+ python -m lidar_slam --no-model /working/ff8c623c-376f-4e6e-9c31-7f1dda13867f Lidar SLAM 0.0.9 ===================================================== The recording path: /working/ff8c623c-376f-4e6e-9c31-7f1dda13867f 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 0.01538475 Adjusted end_distance from 9.223372036854776e+18 to 193.81538475 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.01538475 meters 0.35032471484196415 Centerline is valid? [0, False] SLAMing on 0.07538475 meters 0.3543544885435116 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99996841e-01 -1.89107415e-05 -2.51365033e-03 7.52738848e-03] [ 2.17689121e-05 9.99999353e-01 1.13703726e-03 -1.08834642e-03] [ 2.51362720e-03 -1.13708839e-03 9.99996194e-01 -3.95760063e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.13538475 meters 0.35606252439176134 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 9.99993927e-01 -4.02987915e-04 -3.46158646e-03 9.65514822e-03] [ 4.10455825e-04 9.99997590e-01 2.15692701e-03 -2.07234005e-03] [ 3.46070890e-03 -2.15833474e-03 9.99991683e-01 2.47676731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19538475 meters 0.34430620245443616 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 0.99999711 0.00216944 0.00103938 0.03055212] [-0.00216758 0.99999606 -0.00178093 -0.00205097] [-0.00104324 0.00177867 0.99999787 0.00318465] [ 0. 0. 0. 1. ]] SLAMing on 0.25538475 meters 0.34533799569176094 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:0.01 [[ 9.99998555e-01 1.68349253e-03 -2.35795185e-04 3.37359021e-02] [-1.68354428e-03 9.99998559e-01 -2.19432868e-04 -4.56898984e-03] [ 2.35425431e-04 2.19829523e-04 9.99999948e-01 6.47821971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31538475 meters 0.34577654799599217 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:0.01 [[ 9.99994582e-01 5.78180418e-04 -3.24058211e-03 4.39394121e-02] [-5.71735208e-04 9.99997858e-01 1.98947867e-03 -9.69904254e-03] [ 3.24172544e-03 -1.98761513e-03 9.99992770e-01 6.69470089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.37538475 meters 0.3322970105008793 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.01 [[ 0.99996516 -0.00554502 -0.00623883 0.05426029] [ 0.00555739 0.99998262 0.0019676 -0.0198238 ] [ 0.00622781 -0.00200221 0.9999786 0.00996221] [ 0. 0. 0. 1. ]] SLAMing on 0.43538475 meters 0.34674404438395523 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:0.01 [[ 9.99893306e-01 -1.21078194e-02 -8.17174303e-03 6.15117751e-02] [ 1.21066243e-02 9.99926693e-01 -1.95700564e-04 -2.44525207e-02] [ 8.17351350e-03 9.67474610e-05 9.99966592e-01 1.29781281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.49538475 meters 0.3372137279183942 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:0.01 [[ 0.99988897 -0.01047626 -0.01059712 0.07095222] [ 0.01053393 0.99992993 0.00540142 -0.02713401] [ 0.01053979 -0.00551245 0.99992926 0.01314881] [ 0. 0. 0. 1. ]] SLAMing on 0.55538475 meters 0.340902942805924 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:0.02 [[ 0.99987251 -0.00945666 -0.01286628 0.07850743] [ 0.00958606 0.99990372 0.01003317 -0.0259412 ] [ 0.01277016 -0.01015523 0.99986689 0.01650671] [ 0. 0. 0. 1. ]] SLAMing on 0.6153847499999999 meters 0.3405660440956075 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:0.02 [[ 0.99982702 -0.01181707 -0.01436244 0.08363593] [ 0.01193859 0.9998934 0.00840547 -0.01978208] [ 0.01426158 -0.00857548 0.99986152 0.01689919] [ 0. 0. 0. 1. ]] SLAMing on 0.6753847499999999 meters 0.32279181379912586 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:0.02 [[ 0.99995504 -0.00514308 -0.00796716 0.10101998] [ 0.00521403 0.99994671 0.00891047 -0.02020821] [ 0.00792091 -0.00895161 0.99992856 0.01718475] [ 0. 0. 0. 1. ]] SLAMing on 0.7353847499999999 meters 0.32644530829359847 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:0.02 [[ 0.99995691 -0.00290591 -0.00881638 0.10303302] [ 0.00300477 0.99993253 0.01122124 -0.01124145] [ 0.00878318 -0.01124725 0.99989817 0.0192594 ] [ 0. 0. 0. 