979928 Centerline is valid? [True, True] Translation: X:-89.70, Y:45.83, Z:12.44 [[ 7.11239342e-01 7.00065253e-01 -6.36179147e-02 -8.97013531e+01] [-6.97361376e-01 7.14078587e-01 6.14726245e-02 4.58300393e+01] [ 8.84630390e-02 6.42927469e-04 9.96079253e-01 1.24380336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.579115933 meters 0.013415625716630976 Centerline is valid? [True, True] Translation: X:-89.74, Y:45.86, Z:12.43 [[ 7.10024758e-01 7.01327787e-01 -6.32785803e-02 -8.97390469e+01] [-6.98622753e-01 7.12838742e-01 6.15400425e-02 4.58612034e+01] [ 8.82671654e-02 5.12902245e-04 9.96096704e-01 1.24275269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63911593299999 meters 0.013281097632579283 Centerline is valid? [True, True] Translation: X:-89.76, Y:45.91, Z:12.46 [[ 7.07250306e-01 7.03996650e-01 -6.46971490e-02 -8.97626293e+01] [-7.01144136e-01 7.10203052e-01 6.33129080e-02 4.59059616e+01] [ 9.05201878e-02 5.83953094e-04 9.95894450e-01 1.24629026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69911593299999 meters 0.012741590200996895 Centerline is valid? [True, True] Translation: X:-89.81, Y:45.93, Z:12.43 [[ 7.10797533e-01 7.00717571e-01 -6.13331252e-02 -8.98069966e+01] [-6.98107910e-01 7.13438763e-01 6.04191713e-02 4.59311705e+01] [ 8.60942039e-02 -1.28658082e-04 9.96286993e-01 1.24288878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75911593299999 meters 0.012388645087564968 Centerline is valid? [True, True] Translation: X:-89.84, Y:45.96, Z:12.42 [[ 7.04101225e-01 7.07333474e-01 -6.26164711e-02 -8.98445780e+01] [-7.04604504e-01 7.06879896e-01 6.20750046e-02 4.59629709e+01] [ 8.81700531e-02 4.12760790e-04 9.96105352e-01 1.24176892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81911593299999 meters 0.012744175575363708 Centerline is valid? [True, True] Translation: X:-89.88, Y:46.00, Z:12.42 [[ 7.04090812e-01 7.07443713e-01 -6.14778204e-02 -8.98759001e+01] [-7.04765741e-01 7.06769689e-01 6.14968090e-02 4.59962454e+01] [ 8.69561908e-02 2.81234953e-05 9.96212136e-01 1.24199155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.879115933 meters 0.012622292564333995 Centerline is valid? [True, True] Translation: X:-89.91, Y:46.02, Z:12.40 [[ 7.06509237e-01 7.05336524e-01 -5.78367176e-02 -8.99148458e+01] [-7.02927628e-01 7.08872444e-01 5.82461083e-02 4.60248438e+01] [ 8.20819629e-02 -4.96386832e-04 9.96625459e-01 1.24015744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.939115933 meters 0.012990792177057127 Centerline is valid? [True, True] Translation: X:-88.58, Y:47.41, Z:10.73 [[ 7.57558576e-01 -6.46154765e-01 -9.26769857e-02 -8.85811672e+01] [-6.41047438e-01 -7.63203700e-01 8.11066852e-02 4.74072535e+01] [-1.23138890e-01 -2.03272073e-03 -9.92387365e-01 1.07321860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99911593299998 meters 0.012654821919817164 Centerline is valid? [True, True] Translation: X:-89.85, Y:45.95, Z:12.41 [[ 7.57535807e-01 6.49677989e-01 -6.37025317e-02 -8.98528063e+01] [-6.47388888e-01 7.60209517e-01 5.44896100e-02 4.59507139e+01] [ 8.38279711e-02 -3.75194761e-05 9.96480241e-01 1.24124186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059115933 meters 0.01198151957107601 Centerline is valid? [True, True] Translation: X:-89.89, Y:45.98, Z:12.41 [[ 7.59180783e-01 6.47960134e-01 -6.15808758e-02 -8.98916862e+01] [-6.45784227e-01 7.61674078e-01 5.30596984e-02 4.59814896e+01] [ 8.12851261e-02 -5.13945080e-04 9.96690757e-01 1.24095826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119115933 meters 0.012001939667144733 Centerline is valid? [True, True] Translation: X:-89.93, Y:46.01, Z:12.40 [[ 7.55028185e-01 6.52938216e-01 -6.00343684e-02 -8.99335647e+01] [-6.50859112e-01 7.57411136e-01 5.20652188e-02 4.60090411e+01] [ 7.94660703e-02 -2.36791953e-04 9.96837543e-01 1.23962827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.179115933 meters 0.012276022770820565 Centerline is valid? [True, True] Translation: X:-89.98, Y:46.03, Z:12.38 [[ 7.52948014e-01 6.55214647e-01 -6.13437492e-02 -8.99765435e+01] [-6.53023157e-01 7.55442718e-01 5.35448927e-02 4.60346406e+01] [ 8.14250866e-02 -2.57631831e-04 9.96679431e-01 1.23830229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.239115933 meters 0.011961616025788128 Centerline is valid? [True, True] Translation: X:-90.02, Y:46.06, Z:12.38 [[ 7.56221774e-01 6.51822893e-01 -5.70573721e-02 -9.00153682e+01] [-6.49893238e-01 7.58370777e-01 5.01252753e-02 4.60649042e+01] [ 7.59434456e-02 -8.24624306e-04 9.97111786e-01 1.23766564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.299115933 meters 0.011639428294174747 Centerline is valid? [True, True] Translation: X:-90.05, Y:46.10, Z:12.37 [[ 7.51218369e-01 6.57566698e-01 -5.72450773e-02 -9.00527951e+01] [-6.55616202e-01 7.53396175e-01 5.06122350e-02 4.60978781e+01] [ 7.64091425e-02 -4.90040452e-04 9.97076428e-01 1.23698918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.359115933 meters 0.011723636634883971 Centerline is valid? [True, True] Translation: X:-90.09, Y:46.13, Z:12.38 [[ 7.49636643e-01 6.59448993e-01 -5.63198788e-02 -9.00935144e+01] [-6.57542235e-01 7.51749120e-01 5.01145638e-02 4.61258244e+01] [ 7.53864179e-02 -5.35014386e-04 9.97154252e-01 1.23754584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.419115933 meters 0.01188141670989206 Centerline is valid? [True, True] Translation: X:-90.13, Y:46.15, Z:12.37 [[ 7.49399578e-01 6.59836278e-01 -5.49213813e-02 -9.01251033e+01] [-6.57971061e-01 7.51408701e-01 4.95887842e-02 4.61520326e+01] [ 7.39888825e-02 -1.02513442e-03 9.97258539e-01 1.23686940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.479115933 meters 0.012596150030734707 Centerline is valid? [True, True] Translation: X:-90.14, Y:46.21, Z:12.44 [[ 7.46534432e-01 6.63253267e-01 -5.27394109e-02 -9.01389236e+01] [-6.61518773e-01 7.48394473e-01 4.79439768e-02 4.62053747e+01] [ 7.12688828e-02 -9.03719105e-04 9.97456731e-01 1.24388156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53911593299998 meters 0.011587382347114171 Centerline is valid? [True, True] Translation: X:-90.20, Y:46.21, Z:12.35 [[ 7.45945432e-01 6.64065053e-01 -5.08234019e-02 -9.02046603e+01] [-6.62437088e-01 7.47674124e-01 4.64812804e-02 4.62094589e+01] [ 6.88659364e-02 -1.00519238e-03 9.97625417e-01 1.23458199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59911593299998 meters 0.011479092636746716 Centerline is valid? [True, True] Translation: X:-90.24, Y:46.24, Z:12.35 [[ 7.45118172e-01 6.65028665e-01 -5.03565640e-02 -9.02426350e+01] [-6.63404747e-01 7.46816847e-01 4.64622226e-02 4.62374959e+01] [ 6.85058402e-02 -1.21306273e-03 9.97649978e-01 1.23463560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65911593299998 meters 0.013057166468470395 Centerline is valid? [True, True] Translation: X:-90.26, Y:46.29, Z:12.40 [[ 7.35024896e-01 6.75949105e-01 -5.32091170e-02 -9.02600195e+01] [-6.74143330e-01 7.36948186e-01 4.93775391e-02 4.62895663e+01] [ 7.25890656e-02 -4.23149201e-04 9.97361844e-01 1.23970795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71911593299998 meters 0.011730409976862902 Centerline is valid? [True, True] Translation: X:-90.32, Y:46.30, Z:12.33 [[ 7.36161407e-01 6.74550302e-01 -5.52111717e-02 -9.03183325e+01] [-6.72576034e-01 7.38228414e-01 5.15779750e-02 4.62999572e+01] [ 7.55503943e-02 -8.36003714e-04 9.97141634e-01 1.23337896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77911593299999 meters 0.011623528778203739 Centerline is valid? [True, True] Translation: X:-90.36, Y:46.33, Z:12.33 [[ 7.35393965e-01 6.75442457e-01 -5.45270947e-02 -9.03559499e+01] [-6.73494280e-01 7.37412044e-01 5.12731098e-02 4.63316906e+01] [ 7.48409716e-02 -9.82249109e-04 9.97194998e-01 1.23291377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.839115933 meters 0.012064422400860655 Centerline is valid? [True, True] Translation: X:-90.40, Y:46.36, Z:12.31 [[ 7.30385603e-01 6.80667853e-01 -5.68167738e-02 -9.04009261e+01] [-6.78540984e-01 7.32591806e-01 5.37715420e-02 4.63555883e+01] [ 7.82240629e-02 -7.21450466e-04 9.96935542e-01 1.23118438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.899115933 meters 0.013402573022318627 Centerline is valid? [True, True] Translation: X:-90.43, Y:46.40, Z:12.33 [[ 7.28569984e-01 6.82759825e-01 -5.49981889e-02 -9.04287317e+01] [-6.80746850e-01 7.30642514e-01 5.23950631e-02 4.63966496e+01] [ 7.59572591e-02 -7.33626439e-04 9.97110805e-01 1.23332827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.959115933 meters 0.012474288049485005 Centerline is valid? [True, True] Translation: X:-90.48, Y:46.42, Z:12.30 [[ 7.28602833e-01 6.82558053e-01 -5.70299542e-02 -9.04784488e+01] [-6.80362522e-01 7.30830606e-01 5.47125587e-02 4.64158242e+01] [ 7.90237336e-02 -1.06268176e-03 9.96872168e-01 1.22978540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.019115933 meters 0.0121963502741966 Centerline is valid? [True, True] Translation: X:-90.52, Y:46.45, Z:12.30 [[ 7.26804831e-01 6.84534004e-01 -5.62844020e-02 -9.05153823e+01] [-6.82374428e-01 7.28980116e-01 5.43427141e-02 4.64473518e+01] [ 7.82296456e-02 -1.08951058e-03 9.96934770e-01 1.22974971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.079115933 meters 0.012146473496211539 Centerline is valid? [True, True] Translation: X:-90.55, Y:46.48, Z:12.29 [[ 7.25988965e-01 6.85429757e-01 -5.59112688e-02 -9.05541765e+01] [-6.83273899e-01 7.28137693e-01 5.43348683e-02 4.64769487e+01] [ 7.79538378e-02 -1.24380415e-03 9.96956194e-01 1.22854322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.139115933 meters 0.012513543569125044 Centerline is valid? [True, True] Translation: X:-90.59, Y:46.51, Z:12.29 [[ 7.20979667e-01 6.90616104e-01 -5.69009283e-02 -9.05870476e+01] [-6.88369940e-01 7.23220899e-01 5.56628804e-02 4.65114254e+01] [ 7.95936222e-02 -9.62916433e-04 9.96826930e-01 1.22912139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.199115933 meters 0.012669431120749577 Centerline is valid? [True, True] Translation: X:-90.63, Y:46.54, Z:12.27 [[ 7.13791904e-01 6.98026211e-01 -5.71010223e-02 -9.06293010e+01] [-6.95757931e-01 7.16072093e-01 5.62286319e-02 4.65375274e+01] [ 8.01375074e-02 -4.07053074e-04 9.96783735e-01 1.22655492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.259115933 meters 0.012662997070827462 Centerline is valid? [True, True] Translation: X:-90.66, Y:46.57, Z:12.27 [[ 7.05368642e-01 7.06412983e-01 -5.86154952e-02 -9.06608482e+01] [-7.04020530e-01 7.07799839e-01 5.80902789e-02 4.65736307e+01] [ 8.25237653e-02 2.91450861e-04 9.96589054e-01 1.22657926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31911593299998 meters 0.01291971108287027 Centerline is valid? [True, True] Translation: X:-90.70, Y:46.60, Z:12.25 [[ 7.01094323e-01 7.10580580e-01 -5.95146160e-02 -9.06986580e+01] [-7.08096330e-01 7.03615640e-01 5.93684968e-02 4.66046359e+01] [ 8.40615155e-02 5.19165112e-04 9.96460432e-01 1.22526906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37911593299998 meters 0.012620962713188905 Centerline is valid? [True, True] Translation: X:-90.73, Y:46.64, Z:12.24 [[ 6.96766888e-01 7.14840131e-01 -5.93253011e-02 -9.07331368e+01] [-7.12354261e-01 6.99287507e-01 5.95683666e-02 4.66380079e+01] [ 8.40673009e-02 7.55365566e-04 9.96459793e-01 1.22437828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43911593299998 meters 0.017586700794202777 Centerline is valid? [True, True] Translation: X:-89.23, Y:48.15, Z:11.01 [[ 7.61881626e-01 -6.41479706e-01 -8.96670227e-02 -8.92275866e+01] [-6.36689188e-01 -7.67135735e-01 7.82920268e-02 4.81518504e+01] [-1.19009524e-01 -2.55923280e-03 -9.92889814e-01 1.10058738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49911593299998 meters 0.020887210559787723 Centerline is valid? [True, True] Translation: X:-90.65, Y:46.52, Z:12.23 [[ 7.56422622e-01 6.51620019e-01 -5.67112732e-02 -9.06537972e+01] [-6.49823077e-01 7.58545501e-01 4.83600129e-02 4.65219730e+01] [ 7.45304337e-02 2.71686338e-04 9.97218703e-01 1.22266308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559115933 meters 0.018397760810060074 Centerline is valid? [True, True] Translation: X:-90.69, Y:46.55, Z:12.22 [[ 7.57074227e-01 6.50817038e-01 -5.72345849e-02 -9.06916842e+01] [-6.48957035e-01 7.59234599e-01 4.91689941e-02 4.65528633e+01] [ 7.54544963e-02 -8.17916546e-05 9.97149243e-01 1.22171019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.619115933 meters 0.02017679391509577 Centerline is valid? [True, True] Translation: X:-90.73, Y:46.58, Z:12.21 [[ 7.53004426e-01 6.55417174e-01 -5.84179943e-02 -9.07341326e+01] [-6.53468678e-01 7.55267043e-01 5.05012833e-02 4.65791198e+01] [ 7.72205942e-02 1.46639671e-04 9.97014021e-01 1.22060414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.679115933 meters 0.01714519594481604 Centerline is valid? [True, True] Translation: X:-90.77, Y:46.61, Z:12.19 [[ 7.44544308e-01 6.64564498e-01 -6.33071998e-02 -9.07722435e+01] [-6.62278896e-01 7.47230341e-01 5.50770514e-02 4.66098193e+01] [ 8.39073135e-02 9.19717207e-04 9.96473139e-01 1.21926253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.739115933 meters 0.018472237187656722 Centerline is valid? [True, True] Translation: X:-90.79, Y:46.67, Z:12.25 [[ 7.36699324e-01 6.72833799e-01 -6.75927918e-02 -9.07857785e+01] [-6.70228589e-01 7.39791703e-01 5.91766379e-02 4.66659364e+01] [ 8.98206287e-02 1.70723236e-03 9.95956495e-01 1.22465986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.799115933 meters 0.02306544757966933 Centerline is valid? [True, True] Translation: X:-90.85, Y:46.66, Z:12.16 [[ 7.34031305e-01 6.75242588e-01 -7.24257665e-02 -9.08545788e+01] [-6.72222528e-01 7.37593423e-01 6.38186193e-02 4.66625920e+01] [ 9.65138186e-02 1.84136744e-03 9.95329941e-01 1.21648139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.859115933 meters 0.02220275518492685 Centerline is valid? [True, True] Translation: X:-90.89, Y:46.69, Z:12.15 [[ 7.30355229e-01 6.78815096e-01 -7.61006232e-02 -9.08929390e+01] [-6.75455310e-01 7.34306204e-01 6.74872027e-02 4.66923760e+01] [ 1.01692492e-01 2.11293867e-03 9.94813637e-01 1.21525368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.919115933 meters 0.025398032583567355 Centerline is valid? [True, True] Translation: X:-90.93, Y:46.72, Z:12.14 [[ 7.22253442e-01 6.87015414e-01 -7.97482709e-02 -9.09275034e+01] [-6.83311960e-01 7.26636670e-01 7.13015746e-02 4.67231304e+01] [ 1.06933299e-01 2.99513967e-03 9.94261685e-01 1.21417974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.979115933 meters 0.02465983742349072 Centerline is valid? [True, True] Translation: X:-90.97, Y:46.75, Z:12.11 [[ 7.08483272e-01 7.00789479e-01 -8.33400162e-02 -9.09672518e+01] [-6.96781346e-01 7.13351113e-01 7.50063068e-02 4.67513991e+01] [ 1.12014324e-01 4.92905491e-03 9.93694367e-01 1.21085415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03911593299998 meters 0.022582236315473198 Centerline is valid? [True, True] Translation: X:-91.00, Y:46.79, Z:12.10 [[ 7.00322108e-01 7.08798286e-01 -8.45809362e-02 -9.09994741e+01] [-7.04661906e-01 7.05386602e-01 7.66899004e-02 4.67865918e+01] [ 1.14019929e-01 5.89333097e-03 9.93460983e-01 1.21012695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09911593299998 meters 0.021466867052899293 Centerline is valid? [True, True] Translation: X:-91.03, Y:46.82, Z:12.10 [[ 6.98500433e-01 7.10515389e-01 -8.52351309e-02 -9.10346095e+01] [-7.06270834e-01 7.03657122e-01 7.77699335e-02 4.68181903e+01] [ 1.15233041e-01 5.87675485e-03 9.93321101e-01 1.20972860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15911593299998 meters 0.021308083103047406 Centerline is valid? [True, True] Translation: X:-91.07, Y:46.85, Z:12.07 [[ 6.95229287e-01 7.13621461e-01 -8.60270189e-02 -9.10714132e+01] [-7.09253124e-01 7.00505455e-01 7.90703029e-02 4.68495688e+01] [ 1.16688661e-01 6.04294158e-03 9.93150159e-01 1.20719438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21911593299998 meters 0.02183167225283062 Centerline is valid? [True, True] Translation: X:-91.11, Y:46.88, Z:12.03 [[ 6.89200819e-01 7.19165810e-01 -8.83332830e-02 -9.11132082e+01] [-7.14536554e-01 6.94805458e-01 8.17489377e-02 4.68756134e+01] [ 1.20165488e-01 6.77592482e-03 9.92730750e-01 1.20256013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27911593299999 meters 0.021996868781383863 Centerline is valid? [True, True] Translation: X:-91.15, Y:46.91, Z:12.03 [[ 6.90051461e-01 7.18279715e-01 -8.89001185e-02 -9.11486052e+01] [-7.13509718e-01 6.95726448e-01 8.28769633e-02 4.69071938e+01] [ 1.21379005e-01 6.24172883e-03 9.92586610e-01 1.20260223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339115933 meters 0.021632656822265197 Centerline is valid? [True, True] Translation: X:-91.19, Y:46.94, Z:12.00 [[ 6.94184900e-01 7.13945213e-01 -9.15945298e-02 -9.11877686e+01] [-7.08762253e-01 7.00182263e-01 8.60282912e-02 4.69357813e+01] [ 1.25552352e-01 5.19920470e-03 9.92073372e-01 1.20036111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.399115933 meters 0.020952130419448715 Centerline is valid? [True, True] Translation: X:-91.23, Y:46.96, Z:11.98 [[ 6.95252476e-01 7.13156541e-01 -8.96199922e-02 -9.12277190e+01] [-7.08111172e-01 7.00990348e-01 8.48003507e-02 4.69637864e+01] [ 1.23298674e-01 4.50326399e-03 9.92359389e-01 1.19753672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.459115933 meters 0.01986898910886563 Centerline is valid? [True, True] Translation: X:-91.27, Y:46.99, Z:11.95 [[ 6.88767032e-01 7.19629401e-01 -8.79403256e-02 -9.12664001e+01] [-7.14748020e-01 6.94339522e-01 8.38325463e-02 4.69922971e+01] [ 1.21388809e-01 5.11407956e-03 9.92591861e-01 1.19524052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.519115933 meters 0.018730511033449342 Centerline is valid? [True, True] Translation: X:-91.27, Y:47.05, Z:12.01 [[ 6.91625765e-01 7.17828736e-01 -7.98480288e-02 -9.12717649e+01] [-7.13739955e-01 6.96208212e-01 7.66120247e-02 4.70535236e+01] [ 1.10585166e-01 4.00387831e-03 9.93858587e-01 1.20103867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.579115933 meters 0.019920089522924386 Centerline is valid? [True, True] Translation: X:-91.31, Y:47.09, Z:11.99 [[ 6.86356195e-01 7.23000919e-01 -7.86437781e-02 -9.13086836e+01] [-7.19016035e-01 6.90832872e-01 7.59334244e-02 4.70850358e+01] [ 1.09229643e-01 4.42876121e-03 9.94006676e-01 1.19939073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.639115933 meters 0.017933106169829113 Centerline is valid? [True, True] Translation: X:-91.33, Y:47.13, Z:12.01 [[ 6.90521627e-01 7.20072070e-01 -6.83819986e-02 -9.13280203e+01] [-7.17004002e-01 6.93892231e-01 6.64743016e-02 4.71327040e+01] [ 9.53160256e-02 3.12822377e-03 9.95442148e-01 1.20141499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.699115933 meters 0.01624740672605243 Centerline is valid? [True, True] Translation: X:-91.38, Y:47.14, Z:11.97 [[ 6.80148034e-01 7.29813533e-01 -6.90714023e-02 -9.13846275e+01] [-7.26690867e-01 6.83633147e-01 6.75729550e-02 4.71442035e+01] [ 9.65351572e-02 4.23394474e-03 9.95320570e-01 1.19652459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.759115933 meters 0.016376215578522674 Centerline is valid? [True, True] Translation: X:-91.42, Y:47.18, Z:11.96 [[ 6.74615840e-01 7.35087258e-01 -6.73809420e-02 -9.14161402e+01] [-7.32094676e-01 6.77957416e-01 6.64163144e-02 4.71804051e+01] [ 9.45031958e-02 4.52373121e-03 9.95514280e-01 1.19623748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81911593299998 meters 0.015713356340436253 Centerline is valid? [True, True] Translation: X:-91.45, Y:47.22, Z:11.96 [[ 6.75292139e-01 7.35115822e-01 -5.98769989e-02 -9.14483333e+01] [-7.32716060e-01 6.77931355e-01 5.94664027e-02 4.72153120e+01] [ 8.43071885e-02 3.71564441e-03 9.96432884e-01 1.19577005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87911593299998 meters 0.015067351445768897 Centerline is valid? [True, True] Translation: X:-91.48, Y:47.25, Z:11.97 [[ 6.74575479e-01 7.36209457e-01 -5.42545672e-02 -9.14768052e+01] [-7.34211729e-01 6.76746138e-01 5.42936583e-02 4.72541795e+01] [ 7.66880736e-02 3.20916909e-03 9.97049969e-01 1.19709436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93911593299998 meters 0.01479639755261796 Centerline is valid? [True, True] Translation: X:-91.51, Y:47.29, Z:11.97 [[ 6.71139834e-01 7.39763301e-01 -4.81827940e-02 -9.15074640e+01] [-7.38175607e-01 6.72860528e-01 4.85333127e-02 4.72898350e+01] [ 6.83234638e-02 2.99472381e-03 9.97658727e-01 1.19733039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99911593299998 meters 0.013970098564126749 Centerline is valid? [True, True] Translation: X:-89.96, Y:48.84, Z:11.31 [[ 7.88735409e-01 -6.09712196e-01 -7.84059539e-02 -8.99627496e+01] [-6.05840982e-01 -7.92593068e-01 6.89415150e-02 4.88362562e+01] [-1.04178498e-01 -6.87507393e-03 -9.94534853e-01 1.13067123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.059115933 meters 0.013201991217119768 Centerline is valid? [True, True] Translation: X:-91.42, Y:47.19, Z:11.97 [[ 7.32098893e-01 6.79450865e-01 -4.87620065e-02 -9.14245510e+01] [-6.78169353e-01 7.33716825e-01 4.17845566e-02 4.71867676e+01] [ 6.41680577e-02 2.47847079e-03 9.97936029e-01 1.19745912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.119115933 meters 0.013394488544933282 Centerline is valid? [True, True] Translation: X:-91.46, Y:47.21, Z:11.96 [[ 7.34735266e-01 6.76743006e-01 -4.67225051e-02 -9.14648007e+01] [-6.75542741e-01 7.36216806e-01 4.03338509e-02 4.72136549e+01] [ 6.16935450e-02 1.92834653e-03 9.98093276e-01 1.19641734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.179115933 meters 0.013366204752939705 Centerline is valid? [True, True] Translation: X:-91.50, Y:47.25, Z:11.97 [[ 7.34261075e-01 6.77283205e-01 -4.63479639e-02 -9.14972928e+01] [-6.76086962e-01 7.35720295e-01 4.02749015e-02 4.72489999e+01] [ 6.13766521e-02 1.76296163e-03 9.98113119e-01 1.19709313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.239115933 meters 0.015479847563903148 Centerline is valid? [True, True] Translation: X:-91.51, Y:47.30, Z:12.01 [[ 7.28757908e-01 6.83313817e-01 -4.46557770e-02 -9.15145879e+01] [-6.82199624e-01 7.30122061e-01 3.90569995e-02 4.73007376e+01] [ 5.92923553e-02 2.00105701e-03 9.98238655e-01 1.20079983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.299115933 meters 0.016423203574218587 Centerline is valid? [True, True] Translation: X:-91.54, Y:47.35, Z:12.04 [[ 7.24716380e-01 6.87701709e-01 -4.30410123e-02 -9.15368405e+01] [-6.86660321e-01 7.25990337e-01 3.78897649e-02 4.73463816e+01] [ 5.73042151e-02 2.09522204e-03 9.98354565e-01 1.20353263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.359115933 meters 0.012372615882715496 Centerline is valid? [True, True] Translation: X:-91.60, Y:47.35, Z:11.97 [[ 7.27542770e-01 6.84925389e-01 -3.94807516e-02 -9.15979590e+01] [-6.84032886e-01 7.28611562e-01 3.49886002e-02 4.73505309e+01] [ 5.27307127e-02 1.55042935e-03 9.98607565e-01 1.19739695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.419115933 meters 0.01330268785657554 Centerline is valid? [True, True] Translation: X:-91.63, Y:47.38, Z:11.97 [[ 7.21338689e-01 6.91393099e-01 -4.05718919e-02 -9.16345222e+01] [-6.90445604e-01 7.22476339e-01 3.62326968e-02 4.73814292e+01] [ 5.43632685e-02 1.87663836e-03 9.98519461e-01 1.19665484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.479115933 meters 0.012634478602256154 Centerline is valid? [True, True] Translation: X:-91.67, Y:47.41, Z:11.96 [[ 7.18205560e-01 6.94958384e-01 -3.48370260e-02 -9.16682374e+01] [-6.94252082e-01 7.19048051e-01 3.13679324e-02 4.74144770e+01] [ 4.68489032e-02 1.65705443e-03 9.98900613e-01 1.19631917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53911593299998 meters 0.012145901563302164 Centerline is valid? [True, True] Translation: X:-91.70, Y:47.45, Z:11.96 [[ 7.06208896e-01 7.07055462e-01 -3.66274307e-02 -9.17034072e+01] [-7.06279956e-01 7.07153934e-01 3.31954402e-02 4.74461676e+01] [ 4.93722490e-02 2.42630494e-03 9.98777500e-01 1.19563989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59911593299998 meters 0.0120131264961864 Centerline is valid? [True, True] Translation: X:-91.73, Y:47.48, Z:11.96 [[ 6.99483914e-01 7.13860952e-01 -3.35379662e-02 -9.17276359e+01] [-7.13200517e-01 7.00283423e-01 3.07920341e-02 4.74820747e+01] [ 4.54673126e-02 2.38076231e-03 9.98962990e-01 1.19640601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65911593299998 meters 0.012206132259179913 Centerline is valid? [True, True] Translation: X:-91.76, Y:47.52, Z:11.97 [[ 7.01095331e-01 7.12237830e-01 -3.43891136e-02 -9.17608500e+01] [-7.11534771e-01 7.01934677e-01 3.17171689e-02 4.75159274e+01] [ 4.67290789e-02 2.23229108e-03 9.98905106e-01 1.19700309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71911593299998 meters 0.014170449188951011 Centerline is valid? [True, True] Translation: X:-91.78, Y:47.57, Z:12.01 [[ 7.03628625e-01 7.09840858e-01 -3.21358855e-02 -9.17759631e+01] [-7.09215863e-01 7.04359796e-01 2.98351636e-02 4.75684722e+01] [ 4.38134439e-02 1.79840460e-03 9.99038111e-01 1.20113249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77911593299999 meters 0.01397420101668634 Centerline is valid? [True, True] Translation: X:-91.82, Y:47.58, Z:11.98 [[ 7.07643949e-01 7.05941117e-01 -2.97855941e-02 -9.18194532e+01] [-7.05381351e-01 7.08269665e-01 2.81288296e-02 4.75797106e+01] [ 4.09535302e-02 1.10500654e-03 9.99160441e-01 1.19815684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.839115933 meters 0.011505192724128673 Centerline is valid? [True, True] Translation: X:-91.86, Y:47.61, Z:11.97 [[ 7.07502133e-01 7.06185922e-01 -2.72428990e-02 -9.18568191e+01] [-7.05713595e-01 7.08025815e-01 2.58412097e-02 4.76096143e+01] [ 3.75373743e-02 9.42973221e-04 9.99294780e-01 1.19715846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.899115933 meters 0.012081490841290348 Centerline is valid? [True, True] Translation: X:-91.89, Y:47.65, Z:11.98 [[ 7.05381444e-01 7.08349970e-01 -2.60257320e-02 -9.18885619e+01] [-7.07914664e-01 7.05860831e-01 2.48458266e-02 4.76451424e+01] [ 3.59700854e-02 8.98212309e-04 9.99352463e-01 1.19760325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.959115933 meters 0.011515845480658066 Centerline is valid? [True, True] Translation: X:-91.92, Y:47.68, Z:11.97 [[ 6.97527414e-01 7.16141781e-01 -2.44224420e-02 -9.19248686e+01] [-7.15756758e-01 6.97953990e-01 2.35051302e-02 4.76762660e+01] [ 3.38787467e-02 1.08505522e-03 9.99425361e-01 1.19686482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.019115933 meters 0.011638013590677315 Centerline is valid? [True, True] Translation: X:-91.96, Y:47.71, Z:11.98 [[ 6.96053798e-01 7.17581663e-01 -2.42005607e-02 -9.19552170e+01] [-7.17199768e-01 6.96473589e-01 2.34314209e-02 4.77131141e+01] [ 3.36690093e-02 1.04710698e-03 9.99432490e-01 1.19767499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.079115933 meters 0.01167886645927673 Centerline is valid? [True, True] Translation: X:-91.99, Y:47.75, Z:11.98 [[ 6.97798111e-01 7.15971455e-01 -2.15098257e-02 -9.19854594e+01] [-7.15664563e-01 6.98129144e-01 2.09745275e-02 4.77509716e+01] [ 3.00337992e-02 7.57834352e-04 9.99548596e-01 1.19799525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.139115933 meters 0.011708219445643585 Centerline is valid? [True, True] Translation: X:-92.02, Y:47.78, Z:11.98 [[ 6.91109731e-01 7.22377042e-01 -2.32109641e-02 -9.20189346e+01] [-7.22018696e-01 6.91498640e-01 2.27735225e-02 4.77841880e+01] [ 3.25014200e-02 1.01974697e-03 9.99471169e-01 1.19827869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.199115933 meters 0.011459772741720341 Centerline is valid? [True, True] Translation: X:-92.05, Y:47.82, Z:11.99 [[ 6.88519764e-01 7.24797414e-01 -2.46828367e-02 -9.20455646e+01] [-7.24386962e-01 6.88961218e-01 2.44124739e-02 4.78243113e+01] [ 3.46996152e-02 1.07145428e-03 9.99397213e-01 1.19893450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.259115933 meters 0.011767098554243793 Centerline is valid? [True, True] Translation: X:-92.08, Y:47.86, Z:11.98 [[ 6.88509124e-01 7.24775228e-01 -2.56135878e-02 -9.20824073e+01] [-7.24326290e-01 6.88984696e-01 2.55247776e-02 4.78552881e+01] [ 3.61470965e-02 9.78552762e-04 9.99346001e-01 1.19809875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31911593299998 meters 0.011638291389583057 Centerline is valid? [True, True] Translation: X:-92.11, Y:47.89, Z:11.98 [[ 6.85443825e-01 7.27695544e-01 -2.50191411e-02 -9.21135406e+01] [-7.27263837e-01 6.85899547e-01 2.50823029e-02 4.78913747e+01] [ 3.54128976e-02 1.00300692e-03 9.99372263e-01 1.19843609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37911593299998 meters 0.013823600776025211 Centerline is valid? [True, True] Translation: X:-92.13, Y:47.94, Z:12.02 [[ 6.82193450e-01 7.30729972e-01 -2.54126863e-02 -9.21302428e+01] [-7.30280831e-01 6.82665780e-01 2.56386500e-02 4.79410489e+01] [ 3.60833013e-02 1.06787862e-03 9.99348215e-01 1.20163645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43911593299998 meters 0.01294031121427963 Centerline is valid? [True, True] Translation: X:-90.67, Y:49.39, Z:11.31 [[ 7.81853905e-01 -6.20817741e-01 -5.73568156e-02 -9.06715885e+01] [-6.18735742e-01 -7.83942709e-01 5.09893162e-02 4.93918040e+01] [-7.66195295e-02 -4.37748405e-03 -9.97050794e-01 1.13111941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49911593299998 meters 0.01171883013818126 Centerline is valid? [True, True] Translation: X:-92.06, Y:47.83, Z:11.98 [[ 7.37202429e-01 6.75075679e-01 -2.83796788e-02 -9.20614302e+01] [-6.74639484e-01 7.37747451e-01 2.42953777e-02 4.78278195e+01] [ 3.73382543e-02 1.23544036e-03 9.99301921e-01 1.19823752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.559115933 meters 0.011988907760886349 Centerline is valid? [True, True] Translation: X:-92.10, Y:47.86, Z:11.98 [[ 7.35341529e-01 6.77245005e-01 -2.47394270e-02 -9.21009014e+01] [-6.76908646e-01 7.35756844e-01 2.13670461e-02 4.78561425e+01] [ 3.26729280e-02 1.03425572e-03 9.99465562e-01 1.19753307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.619115933 meters 0.01205655124628283 Centerline is valid? [True, True] Translation: X:-92.14, Y:47.89, Z:11.97 [[ 7.31568295e-01 6.81417741e-01 -2.18561555e-02 -9.21380345e+01] [-6.81153378e-01 7.31894045e-01 1.90047960e-02 4.78866723e+01] [ 2.89465953e-02 9.84087902e-04 9.99580475e-01 1.19739606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.679115933 meters 0.012295888042543973 Centerline is valid? [True, True] Translation: X:-92.16, Y:47.93, Z:11.99 [[ 7.24430696e-01 6.88922952e-01 -2.41936483e-02 -9.21589876e+01] [-6.88595573e-01 7.24833502e-01 2.12727696e-02 4.79293015e+01] [ 3.21916661e-02 1.24899183e-03 9.99480934e-01 1.19923605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.739115933 meters 0.013280653749959376 Centerline is valid? [True, True] Translation: X:-92.18, Y:47.97, Z:12.01 [[ 7.20130377e-01 6.93375147e-01 -2.53603198e-02 -9.21827333e+01] [-6.93013932e-01 7.20575374e-01 2.24236574e-02 4.79740255e+01] [ 3.38220287e-02 1.42709811e-03 9.99426853e-01 1.20125184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.799115933 meters 0.01238776972961521 Centerline is valid? [True, True] Translation: X:-92.24, Y:47.99, Z:11.97 [[ 7.22260661e-01 6.91258685e-01 -2.23823274e-02 -9.22367099e+01] [-6.90972339e-01 7.22606583e-01 1.99236914e-02 4.79859784e+01] [ 2.99460418e-02 1.07547056e-03 9.99550938e-01 1.19728093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.859115933 meters 0.01442744121133374 Centerline is valid? [True, True] Translation: X:-92.25, Y:48.04, Z:12.01 [[ 7.14435971e-01 6.99260166e-01 -2.48286985e-02 -9.22527148e+01] [-6.98907162e-01 7.14865810e-01 2.22632679e-02 4.80381746e+01] [ 3.33170041e-02 1.44727578e-03 9.99443787e-01 1.20067996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.919115933 meters 0.011812374445606568 Centerline is valid? [True, True] Translation: X:-92.31, Y:48.05, Z:11.96 [[ 7.16631307e-01 6.97132091e-01 -2.11285830e-02 -9.23104179e+01] [-6.96871930e-01 7.16941932e-01 1.90730188e-02 4.80473524e+01] [ 2.84443805e-02 1.05559402e-03 9.99594819e-01 1.19569954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.979115933 meters 0.01324152712191965 Centerline is valid? [True, True] Translation: X:-92.32, Y:48.11, Z:12.00 [[ 7.11780552e-01 7.01981527e-01 -2.42977629e-02 -9.23192392e+01] [-7.01634557e-01 7.12193944e-01 2.21073545e-02 4.81056891e+01] [ 3.28236741e-02 1.31256511e-03 9.99460296e-01 1.20037440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03911593299998 meters 0.011687973720198115 Centerline is valid? [True, True] Translation: X:-92.38, Y:48.11, Z:11.95 [[ 7.09127379e-01 7.04751326e-01 -2.15390208e-02 -9.23805867e+01] [-7.04476359e-01 7.09453419e-01 1.97206807e-02 4.81108171e+01] [ 2.91791078e-02 1.18925635e-03 9.99573492e-01 1.19484807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09911593299998 meters 0.01210661321610279 Centerline is valid? [True, True] Translation: X:-92.42, Y:48.14, Z:11.94 [[ 7.06745282e-01 7.07199847e-01 -1.94803215e-02 -9.24178778e+01] [-7.06972577e-01 7.07012880e-01 1.79600465e-02 4.81408738e+01] [ 2.64741803e-02 1.07887492e-03 9.99648915e-01 1.19389294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15911593299998 meters 0.01245314928405455 Centerline is valid? [True, True] Translation: X:-92.45, Y:48.17, Z:11.94 [[ 7.08618059e-01 7.05365283e-01 -1.78959174e-02 -9.24520629e+01] [-7.05169981e-01 7.08843500e-01 1.66190093e-02 4.81730176e+01] [ 2.44078769e-02 8.43133574e-04 9.99701728e-01 1.19414803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21911593299998 meters 0.012505469654468396 Centerline is valid? [True, True] Translation: X:-92.48, Y:48.21, Z:11.95 [[ 7.04491464e-01 7.09479218e-01 -1.81938658e-02 -9.24815920e+01] [-7.09276227e-01 7.04725743e-01 1.69958998e-02 4.82121114e+01] [ 2.48799233e-02 9.31010162e-04 9.99690013e-01 1.19494378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27911593299999 meters 0.012226964505834215 Centerline is valid? [True, True] Translation: X:-92.52, Y:48.24, Z:11.94 [[ 7.05383854e-01 7.08619649e-01 -1.70824790e-02 -9.25204810e+01] [-7.08437463e-01 7.05590265e-01 1.60853771e-02 4.82401592e+01] [ 2.34516452e-02 7.55502737e-04 9.99724687e-01 1.19380766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.339115933 meters 0.016538834383889936 Centerline is valid? [True, True] Translation: X:-92.53, Y:48.30, Z:11.98 [[ 7.00758681e-01 7.13181914e-01 -1.75734902e-02 -9.25336611e+01] [-7.12988227e-01 7.00978463e-01 1.66428001e-02 4.82952787e+01] [ 2.41879822e-02 8.67104924e-04 9.99707052e-01 1.19786140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.399115933 meters 0.012789273839037019 Centerline is valid? [True, True] Translation: X:-92.59, Y:48.30, Z:11.92 [[ 7.00067067e-01 7.13882506e-01 -1.66694129e-02 -9.25925836e+01] [-7.13704004e-01 7.00265137e-01 1.59791338e-02 4.82998470e+01] [ 2.30802328e-02 7.10561379e-04 9.99733363e-01 1.19244518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.459115933 meters 0.01269938721985898 Centerline is valid? [True, True] Translation: X:-92.62, Y:48.34, Z:11.93 [[ 6.94469480e-01 7.19371700e-01 -1.47138867e-02 -9.26199165e+01] [-7.19232475e-01 6.94624941e-01 1.41717471e-02 4.83401890e+01] [ 2.04153865e-02 7.40859329e-04 9.99791310e-01 1.19300893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.519115933 meters 0.012287332087618466 Centerline is valid? [True, True] Translation: X:-92.66, Y:48.37, Z:11.92 [[ 6.93934336e-01 7.19936383e-01 -1.21136962e-02 -9.26552845e+01] [-7.19839200e-01 6.94039876e-01 1.18396024e-02 4.83673743e+01] [ 1.69311487e-02 5.04006688e-04 9.99856531e-01 1.19185101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.579115933 meters 0.013349847548324563 Centerline is valid? [True, True] Translation: X:-92.69, Y:48.40, Z:11.92 [[ 6.95830912e-01 7.18156279e-01 -8.42028075e-03 -9.26872892e+01] [-7.18108359e-01 6.95881804e-01 8.30057591e-03 4.84030216e+01] [ 1.18206309e-02 2.70876682e-04 9.99930097e-01 1.19243525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.639115933 meters 0.01275008210207056 Centerline is valid? [True, True] Translation: X:-92.71, Y:48.45, Z:11.92 [[ 6.84066381e-01 7.29338398e-01 -1.08943760e-02 -9.27128235e+01] [-7.29259062e-01 6.84152885e-01 1.07726948e-02 4.84458917e+01] [ 1.53103588e-02 5.75584109e-04 9.99882624e-01 1.19239193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.699115933 meters 0.013222510226661032 Centerline is valid? [True, True] Translation: X:-92.74, Y:48.48, Z:11.92 [[ 6.79040114e-01 7.34031037e-01 -1.01468999e-02 -9.27428250e+01] [-7.33961743e-01 6.79115669e-01 1.01029118e-02 4.84832161e+01] [ 1.43067696e-02 5.87153996e-04 9.99897481e-01 1.19217441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.759115933 meters 0.012593979274218209 Centerline is valid? [True, True] Translation: X:-92.78, Y:48.51, Z:11.92 [[ 6.79024290e-01 7.34074260e-01 -7.80985942e-03 -9.27819686e+01] [-7.34032439e-01 6.79069081e-01 7.84614069e-03 4.85113901e+01] [ 1.10630840e-02 4.04970052e-04 9.99938720e-01 1.19160700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81911593299998 meters 0.012073256944142565 Centerline is valid? [True, True] Translation: X:-92.81, Y:48.55, Z:11.92 [[ 6.83893704e-01 7.29543134e-01 -7.49775860e-03 -9.28125753e+01] [-7.29503462e-01 6.83934753e-01 7.61263712e-03 4.85477035e+01] [ 1.06817248e-02 2.63406261e-04 9.99942914e-01 1.19228754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87911593299998 meters 