1. ]] SLAMing on 0.79538475 meters 0.320952866164382 Centerline is valid? [False, False] Translation: X:0.11, Y:0.00, Z:0.02 [[ 9.99948269e-01 -6.72800377e-04 -1.01491918e-02 1.07944419e-01] [ 7.82737205e-04 9.99941026e-01 1.08319970e-02 3.19774006e-03] [ 1.01413054e-02 -1.08393808e-02 9.99889825e-01 1.50369643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8553847499999999 meters 0.3097197635205688 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.01 [[ 0.99997458 0.00506124 -0.00502197 0.13278993] [-0.00501613 0.99994733 0.00895408 0.0143964 ] [ 0.00506702 -0.00892867 0.9999473 0.00881127] [ 0. 0. 0. 1. ]] SLAMing on 0.9153847499999999 meters 0.3152728760962298 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:0.01 [[ 0.99995696 0.00686018 -0.0062461 0.13649325] [-0.00679618 0.99992476 0.01021191 0.02603002] [ 0.00631568 -0.01016902 0.99992835 0.00926533] [ 0. 0. 0. 1. ]] SLAMing on 0.9753847499999999 meters 0.3069137621744517 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:0.01 [[ 9.99978111e-01 -7.45273259e-04 -6.57440464e-03 1.58115412e-01] [ 8.41366081e-04 9.99892687e-01 1.46255651e-02 4.32714971e-02] [ 6.56279908e-03 -1.46307765e-02 9.99871427e-01 1.11775810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.03538475 meters 0.31215518527876174 Centerline is valid? [False, False] Translation: X:0.18, Y:0.05, Z:0.01 [[ 9.99998270e-01 -3.18881662e-04 -1.83241979e-03 1.82067268e-01] [ 3.39501476e-04 9.99936507e-01 1.12635073e-02 4.87080671e-02] [ 1.82871172e-03 -1.12641099e-02 9.99934886e-01 1.12142199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.09538475 meters 0.3099466320058045 Centerline is valid? [False, False] Translation: X:0.18, Y:0.06, Z:0.01 [[ 0.99999679 -0.00109453 -0.00228714 0.18275383] [ 0.00111658 0.99995271 0.00966087 0.05568487] [ 0.00227646 -0.00966339 0.99995072 0.01225878] [ 0. 0. 0. 1. ]] SLAMing on 1.1553847499999998 meters 0.31941021026848915 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:0.01 [[ 0.99999329 0.00256732 -0.00261445 0.18345343] [-0.00254108 0.99994686 0.00999068 0.06769423] [ 0.00263996 -0.00998397 0.99994667 0.01036616] [ 0. 0. 0. 1. ]] SLAMing on 1.21538475 meters 0.31315391976371215 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:0.01 [[ 0.99997192 0.00703043 -0.00259433 0.18401179] [-0.00700268 0.99991976 0.01055609 0.07706942] [ 0.00266834 -0.01053763 0.99994092 0.00548074] [ 0. 0. 0. 1. ]] SLAMing on 1.27538475 meters 0.31359672389145793 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:0.00 [[ 0.99996951 0.0074095 -0.0024636 0.18343122] [-0.0073886 0.99993753 0.00838725 0.08336574] [ 0.00252559 -0.00836879 0.99996179 0.00393701] [ 0. 0. 0. 1. ]] SLAMing on 1.3353847499999998 meters 0.30830914011418775 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:-0.00 [[ 0.99998716 0.00346711 -0.00369614 0.18894219] [-0.00345717 0.9999904 0.00269192 0.08645513] [ 0.00370544 -0.00267911 0.99998955 -0.00167169] [ 0. 0. 0. 1. ]] SLAMing on 1.3953847499999998 meters 0.31240191591832284 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:-0.00 [[ 0.99998576 0.0038063 -0.00374126 0.18962169] [-0.00379661 0.99998943 0.00259335 0.08655318] [ 0.0037511 -0.00257911 0.99998964 -0.00289504] [ 0. 0. 0. 1. ]] SLAMing on 1.45538475 meters 0.3201084512719014 Centerline is valid? [False, False] Translation: X:0.20, Y:0.08, Z:0.00 [[ 0.99993083 0.00819676 -0.00843488 0.19756045] [-0.00818078 0.99996468 0.00192741 0.08345982] [ 0.00845038 -0.00185827 0.99996257 0.00258409] [ 0. 0. 0. 1. ]] SLAMing on 1.51538475 meters 0.4092246138472627 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:0.00 [[ 0.99992623 0.00935414 -0.00774881 0.1941419 ] [-0.0093388 0.99995436 0.00201418 0.08370925] [ 0.0077673 -0.00194166 0.99996795 0.00435724] [ 0. 0. 0. 