0.01199447225787382 Centerline is valid? [True, True] Translation: X:-91.33, Y:49.98, Z:11.43 [[ 7.74982204e-01 -6.31089065e-01 -3.36032157e-02 -9.13283865e+01] [-6.30351992e-01 -7.75706252e-01 3.05970039e-02 4.99778135e+01] [-4.53756591e-02 -2.53027962e-03 -9.98966790e-01 1.14257692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93911593299998 meters 0.011727500237432659 Centerline is valid? [True, True] Translation: X:-92.71, Y:48.43, Z:11.93 [[ 7.47347617e-01 6.64409630e-01 -5.60207051e-03 -9.27079842e+01] [-6.64392350e-01 7.47368600e-01 4.79377948e-03 4.84261051e+01] [ 7.37184484e-03 1.39353124e-04 9.99972818e-01 1.19254207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99911593299998 meters 0.011629858190634484 Centerline is valid? [True, True] Translation: X:-92.74, Y:48.46, Z:11.92 [[ 7.49221191e-01 6.62309346e-01 -3.73328076e-03 -9.27426567e+01] [-6.62300975e-01 7.49230492e-01 3.32990317e-03 4.84550953e+01] [ 5.00251377e-03 -2.22785301e-05 9.99987487e-01 1.19219826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.059115933 meters 0.011763476337130239 Centerline is valid? [True, True] Translation: X:-92.78, Y:48.49, Z:11.93 [[ 7.45441080e-01 6.66559671e-01 -3.97512719e-03 -9.27761913e+01] [-6.66550402e-01 7.45451678e-01 3.51532714e-03 4.84916338e+01] [ 5.30644054e-03 2.91533648e-05 9.99985920e-01 1.19339207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.119115933 meters 0.012048163120509237 Centerline is valid? [True, True] Translation: X:-92.79, Y:48.54, Z:11.95 [[ 7.33510422e-01 6.79660751e-01 -4.87076471e-03 -9.27948522e+01] [-6.79646877e-01 7.33526583e-01 4.34447735e-03 4.85411564e+01] [ 6.52560613e-03 1.23680609e-04 9.99978700e-01 1.19497948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.179115933 meters 0.011638871350878254 Centerline is valid? [True, True] Translation: X:-92.83, Y:48.57, Z:11.93 [[ 7.29933606e-01 6.83507651e-01 -3.77125147e-03 -9.28338583e+01] [-6.83499276e-01 7.29943340e-01 3.38517434e-03 4.85713141e+01] [ 5.06659246e-03 1.06695140e-04 9.99987159e-01 1.19298487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.239115933 meters 0.011844504919798169 Centerline is valid? [True, True] Translation: X:-92.87, Y:48.60, Z:11.92 [[ 7.32161070e-01 6.81129422e-01 -1.69630664e-03 -9.28706114e+01] [-6.81127479e-01 7.32163034e-01 1.62723685e-03 4.85970225e+01] [ 2.35033191e-03 -3.59984074e-05 9.99997237e-01 1.19176297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.299115933 meters 0.011240006556125972 Centerline is valid? [True, True] Translation: X:-92.90, Y:48.64, Z:11.93 [[ 7.43366762e-01 6.68883764e-01 -6.06359800e-04 -9.28991723e+01] [-6.68883474e-01 7.43367007e-01 6.25323424e-04 4.86374713e+01] [ 8.69016555e-04 -5.92605993e-05 9.99999621e-01 1.19328815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.359115933 meters 0.011546337592283152 Centerline is valid? [True, True] Translation: X:-92.93, Y:48.68, Z:11.94 [[ 7.48223500e-01 6.63441651e-01 -2.60182432e-03 -9.29314366e+01] [-6.63437258e-01 7.48228020e-01 2.41565310e-03 4.86753594e+01] [ 3.54940274e-03 -8.13012271e-05 9.99993698e-01 1.19397154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.419115933 meters 0.012801413164840651 Centerline is valid? [True, True] Translation: X:-92.96, Y:48.72, Z:11.96 [[ 7.52167825e-01 6.58954844e-01 -4.69866185e-03 -9.29600073e+01] [-6.58940645e-01 7.52182484e-01 4.32864035e-03 4.87160937e+01] [ 6.38662967e-03 -1.59724727e-04 9.99979593e-01 1.19609125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.479115933 meters 0.01103199617416979 Centerline is valid? [True, True] Translation: X:-93.00, Y:48.74, Z:11.94 [[ 7.54127333e-01 6.56717961e-01 -3.67220319e-03 -9.30030972e+01] [-6.56708941e-01 7.54136251e-01 3.44704409e-03 4.87398987e+01] [ 5.03307731e-03 -1.87941495e-04 9.99987316e-01 1.19432644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53911593299998 meters 0.010636026804098274 Centerline is valid? [True, True] Translation: X:-93.03, Y:48.78, Z:11.95 [[ 7.48303345e-01 6.63350997e-01 -2.74931801e-03 -9.30345251e+01] [-6.63345887e-01 7.48308385e-01 2.60673331e-03 4.87760919e+01] [ 3.78651686e-03 -1.26878459e-04 9.99992823e-01 1.19483535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59911593299998 meters 0.01173588855077729 Centerline is valid? [True, True] Translation: X:-93.07, Y:48.80, Z:11.94 [[ 7.46265649e-01 6.65647978e-01 -5.92629412e-04 -9.30745638e+01] [-6.65647685e-01 7.46265880e-01 6.28438814e-04 4.88049580e+01] [ 8.60578135e-04 -7.44999032e-05 9.99999627e-01 1.19410578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65911593299998 meters 0.011038579630723272 Centerline is valid? [True, True] Translation: X:-93.11, Y:48.83, Z:11.94 [[ 7.42182852e-01 6.70196851e-01 -8.91809131e-04 -9.31145330e+01] [-6.70196237e-01 7.42183384e-01 9.10077581e-04 4.88337187e+01] [ 1.27181705e-03 -7.77568507e-05 9.99999188e-01 1.19378322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71911593299998 meters 0.01093410101110454 Centerline is valid? [True, True] Translation: X:-93.15, Y:48.87, Z:11.95 [[ 7.40174651e-01 6.72414651e-01 -1.52604445e-04 -9.31466640e+01] [-6.72414609e-01 7.40174662e-01 2.49815420e-04 4.88677425e+01] [ 2.80933492e-04 -8.22935836e-05 9.99999957e-01 1.19528589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77911593299999 meters 0.010969174827862053 Centerline is valid? [True, True] Translation: X:-93.17, Y:48.91, Z:11.96 [[ 7.28391130e-01 6.85152102e-01 -3.59982478e-03 -9.31743357e+01] [-6.85143313e-01 7.28400023e-01 3.47097656e-03 4.89093084e+01] [ 5.00025933e-03 -6.18326647e-05 9.99987497e-01 1.19601301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.839115933 meters 0.011805161549700509 Centerline is valid? [True, True] Translation: X:-93.21, Y:48.95, Z:11.96 [[ 7.24951161e-01 6.88796953e-01 -2.13824331e-03 -9.32062819e+01] [-6.88793719e-01 7.24954312e-01 2.11131633e-03 4.89455646e+01] [ 3.00439696e-03 -5.77926624e-05 9.99995485e-01 1.19552382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.899115933 meters 0.011608342809813384 Centerline is valid? [True, True] Translation: X:-93.25, Y:48.97, Z:11.95 [[ 7.30078302e-01 6.83360467e-01 -2.03595850e-03 -9.32471889e+01] [-6.83357471e-01 7.30081135e-01 2.02546969e-03 4.89735767e+01] [ 2.87054081e-03 -8.74640159e-05 9.99995876e-01 1.19498287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.959115933 meters 0.01141925787443346 Centerline is valid? [True, True] Translation: X:-93.27, Y:49.02, Z:11.97 [[ 7.28455525e-01 6.85064639e-01 -6.24402758e-03 -9.32693826e+01] [-6.85037703e-01 7.28482270e-01 6.07684212e-03 4.90212305e+01] [ 8.71169304e-03 -1.49314908e-04 9.99962041e-01 1.19746038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.019115933 meters 0.012716632868040477 Centerline is valid? [True, True] Translation: X:-93.30, Y:49.06, Z:12.00 [[ 7.28039227e-01 6.85509646e-01 -5.95058530e-03 -9.32974250e+01] [-6.85484864e-01 7.28063526e-01 5.83123427e-03 4.90623997e+01] [ 8.32977145e-03 -1.66331132e-04 9.99965293e-01 1.19979835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.079115933 meters 0.012003035214325953 Centerline is valid? [True, True] Translation: X:-93.35, Y:49.08, Z:11.97 [[ 7.22704106e-01 6.91105757e-01 -8.46214354e-03 -9.33493004e+01] [-6.91055838e-01 7.22753629e-01 8.30780739e-03 4.90807816e+01] [ 1.18576185e-02 -1.56272817e-04 9.99929684e-01 1.19664750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.139115933 meters 0.011499772432358606 Centerline is valid? [True, True] Translation: X:-93.39, Y:49.11, Z:11.96 [[ 7.21763328e-01 6.92102309e-01 -7.21756079e-03 -9.33880457e+01] [-6.92065117e-01 7.21799390e-01 7.17728687e-03 4.91088779e+01] [ 1.01770478e-02 -1.85280400e-04 9.99948195e-01 1.19566615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.199115933 meters 0.01106807778193404 Centerline is valid? [True, True] Translation: X:-93.42, Y:49.14, Z:11.95 [[ 7.17198624e-01 6.96811311e-01 -8.95150997e-03 -9.34229122e+01] [-6.96754316e-01 7.17254468e-01 8.91351592e-03 4.91420604e+01] [ 1.26315492e-02 -1.55758153e-04 9.99920207e-01 1.19549756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.259115933 meters 0.012674234607367723 Centerline is valid? [True, True] Translation: X:-93.45, Y:49.19, Z:11.98 [[ 7.13185915e-01 7.00897999e-01 -1.03848724e-02 -9.34473243e+01] [-7.00821026e-01 7.13261507e-01 1.03880457e-02 4.91862035e+01] [ 1.46880902e-02 -1.30670926e-04 9.99892116e-01 1.19803381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31911593299998 meters 0.012279539176435776 Centerline is valid? [True, True] Translation: X:-93.49, Y:49.21, Z:11.98 [[ 7.12035277e-01 7.02062474e-01 -1.06793263e-02 -9.34875636e+01] [-7.01980235e-01 7.12115341e-01 1.07466650e-02 4.92149898e+01] [ 1.51497423e-02 -1.55328616e-04 9.99885224e-01 1.19793611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37911593299998 meters 0.011832398464787354 Centerline is valid? [True, True] Translation: X:-93.52, Y:49.24, Z:11.97 [[ 7.10509539e-01 7.03598600e-01 -1.11894874e-02 -9.35193907e+01] [-7.03504279e-01 7.10597572e-01 1.15247688e-02 4.92380544e+01] [ 1.60600338e-02 -3.16605939e-04 9.99870979e-01 1.19697381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43911593299998 meters 0.014275716459146241 Centerline is valid? [True, True] Translation: X:-92.14, Y:50.60, Z:11.37 [[ 7.50546563e-01 -6.59760376e-01 -3.73644554e-02 -9.21365614e+01] [-6.58875863e-01 -7.51475345e-01 3.41672730e-02 5.05953163e+01] [-5.06206799e-02 -1.02559154e-03 -9.98717425e-01 1.13689472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49911593299998 meters 0.012246130634813491 Centerline is valid? [True, True] Translation: X:-93.44, Y:49.14, Z:11.97 [[ 7.70659631e-01 6.37196516e-01 -8.02075617e-03 -9.34449971e+01] [-6.37158871e-01 7.70701335e-01 6.93010469e-03 4.91435105e+01] [ 1.05974460e-02 -2.30255985e-04 9.99943819e-01 1.19685458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559115933 meters 0.010998527094419947 Centerline is valid? [True, True] Translation: X:-93.49, Y:49.17, Z:11.96 [[ 7.67045317e-01 6.41528598e-01 -9.08507763e-03 -9.34853224e+01] [-6.41479440e-01 7.67099072e-01 7.94619961e-03 4.91728762e+01] [ 1.20668689e-02 -2.67204691e-04 9.99927157e-01 1.19582932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.619115933 meters 0.0219961973663622 Centerline is valid? [True, True] Translation: X:-93.52, Y:49.21, Z:11.96 [[ 7.59887546e-01 6.49932825e-01 -1.25793881e-02 -9.35205889e+01] [-6.49839106e-01 7.59991630e-01 1.10389685e-02 4.92082294e+01] [ 1.67348176e-02 -2.13796378e-04 9.99859940e-01 1.19569856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.679115933 meters 0.012242948982396461 Centerline is valid? [True, True] Translation: X:-93.55, Y:49.25, Z:11.99 [[ 7.57245977e-01 6.53096128e-01 -6.63167731e-03 -9.35464051e+01] [-6.53069560e-01 7.57275004e-01 5.89227943e-03 4.92536116e+01] [ 8.87022833e-03 -1.30958310e-04 9.99960650e-01 1.19902361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.739115933 meters 0.011428155061814028 Centerline is valid? [True, True] Translation: X:-93.59, Y:49.28, Z:11.98 [[ 7.57026164e-01 6.53384437e-01 -4.06127474e-04 -9.35917347e+01] [-6.53384296e-01 7.57026270e-01 4.33825316e-04 4.92770925e+01] [ 5.90903877e-04 -6.30598012e-05 9.99999823e-01 1.19834109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.799115933 meters 0.011712619916441853 Centerline is valid? [True, True] Translation: X:-93.63, Y:49.30, Z:11.98 [[ 7.56636458e-01 6.53797868e-01 -7.04407141e-03 -9.36338207e+01] [-6.53767244e-01 7.56669224e-01 6.33063753e-03 4.93046601e+01] [ 9.46898936e-03 -1.84808008e-04 9.99955151e-01 1.19801590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.859115933 meters 0.01141398575920321 Centerline is valid? [True, True] Translation: X:-93.67, Y:49.34, Z:11.97 [[ 7.55020548e-01 6.55594998e-01 -1.17970930e-02 -9.36725636e+01] [-6.55509067e-01 7.55112653e-01 1.06181728e-02 4.93353927e+01] [ 1.58693552e-02 -2.83837209e-04 9.99874034e-01 1.19709430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.919115933 meters 0.012637499054630963 Centerline is valid? [True, True] Translation: X:-93.70, Y:49.38, Z:11.98 [[ 7.48645943e-01 6.62932366e-01 -7.06616254e-03 -9.36985142e+01] [-6.62900824e-01 7.48679272e-01 6.46871212e-03 4.93752132e+01] [ 9.57860806e-03 -1.58610112e-04 9.99954112e-01 1.19837396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.979115933 meters 0.0110552969203302 Centerline is valid? [True, True] Translation: X:-93.74, Y:49.40, Z:11.96 [[ 7.44993855e-01 6.67017304e-01 -8.48952142e-03 -9.37416384e+01] [-6.66972010e-01 7.45042213e-01 7.77425994e-03 4.94011566e+01] [ 1.15106177e-02 -1.29502719e-04 9.99933742e-01 1.19611241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03911593299998 meters 0.013717457252875325 Centerline is valid? [True, True] Translation: X:-93.75, Y:49.46, Z:12.02 [[ 7.41402725e-01 6.70970827e-01 -1.09611915e-02 -9.37505660e+01] [-6.70895245e-01 7.41483740e-01 1.00714585e-02 4.94639345e+01] [ 1.48852001e-02 -1.13195568e-04 9.99889203e-01 1.20226961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09911593299998 meters 0.012978768090887357 Centerline is valid? [True, True] Translation: X:-93.81, Y:49.47, Z:11.98 [[ 7.41709441e-01 6.70503559e-01 -1.70904089e-02 -9.38084275e+01] [-6.70316899e-01 7.41906260e-01 1.58226349e-02 4.94700211e+01] [ 2.32886144e-02 -2.79807849e-04 9.99728744e-01 1.19810870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15911593299998 meters 0.014716296916082791 Centerline is valid? [True, True] Translation: X:-93.85, Y:49.50, Z:11.97 [[ 7.37017026e-01 6.75446135e-01 -2.40504050e-02 -9.38494485e+01] [-6.75076703e-01 7.37409294e-01 2.23377986e-02 4.94981299e+01] [ 3.28229719e-02 -2.27469800e-04 9.99461155e-01 1.19706084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21911593299998 meters 0.015408888588338585 Centerline is valid? [True, True] Translation: X:-93.89, Y:49.53, Z:11.96 [[ 7.37201193e-01 6.74927291e-01 -3.17419846e-02 -9.38873074e+01] [-6.74275770e-01 7.37884099e-01 2.96520176e-02 4.95295979e+01] [ 4.34348617e-02 -4.56651657e-04 9.99056157e-01 1.19597357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27911593299999 meters 0.015203002709803754 Centerline is valid? [True, True] Translation: X:-93.92, Y:49.56, Z:11.96 [[ 7.36350325e-01 6.75765653e-01 -3.36003274e-02 -9.39216080e+01] [-6.75027545e-01 7.37116309e-01 3.15809993e-02 4.95646677e+01] [ 4.61087040e-02 -5.73532560e-04 9.98936263e-01 1.19623191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339115933 meters 0.015380512143053585 Centerline is valid? [True, True] Translation: X:-93.96, Y:49.60, Z:11.96 [[ 7.34428921e-01 6.77688868e-01 -3.67689732e-02 -9.39552848e+01] [-6.76796623e-01 7.35348471e-01 3.47700608e-02 4.96003018e+01] [ 5.06012913e-02 -6.51021379e-04 9.98718722e-01 1.19647113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.399115933 meters 0.015207362420360127 Centerline is valid? [True, True] Translation: X:-93.99, Y:49.64, Z:11.97 [[ 7.26444013e-01 6.86031449e-01 -4.04962642e-02 -9.39871196e+01] [-6.84949265e-01 7.27571846e-01 3.85189864e-02 4.96384164e+01] [ 5.58891778e-02 -2.44000660e-04 9.98436949e-01 1.19670505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.459115933 meters 0.015846722508737147 Centerline is valid? [True, True] Translation: X:-94.02, Y:49.68, Z:11.97 [[ 7.24750166e-01 6.87794522e-01 -4.09376620e-02 -9.40178112e+01] [-6.86677739e-01 7.25905376e-01 3.91799429e-02 4.96774579e+01] [ 5.66646190e-02 -2.84688936e-04 9.98393229e-01 1.19744387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.519115933 meters 0.015270648925966683 Centerline is valid? [True, True] Translation: X:-94.06, Y:49.70, Z:11.96 [[ 7.25684552e-01 6.86820691e-01 -4.07341230e-02 -9.40624417e+01] [-6.85699778e-01 7.26826700e-01 3.92270559e-02 4.97025740e+01] [ 5.65486019e-02 -5.35089428e-04 9.98399704e-01 1.19601198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.579115933 meters 0.01638445742828721 Centerline is valid? [True, True] Translation: X:-94.10, Y:49.74, Z:11.96 [[ 7.28671513e-01 6.83785229e-01 -3.84133528e-02 -9.40982731e+01] [-6.82771479e-01 7.29682772e-01 3.72311678e-02 4.97361277e+01] [ 5.34876844e-02 -9.01749647e-04 9.98568102e-01 1.19551095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.639115933 meters 0.016813608474020005 Centerline is valid? [True, True] Translation: X:-94.12, Y:49.78, Z:11.98 [[ 7.23502202e-01 6.89426073e-01 -3.51603970e-02 -9.41247088e+01] [-6.88571479e-01 7.24355785e-01 3.43222198e-02 4.97764935e+01] [ 4.91312702e-02 -6.21755052e-04 9.98792136e-01 1.19752584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.699115933 meters 0.01797619758193357 Centerline is valid? [True, True] Translation: X:-94.16, Y:49.81, Z:11.98 [[ 7.15070781e-01 6.98209319e-01 -3.43150785e-02 -9.41552914e+01] [-6.97394430e-01 7.15893646e-01 3.37238175e-02 4.98130519e+01] [ 4.81122303e-02 -1.83771915e-04 9.98841919e-01 1.19788415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.759115933 meters 0.019079390030962987 Centerline is valid? [True, True] Translation: X:-94.19, Y:49.85, Z:11.97 [[ 7.10818394e-01 7.02707276e-01 -3.06544645e-02 -9.41906823e+01] [-7.02052923e-01 7.11479082e-01 3.03184687e-02 4.98469348e+01] [ 4.31150188e-02 -2.98687955e-05 9.99070115e-01 1.19749502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81911593299998 meters 0.01931583744292086 Centerline is valid? [True, True] Translation: X:-94.23, Y:49.88, Z:11.98 [[ 7.11035225e-01 7.02737881e-01 -2.42565399e-02 -9.42268700e+01] [-7.02322365e-01 7.11448838e-01 2.41628999e-02 4.98792691e+01] [ 3.42374722e-02 -1.44762484e-04 9.99413715e-01 1.19790371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87911593299998 meters 0.019855847840079533 Centerline is valid? [True, True] Translation: X:-94.27, Y:49.91, Z:11.97 [[ 7.10270891e-01 7.03645594e-01 -1.99534139e-02 -9.42656351e+01] [-7.03360721e-01 7.10551084e-01 2.00213242e-02 4.99093470e+01] [ 2.82658364e-02 -1.86116215e-04 9.99600424e-01 1.19732386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93911593299998 meters 0.020301573012580915 Centerline is valid? [True, True] Translation: X:-94.30, Y:49.94, Z:11.97 [[ 7.07895553e-01 7.06138518e-01 -1.58833059e-02 -9.43028773e+01] [-7.05955115e-01 7.08073698e-01 1.60939133e-02 4.99404556e+01] [ 2.26110833e-02 -1.79908618e-04 9.99744321e-01 1.19685902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99911593299998 meters 0.021117617043667766 Centerline is valid? [True, True] Translation: X:-92.91, Y:51.33, Z:11.44 [[ 7.59161569e-01 -6.49503570e-01 -4.26476738e-02 -9.29055983e+01] [-6.48365223e-01 -7.60356957e-01 3.84686285e-02 5.13251424e+01] [-5.74129670e-02 -1.55263584e-03 -9.98349308e-01 1.14403594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059115933 meters 0.02073729463925893 Centerline is valid? [True, True] Translation: X:-94.23, Y:49.85, Z:11.98 [[ 7.62310324e-01 6.47116203e-01 -1.11170614e-02 -9.42283411e+01] [-6.47046007e-01 7.62391379e-01 9.53152323e-03 4.98499096e+01] [ 1.46435549e-02 -7.27283519e-05 9.99892775e-01 1.19762527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.119115933 meters 0.02071762409921414 Centerline is valid? [True, True] Translation: X:-94.26, Y:49.88, Z:11.98 [[ 7.56096080e-01 6.54365874e-01 -1.11364044e-02 -9.42635972e+01] [-6.54294519e-01 7.56178089e-01 9.66337136e-03 4.98834202e+01] [ 1.47444855e-02 -1.99488197e-05 9.99891294e-01 1.19835911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.179115933 meters 0.01960336508884575 Centerline is valid? [True, True] Translation: X:-94.30, Y:49.92, Z:11.98 [[ 7.54346664e-01 6.56460536e-01 -4.54702314e-03 -9.43005287e+01] [-6.56448247e-01 7.54360367e-01 4.01706559e-03 4.99160229e+01] [ 6.06713907e-03 -4.53746606e-05 9.99981594e-01 1.19819682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.239115933 meters 0.01866051984165349 Centerline is valid? [True, True] Translation: X:-94.33, Y:49.95, Z:11.99 [[ 7.49611872e-01 6.61877581e-01 3.31571949e-04 -9.43325706e+01] [-6.61877557e-01 7.49611941e-01 -1.91176922e-04 4.99506725e+01] [-3.75086011e-04 -7.61515410e-05 9.99999927e-01 1.19908227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.299115933 meters 0.016633026483186788 Centerline is valid? [True, True] Translation: X:-94.37, Y:49.98, Z:11.99 [[ 7.44623091e-01 6.67470541e-01 4.41926480e-03 -9.43701110e+01] [-6.67459708e-01 7.44636196e-01 -3.80449495e-03 4.99832285e+01] [-5.83013283e-03 -1.16766405e-04 9.99982998e-01 1.19899199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.359115933 meters 0.014022527069004106 Centerline is valid? [True, True] Translation: X:-94.40, Y:50.02, Z:12.00 [[ 7.40241438e-01 6.72234661e-01 1.19655422e-02 -9.44037355e+01] [-6.72152694e-01 7.40338090e-01 -1.05008972e-02 5.00191803e+01] [-1.59176137e-02 -2.69472201e-04 9.99873270e-01 1.19996118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.419115933 meters 0.0115890616543419 Centerline is valid? [True, True] Translation: X:-94.44, Y:50.05, Z:11.99 [[ 7.30652731e-01 6.82592845e-01 1.46148626e-02 -9.44441973e+01] [-6.82470708e-01 7.30798690e-01 -1.29231396e-02 5.00478012e+01] [-1.95017651e-02 -5.31888349e-04 9.99809681e-01 1.19919966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.479115933 meters 0.011297822123500627 Centerline is valid? [True, True] Translation: X:-94.48, Y:50.08, Z:12.00 [[ 7.29112504e-01 6.84231249e-01 1.49182728e-02 -9.44807803e+01] [-6.84102669e-01 7.29264918e-01 -1.32747224e-02 5.00813017e+01] [-1.99623529e-02 -5.26864110e-04 9.99800594e-01 1.19952492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53911593299998 meters 0.01149316652437296 Centerline is valid? [True, True] Translation: X:-94.51, Y:50.12, Z:12.01 [[ 7.28308412e-01 6.85055045e-01 1.63230759e-02 -9.45133383e+01] [-6.84899166e-01 7.28491115e-01 -1.46228509e-02 5.01186567e+01] [-2.19086736e-02 -5.29715764e-04 9.99759836e-01 1.20050001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59911593299998 meters 0.011697901529937653 Centerline is valid? [True, True] Translation: X:-94.55, Y:50.15, Z:12.01 [[ 7.23556428e-01 6.90130413e-01 1.36421428e-02 -9.45528386e+01] [-6.90021272e-01 7.23684833e-01 -1.22844442e-02 5.01479443e+01] [-1.83504804e-02 -5.24880188e-04 9.99831478e-01 1.20069940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65911593299998 meters 0.011697956680781538 Centerline is valid? [True, True] Translation: X:-94.59, Y:50.18, Z:12.01 [[ 7.22774584e-01 6.90936457e-01 1.42728109e-02 -9.45903410e+01] [-6.90815538e-01 7.22915315e-01 -1.29359946e-02 5.01802952e+01] [-1.92559838e-02 -5.10071429e-04 9.99814456e-01 1.20058523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71911593299998 meters 0.012742463579256505 Centerline is valid? [True, True] Translation: X:-94.63, Y:50.21, Z:12.01 [[ 7.20357657e-01 6.93475181e-01 1.33048628e-02 -9.46253744e+01] [-6.93369270e-01 7.20480351e-01 -1.21292735e-02 5.02144444e+01] [-1.79972423e-02 -4.87767916e-04 9.99837918e-01 1.20086578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77911593299999 meters 0.011775087242858742 Centerline is valid? [True, True] Translation: X:-94.66, Y:50.25, Z:12.02 [[ 7.19189900e-01 6.94743722e-01 9.85127999e-03 -9.46550757e+01] [-6.94685319e-01 7.19257277e-01 -9.01532638e-03 5.02530181e+01] [-1.33489462e-02 -3.59807911e-04 9.99910834e-01 1.20226288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.839115933 meters 0.01235186486431259 Centerline is valid? [True, True] Translation: X:-94.69, Y:50.29, Z:12.02 [[ 7.16811621e-01 6.97208114e-01 9.05240126e-03 -9.46908116e+01] [-6.97158416e-01 7.16868698e-01 -8.33140163e-03 5.02850843e+01] [-1.22981039e-02 -3.38912215e-04 9.99924318e-01 1.20235463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.899115933 meters 0.012269403363279339 Centerline is valid? [True, True] Translation: X:-94.73, Y:50.32, Z:12.03 [[ 7.15418253e-01 6.98653019e-01 7.78989056e-03 -9.47254962e+01] [-6.98615937e-01 7.15460604e-01 -7.20400453e-03 5.03183991e+01] [-1.06064593e-02 -2.88265357e-04 9.99943708e-01 1.20287013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.959115933 meters 0.012002308215224333 Centerline is valid? [True, True] Translation: X:-94.76, Y:50.36, Z:12.04 [[ 7.12344784e-01 7.01785199e-01 7.90209774e-03 -9.47580430e+01] [-7.01746692e-01 7.12388547e-01 -7.35790836e-03 5.03558436e+01] [-1.07930351e-02 -3.03903306e-04 9.99941707e-01 1.20357742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.019115933 meters 0.012238547341318632 Centerline is valid? [True, True] Translation: X:-94.80, Y:50.39, Z:12.04 [[ 7.13233061e-01 7.00886427e-01 7.53775414e-03 -9.47952971e+01] [-7.00850948e-01 7.13272847e-01 -7.05653971e-03 5.03865760e+01] [-1.03223083e-02 -2.49884719e-04 9.99946692e-01 1.20416377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.079115933 meters 0.011698457868264771 Centerline is valid? [True, True] Translation: X:-94.83, Y:50.42, Z:12.04 [[ 7.09307680e-01 7.04888164e-01 3.91035346e-03 -9.48296114e+01] [-7.04878751e-01 7.09318439e-01 -3.64668846e-03 5.04223702e+01] [-5.34419334e-03 -1.69700931e-04 9.99985705e-01 1.20425693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.139115933 meters 0.012201565295831149 Centerline is valid? [True, True] Translation: X:-94.86, Y:50.46, Z:12.05 [[ 7.09321012e-01 7.04875041e-01 3.85729901e-03 -9.48649962e+01] [-7.04865773e-01 7.09331483e-01 -3.61779432e-03 5.04557248e+01] [-5.28619654e-03 -1.52700520e-04 9.99986016e-01 1.20460706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.199115933 meters 0.011821926045562937 Centerline is valid? [True, True] Translation: X:-94.90, Y:50.49, Z:12.05 [[ 7.11177228e-01 7.02986311e-01 6.09889915e-03 -9.48988180e+01] [-7.02962370e-01 7.11203361e-01 -5.80390563e-03 5.04907980e+01] [-8.41762378e-03 -1.59691082e-04 9.99964558e-01 1.20499587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.259115933 meters 0.012569370784610926 Centerline is valid? [True, True] Translation: X:-94.93, Y:50.52, Z:12.05 [[ 7.14491969e-01 6.99615213e-01 6.30722157e-03 -9.49345672e+01] [-6.99589127e-01 7.14519800e-01 -6.04222818e-03 5.05237182e+01] [-8.73386945e-03 -9.53401190e-05 9.99961854e-01 1.20535859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31911593299998 meters 0.01211456082504597 Centerline is valid? [True, True] Translation: X:-94.97, Y:50.56, Z:12.06 [[ 7.09733284e-01 7.04454931e-01 4.68141931e-03 -9.49654510e+01] [-7.04440630e-01 7.09748714e-01 -4.49011342e-03 5.05606778e+01] [-6.48571388e-03 -1.10999020e-04 9.99978961e-01 1.20608361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37911593299998 meters 0.012190882169434102 Centerline is valid? [True, True] Translation: X:-95.00, Y:50.59, Z:12.06 [[ 7.10865783e-01 7.03297208e-01 6.54802198e-03 -9.50036059e+01] [-7.03268436e-01 7.10895935e-01 -6.36211268e-03 5.05920974e+01] [-9.12941829e-03 -8.24089681e-05 9.99958323e-01 1.20607270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43911593299998 meters 0.013194295966828282 Centerline is valid? [True, True] Translation: X:-95.04, Y:50.63, Z:12.07 [[ 7.06348219e-01 7.07859910e-01 2.55765505e-03 -9.50385239e+01] [-7.07855673e-01 7.06352845e-01 -2.45043264e-03 5.06262103e+01] [-3.54116995e-03 -7.95919072e-05 9.99993727e-01 1.20699147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49911593299998 meters 0.01224463153546834 Centerline is valid? [True, True] Translation: X:-95.07, Y:50.66, Z:12.07 [[ 7.09540619e-01 7.04640362e-01 5.83703675e-03 -9.50728896e+01] [-7.04617052e-01 7.09564626e-01 -5.73159501e-03 5.06598851e+01] [-8.18046798e-03 -4.60761611e-05 9.99966538e-01 1.20670866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559115933 meters 0.012701794480386053 Centerline is valid? [True, True] Translation: X:-95.10, Y:50.70, Z:12.09 [[ 7.05581731e-01 7.08619061e-01 3.66709779e-03 -9.50989570e+01] [-7.08609943e-01 7.05591258e-01 -3.59518431e-03 5.07025791e+01] [-5.13508827e-03 -6.18455892e-05 9.99986813e-01 1.20854376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.619115933 meters 0.011967915394790014 Centerline is valid? [True, True] Translation: X:-93.73, Y:52.05, Z:11.39 [[ 7.59915233e-01 -6.49631906e-01 -2.25216767e-02 -9.37293988e+01] [-6.49287438e-01 -7.60247436e-01 2.12051745e-02 5.20450034e+01] [-3.08976049e-02 -1.49109330e-03 -9.99521443e-01 1.13942503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.679115933 meters 0.01184784301075058 Centerline is valid? [True, True] Translation: X:-95.03, Y:50.59, Z:12.07 [[ 7.60586071e-01 6.49200101e-01 6.93232908e-03 -9.50253165e+01] [-6.49173373e-01 7.60617662e-01 -5.89103722e-03 5.05922994e+01] [-9.09731390e-03 -1.96425911e-05 9.99958618e-01 1.20738882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.739115933 meters 0.011533578801030805 Centerline is valid? [True, True] Translation: X:-95.06, Y:50.63, Z:12.08 [[ 7.60396932e-01 6.49423027e-01 6.79982491e-03 -9.50620939e+01] [-6.49397492e-01 7.60427334e-01 -5.75911626e-03 5.06256297e+01] [-8.91087545e-03 -3.65749064e-05 9.99960297e-01 1.20791463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.799115933 meters 0.012157253491400165 Centerline is valid? [True, True] Translation: X:-95.10, Y:50.65, Z:12.08 [[ 7.56065515e-01 6.54488963e-01 3.02222695e-03 -9.51031703e+01] [-6.54484061e-01 7.56071553e-01 -2.53385969e-03 5.06549054e+01] [-3.94340302e-03 -6.22354373e-05 9.99992223e-01 1.20757949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.859115933 meters 0.012264813684958933 Centerline is valid? [True, True] Translation: X:-95.14, Y:50.69, Z:12.08 [[ 7.55268908e-01 6.55407151e-01 3.21593604e-03 -9.51391494e+01] [-6.55401519e-01 7.55275753e-01 -2.71768969e-03 5.06898620e+01] [-4.21011177e-03 -5.51428387e-05 9.99991136e-01 1.20794128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.919115933 meters 0.012712924707381812 Centerline is valid? [True, True] Translation: X:-95.17, Y:50.73, Z:12.09 [[ 7.54389489e-01 6.56402269e-01 5.70614897e-03 -9.51735670e+01] [-6.56383904e-01 7.54411068e-01 -4.91036461e-03 5.07255476e+01] [-7.52795641e-03 -4.10968882e-05 9.99971664e-01 1.20907639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.979115933 meters 0.013927988279769871 Centerline is valid? [True, True] Translation: X:-95.20, Y:50.77, Z:12.12 [[ 7.51111515e-01 6.60154042e-01 5.30408620e-03 -9.51997466e+01] [-6.60138107e-01 7.51130240e-01 -4.58712225e-03 5.07698834e+01] [-7.01226684e-03 -5.59890876e-05 9.99975412e-01 1.21168699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03911593299998 meters 0.012021154537820261 Centerline is valid? [True, True] Translation: X:-95.23, Y:50.80, Z:12.10 [[ 7.24322754e-01 6.89426210e-01 6.93176500e-03 -9.52337895e+01] [-6.89399779e-01 7.24355813e-01 -6.04990622e-03 5.08025263e+01] [-9.19202819e-03 -3.96672526e-04 9.99957674e-01 1.20982045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09911593299998 meters 0.012380029222841635 Centerline is valid? [True, True] Translation: X:-95.27, Y:50.84, Z:12.11 [[ 7.18481627e-01 6.95540563e-01 2.73433963e-03 -9.52656557e+01] [-6.95536601e-01 7.18486800e-01 -2.35671940e-03 5.08396330e+01] [-3.60378088e-03 -2.08573703e-04 9.99993485e-01 1.21054262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15911593299998 meters 0.012400482225365134 Centerline is valid? [True, True] Translation: X:-95.30, Y:50.88, Z:12.12 [[ 7.17738913e-01 6.96296466e-01 4.69934078e-03 -9.52976674e+01] [-6.96284293e-01 7.17754231e-01 -4.12891390e-03 5.08751159e+01] [-6.24791988e-03 -3.08595001e-04 9.99980434e-01 1.21175187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21911593299998 meters 0.01200025188817477 Centerline is valid? [True, True] Translation: X:-95.33, Y:50.91, Z:12.12 [[ 7.16491233e-01 6.97591611e-01 2.50133956e-03 -9.53307701e+01] [-6.97588301e-01 7.16495572e-01 -2.15828787e-03 5.09070109e+01] [-3.29780223e-03 -1.98510877e-04 9.99994543e-01 1.21230178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27911593299999 meters 0.01308212600145296 Centerline is valid? [True, True] Translation: X:-95.37, Y:50.94, Z:12.12 [[ 7.14062897e-01 7.00076906e-01 -2.55032399e-03 -9.53703397e+01] [-7.00072793e-01 7.14067448e-01 2.40074915e-03 5.09353486e+01] [ 3.50181238e-03 7.11265513e-05 9.99993866e-01 1.21202930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.339115933 meters 0.012085086003235811 Centerline is valid? [True, True] Translation: X:-95.40, Y:50.97, Z:12.12 [[ 7.12828005e-01 7.01337087e-01 -1.58951074e-03 -9.54045806e+01] [-7.01335405e-01 7.12829777e-01 1.53593319e-03 5.09693294e+01] [ 2.21025749e-03 1.99239720e-05 9.99997557e-01 1.21237202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.399115933 meters 0.012535543504599136 Centerline is valid? [True, True] Translation: X:-95.44, Y:51.00, Z:12.14 [[ 7.14232619e-01 6.99907322e-01 1.22742877e-03 -9.54376971e+01] [-6.99906541e-01 7.14233666e-01 -1.05112075e-03 5.10047299e+01] [-1.61235806e-03 -1.08340692e-04 9.99998694e-01 1.21359093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.459115933 meters 0.012498048004816097 Centerline is valid? [True, True] Translation: X:-95.47, Y:51.04, Z:12.14 [[ 7.13196636e-01 7.00959363e-01 2.55528665e-03 -9.54732942e+01] [-7.00955648e-01 7.13201196e-01 -2.28788523e-03 5.10378813e+01] [-3.42614807e-03 -1.59430557e-04 9.99994118e-01 1.21373992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.519115933 meters 0.01282691755663061 Centerline is valid? [True, True] Translation: X:-95.51, Y:51.07, Z:12.14 [[ 7.11405183e-01 7.02781964e-01 -4.19549659e-04 -9.55134840e+01] [-7.02781808e-01 7.11405306e-01 4.70420984e-04 5.10668945e+01] [ 6.29073236e-04 -3.98080586e-05 9.99999801e-01 1.21350470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.579115933 meters 0.012908278138381475 Centerline is valid? [True, True] Translation: X:-95.54, Y:51.11, Z:12.15 [[ 7.11472425e-01 7.02713851e-01 4.81703556e-04 -9.55404452e+01] [-7.02713761e-01 7.11472583e-01 -3.65549376e-04 5.11071844e+01] [-5.99595484e-04 -7.84214168e-05 9.99999817e-01 1.21510840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.639115933 meters 0.012360841779731587 Centerline is valid? [True, True] Translation: X:-95.57, Y:51.14, Z:12.16 [[ 7.11542511e-01 7.02642308e-01 1.02108857e-03 -9.55731818e+01] [-7.02641760e-01 7.11543238e-01 -8.81929559e-04 5.11422597e+01] [-1.34622968e-03 -8.99290937e-05 9.99999090e-01 1.21561149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.699115933 meters 0.012686933748640185 Centerline is valid? [True, True] Translation: X:-95.61, Y:51.17, Z:12.15 [[ 7.13181731e-01 7.00972121e-01 3.14696552e-03 -9.56124041e+01] [-7.00966088e-01 7.13188663e-01 -2.91119869e-03 5.11724047e+01] [-4.28504925e-03 -1.29702389e-04 9.99990811e-01 1.21544572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75911593299998 meters 0.01235737346519409 Centerline is valid? [True, True] Translation: X:-95.64, Y:51.21, Z:12.17 [[ 7.13525345e-01 7.00570362e-01 9.09669850e-03 -9.56405532e+01] [-7.00517329e-01 7.13583296e-01 -8.62275342e-03 5.12130666e+01] [-1.25320976e-02 -2.19841828e-04 9.99921446e-01 1.21720420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81911593299998 meters 0.012767498143737338 Centerline is valid? [True, True] Translation: X:-95.68, Y:51.24, Z:12.16 [[ 7.08890569e-01 7.05279885e-01 7.37868910e-03 -9.56825896e+01] [-7.05244949e-01 7.08928934e-01 -7.02338316e-03 5.12397486e+01] [-1.01844171e-02 -2.24973134e-04 9.99948112e-01 1.21647626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87911593299998 meters 0.012338721620071345 Centerline is valid? [True, True] Translation: X:-95.71, Y:51.28, Z:12.18 [[ 7.04939759e-01 7.09182868e-01 1.09360365e-02 -9.57109122e+01] [-7.09105023e-01 7.05024498e-01 -1.05130562e-02 5.12793359e+01] [-1.51658530e-02 -3.43727137e-04 9.99884933e-01 1.21824397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93911593299998 meters 0.012345820083792602 Centerline is valid? [True, True] Translation: X:-95.75, Y:51.31, Z:12.18 [[ 7.01440817e-01 7.12595975e-01 1.37024139e-02 -9.57483505e+01] [-7.12472391e-01 7.01574497e-01 -1.32784482e-02 5.13112152e+01] [-1.90754329e-02 -4.48545993e-04 9.99817947e-01 1.21778423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99911593299998 meters 0.012445316746858842 Centerline is valid? [True, True] Translation: X:-95.79, Y:51.34, Z:12.17 [[ 6.98151291e-01 7.15886472e-01 9.55685961e-03 -9.57876299e+01] [-7.15826224e-01 6.98216610e-01 -9.29417259e-03 5.13418911e+01] [-1.33263306e-02 -3.52312136e-04 9.99911138e-01 1.21745621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059115933 meters 0.011688763297093325 Centerline is valid? [True, True] Translation: X:-95.82, Y:51.38, Z:12.19 [[ 6.96090790e-01 7.17852372e-01 1.20658078e-02 -9.58151290e+01] [-7.17755032e-01 6.96195224e-01 -1.18289388e-02 5.13839275e+01] [-1.68915895e-02 -4.26278906e-04 9.99857236e-01 1.21852310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.119115933 meters 0.012467532804262656 Centerline is valid? [True, True] Translation: X:-95.85, Y:51.41, Z:12.18 [[ 6.97971190e-01 7.16006718e-01 1.30613040e-02 -9.58535661e+01] [-7.15890746e-01 6.98093300e-01 -1.28912319e-02 5.14142931e+01] [-1.83482175e-02 -3.52758183e-04 9.99831595e-01 1.21776557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.179115933 meters 0.012098451217560096 Centerline is valid? [True, True] Translation: X:-95.88, Y:51.45, Z:12.19 [[ 6.94271465e-01 7.19545802e-01 1.55233045e-02 -9.58786202e+01] [-7.19380074e-01 6.94444846e-01 -1.54487657e-02 5.14488605e+01] [-2.18961733e-02 -4.41518786e-04 9.99760153e-01 