1. ]] SLAMing on 1.57538475 meters 0.41315565491209366 Centerline is valid? [False, False] Translation: X:0.17, Y:0.09, Z:-0.00 [[ 9.99953638e-01 9.62645400e-03 2.32786953e-04 1.72542076e-01] [-9.62660734e-03 9.99953441e-01 6.66816341e-04 8.87495096e-02] [-2.26357038e-04 -6.69026374e-04 9.99999751e-01 -5.53176264e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6353847499999998 meters 0.4178230301960844 Centerline is valid? [False, False] Translation: X:0.17, Y:0.09, Z:-0.00 [[ 9.99976745e-01 6.77600507e-03 7.71240811e-04 1.71383850e-01] [-6.77193093e-03 9.99963716e-01 -5.16799164e-03 8.98736191e-02] [-8.06231164e-04 5.16264867e-03 9.99986348e-01 -4.47732460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6953847499999999 meters 0.41049891094352065 Centerline is valid? [False, False] Translation: X:0.17, Y:0.08, Z:-0.00 [[ 0.99996021 0.00878792 0.00153431 0.16789484] [-0.00878292 0.99995619 -0.00323626 0.08291708] [-0.00156268 0.00322265 0.99999359 -0.00340771] [ 0. 0. 0. 1. ]] SLAMing on 1.75538475 meters 0.415654972467306 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.01 [[ 0.99999634 0.00190588 0.00192135 0.16795184] [-0.00188816 0.99995604 -0.00918462 0.07227183] [-0.00193877 0.00918096 0.99995597 -0.00581109] [ 0. 0. 0. 1. ]] SLAMing on 1.8153847499999998 meters 0.4205168284341107 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.00 [[ 0.99997803 -0.00431778 -0.00502998 0.15168973] [ 0.00428358 0.99996777 -0.00679079 0.05524962] [ 0.00505914 0.0067691 0.99996429 -0.00209928] [ 0. 0. 0. 1. ]] SLAMing on 1.8753847499999998 meters 0.4012228188396886 Centerline is valid? [False, False] Translation: X:0.15, Y:0.04, Z:-0.00 [[ 9.99922091e-01 -1.14111866e-02 -5.05933937e-03 1.51054092e-01] [ 1.13560896e-02 9.99877318e-01 -1.07883257e-02 4.09100179e-02] [ 5.18182628e-03 1.07300309e-02 9.99929005e-01 -3.82690970e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9353847499999999 meters 0.41128337395956827 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:0.01 [[ 0.9998713 -0.01534138 -0.00469311 0.14680478] [ 0.01530553 0.99985413 -0.00758083 0.02301421] [ 0.00480872 0.00750803 0.99996025 0.01056867] [ 0. 0. 0. 1. ]] SLAMing on 1.99538475 meters 0.3956837361783475 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.02 [[ 0.99969103 -0.02291804 -0.00962369 0.11930858] [ 0.02285221 0.99971507 -0.00689544 0.00924541] [ 0.00977898 0.00667339 0.99992992 0.02371705] [ 0. 0. 0. 1. ]] SLAMing on 2.05538475 meters 0.3862315177087061 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.00, Z:0.03 [[ 0.99971206 -0.02248723 -0.00837331 0.11268057] [ 0.0224636 0.99974344 -0.0029057 -0.00105754] [ 0.0084365 0.00271676 0.99996072 0.03279341] [ 0. 0. 0. 1. ]] SLAMing on 2.11538475 meters 0.3744308374088585 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.00, Z:0.03 [[ 0.99973328 -0.02175039 -0.00776404 0.11146852] [ 0.0217274 0.99975933 -0.00303204 -0.00235218] [ 0.00782812 0.00286254 0.99996526 0.03147622] [ 0. 0. 0. 1. ]] SLAMing on 2.17538475 meters 0.36179643389295507 Centerline is valid? [False, False] Translation: X:0.11, Y:0.00, Z:0.02 [[ 0.99967924 -0.02446801 -0.00653744 0.10894925] [ 0.02439116 0.99963534 -0.0115866 0.00111825] [ 0.00681856 0.01142342 0.9999115 0.02379475] [ 0. 0. 0. 1. ]] SLAMing on 2.2353847499999997 meters 0.35756991963421314 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.00, Z:0.02 [[ 0.9996958 -0.02383932 -0.00632404 0.10815199] [ 0.02377049 0.99965969 -0.01074522 -0.00191143] [ 0.00657804 0.01059163 0.99992227 0.02396692] [ 0. 0. 0. 1. ]] SLAMing on 2.2953847499999998 meters 0.3512918419322158 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.01, Z:0.02 [[ 0.99960307 -0.02757532 -0.00577109 0.10748437] [ 0.02749061 0.99952012 -0.01427595 -0.00515755] [ 0.00616198 0.01411163 0.99988144 0.02319844] [ 0. 0. 0. 1. ]] SLAMing on 2.35538475 meters 0.33153539223533957 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:0.03 [[ 0.99958152 -0.02856923 -0.00453634 0.10229608] [ 0.02852068 0.99953879 -0.01043004 -0.01368215] [ 0.00483223 0.0102963 0.99993532 0.03336991] [ 0. 0. 0. 1. ]] SLAMing on 2.41538475 meters 0.3138601300992329 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:0.04 [[ 0.99948881 -0.03180499 -0.00325021 0.0989065 ] [ 0.03175503 0.99939175 -0.01441363 -0.01146288] [ 0.00370666 0.01430305 0.99989084 0.03540339] [ 0. 0. 0. 1. ]] SLAMing on 2.47538475 meters 0.27397015761957316 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:0.04 [[ 0.99947551 -0.03222384 -0.00321379 0.09909315] [ 0.03217327 0.99937404 -0.01471085 -0.00943682] [ 0.00368582 0.01459973 0.99988662 0.03562574] [ 0. 