1.21880919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.239115933 meters 0.012598842127943629 Centerline is valid? [True, True] Translation: X:-94.56, Y:52.74, Z:11.33 [[ 7.72696511e-01 -6.34654608e-01 -1.23948116e-02 -9.45637857e+01] [-6.34532288e-01 -7.72793653e-01 1.25994508e-02 5.27422150e+01] [-1.75749313e-02 -1.87064351e-03 -9.99843799e-01 1.13256960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.299115933 meters 0.012451154288796167 Centerline is valid? [True, True] Translation: X:-95.81, Y:51.35, Z:12.18 [[ 7.50750076e-01 6.60382710e-01 1.64012031e-02 -9.58062385e+01] [-6.60234408e-01 7.50929141e-01 -1.39982856e-02 5.13499997e+01] [-2.15603671e-02 -3.19424595e-04 9.99767497e-01 1.21802058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.359115933 meters 0.012174635557533493 Centerline is valid? [True, True] Translation: X:-95.85, Y:51.38, Z:12.17 [[ 7.46133180e-01 6.65611773e-01 1.56922175e-02 -9.58479758e+01] [-6.65476612e-01 7.46298052e-01 -1.34200013e-02 5.13785823e+01] [-2.06435823e-02 -4.29695486e-04 9.99786806e-01 1.21726625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.419115933 meters 0.012162364248547391 Centerline is valid? [True, True] Translation: X:-95.88, Y:51.42, Z:12.19 [[ 7.45394495e-01 6.66461142e-01 1.47171027e-02 -9.58769768e+01] [-6.66341032e-01 7.45539676e-01 -1.26578717e-02 5.14202620e+01] [-1.94081636e-02 -3.71501521e-04 9.99811575e-01 1.21897666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.479115933 meters 0.011754857125553192 Centerline is valid? [True, True] Translation: X:-95.92, Y:51.45, Z:12.19 [[ 7.43159273e-01 6.68920894e-01 1.60975924e-02 -9.59150761e+01] [-6.68775823e-01 7.43333486e-01 -1.39365858e-02 5.14523529e+01] [-2.12883529e-02 -4.08577650e-04 9.99773294e-01 1.21948199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53911593299998 meters 0.012751971908926447 Centerline is valid? [True, True] Translation: X:-95.95, Y:51.49, Z:12.21 [[ 7.39846682e-01 6.72639388e-01 1.35329724e-02 -9.59457351e+01] [-6.72536422e-01 7.39970339e-01 -1.17753802e-02 5.14919835e+01] [-1.79345827e-02 -3.89440876e-04 9.99839087e-01 1.22086081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59911593299998 meters 0.012043912371682565 Centerline is valid? [True, True] Translation: X:-95.99, Y:51.51, Z:12.19 [[ 7.40149528e-01 6.72236959e-01 1.66176454e-02 -9.59934670e+01] [-6.72079283e-01 7.40335950e-01 -1.45642675e-02 5.15143827e+01] [-2.20932791e-02 -3.88639487e-04 9.99755838e-01 1.21869797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65911593299998 meters 0.012808335079583804 Centerline is valid? [True, True] Translation: X:-96.03, Y:51.55, Z:12.18 [[ 7.37506128e-01 6.75212680e-01 1.31357257e-02 -9.60325673e+01] [-6.75113685e-01 7.37623022e-01 -1.15667777e-02 5.15453505e+01] [-1.74992487e-02 -3.37538750e-04 9.99846819e-01 1.21831092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71911593299998 meters 0.012537896192515923 Centerline is valid? [True, True] Translation: X:-96.06, Y:51.59, Z:12.20 [[ 7.34619746e-01 6.78359391e-01 1.27422622e-02 -9.60587068e+01] [-6.78265587e-01 7.34730163e-01 -1.12863028e-02 5.15907305e+01] [-1.70182939e-02 -3.51497093e-04 9.99855117e-01 1.21988721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77911593299999 meters 0.012380516263488692 Centerline is valid? [True, True] Translation: X:-96.10, Y:51.62, Z:12.20 [[ 7.29249708e-01 6.84102212e-01 1.41076789e-02 -9.60964912e+01] [-6.83986716e-01 7.29386000e-01 -1.25791858e-02 5.16232955e+01] [-1.88953923e-02 -4.76097364e-04 9.99821353e-01 1.21955644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.839115933 meters 0.012578366418755756 Centerline is valid? [True, True] Translation: X:-96.14, Y:51.65, Z:12.19 [[ 7.10908162e-01 7.03265074e-01 5.27458682e-03 -9.61373675e+01] [-7.03249574e-01 7.10927628e-01 -4.68445894e-03 5.16518671e+01] [-7.04426586e-03 -3.79130840e-04 9.99975117e-01 1.21918127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.899115933 meters 0.012232069744733723 Centerline is valid? [True, True] Translation: X:-96.17, Y:51.69, Z:12.20 [[ 7.07432661e-01 7.06752643e-01 6.30335574e-03 -9.61711915e+01] [-7.06730247e-01 7.07460592e-01 -5.64520686e-03 5.16867048e+01] [-8.44914066e-03 -4.61168454e-04 9.99964199e-01 1.21952840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.959115933 meters 0.01278547518613058 Centerline is valid? [True, True] Translation: X:-96.20, Y:51.73, Z:12.20 [[ 7.04176954e-01 7.10005695e-01 5.17017062e-03 -9.62008409e+01] [-7.09990615e-01 7.04195820e-01 -4.64485326e-03 5.17260886e+01] [-6.93868480e-03 -3.99973995e-04 9.99975847e-01 1.22023795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.019115933 meters 0.011970114070783947 Centerline is valid? [True, True] Translation: X:-96.24, Y:51.76, Z:12.19 [[ 7.03463517e-01 7.10702697e-01 6.38404077e-03 -9.62383276e+01] [-7.10679290e-01 7.03492330e-01 -5.78690413e-03 5.17564417e+01] [-8.60389209e-03 -4.66129628e-04 9.99962877e-01 1.21940174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.079115933 meters 0.01240768441385205 Centerline is valid? [True, True] Translation: X:-96.27, Y:51.79, Z:12.19 [[ 7.02222147e-01 7.11951305e-01 3.06517604e-03 -9.62747922e+01] [-7.11946012e-01 7.02228794e-01 -2.75642387e-03 5.17897280e+01] [-4.11489444e-03 -2.46617967e-04 9.99991503e-01 1.21922106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.139115933 meters 0.012602145629352196 Centerline is valid? [True, True] Translation: X:-96.31, Y:51.82, Z:12.19 [[ 6.97382649e-01 7.16698794e-01 5.29475798e-04 -9.63093797e+01] [-7.16698681e-01 6.97382844e-01 -4.12635897e-04 5.18234959e+01] [-6.64982987e-04 -9.17094908e-05 9.99999775e-01 1.21928770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.199115933 meters 0.012318023006945221 Centerline is valid? [True, True] Translation: X:-96.34, Y:51.85, Z:12.19 [[ 6.92917415e-01 7.21005362e-01 -4.08952249e-03 -9.63386965e+01] [-7.20994325e-01 6.92929459e-01 3.99357415e-03 5.18529965e+01] [ 5.71313899e-03 1.81305431e-04 9.99983663e-01 1.21893008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25911593299998 meters 0.011725261463774065 Centerline is valid? [True, True] Translation: X:-96.37, Y:51.89, Z:12.19 [[ 6.91391203e-01 7.22460413e-01 -5.39953521e-03 -9.63712771e+01] [-7.22441809e-01 6.91412218e-01 5.19399108e-03 5.18890320e+01] [ 7.48575755e-03 3.09770242e-04 9.99971933e-01 1.21894155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31911593299998 meters 0.01232205070349103 Centerline is valid? [True, True] Translation: X:-96.40, Y:51.92, Z:12.19 [[ 6.92170622e-01 7.21702158e-01 -6.76942065e-03 -9.64043204e+01] [-7.21672665e-01 6.92203629e-01 6.53452167e-03 5.19237008e+01] [ 9.40179593e-03 3.62301915e-04 9.99955737e-01 1.21878212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37911593299998 meters 0.013028147245002153 Centerline is valid? [True, True] Translation: X:-96.43, Y:51.96, Z:12.20 [[ 6.91197687e-01 7.22620528e-01 -8.08270658e-03 -9.64255942e+01] [-7.22576542e-01 6.91244868e-01 7.97958853e-03 5.19571017e+01] [ 1.13533439e-02 3.24901034e-04 9.99935496e-01 1.21965877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43911593299998 meters 0.011990125945135991 Centerline is valid? [True, True] Translation: X:-96.47, Y:51.99, Z:12.19 [[ 6.89828159e-01 7.23905599e-01 -9.88917350e-03 -9.64654468e+01] [-7.23840922e-01 6.89898876e-01 9.68820169e-03 5.19871114e+01] [ 1.38358731e-02 4.74994127e-04 9.99904167e-01 1.21853349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49911593299998 meters 0.011709307895985989 Centerline is valid? [True, True] Translation: X:-96.50, Y:52.02, Z:12.19 [[ 6.88988599e-01 7.24698579e-01 -1.03285900e-02 -9.64973290e+01] [-7.24627234e-01 6.89065852e-01 1.01795541e-02 5.20245088e+01] [ 1.44941870e-02 4.70780923e-04 9.99894843e-01 1.21909348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559115933 meters 0.0118771833017399 Centerline is valid? [True, True] Translation: X:-96.53, Y:52.06, Z:12.18 [[ 6.86651309e-01 7.26882070e-01 -1.23465166e-02 -9.65344487e+01] [-7.26779465e-01 6.86762056e-01 1.22264781e-02 5.20567359e+01] [ 1.73663268e-02 5.77867602e-04 9.99849027e-01 1.21822584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.619115933 meters 0.011717396697473402 Centerline is valid? [True, True] Translation: X:-96.56, Y:52.10, Z:12.20 [[ 6.84448026e-01 7.28928183e-01 -1.39500487e-02 -9.65600719e+01] [-7.28796186e-01 6.84589853e-01 1.38871607e-02 5.20995242e+01] [ 1.96728046e-02 6.61702572e-04 9.99806253e-01 1.22017694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.679115933 meters 0.011359164818702557 Centerline is valid? [True, True] Translation: X:-96.60, Y:52.13, Z:12.20 [[ 6.79846191e-01 7.33140114e-01 -1.77406478e-02 -9.65958901e+01] [-7.32925715e-01 6.80076984e-01 1.77536681e-02 5.21320557e+01] [ 2.50809325e-02 9.32813322e-04 9.99684989e-01 1.21993669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.739115933 meters 0.011820804554975974 Centerline is valid? [True, True] Translation: X:-96.63, Y:52.17, Z:12.20 [[ 6.81778060e-01 7.31366449e-01 -1.67867237e-02 -9.66253317e+01] [-7.31171384e-01 6.81984281e-01 1.69070152e-02 5.21715585e+01] [ 2.38135053e-02 7.47139973e-04 9.99716139e-01 1.22027918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.799115933 meters 0.011828478501412807 Centerline is valid? [True, True] Translation: X:-95.38, Y:53.41, Z:11.35 [[ 7.83948020e-01 -6.18771696e-01 -5.04687004e-02 -9.53784046e+01] [-6.17150039e-01 -7.85560188e-01 4.49557546e-02 5.34114849e+01] [-6.74635503e-02 -4.09621441e-03 -9.97713331e-01 1.13463283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.859115933 meters 0.011635272408467696 Centerline is valid? [True, True] Translation: X:-96.55, Y:52.09, Z:12.21 [[ 7.36762624e-01 6.75801853e-01 -2.17414600e-02 -9.65542411e+01] [-6.75547919e-01 7.37082639e-01 1.85524100e-02 5.20941045e+01] [ 2.85630058e-02 1.01867584e-03 9.99591475e-01 1.22073664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.919115933 meters 0.011914549561881633 Centerline is valid? [True, True] Translation: X:-96.59, Y:52.13, Z:12.22 [[ 7.33247911e-01 6.79654253e-01 -2.04351983e-02 -9.65875810e+01] [-6.79427183e-01 7.33531956e-01 1.75946905e-02 5.21308968e+01] [ 2.69481772e-02 9.82959166e-04 9.99636349e-01 1.22182499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.979115933 meters 0.012017662563949125 Centerline is valid? [True, True] Translation: X:-96.62, Y:52.16, Z:12.22 [[ 7.30935147e-01 6.82163117e-01 -1.96797674e-02 -9.66239758e+01] [-6.81950766e-01 7.31199398e-01 1.70468060e-02 5.21638643e+01] [ 2.60185364e-02 9.60522824e-04 9.99660999e-01 1.22172999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03911593299998 meters 0.011636522440521482 Centerline is valid? [True, True] Translation: X:-96.66, Y:52.20, Z:12.22 [[ 7.28818990e-01 6.84437188e-01 -1.91993409e-02 -9.66581722e+01] [-6.84233112e-01 7.29071229e-01 1.67389237e-02 5.21993167e+01] [ 2.54544289e-02 9.37179269e-04 9.99675544e-01 1.22235889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09911593299998 meters 0.012099850418978982 Centerline is valid? [True, True] Translation: X:-96.70, Y:52.23, Z:12.22 [[ 7.24996142e-01 6.88499469e-01 -1.86835581e-02 -9.66959113e+01] [-6.88305186e-01 7.25236181e-01 1.63845321e-02 5.22320732e+01] [ 2.48307340e-02 9.81267399e-04 9.99691188e-01 1.22212512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15911593299998 meters 0.012153988630984946 Centerline is valid? [True, True] Translation: X:-96.73, Y:52.26, Z:12.22 [[ 7.24761429e-01 6.88817394e-01 -1.58577955e-02 -9.67329698e+01] [-6.88675526e-01 7.24934480e-01 1.40007067e-02 5.22639314e+01] [ 2.11397930e-02 7.73703468e-04 9.99776230e-01 1.22246811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21911593299998 meters 0.012290349171573806 Centerline is valid? [True, True] Translation: X:-96.76, Y:52.30, Z:12.23 [[ 7.20863023e-01 6.92907757e-01 -1.53408870e-02 -9.67643646e+01] [-6.92774142e-01 7.21025795e-01 1.36304898e-02 5.23026167e+01] [ 2.05058473e-02 8.02053744e-04 9.99789411e-01 1.22314837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27911593299999 meters 0.012142227915452268 Centerline is valid? [True, True] Translation: X:-96.79, Y:52.34, Z:12.25 [[ 7.20442587e-01 6.93262654e-01 -1.86914997e-02 -9.67940916e+01] [-6.93062403e-01 7.20684414e-01 1.66877580e-02 5.23440419e+01] [ 2.50396719e-02 9.31804163e-04 9.99686024e-01 1.22454565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.339115933 meters 0.01593405085314817 Centerline is valid? [True, True] Translation: X:-96.83, Y:52.37, Z:12.24 [[ 7.27126174e-01 6.86316562e-01 -1.60344932e-02 -9.68346947e+01] [-6.86165162e-01 7.27302766e-01 1.44242021e-02 5.23719639e+01] [ 2.15615001e-02 5.14095781e-04 9.99767392e-01 1.22367085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.399115933 meters 0.022642095812209544 Centerline is valid? [True, True] Translation: X:-96.88, Y:52.40, Z:12.20 [[ 7.20587152e-01 6.92579943e-01 -3.29723995e-02 -9.68799375e+01] [-6.91941948e-01 7.21339816e-01 2.97524710e-02 5.23963873e+01] [ 4.43902693e-02 1.37573800e-03 9.99013319e-01 1.22023871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.459115933 meters 0.026111795044172638 Centerline is valid? [True, True] Translation: X:-96.91, Y:52.43, Z:12.20 [[ 7.22501286e-01 6.89694085e-01 -4.81036462e-02 -9.69129095e+01] [-6.88314716e-01 7.24099124e-01 4.36269346e-02 5.24344927e+01] [ 6.49210468e-02 1.58993126e-03 9.97889137e-01 1.21986900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.519115933 meters 0.028109596322403684 Centerline is valid? [True, True] Translation: X:-96.95, Y:52.46, Z:12.19 [[ 7.26591219e-01 6.84945118e-01 -5.39943097e-02 -9.69532808e+01] [-6.83175143e-01 7.28593798e-01 4.92219523e-02 5.24640205e+01] [ 7.30542551e-02 1.12333199e-03 9.97327335e-01 1.21866158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.579115933 meters 0.029500951960828962 Centerline is valid? [True, True] Translation: X:-96.99, Y:52.50, Z:12.18 [[ 7.25930796e-01 6.84965132e-01 -6.20261912e-02 -9.69898208e+01] [-6.82602080e-01 7.28575072e-01 5.68574073e-02 5.24973154e+01] [ 8.41360782e-02 1.06466420e-03 9.96453705e-01 1.21805177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.639115933 meters 0.02953052865446166 Centerline is valid? [True, True] Translation: X:-97.02, Y:52.53, Z:12.18 [[ 7.26444414e-01 6.83963358e-01 -6.68777861e-02 -9.70243968e+01] [-6.81177385e-01 7.29515976e-01 6.16750440e-02 5.25321401e+01] [ 9.09718836e-02 7.52144307e-04 9.95853177e-01 1.21776697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.699115933 meters 0.03052276612764705 Centerline is valid? [True, True] Translation: X:-97.06, Y:52.57, Z:12.18 [[ 7.18191820e-01 6.92300615e-01 -7.01453359e-02 -9.70567213e+01] [-6.89241244e-01 7.21607349e-01 6.50333871e-02 5.25708874e+01] [ 9.56400438e-02 1.64061192e-03 9.95414632e-01 1.21833540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75911593299998 meters 0.029872343224225717 Centerline is valid? [True, True] Translation: X:-97.10, Y:52.60, Z:12.17 [[ 7.14526014e-01 6.95687941e-01 -7.39652841e-02 -9.70973536e+01] [-6.92262205e-01 7.18341579e-01 6.89812727e-02 5.26002596e+01] [ 1.01121779e-01 1.91445685e-03 9.94872213e-01 1.21749266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81911593299998 meters 0.029381277229721423 Centerline is valid? [True, True] Translation: X:-97.14, Y:52.63, Z:12.16 [[ 7.11089109e-01 6.98856707e-01 -7.71464979e-02 -9.71387345e+01] [-6.95103082e-01 7.15258426e-01 7.23677374e-02 5.26283886e+01] [ 1.05754361e-01 2.16485850e-03 9.94389928e-01 1.21601884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87911593299998 meters 0.02909920156797462 Centerline is valid? [True, True] Translation: X:-97.18, Y:52.66, Z:12.15 [[ 7.08181173e-01 7.01439912e-01 -8.03833114e-02 -9.71761107e+01] [-6.97330690e-01 7.12724761e-01 7.58506611e-02 5.26614984e+01] [ 1.10495857e-01 2.33773993e-03 9.93873835e-01 1.21503524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93911593299998 meters 0.029265177581964525 Centerline is valid? [True, True] Translation: X:-97.21, Y:52.70, Z:12.16 [[ 6.99961790e-01 7.09356917e-01 -8.28628816e-02 -9.72050482e+01] [-7.04991698e-01 7.04841415e-01 7.86465825e-02 5.27029588e+01] [ 1.14193688e-01 3.36804097e-03 9.93452796e-01 1.21621286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99911593299998 meters 0.029178916203528586 Centerline is valid? [True, True] Translation: X:-97.23, Y:52.74, Z:12.17 [[ 6.89152514e-01 7.19492208e-01 -8.60219404e-02 -9.72340448e+01] [-7.14807700e-01 6.94483235e-01 8.21157083e-02 5.27441259e+01] [ 1.18822408e-01 4.89889850e-03 9.92903438e-01 1.21659582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059115933 meters 0.03032280242322091 Centerline is valid? [True, True] Translation: X:-97.27, Y:52.78, Z:12.15 [[ 6.78531119e-01 7.29499481e-01 -8.61744042e-02 -9.72684060e+01] [-7.24798799e-01 6.83953266e-01 8.29133984e-02 5.27755823e+01] [ 1.19424546e-01 6.19978366e-03 9.92823922e-01 1.21541640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.119115933 meters 0.031245740460925087 Centerline is valid? [True, True] Translation: X:-97.30, Y:52.81, Z:12.14 [[ 6.74816980e-01 7.33295245e-01 -8.30670037e-02 -9.73043309e+01] [-7.28899259e-01 6.79881352e-01 8.04190099e-02 5.28073691e+01] [ 1.15446584e-01 6.27936401e-03 9.93293842e-01 1.21394738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.179115933 meters 0.033041527799118814 Centerline is valid? [True, True] Translation: X:-97.34, Y:52.84, Z:12.13 [[ 6.71827408e-01 7.36443852e-01 -7.93623760e-02 -9.73426890e+01] [-7.32403128e-01 6.76470259e-01 7.72893736e-02 5.28381885e+01] [ 1.10605571e-01 6.20013283e-03 9.93845041e-01 1.21315175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.239115933 meters 0.033922478618125446 Centerline is valid? [True, True] Translation: X:-97.37, Y:52.88, Z:12.13 [[ 6.76361792e-01 7.33361530e-01 -6.86701780e-02 -9.73705489e+01] [-7.30272970e-01 6.79823506e-01 6.73898312e-02 5.28754031e+01] [ 9.61047109e-02 4.56806783e-03 9.95360747e-01 1.21332390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.299115933 meters 0.03489851652109583 Centerline is valid? [True, True] Translation: X:-97.40, Y:52.91, Z:12.13 [[ 6.69113490e-01 7.40147875e-01 -6.68450512e-02 -9.74045488e+01] [-7.37219623e-01 6.72424528e-01 6.59733403e-02 5.29109148e+01] [ 9.37782797e-02 5.13583148e-03 9.95579860e-01 1.21271244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.359115933 meters 0.03538692902270401 Centerline is valid? [True, True] Translation: X:-97.43, Y:52.96, Z:12.15 [[ 6.75783948e-01 7.35036585e-01 -5.51114731e-02 -9.74257151e+01] [-7.33005814e-01 6.78018791e-01 5.47082821e-02 5.29585585e+01] [ 7.75792032e-02 3.42605132e-03 