0. 0. 1. ]] SLAMing on 2.53538475 meters 0.25436862067746246 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:0.04 [[ 0.9995816 -0.02858941 -0.00438996 0.10058323] [ 0.02854785 0.99954958 -0.00925526 -0.01006478] [ 0.00465258 0.00912606 0.99994753 0.03815957] [ 0. 0. 0. 1. ]] SLAMing on 2.59538475 meters 0.24519487559583872 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:0.04 [[ 0.99968156 -0.02465258 -0.00538799 0.10158355] [ 0.02462903 0.999687 -0.00439419 -0.01010532] [ 0.00549463 0.00426009 0.99997583 0.0399974 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6553847499999996 meters 0.215735659261637 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:0.04 [[ 0.99974074 -0.02186779 -0.00634404 0.10438762] [ 0.02185492 0.99975896 -0.00209194 -0.00633238] [ 0.00638826 0.00195275 0.99997769 0.03816098] [ 0. 0. 0. 1. ]] SLAMing on 2.7153847499999997 meters 0.1896387629567585 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.00, Z:0.04 [[ 9.99789367e-01 -1.91638179e-02 -7.34640939e-03 1.07559108e-01] [ 1.91696193e-02 9.99815987e-01 7.20083305e-04 -4.07343251e-03] [ 7.33125800e-03 -8.60759503e-04 9.99972756e-01 3.61174720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7753847499999997 meters 0.15390761883715554 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.03 [[ 0.99987194 -0.01565323 -0.00332795 0.11750363] [ 0.015628 0.99984991 -0.00747834 -0.0028266 ] [ 0.00344451 0.00742537 0.9999665 0.03391689] [ 0. 0. 0. 1. ]] SLAMing on 2.83538475 meters 0.13859004237992942 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:0.04 [[ 0.99992013 -0.01166979 -0.00485288 0.11852877] [ 0.01167946 0.99992985 0.00196905 -0.00620113] [ 0.00482956 -0.00202557 0.99998629 0.04318584] [ 0. 0. 0. 1. ]] SLAMing on 2.89538475 meters 0.1332986122520024 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.05 [[ 0.99994532 -0.00819085 -0.00650092 0.11995849] [ 0.00823989 0.99993752 0.00755357 -0.00456581] [ 0.00643864 -0.00760672 0.99995034 0.04784535] [ 0. 0. 0. 1. ]] SLAMing on 2.95538475 meters 0.08554960498595185 Centerline is valid? [False, True] Translation: X:0.12, Y:0.00, Z:0.05 [[ 0.99996037 -0.00515055 -0.0072619 0.12141112] [ 0.00522332 0.99993598 0.01003767 0.00173988] [ 0.00720973 -0.0100752 0.99992325 0.04816067] [ 0. 0. 0. 1. ]] SLAMing on 3.01538475 meters 0.07883973655420869 Centerline is valid? [True, True] Translation: X:0.18, Y:0.02, Z:0.04 [[ 9.99997713e-01 2.12752136e-03 -2.20106919e-04 1.83986136e-01] [-2.12751687e-03 9.99997737e-01 2.06471901e-05 2.01849010e-02] [ 2.20150348e-04 -2.01788617e-05 9.99999976e-01 4.39625080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.07538475 meters 0.07232232163222405 Centerline is valid? [True, True] Translation: X:0.25, Y:0.03, Z:0.04 [[ 9.99970493e-01 7.33894307e-03 -2.27007378e-03 2.46242139e-01] [-7.33847712e-03 9.99973050e-01 2.13519200e-04 3.47264128e-02] [ 2.27157961e-03 -1.96854015e-04 9.99997401e-01 4.46865827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.13538475 meters 0.0744603834001597 Centerline is valid? [True, True] Translation: X:0.31, Y:0.04, Z:0.04 [[ 9.99926307e-01 1.13481122e-02 -4.31291606e-03 3.06328387e-01] [-1.13464685e-02 9.99935545e-01 4.05401351e-04 3.71525821e-02] [ 4.31723861e-03 -3.56435109e-04 9.99990617e-01 3.84308070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1953847499999997 meters 0.0754331663052595 Centerline is valid? [True, True] Translation: X:0.37, Y:0.04, Z:0.04 [[ 9.99902256e-01 1.34530742e-02 -3.80701522e-03 3.65965891e-01] [-1.34518089e-02 9.99909456e-01 3.57754895e-04 3.68482470e-02] [ 3.81148342e-03 -3.06508685e-04 9.99992689e-01 3.81734642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2553847499999997 meters 0.0685241874862812 Centerline is valid? [True, True] Translation: X:0.43, Y:0.05, Z:0.04 [[ 9.99799650e-01 1.99860508e-02 -1.10312790e-03 4.28038819e-01] [-1.99859483e-02 9.99800256e-01 1.03820018e-04 5.43326319e-02] [ 1.10498251e-03 -8.17521610e-05 9.99999386e-01 