9.96980305e-01 1.21477814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.419115933 meters 0.03477858863379866 Centerline is valid? [True, True] Translation: X:-97.46, Y:53.00, Z:12.14 [[ 6.72556037e-01 7.38376035e-01 -4.96911299e-02 -9.74583812e+01] [-7.36713697e-01 6.74381478e-01 4.96240864e-02 5.29959926e+01] [ 7.01520138e-02 3.23315717e-03 9.97531073e-01 1.21449240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.479115933 meters 0.033729656372762484 Centerline is valid? [True, True] Translation: X:-97.48, Y:53.04, Z:12.17 [[ 6.72258363e-01 7.39042071e-01 -4.34224677e-02 -9.74788093e+01] [-7.37758157e-01 6.73653839e-01 4.36280448e-02 5.30443432e+01] [ 6.14946726e-02 2.70596177e-03 9.98103744e-01 1.21663591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53911593299998 meters 0.031134299360917196 Centerline is valid? [True, True] Translation: X:-96.35, Y:54.17, Z:11.43 [[ 7.90479330e-01 -6.09401603e-01 -6.14175488e-02 -9.63514579e+01] [-6.07002872e-01 -7.92841564e-01 5.43117667e-02 5.41701578e+01] [-8.17920631e-02 -5.65170042e-03 -9.96633391e-01 1.14258242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59911593299998 meters 0.029576198638989477 Centerline is valid? [True, True] Translation: X:-97.43, Y:52.97, Z:12.15 [[ 7.25712231e-01 6.87820004e-01 -1.56652522e-02 -9.74283719e+01] [-6.87690520e-01 7.25880516e-01 1.33875032e-02 5.29738168e+01] [ 2.05792939e-02 1.05737061e-03 9.99787665e-01 1.21514066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65911593299998 meters 0.025748730503777708 Centerline is valid? [True, True] Translation: X:-97.47, Y:53.01, Z:12.15 [[ 7.22576404e-01 6.91261549e-01 -6.38832721e-03 -9.74656159e+01] [-6.91239335e-01 7.22604532e-01 5.55621565e-03 5.30058912e+01] [ 8.45703243e-03 4.01072728e-04 9.99964158e-01 1.21480322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71911593299998 meters 0.021740825999120132 Centerline is valid? [True, True] Translation: X:-97.50, Y:53.04, Z:12.14 [[ 7.20023238e-01 6.93941981e-01 -3.32631691e-03 -9.75038158e+01] [-6.93935774e-01 7.20030896e-01 2.94113569e-03 5.30389601e+01] [ 4.43602847e-03 1.90564256e-04 9.99990143e-01 1.21401910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77911593299999 meters 0.017090853846540053 Centerline is valid? [True, True] Translation: X:-97.55, Y:53.07, Z:12.13 [[ 7.13766074e-01 7.00370759e-01 -4.33491851e-03 -9.75453270e+01] [-7.00360324e-01 7.13779175e-01 3.83477033e-03 5.30664590e+01] [ 5.77993556e-03 2.98875971e-04 9.99983251e-01 1.21306105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.839115933 meters 0.014281056334247975 Centerline is valid? [True, True] Translation: X:-97.58, Y:53.10, Z:12.13 [[ 7.12667147e-01 7.01496385e-01 -2.89132618e-03 -9.75845936e+01] [-7.01491592e-01 7.12672990e-01 2.59910146e-03 5.30959097e+01] [ 3.88383036e-03 1.75946780e-04 9.99992442e-01 1.21269775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.899115933 meters 0.011930513368207019 Centerline is valid? [True, True] Translation: X:-97.62, Y:53.13, Z:12.12 [[ 7.09195204e-01 7.05006647e-01 -2.79110803e-03 -9.76224317e+01] [-7.05002197e-01 7.09200672e-01 2.51177009e-03 5.31287190e+01] [ 3.75027029e-03 1.86401993e-04 9.99992950e-01 1.21221597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.959115933 meters 0.011839812575147176 Centerline is valid? [True, True] Translation: X:-97.65, Y:53.17, Z:12.14 [[ 7.07273848e-01 7.06922546e-01 -4.92112079e-03 -9.76497449e+01] [-7.06908905e-01 7.07290876e-01 4.40650914e-03 5.31724742e+01] [ 6.59572449e-03 3.62175427e-04 9.99978182e-01 1.21411431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.019115933 meters 0.01195617595956876 Centerline is valid? [True, True] Translation: X:-97.69, Y:53.20, Z:12.13 [[ 7.05597347e-01 7.08576587e-01 -7.18358907e-03 -9.76924849e+01] [-7.08547473e-01 7.05633706e-01 6.44607077e-03 5.31989558e+01] [ 9.63651740e-03 5.41583445e-04 9.99953421e-01 1.21268726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.079115933 meters 0.011263141153531005 Centerline is valid? [True, True] Translation: X:-97.72, Y:53.24, Z:12.14 [[ 7.04509034e-01 7.09657143e-01 -7.33210018e-03 -9.77235309e+01] [-7.09626541e-01 7.04546977e-01 6.61283444e-03 5.32387056e+01] [ 9.85865421e-03 5.44251278e-04 9.99951254e-01 1.21363551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.139115933 meters 0.010853698569338346 Centerline is valid? [True, True] Translation: X:-97.76, Y:53.28, Z:12.14 [[ 7.03190065e-01 7.10947196e-01 -8.82138480e-03 -9.77575548e+01] [-7.10902631e-01 7.03245089e-01 7.98706519e-03 5.32755981e+01] [ 1.18819771e-02 6.54720770e-04 9.99929192e-01 1.21377900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.199115933 meters 0.011454087570353185 Centerline is valid? [True, True] Translation: X:-97.80, Y:53.30, Z:12.12 [[ 7.01986476e-01 7.12115552e-01 -1.03164177e-02 -9.78013493e+01] [-7.12054134e-01 7.02061866e-01 9.38326951e-03 5.33029178e+01] [ 1.39247356e-02 7.58919569e-04 9.99902758e-01 1.21225258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25911593299998 meters 0.011127956465171156 Centerline is valid? [True, True] Translation: X:-97.83, Y:53.34, Z:12.13 [[ 7.00664285e-01 7.13395886e-01 -1.16563435e-02 -9.78316694e+01] [-7.13316877e-01 7.00760719e-01 1.06511805e-02 5.33442144e+01] [ 1.57668160e-02 8.51764767e-04 9.99875333e-01 1.21282883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31911593299998 meters 0.011314504133658495 Centerline is valid? [True, True] Translation: X:-97.88, Y:53.37, Z:12.11 [[ 7.01645019e-01 7.12442147e-01 -1.09752162e-02 -9.78751026e+01] [-7.12371152e-01 7.01730459e-01 1.00849184e-02 5.33704308e+01] [ 1.48865644e-02 7.42394638e-04 9.99888913e-01 1.21091032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37911593299998 meters 0.011525497008631909 Centerline is valid? [True, True] Translation: X:-97.89, Y:53.43, Z:12.14 [[ 6.96619562e-01 7.17222368e-01 -1.76991715e-02 -9.78881712e+01] [-7.17038515e-01 6.96843080e-01 1.62938718e-02 5.34287693e+01] [ 2.40198745e-02 1.34035783e-03 9.99710583e-01 1.21428658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43911593299998 meters 0.011848290136072697 Centerline is valid? [True, True] Translation: X:-97.93, Y:53.45, Z:12.12 [[ 6.98865239e-01 7.14992133e-01 -1.93294368e-02 -9.79334399e+01] [-7.14768990e-01 6.99131289e-01 1.79089752e-02 5.34514183e+01] [ 2.63185904e-02 1.30012175e-03 9.99652760e-01 1.21206411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49911593299998 meters 0.011935105332515196 Centerline is valid? [True, True] Translation: X:-97.98, Y:53.48, Z:12.11 [[ 7.01471543e-01 7.12358272e-01 -2.19856179e-02 -9.79757738e+01] [-7.12065576e-01 7.01814787e-01 2.04602327e-02 5.34787563e+01] [ 3.00048477e-02 1.30293066e-03 9.99548904e-01 1.21095217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.559115933 meters 0.01150771551913706 Centerline is valid? [True, True] Translation: X:-98.00, Y:53.52, Z:12.12 [[ 6.99337629e-01 7.14392303e-01 -2.38855156e-02 -9.80042874e+01] [-7.14044150e-01 6.99743952e-01 2.23462108e-02 5.35217949e+01] [ 3.26777061e-02 1.42776655e-03 9.99464921e-01 1.21196429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.619115933 meters 0.011253872168610955 Centerline is valid? [True, True] Translation: X:-98.05, Y:53.55, Z:12.10 [[ 7.03394754e-01 7.10426438e-01 -2.30238318e-02 -9.80460668e+01] [-7.10096886e-01 7.03770591e-01 2.16649148e-02 5.35505333e+01] [ 3.15948239e-02 1.11016382e-03 9.99500142e-01 1.21032753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.679115933 meters 0.011315121889976902 Centerline is valid? [True, True] Translation: X:-98.08, Y:53.59, Z:12.11 [[ 7.00057539e-01 7.13586076e-01 -2.67274259e-02 -9.80759523e+01] [-7.13138863e-01 7.00566260e-01 2.52957914e-02 5.35899855e+01] [ 3.67750573e-02 1.35185669e-03 9.99322654e-01 1.21088631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.739115933 meters 0.011931776571841364 Centerline is valid? [True, True] Translation: X:-98.11, Y:53.62, Z:12.11 [[ 7.01379006e-01 7.12261885e-01 -2.73952112e-02 -9.81099658e+01] [-7.11784959e-01 7.01912789e-01 2.60884724e-02 5.36249774e+01] [ 3.78108736e-02 1.20159243e-03 9.99284191e-01 1.21124848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.799115933 meters 0.011845547712164712 Centerline is valid? [True, True] Translation: X:-98.15, Y:53.65, Z:12.10 [[ 7.01303810e-01 7.12411558e-01 -2.53522945e-02 -9.81521480e+01] [-7.11999062e-01 7.01761141e-01 2.42618404e-02 5.36524393e+01] [ 3.50756706e-02 1.03588875e-03 9.99384122e-01 1.21025225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.859115933 meters 0.011537301594384488 Centerline is valid? [True, True] Translation: X:-98.19, Y:53.69, Z:12.10 [[ 6.97801492e-01 7.15948810e-01 -2.21445114e-02 -9.81858508e+01] [-7.15631757e-01 6.98152110e-01 2.13265169e-02 5.36901508e+01] [ 3.07289318e-02 9.65640322e-04 9.99527288e-01 1.21034897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.919115933 meters 0.011080524125392482 Centerline is valid? [True, True] Translation: X:-98.20, Y:53.74, Z:12.13 [[ 6.93111910e-01 7.20582060e-01 -1.89043593e-02 -9.82048862e+01] [-7.20349734e-01 6.93369056e-01 1.83197273e-02 5.37414913e+01] [ 2.63085646e-02 9.20129060e-04 9.99653446e-01 1.21259831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.979115933 meters 0.01128618147126307 Centerline is valid? [True, True] Translation: X:-98.24, Y:53.78, Z:12.13 [[ 6.88456564e-01 7.25137091e-01 -1.42743779e-02 -9.82381231e+01] [-7.25003718e-01 6.88604110e-01 1.39279712e-02 5.37784464e+01] [ 1.99290838e-02 7.60173804e-04 9.99801107e-01 1.21260496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03911593299998 meters 0.011038741233436837 Centerline is valid? [True, True] Translation: X:-98.28, Y:53.81, Z:12.12 [[ 6.81309071e-01 7.31898625e-01 -1.19311318e-02 -9.82753957e+01] [-7.31805450e-01 6.81413111e-01 1.17028176e-02 5.38112119e+01] [ 1.66953057e-02 7.58031487e-04 9.99860336e-01 1.21242436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09911593299998 meters 0.011512329222022579 Centerline is valid? [True, True] Translation: X:-98.30, Y:53.86, Z:12.14 [[ 6.75882066e-01 7.36963742e-01 -8.23873206e-03 -9.82993623e+01] [-7.36919088e-01 6.75932033e-01 8.13286080e-03 5.38580991e+01] [ 1.15624464e-02 5.74424163e-04 9.99932988e-01 1.21375602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15911593299998 meters 0.012198322724835753 Centerline is valid? [True, True] Translation: X:-98.34, Y:53.89, Z:12.12 [[ 6.67932309e-01 7.44154694e-01 -1.00111472e-02 -9.83416899e+01] [-7.44088849e-01 6.68006832e-01 9.93259343e-03 5.38867839e+01] [ 1.40789007e-02 8.14882904e-04 9.99900555e-01 1.21153334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21911593299998 meters 0.012153450640043506 Centerline is valid? [True, True] Translation: X:-98.37, Y:53.93, Z:12.13 [[ 6.68211933e-01 7.43934550e-01 -7.36194539e-03 -9.83670605e+01] [-7.43898267e-01 6.68252258e-01 7.36807731e-03 5.39318552e+01] [ 1.04010039e-02 5.53101235e-04 9.99945755e-01 1.21293057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27911593299999 meters 0.011067406312649911 Centerline is valid? [True, True] Translation: X:-98.39, Y:53.98, Z:12.15 [[ 6.67588066e-01 7.44496438e-01 -7.15734960e-03 -9.83867729e+01] [-7.44461963e-01 6.67626221e-01 7.18429444e-03 5.39834975e+01] [ 1.01271159e-02 5.32225304e-04 9.99948578e-01 1.21515086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.339115933 meters 0.011309901112225396 Centerline is valid? [True, True] Translation: X:-98.42, Y:54.02, Z:12.16 [[ 6.63613754e-01 7.48009336e-01 -9.94075326e-03 -9.84189993e+01] [-7.47942605e-01 6.63687741e-01 1.00220655e-02 5.40222602e+01] [ 1.40941547e-02 7.84332357e-04 9.99900365e-01 1.21555604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.399115933 meters 0.011243925718136974 Centerline is valid? [True, True] Translation: X:-97.40, Y:54.99, Z:11.48 [[ 7.97845483e-01 -6.01640974e-01 -3.83500230e-02 -9.74016883e+01] [-6.00661883e-01 -7.98753496e-01 3.46143700e-02 5.49921478e+01] [-5.14576382e-02 -4.58152170e-03 -9.98664669e-01 1.14825475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.459115933 meters 0.011237954093166292 Centerline is valid? [True, True] Translation: X:-98.36, Y:53.94, Z:12.15 [[ 7.17192660e-01 6.96767506e-01 -1.22364750e-02 -9.83558136e+01] [-6.96689968e-01 7.17296295e-01 1.04457432e-02 5.39419360e+01] [ 1.60554326e-02 1.03341899e-03 9.99870569e-01 1.21484721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.519115933 meters 0.010986736005370753 Centerline is valid? [True, True] Translation: X:-98.39, Y:53.97, Z:12.15 [[ 7.12425310e-01 7.01646710e-01 -1.19193791e-02 -9.83938895e+01] [-7.01572481e-01 7.12524235e-01 1.02600523e-02 5.39745348e+01] [ 1.56917784e-02 1.05278742e-03 9.99876322e-01 1.21489160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.579115933 meters 0.011470235828623138 Centerline is valid? [True, True] Translation: X:-98.42, Y:54.02, Z:12.16 [[ 7.12064062e-01 7.02040429e-01 -1.01984045e-02 -9.84246589e+01] [-7.01985496e-01 7.12136554e-01 8.82563877e-03 5.40163507e+01] [ 1.34586119e-02 8.74711854e-04 9.99909046e-01 1.21596280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.639115933 meters 0.011696604123157628 Centerline is valid? [True, True] Translation: X:-98.47, Y:54.04, Z:12.15 [[ 7.09663600e-01 7.04452077e-01 -1.11734268e-02 -9.84688415e+01] [-7.04385880e-01 7.09750877e-01 9.70694383e-03 5.40433844e+01] [ 1.47684262e-02 9.81739375e-04 9.99890459e-01 1.21516974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.699115933 meters 0.011805941043422963 Centerline is valid? [True, True] Translation: X:-98.51, Y:54.07, Z:12.15 [[ 7.12263918e-01 7.01855512e-01 -8.88546076e-03 -9.85109113e+01] [-7.01812850e-01 7.12318993e-01 7.77018637e-03 5.40711906e+01] [ 1.17828306e-02 7.01507147e-04 9.99930334e-01 1.21451038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75911593299998 meters 0.011468823308267756 Centerline is valid? [True, True] Translation: X:-98.55, Y:54.11, Z:12.14 [[ 7.09500549e-01 7.04616285e-01 -1.11741420e-02 -9.85478913e+01] [-7.04548725e-01 7.09587941e-01 9.80039824e-03 5.41054043e+01] [ 1.48345566e-02 9.19339549e-04 9.99889539e-01 1.21441637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81911593299998 meters 0.012596240135831702 Centerline is valid? [True, True] Translation: X:-98.59, Y:54.14, Z:12.14 [[ 7.07249228e-01 7.06864997e-01 -1.18492436e-02 -9.85858223e+01] [-7.06788633e-01 7.07347785e-01 1.04373587e-02 5.41378898e+01] [ 1.57593397e-02 9.93096820e-04 9.99875321e-01 1.21427256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87911593299998 meters 0.011586897715476678 Centerline is valid? [True, True] Translation: X:-98.61, Y:54.18, Z:12.15 [[ 7.03440227e-01 7.10642564e-01 -1.26092462e-02 -9.86141469e+01] [-7.10555812e-01 7.03552354e-01 1.11590025e-02 5.41819167e+01] [ 1.68013270e-02 1.10988186e-03 9.99858232e-01 1.21544321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93911593299998 meters 0.011787305131582467 Centerline is valid? [True, True] Translation: X:-98.66, Y:54.21, Z:12.14 [[ 7.04630339e-01 7.09545027e-01 -6.47616215e-03 -9.86583392e+01] [-7.09521650e-01 7.04659907e-01 5.78303088e-03 5.42088844e+01] [ 8.66681262e-03 5.20078253e-04 9.99962307e-01 1.21444357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99911593299998 meters 0.01207359603045384 Centerline is valid? [True, True] Translation: X:-98.69, Y:54.25, Z:12.14 [[ 6.99903557e-01 7.14098967e-01 -1.40597690e-02 -9.86920157e+01] [-7.13989862e-01 7.00043630e-01 1.25456368e-02 5.42471811e+01] [ 1.88012781e-02 1.25779673e-03 9.99822449e-01 1.21430253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.059115933 meters 0.01275466514534933 Centerline is valid? [True, True] Translation: X:-98.72, Y:54.29, Z:12.15 [[ 6.99550183e-01 7.14412389e-01 -1.56358680e-02 -9.87241005e+01] [-7.14276319e-01 6.99723565e-01 1.40097518e-02 5.42868969e+01] [ 2.09495255e-02 1.36780581e-03 9.99779599e-01 1.21469705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.119115933 meters 0.012369513210807996 Centerline is valid? [True, True] Translation: X:-98.76, Y:54.32, Z:12.14 [[ 6.95313405e-01 7.18481104e-01 -1.80047559e-02 -9.87642747e+01] [-7.18300391e-01 6.95544475e-01 1.61997266e-02 5.43174472e+01] [ 2.41623060e-02 1.66893612e-03 9.99706656e-01 1.21398513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.179115933 meters 0.012637863882439154 Centerline is valid? [True, True] Translation: X:-98.80, Y:54.35, Z:12.13 [[ 6.95565947e-01 7.18237879e-01 -1.79544458e-02 -9.88007634e+01] [-7.18055746e-01 6.95795823e-01 1.62517281e-02 5.43507654e+01] [ 2.41652351e-02 1.58814431e-03 9.99706717e-01 1.21329378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.239115933 meters 0.012759257963730408 Centerline is valid? [True, True] Translation: X:-98.83, Y:54.40, Z:12.14 [[ 6.92491539e-01 7.21147476e-01 -2.00446165e-02 -9.88288312e+01] [-7.20919915e-01 6.92779133e-01 1.82084833e-02 5.43951446e+01] [ 2.70174938e-02 1.84134264e-03 9.99633265e-01 1.21409763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.299115933 meters 0.013401651553705169 Centerline is valid? [True, True] Translation: X:-98.86, Y:54.44, Z:12.15 [[ 6.92305808e-01 7.21390190e-01 -1.75744485e-02 -9.88553680e+01] [-7.21212642e-01 6.92527119e-01 1.60784039e-02 5.44380380e+01] [ 2.37695850e-02 1.54374202e-03 9.99716272e-01 1.21545553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.359115933 meters 0.013358749541554402 Centerline is valid? [True, True] Translation: X:-98.89, Y:54.48, Z:12.16 [[ 6.92007410e-01 7.21715692e-01 -1.58809294e-02 -9.88880293e+01] [-7.21568961e-01 6.92188304e-01 1.46145892e-02 5.44759084e+01] [ 2.15401720e-02 1.34578167e-03 9.99767078e-01 1.21617676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.419115933 meters 0.013215593439614018 Centerline is valid? [True, True] Translation: X:-98.93, Y:54.50, Z:12.14 [[ 6.94685791e-01 7.19230850e-01 -1.08920468e-02 -9.89314790e+01] [-7.19160691e-01 6.94770678e-01 1.00799531e-02 5.45019100e+01] [ 1.48172879e-02 8.30731737e-04 9.99889873e-01 1.21449581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.479115933 meters 0.013639990649315675 Centerline is valid? [True, True] Translation: X:-98.96, Y:54.55, Z:12.16 [[ 6.90697196e-01 7.23050020e-01 -1.16641610e-02 -9.89602415e+01] [-7.22969446e-01 6.90795027e-01 1.08356214e-02 5.45454782e+01] [ 1.58922407e-02 9.48698679e-04 9.99873260e-01 1.21567885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53911593299998 meters 0.01407706777522529 Centerline is valid? [True, True] Translation: X:-98.99, Y:54.59, Z:12.17 [[ 6.89158863e-01 7.24534609e-01 -1.04719504e-02 -9.89870076e+01] [-7.24469171e-01 6.89237896e-01 9.77460519e-03 5.45915225e+01] [ 1.42997048e-02 8.50349442e-04 