4.03494443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3153847499999998 meters 0.07036699806138763 Centerline is valid? [True, True] Translation: X:0.49, Y:0.05, Z:0.04 [[ 9.99788065e-01 2.02536377e-02 3.68996055e-03 4.88807268e-01] [-2.02524995e-02 9.99794837e-01 -3.45572517e-04 5.03415111e-02] [-3.69620261e-03 2.70768354e-04 9.99993132e-01 4.24997692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.37538475 meters 0.06658077127777459 Centerline is valid? [True, True] Translation: X:0.55, Y:0.06, Z:0.04 [[ 9.99856386e-01 1.51868327e-02 7.52114484e-03 5.50356353e-01] [-1.51819313e-02 9.99884497e-01 -7.08338749e-04 5.79562461e-02] [-7.53103355e-03 5.94051517e-04 9.99971465e-01 4.42553279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.43538475 meters 0.06863733140316283 Centerline is valid? [True, True] Translation: X:0.61, Y:0.06, Z:0.04 [[ 9.99871740e-01 1.15904179e-02 1.10528226e-02 6.11434095e-01] [-1.15796132e-02 9.99932412e-01 -1.04104292e-03 5.68506348e-02] [-1.10641417e-02 9.12921989e-04 9.99938374e-01 4.37744567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.49538475 meters 0.06785666806888054 Centerline is valid? [True, True] Translation: X:0.67, Y:0.06, Z:0.04 [[ 9.99878869e-01 1.17972037e-02 1.01525447e-02 6.74895547e-01] [-1.17881086e-02 9.99930062e-01 -9.55221400e-04 5.85241385e-02] [-1.01631036e-02 8.35426393e-04 9.99948005e-01 4.40606490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.55538475 meters 0.06611610074208438 Centerline is valid? [True, True] Translation: X:0.74, Y:0.07, Z:0.04 [[ 9.99904456e-01 1.30480986e-02 4.56362177e-03 7.37773985e-01] [-1.30462767e-02 9.99914802e-01 -4.28754845e-04 6.73904436e-02] [-4.56882739e-03 3.69175607e-04 9.99989495e-01 3.71789937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6153847499999996 meters 0.06921466971921776 Centerline is valid? [True, True] Translation: X:0.80, Y:0.06, Z:0.03 [[ 9.99939176e-01 1.10271796e-02 -2.13973338e-04 7.97430462e-01] [-1.10271755e-02 9.99939199e-01 2.02771809e-05 6.23777570e-02] [ 2.14183928e-04 -1.79164260e-05 9.99999977e-01 3.16838879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6753847499999996 meters 0.0691916082661273 Centerline is valid? [True, True] Translation: X:0.86, Y:0.06, Z:0.03 [[ 9.99993731e-01 3.52610039e-03 3.22089774e-04 8.58455252e-01] [-3.52609076e-03 9.99993783e-01 -3.04609203e-05 6.08821021e-02] [-3.22195179e-04 2.93250115e-05 9.99999948e-01 3.35317449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7353847499999997 meters 0.06929606249187502 Centerline is valid? [True, True] Translation: X:0.92, Y:0.07, Z:0.03 [[ 9.99981265e-01 -2.70093458e-03 5.49318594e-03 9.19764565e-01] [ 2.70383470e-03 9.99996209e-01 -5.20591015e-04 6.52899930e-02] [-5.49175904e-03 5.35433929e-04 9.99984777e-01 3.39544388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7953847499999998 meters 0.07057987154196702 Centerline is valid? [True, True] Translation: X:0.98, Y:0.07, Z:0.04 [[ 9.99942963e-01 -3.51466734e-03 1.00854779e-02 9.80678282e-01] [ 3.52448455e-03 9.99993332e-01 -9.55792094e-04 6.61788802e-02] [-1.00820514e-02 9.91283690e-04 9.99948683e-01 3.78909652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.85538475 meters 0.06666018639165297 Centerline is valid? [True, True] Translation: X:1.04, Y:0.09, Z:0.03 [[ 9.99962483e-01 6.27039770e-04 8.63935277e-03 1.04366887e+00] [-6.19989087e-04 9.99999473e-01 -8.18766552e-04 8.51434809e-02] [-8.63986161e-03 8.13379530e-04 9.99962345e-01 3.42732477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.91538475 meters 0.06573582415989498 Centerline is valid? [True, True] Translation: X:1.11, Y:0.09, Z:0.03 [[ 9.99937461e-01 7.49648032e-03 8.29918070e-03 1.10546711e+00] [-7.49020921e-03 9.99971639e-01 -7.86454578e-04 9.47084302e-02] [-8.30484097e-03 7.24242794e-04 9.99965252e-01 3.16589742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.97538475 meters 0.0625583994948632 Centerline is valid? [True, True] Translation: X:1.17, Y:0.11, Z:0.03 [[ 9.99889391e-01 1.40638566e-02 4.83881200e-03 1.16798036e+00] [-1.40618019e-02 9.99901023e-01 -4.58392863e-04 1.06987939e-01] [-4.84477984e-03 3.90299744e-04 9.99988188e-01 3.03152980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0353847499999995 meters 0.06129697222247557 Centerline is valid? [True, True] Translation: X:1.23, Y:0.12, Z:0.02 [[ 9.99780466e-01 2.09178376e-02 -1.20994574e-03 1.23022570e+00] [-2.09177138e-02 9.99781194e-01 1.14842612e-04 1.18548629e-01] [ 1.21208325e-03 -8.95081015e-05 9.99999261e-01 2.49686663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.09538475 meters 0.05910284158737207 Centerline is valid? [True, True] Translation: X:1.29, Y:0.13, Z:0.03 [[ 9.99157858e-01 4.07649652e-02 -4.66821357e-03 1.29088328e+00] [-4.07633408e-02 9.99168732e-01 4.42622320e-04 1.28955242e-01] [ 4.68237651e-03 -2.51957588e-04 9.99989006e-01 2.53250495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.15538475 meters 0.0567695533600891 Centerline is valid? [True, True] Translation: X:1.35, Y:0.14, Z:0.02 [[ 9.98507746e-01 5.43539136e-02 -5.28521524e-03 1.35245552e+00] [-5.43520209e-02 9.98521711e-01 5.01184843e-04 1.38223932e-01] [ 5.30464352e-03 -2.13174819e-04 9.99985908e-01 2.35128097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.21538475 meters 0.05559816550110002 Centerline is valid? [True, True] Translation: X:1.41, Y:0.14, Z:0.02 [[ 9.98254783e-01 5.88561775e-02 -4.83097314e-03 1.41448041e+00] [-5.88546433e-02 9.98266457e-01 4.59242692e-04 1.37577216e-01] [ 4.84962771e-03 -1.74116013e-04 9.99988225e-01 2.42230987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.27538475 meters 0.05591658042979579 Centerline is valid? [True, True] Translation: X:1.48, Y:0.13, Z:0.02 [[ 9.98335176e-01 5.76655640e-02 -1.24899693e-03 1.47549641e+00] [-5.76654547e-02 9.98335956e-01 1.23320990e-04 1.25328942e-01] [ 1.25402992e-03 -5.10917056e-05 9.99999212e-01 2.44595612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.33538475 meters 0.056204101683520635 Centerline is valid? [True, True] Translation: X:1.54, Y:0.12, Z:0.02 [[ 9.98313017e-01 5.79133001e-02 -4.14365441e-03 1.53657685e+00] [-5.79121408e-02 9.98321604e-01 3.99326282e-04 1.17544001e-01] [ 4.15982602e-03 -1.58684728e-04 9.99991335e-01 2.16076737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.39538475 meters 0.055690586157618634 Centerline is valid? [True, True] Translation: X:1.60, Y:0.11, Z:0.02 [[ 9.98087517e-01 6.15478813e-02 -5.75902497e-03 1.59823834e+00] [-6.15456992e-02 9.98104112e-01 5.55537048e-04 1.08250298e-01] [ 5.78229863e-03 -2.00031375e-04 9.99983262e-01 2.04559581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4553847499999994 meters 0.054745578868388586 Centerline is valid? [True, True] Translation: X:1.66, Y:0.10, Z:0.02 [[ 9.97588385e-01 6.91723229e-02 -5.70997977e-03 1.65815387e+00] [-6.91703254e-02 9.97604715e-01 5.46811471e-04 1.00421303e-01] [ 5.73412696e-03 -1.50531613e-04 9.99983548e-01 1.81612778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.51538475 meters 0.05459697895799339 Centerline is valid? [True, True] Translation: X:1.72, Y:0.09, Z:0.02 [[ 9.97306520e-01 7.31066135e-02 -5.92690301e-03 1.71968518e+00] [-7.31044968e-02 9.97324122e-01 5.73284689e-04 9.43054689e-02] [ 5.95295424e-03 -1.38457296e-04 9.99982271e-01 1.66601821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.57538475 meters 0.05397925944431503 Centerline is valid? [True, True] Translation: X:1.78, Y:0.07, Z:0.01 [[ 9.96893915e-01 7.85005052e-02 -6.33975699e-03 1.77954506e+00] [-7.84981830e-02 9.96914067e-01 6.14683938e-04 7.42796811e-02] [ 6.36844592e-03 -1.15115274e-04 9.99979715e-01 1.30114320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.63538475 meters 0.054060995499091186 Centerline is valid? [True, True] Translation: X:1.84, Y:0.05, Z:0.01 [[ 9.97345748e-01 7.27226191e-02 -3.58891079e-03 1.83933185e+00] [-7.27218282e-02 9.97352201e-01 3.50545471e-04 5.11978207e-02] [ 3.60490066e-03 -8.86228804e-05 9.99993498e-01 1.36603040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.69538475 meters 0.05477639199080911 Centerline is valid? [True, True] Translation: X:1.90, Y:0.02, Z:0.01 [[ 9.97968690e-01 6.37062930e-02 4.64332034e-05 