9.99897392e-01 1.21710354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59911593299998 meters 0.013542804545460325 Centerline is valid? [True, True] Translation: X:-99.02, Y:54.63, Z:12.18 [[ 6.89858185e-01 7.23872812e-01 -1.01900393e-02 -9.90221599e+01] [-7.23810235e-01 6.89932991e-01 9.55048666e-03 5.46289705e+01] [ 1.39437819e-02 7.87173356e-04 9.99902471e-01 1.21753127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65911593299998 meters 0.01412872212497271 Centerline is valid? [True, True] Translation: X:-99.07, Y:54.66, Z:12.16 [[ 6.94226775e-01 7.19715973e-01 -7.62247847e-03 -9.90657268e+01] [-7.19680192e-01 6.94268447e-01 7.19346018e-03 5.46571582e+01] [ 1.04692945e-02 4.91854099e-04 9.99945074e-01 1.21631083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71911593299998 meters 0.013923232327701235 Centerline is valid? [True, True] Translation: X:-99.10, Y:54.69, Z:12.17 [[ 6.97569765e-01 7.16485218e-01 -6.73460153e-03 -9.91007007e+01] [-7.16456802e-01 6.97602177e-01 6.39162022e-03 5.46938185e+01] [ 9.27757410e-03 3.66450060e-04 9.99956895e-01 1.21672733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77911593299999 meters 0.013911846070709593 Centerline is valid? [True, True] Translation: X:-99.14, Y:54.73, Z:12.17 [[ 6.96223922e-01 7.17767502e-01 -9.05891379e-03 -9.91363190e+01] [-7.17716021e-01 6.96282670e-01 8.61138344e-03 5.47311508e+01] [ 1.24885359e-02 5.06276419e-04 9.99921887e-01 1.21725021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.839115933 meters 0.01419115494285291 Centerline is valid? [True, True] Translation: X:-99.16, Y:54.78, Z:12.18 [[ 6.96093890e-01 7.17872870e-01 -1.05753824e-02 -9.91639988e+01] [-7.17802113e-01 6.96173990e-01 1.00946873e-02 5.47754643e+01] [ 1.46090083e-02 5.64181653e-04 9.99893124e-01 1.21838165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.899115933 meters 0.01425282274445447 Centerline is valid? [True, True] Translation: X:-99.20, Y:54.81, Z:12.19 [[ 7.00023861e-01 7.14043224e-01 -1.04340204e-02 -9.92001901e+01] [-7.13973348e-01 7.00101473e-01 9.99932312e-03 5.48121472e+01] [ 1.44448220e-02 4.49847721e-04 9.99895567e-01 1.21865402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.959115933 meters 0.014405472016772863 Centerline is valid? [True, True] Translation: X:-99.24, Y:54.85, Z:12.19 [[ 7.01451585e-01 7.12679310e-01 -7.33994327e-03 -9.92385393e+01] [-7.12644186e-01 7.01489936e-01 7.08045605e-03 5.48472497e+01] [ 1.01949909e-02 2.64170775e-04 9.99947995e-01 1.21877856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.019115933 meters 0.014361703851943715 Centerline is valid? [True, True] Translation: X:-99.27, Y:54.88, Z:12.19 [[ 6.98910023e-01 7.15165549e-01 -7.93830658e-03 -9.92747618e+01] [-7.15124314e-01 6.98955037e-01 7.68579256e-03 5.48847167e+01] [ 1.10451334e-02 3.05198592e-04 9.99938954e-01 1.21896164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.079115933 meters 0.014293448652980576 Centerline is valid? [True, True] Translation: X:-99.30, Y:54.93, Z:12.20 [[ 6.95672496e-01 7.18312701e-01 -8.16345700e-03 -9.93047117e+01] [-7.18268942e-01 6.95720308e-01 7.93605634e-03 5.49278618e+01] [ 1.13800529e-02 3.42661502e-04 9.99935186e-01 1.21983842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.139115933 meters 0.014692548838459525 Centerline is valid? [True, True] Translation: X:-99.34, Y:54.96, Z:12.20 [[ 6.90556766e-01 7.23223598e-01 -8.88707271e-03 -9.93404261e+01] [-7.23171633e-01 6.90613814e-01 8.68045251e-03 5.49634797e+01] [ 1.24154433e-02 4.32533670e-04 9.99922832e-01 1.21967354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.199115933 meters 0.015123814276382092 Centerline is valid? [True, True] Translation: X:-99.37, Y:55.01, Z:12.21 [[ 6.86663949e-01 7.26936089e-01 -7.51955444e-03 -9.93709139e+01] [-7.26898786e-01 6.86705003e-01 7.37522622e-03 5.50070755e+01] [ 1.05250338e-02 4.01653044e-04 9.99944530e-01 1.22071354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25911593299998 meters 0.015122147832877367 Centerline is valid? [True, True] Translation: X:-99.40, Y:55.05, Z:12.21 [[ 6.81767955e-01 7.31545650e-01 -5.78076646e-03 -9.94036844e+01] [-7.31523480e-01 6.81792378e-01 5.70541462e-03 5.50479116e+01] [ 8.11505376e-03 3.38997539e-04 9.99967015e-01 1.22096868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31911593299998 meters 0.015113763147660851 Centerline is valid? [True, True] Translation: X:-99.44, Y:55.09, Z:12.21 [[ 6.76800146e-01 7.36148349e-01 -5.21256359e-03 -9.94372814e+01] [-7.36130250e-01 6.76820135e-01 5.17293946e-03 5.50871845e+01] [ 7.33601884e-03 3.36079555e-04 9.99973035e-01 1.22104037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37911593299998 meters 0.015367394154927981 Centerline is valid? [True, True] Translation: X:-99.48, Y:55.12, Z:12.21 [[ 6.71148910e-01 7.41303893e-01 -5.26108556e-03 -9.94753512e+01] [-7.41285464e-01 6.71169421e-01 5.24108329e-03 5.51220523e+01] [ 7.41631520e-03 3.82418913e-04 9.99972426e-01 1.22077561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43911593299998 meters 0.015577620689999565 Centerline is valid? [True, True] Translation: X:-99.51, Y:55.16, Z:12.21 [[ 6.66755207e-01 7.45263273e-01 -4.48854934e-03 -9.95093628e+01] [-7.45249770e-01 6.66770226e-01 4.49946135e-03 5.51612812e+01] [ 6.34611435e-03 3.45051083e-04 9.99979804e-01 1.22079978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49911593299998 meters 0.015304576007690205 Centerline is valid? [True, True] Translation: X:-99.54, Y:55.20, Z:12.21 [[ 6.65680140e-01 7.46231850e-01 -2.82429630e-03 -9.95443340e+01] [-7.46226381e-01 6.65686101e-01 2.86411988e-03 5.51996058e+01] [ 4.01739227e-03 2.00976690e-04 9.99991910e-01 1.22083985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.559115933 meters 0.015625875466971185 Centerline is valid? [True, True] Translation: X:-99.58, Y:55.24, Z:12.21 [[ 6.65191382e-01 7.46672386e-01 -8.79081935e-04 -9.95802862e+01] [-7.46671806e-01 6.65191962e-01 9.31542395e-04 5.52378950e+01] [ 1.28031522e-03 3.67317230e-05 9.99999180e-01 1.22095451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.619115933 meters 0.016063624526858954 Centerline is valid? [True, True] Translation: X:-99.61, Y:55.28, Z:12.23 [[ 6.64639911e-01 7.47163826e-01 7.48389032e-05 -9.96075730e+01] [-7.47163827e-01 6.64639914e-01 -2.02524025e-05 5.52835084e+01] [-6.48727849e-05 -4.24563664e-05 9.99999997e-01 1.22278896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.679115933 meters 0.015517122637306396 Centerline is valid? [True, True] Translation: X:-98.77, Y:56.06, Z:11.48 [[ 7.93748155e-01 -6.07641475e-01 -2.71238650e-02 -9.87672951e+01] [-6.07132117e-01 -7.94203888e-01 2.51152701e-02 5.60626799e+01] [-3.68029588e-02 -3.46742972e-03 -9.99316526e-01 1.14763525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.739115933 meters 0.015566128771361295 Centerline is valid? [True, True] Translation: X:-99.56, Y:55.21, Z:12.23 [[ 7.24682764e-01 6.89079513e-01 -2.07736784e-03 -9.95558860e+01] [-6.89077189e-01 7.24685730e-01 1.79453350e-03 5.52073459e+01] [ 2.74201510e-03 1.30999299e-04 9.99996232e-01 1.22263632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.799115933 meters 0.016039400526298056 Centerline is valid? [True, True] Translation: X:-99.60, Y:55.24, Z:12.22 [[ 7.32460969e-01 6.80805252e-01 2.26647354e-03 -9.95964156e+01] [-6.80802630e-01 7.32464460e-01 -1.89577109e-03 5.52406946e+01] [-2.95076223e-03 -1.54442815e-04 9.99995635e-01 1.22237633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.859115933 meters 0.016328308036192715 Centerline is valid? [True, True] Translation: X:-99.63, Y:55.28, Z:12.24 [[ 7.27759088e-01 6.85821112e-01 -4.01396887e-03 -9.96320850e+01] [-6.85812178e-01 7.27770130e-01 3.50634208e-03 5.52809244e+01] [ 5.32597007e-03 2.01056420e-04 9.99985797e-01 1.22356627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.919115933 meters 0.01659044284692224 Centerline is valid? [True, True] Translation: X:-99.67, Y:55.32, Z:12.25 [[ 7.29428955e-01 6.84055797e-01 -1.03233680e-03 -9.96676111e+01] [-6.84055146e-01 7.29429686e-01 9.44113015e-04 5.53200000e+01] [ 1.39884309e-03 1.75119325e-05 9.99999021e-01 1.22455071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.979115933 meters 0.016473852064523887 Centerline is valid? [True, True] Translation: X:-99.69, Y:55.37, Z:12.27 [[ 7.27444187e-01 6.86147489e-01 -5.15543912e-03 -9.96935933e+01] [-6.86132594e-01 7.27462415e-01 4.52759613e-03 5.53705329e+01] [ 6.85698690e-03 2.43741328e-04 9.99976461e-01 1.22682219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03911593299998 meters 0.016657759240062738 Centerline is valid? [True, True] Translation: X:-99.74, Y:55.40, Z:12.26 [[ 7.27822253e-01 6.85750554e-01 -4.57663985e-03 -9.97355395e+01] [-6.85738700e-01 7.27836615e-01 4.03690952e-03 5.54044082e+01] [ 6.09935899e-03 2.00226477e-04 9.99981379e-01 1.22632499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09911593299998 meters 0.016919654513025954 Centerline is valid? [True, True] Translation: X:-99.76, Y:55.45, Z:12.29 [[ 7.21553455e-01 6.92349271e-01 -3.61918360e-03 -9.97632891e+01] [-6.92341832e-01 7.21562507e-01 3.21488886e-03 5.54535360e+01] [ 4.83729315e-03 1.85998037e-04 9.99988283e-01 1.22859134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15911593299998 meters 0.017148735224539573 Centerline is valid? [True, True] Translation: X:-99.81, Y:55.48, Z:12.28 [[ 7.18593072e-01 6.95423612e-01 -3.16168178e-03 -9.98087031e+01] [-6.95417907e-01 7.18600008e-01 2.82203012e-03 5.54835945e+01] [ 4.23449093e-03 1.70798832e-04 9.99991020e-01 1.22783711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21911593299998 meters 0.018191973405893867 Centerline is valid? [True, True] Translation: X:-99.86, Y:55.51, Z:12.26 [[ 7.11648770e-01 7.02520527e-01 -4.57571068e-03 -9.98606789e+01] [-7.02508735e-01 7.11663413e-01 4.08213802e-03 5.55064466e+01] [ 6.12415163e-03 3.09428218e-04 9.99981199e-01 1.22573061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27911593299999 meters 0.018059453083618247 Centerline is valid? [True, True] Translation: X:-99.90, Y:55.54, Z:12.26 [[ 7.07013657e-01 7.07182972e-01 -4.89210167e-03 -9.98976145e+01] [-7.07169497e-01 7.07030489e-01 4.38057676e-03 5.55443948e+01] [ 6.55673433e-03 3.62417485e-04 9.99978439e-01 1.22616613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.339115933 meters 0.017769118154467 Centerline is valid? [True, True] Translation: X:-99.94, Y:55.58, Z:12.26 [[ 7.03974696e-01 7.10204307e-01 -5.42853528e-03 -9.99380538e+01] [-7.10187719e-01 7.03995498e-01 4.87265972e-03 5.55783543e+01] [ 7.28224832e-03 4.25049948e-04 9.99973394e-01 1.22623733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.399115933 meters 0.017419845055519464 Centerline is valid? [True, True] Translation: X:-99.98, Y:55.61, Z:12.26 [[ 6.99803087e-01 7.14305736e-01 -6.55405965e-03 -9.99784557e+01] [-7.14281587e-01 6.99833559e-01 5.89952652e-03 5.56120337e+01] [ 8.80081652e-03 5.52937260e-04 9.99961119e-01 1.22587644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.459115933 meters 0.017725988807526127 Centerline is valid? [True, True] Translation: X:-100.02, Y:55.65, Z:12.26 [[ 6.99773430e-01 7.14330271e-01 -7.02925327e-03 -1.00018267e+02] [-7.14302304e-01 6.99808494e-01 6.34747188e-03 5.56465021e+01] [ 9.45332245e-03 5.79219635e-04 9.99955149e-01 1.22638807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.519115933 meters 0.018695518870685258 Centerline is valid? [True, True] Translation: X:-100.06, Y:55.68, Z:12.26 [[ 6.98778222e-01 7.15296486e-01 -7.74171547e-03 -1.00063173e+02] [-7.15262359e-01 6.98820817e-01 7.01592478e-03 5.56755607e+01] [ 1.04285383e-02 6.34782227e-04 9.99945420e-01 1.22611737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.579115933 meters 0.020502364861938217 Centerline is valid? [True, True] Translation: X:-100.12, Y:55.69, Z:12.23 [[ 6.98098200e-01 7.15925515e-01 -1.04670988e-02 -1.00122219e+02] [-7.15862898e-01 6.98176141e-01 9.50724581e-03 5.56894215e+01] [ 1.41143585e-02 8.56016477e-04 9.99900021e-01 1.22332549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.639115933 meters 0.022008081199354684 Centerline is valid? [True, True] Translation: X:-100.17, Y:55.71, Z:12.22 [[ 6.96687659e-01 7.17207234e-01 -1.54948175e-02 -1.00173571e+02] [-7.17069533e-01 6.96858771e-01 1.41116296e-02 5.57104675e+01] [ 2.09186623e-02 1.27946337e-03 9.99780362e-01 1.22179201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.699115933 meters 0.021430201018830045 Centerline is valid? [True, True] Translation: X:-100.21, Y:55.74, Z:12.22 [[ 6.98692731e-01 7.15246911e-01 -1.58216078e-02 -1.00214590e+02] [-7.15101578e-01 6.98870806e-01 1.44682238e-02 5.57430335e+01] [ 2.14056122e-02 1.20521389e-03 9.99770147e-01 1.22170597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75911593299998 meters 0.020565403899606323 Centerline is valid? [True, True] Translation: X:-100.24, Y:55.79, Z:12.24 [[ 7.00858844e-01 7.13078669e-01 -1.77677239e-02 -1.00241824e+02] [-7.12893138e-01 7.01082940e-01 1.63120985e-02 5.57890132e+01] [ 2.40884576e-02 1.23400995e-03 9.99709069e-01 1.22414833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81911593299998 meters 0.020167328997737478 Centerline is valid? [True, True] Translation: X:-100.28, Y:55.83, Z:12.26 [[ 6.98548003e-01 7.15233368e-01 -2.17236701e-02 -1.00276891e+02] [-7.14955094e-01 6.98883979e-01 2.00099321e-02 5.58270554e+01] [ 2.94940962e-02 1.55355050e-03 9.99563747e-01 1.22555339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87911593299998 meters 0.01897296060661629 Centerline is valid? [True, True] Translation: X:-100.30, Y:55.88, Z:12.28 [[ 6.99989992e-01 7.13748034e-01 -2.40365315e-02 -1.00302384e+02] [-7.13403697e-01 7.00400753e-01 2.22249996e-02 5.58756344e+01] [ 3.26982545e-02 1.59047312e-03 9.99464004e-01 1.22779437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93911593299998 meters 0.017921813082290274 Centerline is valid? [True, True] Translation: X:-100.32, Y:55.93, Z:12.32 [[ 6.93845125e-01 7.19595697e-01 -2.75857861e-02 -1.00320844e+02] [-7.19143112e-01 6.94390186e-01 2.56018594e-02 5.59315730e+01] [ 3.75782869e-02 2.07440274e-03 9.99291534e-01 1.23241505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99911593299998 meters 0.01670091728746591 Centerline is valid? [True, True] Translation: X:-100.35, Y:55.97, Z:12.34 [[ 6.87252183e-01 7.25723671e-01 -3.17740527e-02 -1.00353018e+02] [-7.25124941e-01 6.87981006e-01 2.95965350e-02 5.59743019e+01] [ 4.33388508e-02 2.69987478e-03 9.99056783e-01 1.23379513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.059115933 meters 0.017102084089196952 Centerline is valid? [True, True] Translation: X:-100.41, Y:55.99, Z:12.31 [[ 6.80372350e-01 7.32028972e-01 -3.50292795e-02 -1.00409162e+02] [-7.31303256e-01 6.81265365e-01 3.27574458e-02 5.59914386e+01] [ 4.78436342e-02 3.32976580e-03 9.98849288e-01 1.23122558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.119115933 meters 0.016093658673836504 Centerline is valid? [True, True] Translation: X:-100.44, Y:56.03, Z:12.32 [[ 6.77861700e-01 7.34435955e-01 -3.32767754e-02 -1.00444928e+02] [-7.33778026e-01 6.78670287e-01 3.12482105e-02 5.60296275e+01] [ 4.55337681e-02 3.23580147e-03 9.98957559e-01 1.23201446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.179115933 meters 0.015499835101439164 Centerline is valid? [True, True] Translation: X:-100.49, Y:56.06, Z:12.32 [[ 6.73362268e-01 7.38589006e-01 -3.27037651e-02 -1.00485102e+02] [-7.37952515e-01 6.74147568e-01 3.08405806e-02 5.60624937e+01] [ 4.48256774e-02 3.36694242e-03 9.98989150e-01 1.23228358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.239115933 meters 0.015445676042912481 Centerline is valid? [True, True] Translation: X:-100.51, Y:56.11, Z:12.35 [[ 6.63333228e-01 7.47510264e-01 -3.48917449e-02 -1.00509140e+02] [-7.46791657e-01 6.64237315e-01 3.30304647e-02 5.61124339e+01] [ 4.78670103e-02 4.14665925e-03 9.98845110e-01 1.23495343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.299115933 meters 0.014052275147977474 Centerline is valid? [True, True] Translation: X:-100.54, Y:56.16, Z:12.37 [[ 6.58617229e-01 7.51815861e-01 -3.15635315e-02 -1.00539517e+02] [-7.51227196e-01 6.59361296e-01 3.00063392e-02 5.61564630e+01] [ 4.33710128e-02 3.94869125e-03 9.99051231e-01 1.23692014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.359115933 meters 0.014764336360683321 Centerline is valid? [True, True] Translation: X:-100.60, Y:56.17, Z:12.34 [[ 6.57217402e-01 7.53045900e-01 -3.14190888e-02 -1.00598679e+02] [-7.52457705e-01 6.57956337e-01 3.00143426e-02 5.61687577e+01] [ 4.32745662e-02 3.91558715e-03 9.99055544e-01 1.23367854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.419115933 meters 0.012699072090652623 Centerline is valid? [True, True] Translation: X:-100.62, Y:56.22, Z:12.37 [[ 6.51583842e-01 7.57820036e-01 -3.38716587e-02 -1.00621538e+02] [-7.57137054e-01 6.52448228e-01 3.24775450e-02 5.62196427e+01] [ 4.67116380e-02 4.48364432e-03 9.98898353e-01 1.23657835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.479115933 meters 0.013170678862019435 Centerline is valid? [True, True] Translation: X:-100.66, Y:56.25, Z:12.37 [[ 6.51261980e-01 7.58095123e-01 -3.39060156e-02 -1.00659916e+02] [-7.57404604e-01 6.52129031e-01 3.26495472e-02 5.62539271e+01] [ 4.68625596e-02 4.41716355e-03 9.98891580e-01 1.23699102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53911593299998 meters 0.012862022729009336 Centerline is valid? [True, True] Translation: X:-100.71, Y:56.28, Z:12.36 [[ 6.49082045e-01 7.59961297e-01 -3.39311977e-02 -1.00710640e+02] [-7.59265911e-01 6.49952976e-01 3.28086177e-02 5.62761625e+01] [ 4.69869626e-02 4.46731701e-03 9.98885513e-01 1.23571883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59911593299998 meters 0.012436912040532084 Centerline is valid? [True, True] Translation: X:-100.75, Y:56.31, Z:12.36 [[ 6.45985088e-01 7.62480311e-01 -3.64285811e-02 -1.00745143e+02] [-7.61675091e-01 6.46992891e-01 3.53730792e-02 5.63140946e+01] [ 5.05403094e-02 4.89626118e-03 9.98710020e-01 1.23618525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65911593299998 meters 0.012572339665548014 Centerline is valid? [True, True] Translation: X:-100.78, Y:56.35, Z:12.37 [[ 6.44361210e-01 7.63802345e-01 -3.74781137e-02 -1.00779960e+02] [-7.62939320e-01 6.45430968e-01 3.66395980e-02 5.63460426e+01] [ 5.21749460e-02 4.98439088e-03 9.98625521e-01 1.23679718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71911593299998 meters 0.012231738705408711 Centerline is valid? [True, True] Translation: X:-100.82, Y:56.38, Z:12.36 [[ 6.45161802e-01 7.63024255e-01 -3.94998258e-02 -1.00822320e+02] [-7.62056673e-01 6.46349730e-01 3.87511737e-02 5.63760153e+01] [ 5.50987872e-02 5.10032881e-03 9.98467881e-01 1.23627998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77911593299999 meters 0.012403613793664373 Centerline is valid? [True, True] Translation: X:-100.86, Y:56.41, Z:12.37 [[ 6.44693890e-01 7.63317712e-01 -4.14229400e-02 -1.00861695e+02] [-7.62244767e-01 6.46001771e-01 4.07998549e-02 5.64090462e+01] [ 5.79025445e-02 5.27100206e-03 9.98308325e-01 1.23685715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.839115933 meters 0.012995490888145757 Centerline is valid? [True, True] Translation: X:-100.90, Y:56.44, Z:12.37 [[ 6.47706897e-01 7.60800283e-01 -4.07272071e-02 -1.00902980e+02] [-7.59747977e-01 6.48967999e-01 4.02932763e-02 5.64395130e+01] [ 5.70857901e-02 4.84418024e-03 9.98357524e-01 1.23685372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.899115933 meters 0.013227009169041617 Centerline is valid? [True, True] Translation: X:-100.95, Y:56.46, Z:12.36 [[ 6.48702868e-01 7.59865853e-01 -4.22903585e-02 -1.00950730e+02] [-7.58718590e-01 6.50061970e-01 4.20182859e-02 5.64638631e+01] [ 5.94196145e-02 4.82909858e-03 9.98221413e-01 1.23550779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.959115933 meters 0.012666726233602155 Centerline is valid? [True, True] Translation: X:-100.99, Y:56.50, Z:12.36 [[ 6.48548439e-01 7.59832360e-01 -4.51631204e-02 -1.00987155e+02] [-7.58511648e-01 6.50099582e-01 4.50623218e-02 5.64985540e+01] [ 6.36003360e-02 5.03165446e-03 9.97962765e-01 1.23624004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.019115933 meters 0.01252104782724054 Centerline is valid? [True, True] Translation: X:-101.02, Y:56.53, Z:12.37 [[ 6.50287199e-01 7.58364914e-01 -4.48242851e-02 -1.01022766e+02] [-7.57048063e-01 6.51813128e-01 4.49207845e-02 5.65342582e+01] [ 6.32834043e-02 4.72272713e-03 9.97984422e-01 1.23685183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.079115933 meters 0.012521168511664627 Centerline is valid? [True, True] Translation: X:-100.14, Y:57.35, Z:11.41 [[ 8.00419261e-01 -5.94715032e-01 -7.51201495e-02 -1.00135460e+02] [-5.91107469e-01 -8.03892954e-01 6.59399677e-02 5.73491738e+01] [-9.96040489e-02 -8.37553874e-03 -9.94991901e-01 1.14103256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.139115933 meters 0.012261662216560394 Centerline is valid? [True, True] Translation: X:-100.97, Y:56.43, Z:12.35 [[ 7.21561738e-01 6.90648502e-01 -4.85108819e-02 -1.00972237e+02] [-6.89415402e-01 7.23181805e-01 4.14062722e-02 5.64293865e+01] [ 6.36793670e-02 3.56696742e-03 9.97964035e-01 1.23519234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.199115933 meters 0.013831319003678216 Centerline is valid? [True, True] Translation: X:-101.03, Y:56.43, Z:12.32 [[ 7.27716780e-01 6.84128345e-01 -4.89560520e-02 -1.01031105e+02] [-6.82834620e-01 7.29356421e-01 4.21437154e-02 5.64330420e+01] [ 6.45381211e-02 2.76019834e-03 9.97911425e-01 1.23199370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25911593299998 meters 0.01294746327715907 Centerline is valid? [True, True] Translation: X:-101.07, Y:56.47, Z:12.33 [[ 7.33104019e-01 6.78153408e-01 -5.16377101e-02 -1.01067658e+02] [-6.76687935e-01 7.34916974e-01 4.46147903e-02 5.64679536e+01] [ 6.82051018e-02 2.23533336e-03 9.97668816e-01 1.23261267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31911593299998 meters 0.013227402503014945 Centerline is valid? [True, True] Translation: X:-101.11, Y:56.49, Z:12.31 [[ 7.32260925e-01 6.78775152e-01 -5.53012712e-02 -1.01113633e+02] [-6.77066098e-01 7.34342996e-01 4.81857129e-02 5.64860032e+01] [ 7.33173657e-02 2.15810118e-03 9.97306325e-01 1.23078206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37911593299998 meters 0.013052131368108006 Centerline is valid? [True, True] Translation: X:-101.15, Y:56.53, Z:12.32 [[ 7.34549242e-01 6.76379249e-01 -5.43003037e-02 -1.01146588e+02] [-6.74712705e-01 7.36551439e-01 4.74841335e-02 5.65260926e+01] [ 7.21122494e-02 1.75767062e-03 9.97394974e-01 1.23223774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43911593299998 meters 0.012193240745857986 Centerline is valid? [True, True] Translation: X:-101.18, Y:56.56, Z:12.33 [[ 7.30144510e-01 6.80965121e-01 -5.63515596e-02 -1.01183580e+02] [-6.79167648e-01 7.32312734e-01 4.94910705e-02 5.65616058e+01] [ 7.49686575e-02 2.13652273e-03 9.97183602e-01 1.23287922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49911593299998 meters 0.012432258836913915 Centerline is valid? [True, True] Translation: X:-101.22, Y:56.59, Z:12.32 [[ 7.25816137e-01 6.85484560e-01 -5.74617519e-02 -1.01224545e+02] [-6.83612804e-01 7.28082890e-01 5.06837165e-02 5.65926685e+01] [ 7.65798235e-02 2.49453005e-03 9.97060333e-01 1.23163973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.559115933 meters 0.012853269454550549 Centerline is valid? [True, True] Translation: X:-101.28, Y:56.61, Z:12.28 [[ 7.29232991e-01 6.81961418e-01 -5.61058747e-02 -1.01281987e+02] [-6.80149940e-01 7.31385655e-01 4.97099902e-02 5.66054226e+01] [ 7.49353273e-02 1.91024252e-03 9.97186566e-01 1.22844406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.619115933 meters 0.012819208369575888 Centerline is valid? [True, True] Translation: X:-101.32, Y:56.64, Z:12.29 [[ 7.27066315e-01 6.84226664e-01 -5.66431511e-02 -1.01317417e+02] [-6.82369523e-01 7.29266683e-01 5.04176581e-02 5.66408127e+01] [ 7.58050689e-02 1.99457907e-03 9.97120661e-01 1.22878747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.679115933 meters 0.012375447754821692 Centerline is valid? [True, True] Translation: X:-101.35, Y:56.68, Z:12.30 [[ 7.26241240e-01 6.85108520e-01 -5.65683318e-02 -1.01349578e+02] [-6.83241317e-01 7.28438502e-01 5.05831187e-02 5.66803114e+01] [ 7.58614765e-02 1.91427461e-03 9.97116529e-01 1.22960593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.739115933 meters 0.01282286223691444 Centerline is valid? [True, True] Translation: X:-101.39, Y:56.71, Z:12.29 [[ 7.19901221e-01 6.91324734e-01 -6.17441897e-02 -1.01389979e+02] [-6.89103437e-01 7.22539376e-01 5.54373832e-02 5.67117405e+01] [ 8.29378425e-02 2.63869346e-03 9.96551229e-01 1.22881227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.799115933 meters 0.012525971773506644 Centerline is valid? [True, True] Translation: X:-101.43, Y:56.74, Z:12.28 [[ 7.20030139e-01 6.91157177e-01 -6.21156608e-02 -1.01434841e+02] [-6.88887583e-01 7.22700304e-01 5.60193631e-02 5.67390956e+01] [ 8.36091918e-02 2.45507760e-03 9.96495597e-01 1.22770879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.859115933 meters 0.012862743098461967 Centerline is valid? [True, True] Translation: X:-101.48, Y:56.76, Z:12.26 [[ 7.18571169e-01 6.92617540e-01 -6.27408845e-02 -1.01482445e+02] [-6.90284503e-01 7.21300849e-01 5.68541123e-02 5.67626457e+01] [ 8.46332086e-02 2.45533438e-03 9.96409149e-01 1.22574178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.919115933 meters 0.023863711025199342 Centerline is valid? [True, True] Translation: X:-101.52, Y:56.80, Z:12.25 [[ 7.37880664e-01 6.72616248e-01 -5.58525678e-02 -1.01520900e+02] [-6.70688836e-01 7.39991470e-01 5.08832954e-02 5.67958654e+01] [ 7.55553550e-02 -8.61061587e-05 9.97141605e-01 1.22523282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.979115933 meters 0.03783118292961988 Centerline is valid? [True, True] Translation: X:-101.56, Y:56.83, Z:12.25 [[ 7.55615891e-01 6.53167040e-01 -4.91674929e-02 -1.01562962e+02] [-6.51617691e-01 7.57211294e-01 4.50048906e-02 5.68256315e+01] [ 6.66258921e-02 -1.96800232e-03 9.97776086e-01 1.22511421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03911593299998 meters 0.06742187593213467 Centerline is valid? [True, True] Translation: X:-101.62, Y:56.85, Z:12.23 [[ 7.76651176e-01 6.28445241e-01 -4.32380602e-02 -1.01615043e+02] [-6.27197016e-01 7.77844706e-01 3.97682813e-02 5.68450011e+01] [ 5.86246833e-02 -3.76730012e-03 9.98272986e-01 1.22317680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09911593299998 meters 0.11517932604139534 Centerline is valid? [True, False] Translation: X:-101.87, Y:56.92, Z:12.02 [[ 9.75807293e-01 2.18630901e-01 -8.09892563e-04 -1.01866854e+02] [-2.05692466e-01 9.16791564e-01 -3.42321250e-01 5.69190520e+01] [-7.40995005e-02 3.34206161e-01 9.39582623e-01 1.20242796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15911593299998 meters 0.21914886425393704 Centerline is valid? [False, False] Translation: X:-102.05, Y:56.93, Z:12.12 [[ 9.88336964e-01 1.33258062e-01 7.37043720e-02 -1.02053571e+02] [-1.05875016e-01 9.49179024e-01 -2.96394434e-01 5.69342769e+01] [-1.09455592e-01 2.85134124e-01 9.52217415e-01 1.21166221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21911593299998 meters 0.35822067010996017 Centerline is valid? [False, False] Translation: X:-102.10, Y:56.94, Z:12.16 [[ 9.91173269e-01 8.19038456e-02 1.04246394e-01 -1.02101491e+02] [-5.23717425e-02 9.64278809e-01 -2.59660508e-01 5.69429954e+01] [-1.21789782e-01 2.51908989e-01 9.60056827e-01 1.21596266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27911593299999 meters 0.36891645037710413 Centerline is valid? [False, False] Translation: X:-102.12, Y:56.95, Z:12.18 [[ 9.94516256e-01 2.94962014e-02 1.00336383e-01 -1.02122794e+02] [-5.57654959e-03 9.72994597e-01 -2.30760516e-01 5.69522554e+01] [-1.04433317e-01 2.28935553e-01 9.67823432e-01 1.21833045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.339115933 meters 0.37487000375577084 Centerline is valid? [False, False] Translation: X:-102.14, Y:56.96, Z:12.20 [[ 9.95644794e-01 -1.44109793e-02 9.21073668e-02 -1.02140532e+02] [ 3.36297658e-02 9.76979029e-01 -2.10668022e-01 5.69569054e+01] [-8.69510332e-02 2.12848068e-01 9.73208723e-01 1.21968223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.399115933 meters 0.21462976273871792 Centerline is valid? [False, False] Translation: X:-102.15, Y:56.96, Z:12.20 [[ 9.95096142e-01 -4.89778430e-02 8.59350879e-02 -1.02147483e+02] [ 6.50648320e-02 9.78494305e-01 -1.95743361e-01 5.69616659e+01] [-7.44999064e-02 2.00374815e-01 9.76882643e-01 1.22021543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.459115933 meters 0.221125446529124 Centerline is valid? [False, False] Translation: X:-102.16, Y:56.96, Z:12.20 [[ 9.96959778e-01 -3.94760042e-02 6.71777177e-02 -1.02156545e+02] [ 5.19069182e-02 9.79477308e-01 -1.94755936e-01 5.69602478e+01] [-5.81108639e-02 1.97650823e-01 9.78548558e-01 1.22021075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.519115933 meters 0.22617079852089003 Centerline is valid? [False, False] Translation: X:-102.15, Y:56.96, Z:12.20 [[ 9.98129688e-01 -3.90706620e-02 4.70171070e-02 -1.02147473e+02] [ 4.73835695e-02 9.80406054e-01 -1.91203468e-01 5.69574245e+01] [-3.86254102e-02 1.93073697e-01 9.80423697e-01 1.22023493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.579115933 meters 0.2376356431762595 Centerline is valid? [False, False] Translation: X:-102.16, Y:56.96, Z:12.20 [[ 9.98433788e-01 -2.95297629e-02 4.75180412e-02 -1.02159328e+02] [ 3.80172219e-02 9.81236481e-01 -1.89022904e-01 5.69566145e+01] [-4.10446340e-02 1.90533358e-01 9.80822297e-01 1.22008865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.639115933 meters 0.2375504501921027 Centerline is valid? [False, False] Translation: X:-102.17, Y:56.95, Z:12.20 [[ 9.99420410e-01 -1.97780229e-02 2.77069338e-02 -1.02169581e+02] [ 2.46077592e-02 9.82136957e-01 -1.86551481e-01 5.69526766e+01] [-2.35223842e-02 1.87125163e-01 9.82054413e-01 1.22045600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.699115933 meters 0.23673693222409195 Centerline is valid? [False, False] Translation: X:-102.17, Y:56.95, Z:12.21 [[ 9.99784713e-01 -1.78703328e-02 1.05441354e-02 -1.02166658e+02] [ 1.94990867e-02 9.82914024e-01 -1.83029522e-01 5.69518062e+01] [-7.09318011e-03 1.83195720e-01 9.83050871e-01 1.22082149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75911593299998 meters 0.24216853990771348 Centerline is valid? [False, False] Translation: X:-102.19, Y:56.95, Z:12.21 [[ 9.99746475e-01 -2.08241743e-02 8.56387526e-03 -1.02188813e+02] [ 2.20264074e-02 9.83403909e-01 -1.80087726e-01 5.69548881e+01] [-4.67157021e-03 1.80230701e-01 9.83613273e-01 1.22105353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81911593299998 meters 0.2315715161848327 Centerline is valid? [False, False] Translation: X:-102.21, Y:56.96, Z:12.21 [[ 9.99716081e-01 -2.27275537e-02 7.15657027e-03 -1.02213051e+02] [ 2.36344507e-02 9.83998788e-01 -1.76600672e-01 5.69563940e+01] [-3.02835523e-03 1.76719673e-01 9.84256565e-01 1.22125183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87911593299998 meters 0.22196876970678228 Centerline is valid? [False, False] Translation: X:-102.23, Y:56.96, Z:12.22 [[ 9.99888246e-01 -1.49224588e-02 9.02738556e-04 -1.02226762e+02] [ 1.48478275e-02 9.84221044e-01 -1.76319251e-01 5.69582147e+01] [ 1.74262248e-03 1.76312951e-01 9.84332620e-01 1.22176938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93911593299998 meters 0.2090192452989788 Centerline is valid? [False, False] Translation: X:-102.25, Y:56.96, Z:12.22 [[ 9.99869275e-01 -1.61590462e-02 5.64082238e-04 -1.02253264e+02] [ 1.60133951e-02 9.84824230e-01 -1.72814371e-01 5.69621372e+01] [ 2.23699355e-03 1.72800813e-01 9.84954250e-01 1.22206109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99911593299998 meters 0.1922606629883532 Centerline is valid? [False, False] Translation: X:-102.28, Y:56.96, Z:12.22 [[ 9.99856981e-01 -1.68856111e-02 9.45425976e-04 -1.02281514e+02] [ 1.68029472e-02 9.85512961e-01 -1.68765709e-01 5.69639333e+01] [ 1.91798257e-03 1.68757458e-01 9.85655742e-01 1.22235464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.059115933 meters 0.17698196189549883 Centerline is valid? [False, False] Translation: X:-102.31, Y:56.97, Z:12.23 [[ 9.99839547e-01 -1.78549311e-02 1.44291010e-03 -1.02310144e+02] [ 1.78480699e-02 9.86111046e-01 -1.65125564e-01 5.69669590e+01] [ 1.52543600e-03 1.65124823e-01 9.86271497e-01 1.22273012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.119115933 meters 0.1553193774617357 Centerline is valid? [False, False] Translation: X:-102.34, Y:56.97, Z:12.23 [[ 9.99837537e-01 -1.77968375e-02 2.85887019e-03 -1.02339931e+02] [ 1.80249230e-02 9.86718906e-01 -1.61433897e-01 5.69722795e+01] [ 5.21115781e-05 1.61459201e-01 9.86879387e-01 1.22299814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.179115933 meters 0.13223144298100833 Centerline is valid? [False, False] Translation: X:-102.37, Y:56.98, Z:12.23 [[ 9.99827319e-01 -1.81246205e-02 4.10255434e-03 -1.02369514e+02] [ 1.85448310e-02 9.87315046e-01 -1.57686683e-01 5.69750115e+01] [-1.19250234e-03 1.57735535e-01 9.87480673e-01 1.22325508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.239115933 meters 0.12334954635087876 Centerline is valid? [False, False] Translation: X:-102.40, Y:56.98, Z:12.24 [[ 9.99817465e-01 -1.81643261e-02 5.92408394e-03 -1.02400110e+02] [ 1.88619192e-02 9.87799890e-01 -1.54582032e-01 5.69801401e+01] [-3.04393103e-03 1.54665555e-01 9.87962196e-01 1.22350594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.299115933 meters 0.12344699450905325 Centerline is valid? [False, False] Translation: X:-102.40, Y:56.98, Z:12.24 [[ 9.99887625e-01 -1.32576463e-02 6.99796281e-03 -1.02402964e+02] [ 1.41600673e-02 9.88509043e-01 -1.50497058e-01 5.69822162e+01] [-4.92231276e-03 1.50579237e-01 9.88585689e-01 1.22369890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.359115933 meters 0.12565365943757162 Centerline is valid? [False, False] Translation: X:-102.43, Y:56.98, Z:12.24 [[ 9.99868944e-01 -1.41144539e-02 7.92944785e-03 -1.02431298e+02] [ 1.51228662e-02 9.89128429e-01 -1.46274569e-01 5.69823829e+01] [-5.77865663e-03 1.46375315e-01 9.89212249e-01 1.22401403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.419115933 meters 0.15591207677340108 Centerline is valid? [False, False] Translation: X:-102.43, Y:56.98, Z:12.24 [[ 9.99916675e-01 -9.57590728e-03 8.65710050e-03 -1.02433525e+02] [ 1.07069379e-02 9.89839831e-01 -1.41783183e-01 5.69826662e+01] [-7.21144028e-03 1.41864060e-01 9.89859881e-01 1.22426227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.479115933 meters 0.25355305603112754 Centerline is valid? [False, False] Translation: X:-102.48, Y:56.98, Z:12.24 [[ 9.99897940e-01 -4.93248495e-03 1.34082400e-02 -1.02479817e+02] [ 6.76290427e-03 9.90114308e-01 -1.40099679e-01 5.69807080e+01] [-1.25846507e-02 1.40176059e-01 9.90046615e-01 1.22448379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53911593299998 meters 0.27359644311901904 Centerline is valid? [False, False] Translation: X:-102.54, Y:56.98, Z:12.24 [[ 9.99432480e-01 -6.31419536e-03 3.30884880e-02 -1.02539651e+02] [ 1.08276751e-02 9.90364777e-01 -1.38059300e-01 5.69784951e+01] [-3.18979396e-02 1.38339220e-01 9.89871093e-01 1.22445181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59911593299998 meters 0.2681746268891193 Centerline is valid? [False, False] Translation: X:-102.61, Y:56.97, Z:12.24 [[ 9.98750576e-01 -1.60634757e-02 4.73207395e-02 -1.02613265e+02] [ 2.23479486e-02 9.90535010e-01 -1.35428809e-01 5.69721992e+01] [-4.46973918e-02 1.36317123e-01 9.89656398e-01 1.22440697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65911593299998 meters 0.27485962391839874 Centerline is valid? [False, False] Translation: X:-102.68, Y:56.96, Z:12.25 [[ 9.98774627e-01 -2.82926698e-02 4.06050454e-02 -1.02680218e+02] [ 3.33431716e-02 9.90999540e-01 -1.29646228e-01 5.69599773e+01] [-3.65715434e-02 1.30841264e-01 9.90728563e-01 1.22508920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71911593299998 meters 0.2769681736590225 Centerline is valid? [False, False] Translation: X:-102.73, Y:56.95, Z:12.26 [[ 9.98539477e-01 -3.62971949e-02 4.00178299e-02 -1.02734528e+02] [ 4.11316334e-02 9.90987891e-01 -1.27480152e-01 5.69518270e+01] [-3.50300129e-02 1.28939963e-01 9.91033493e-01 1.22552245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77911593299999 meters 0.28625334102980937 Centerline is valid? [False, False] Translation: X:-102.82, Y:56.94, Z:12.26 [[ 9.97807049e-01 -4.00568598e-02 5.26928888e-02 -1.02818682e+02] [ 4.62166241e-02 9.91524849e-01 -1.21418688e-01 5.69353416e+01] [-4.73826572e-02 1.23587710e-01 9.91201776e-01 1.22621939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.839115933 meters 0.2849745955114805 Centerline is valid? [False, False] Translation: X:-102.83, Y:56.93, Z:12.27 [[ 9.97299113e-01 -5.19668304e-02 5.19030581e-02 -1.02833315e+02] [ 5.78048294e-02 9.91309177e-01 -1.18172405e-01 5.69301360e+01] [-4.53109324e-02 1.20853483e-01 9.91635697e-01 1.22712910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 784.95 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 ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/5082 [00:00