1.89795957e+00] [-6.37062929e-02 9.97968691e-01 -4.22106694e-06 2.47597816e-02] [-4.66077917e-05 1.25440539e-06 9.99999999e-01 1.46215941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.75538475 meters 0.054321148414552774 Centerline is valid? [True, True] Translation: X:1.96, Y:0.01, Z:0.01 [[ 9.98349105e-01 5.74344128e-02 -5.93666859e-04 1.95752149e+00] [-5.74343886e-02 9.98349281e-01 5.76702333e-05 8.67086245e-03] [ 5.95999138e-04 -2.34781327e-05 9.99999822e-01 1.42796946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.81538475 meters 0.05492140341581267 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.01, Z:0.01 [[ 9.98372471e-01 5.69979422e-02 -1.90864204e-03 2.01702321e+00] [-5.69976889e-02 9.98374293e-01 1.86905490e-04 -7.47625921e-03] [ 1.91619237e-03 -7.78131109e-05 9.99998161e-01 1.07703403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.875384749999999 meters 0.05405428765461592 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.02, Z:0.01 [[ 9.98073527e-01 6.19327051e-02 -3.68450516e-03 2.07829009e+00] [-6.19318041e-02 9.98080319e-01 3.58238011e-04 -1.64558182e-02] [ 3.69961873e-03 -1.29359823e-04 9.99993148e-01 1.16505170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.93538475 meters 0.05374751932743342 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.03, Z:0.01 [[ 9.97931642e-01 6.36779178e-02 -8.80681474e-03 2.13971777e+00] [-6.36728068e-02 9.97970458e-01 8.59802173e-04 -2.66404908e-02] [ 8.84369135e-03 -2.97269181e-04 9.99960850e-01 1.17257366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9953847499999995 meters 0.054675885708797986 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.05, Z:0.01 [[ 9.98294527e-01 5.75729640e-02 -9.66390816e-03 2.19816085e+00] [-5.75665656e-02 9.98341228e-01 9.39195688e-04 -4.54532379e-02] [ 9.70195022e-03 -3.81275912e-04 9.99952862e-01 1.13936863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.05538475 meters 0.05653352897381519 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.07, Z:0.01 [[ 9.98955491e-01 4.46235827e-02 -9.83172092e-03 2.25671525e+00] [-4.46163311e-02 9.99003738e-01 9.55789742e-04 -6.68998839e-02] [ 9.86457672e-03 -5.16136095e-04 9.99951211e-01 1.15340577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.11538475 meters 0.06042916522939965 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.09, Z:0.01 [[ 9.99545434e-01 2.84513500e-02 -9.97223605e-03 2.31412353e+00] [-2.84430736e-02 9.99594943e-01 9.70812821e-04 -9.08917172e-02] [ 9.99581766e-03 -6.86730478e-04 9.99949805e-01 1.18819426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.17538475 meters 0.061191306242744034 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.10, Z:0.01 [[ 9.99845020e-01 1.41672078e-02 -1.04511527e-02 2.37440539e+00] [-1.41573489e-02 9.99899263e-01 1.01671731e-03 -1.01792120e-01] [ 1.04645039e-02 -8.68599122e-04 9.99944868e-01 1.33355820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.23538475 meters 0.061617678976549344 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.10, Z:0.01 [[ 9.99875694e-01 1.23383928e-02 -9.81631420e-03 2.43629406e+00] [-1.23295996e-02 9.99923531e-01 9.55787098e-04 -9.97149334e-02] [ 9.82735643e-03 -8.34637065e-04 9.99951362e-01 1.07664324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.295384749999999 meters 0.06285831905193681 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.09, Z:0.01 [[ 9.99598927e-01 2.58856774e-02 -1.14854874e-02 2.49663377e+00] [-2.58745417e-02 9.99664574e-01 1.11710902e-03 -9.46545840e-02] [ 1.15105520e-02 -8.19479259e-04 9.99933416e-01 5.73217599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.35538475 meters 0.05594708735579614 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.07, Z:0.01 [[ 9.98843192e-01 4.71411675e-02 -9.48623582e-03 2.56024743e+00] [-4.71345211e-02 9.98888124e-01 9.23112919e-04 -6.84959619e-02] [ 9.51920492e-03 -4.74915872e-04 9.99954579e-01 5.95190974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.415384749999999 meters 0.054030553681804615 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.06, Z:0.00 [[ 9.97904133e-01 6.40608118e-02 -9.14073838e-03 2.62222439e+00] [-6.40553479e-02 9.97945951e-01 8.89565921e-04 -5.50462607e-02] [ 9.17894917e-03 -3.02188332e-04 9.99957827e-01 3.39148830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.47538475 meters 0.05322757004923424 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.05, Z:0.00 [[ 9.97481857e-01 7.02746270e-02 -9.56148311e-03 2.68460426e+00] [-7.02689216e-02 9.97527649e-01 9.31772160e-04 -5.22828064e-02] [ 9.60332371e-03 -2.57550718e-04 9.99953854e-01 1.70848898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5353847499999995 meters 0.05338279394050304 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.06, Z:-0.00 [[ 9.97347872e-01 7.19065629e-02 -1.12546911e-02 2.74750050e+00] [-7.18986818e-02 9.97411330e-01 1.10382919e-03 -5.75036918e-02] [ 1.13049290e-02 -2.91704245e-04 9.99936055e-01 -8.88690321e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.59538475 meters 0.053799301576150795 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.07, Z:-0.00 [[ 9.97444254e-01 7.07065440e-02 -1.02734971e-02 2.80876343e+00] [-7.06998864e-02 9.97497121e-01 1.01023739e-03 -6.79610885e-02] [ 1.03192142e-02 -2.81320404e-04 9.99946716e-01 -2.84230895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.65538475 meters 0.05441540345177448 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.08, Z:-0.00 [[ 9.97682277e-01 6.74016792e-02 -9.33212788e-03 2.87009393e+00] [-6.73960146e-02 9.97725879e-01 9.20511885e-04 -8.13886876e-02] [ 9.37294954e-03 -2.89430166e-04 9.99956031e-01 -2.65586431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.71538475 meters 0.05461769009685399 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.09, Z:-0.00 [[ 9.97774562e-01 6.63980625e-02 -6.10091030e-03 2.93113967e+00] [-6.63956048e-02 9.97793194e-01 6.04727936e-04 -9.09408254e-02] [ 6.12759954e-03 -1.98308522e-04 9.99981206e-01 -2.60465259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.77538475 meters 0.05431973739961392 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.10, Z:-0.00 [[ 9.97565090e-01 6.96844105e-02 -2.82370115e-03 2.99231578e+00] [-6.96838993e-02 9.97569083e-01 2.79133761e-04 -9.85548085e-02] [ 2.83628824e-03 -8.16875886e-05 9.99995974e-01 -2.20874984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.835384749999999 meters 0.05396168051166728 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.11, Z:-0.00 [[ 9.97221766e-01 7.44653769e-02 -1.91245886e-03 3.05262973e+00] [-7.44651510e-02 9.97223599e-01 1.89130485e-04 -1.10287483e-01] [ 1.92123278e-03 -4.61934985e-05 9.99998153e-01 -3.19672680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.89538475 meters 0.054456740254793634 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.13, Z:-0.00 [[ 9.97312823e-01 7.32445914e-02 -1.53710193e-03 3.11297772e+00] [-7.32444383e-02 9.97314007e-01 1.55728033e-04 -1.28620768e-01] [ 1.54437952e-03 -4.27253967e-05 9.99998807e-01 -4.27287968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9553847499999994 meters 0.05509212868831056 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.15, Z:-0.01 [[ 9.97604424e-01 6.91250570e-02 -2.67220998e-03 3.17319302e+00] [-6.91245952e-02 9.97607999e-01 2.64871143e-04 -1.45727094e-01] [ 2.68412729e-03 -7.95211903e-05 9.99996395e-01 -5.45736866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.01538475 meters 0.056524468629505435 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.17, Z:-0.01 [[ 9.98010911e-01 6.30140806e-02 -1.85678144e-03 3.23098861e+00] [-6.30138478e-02 9.98012636e-01 1.83673811e-04 -1.68862253e-01] [ 1.86466538e-03 -6.63055237e-05 9.99998259e-01 -8.14882235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.07538475 meters 0.056538199697219946 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.19, Z:-0.01 [[ 9.97967271e-01 6.36473199e-02 -3.21642202e-03 3.29252779e+00] [-6.36466079e-02 9.97972447e-01 3.23338493e-04 -1.87810004e-01] [ 3.23048018e-03 -1.17966883e-04 9.99994775e-01 -9.31110915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.13538475 meters 0.05633413440618237 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.20, Z:-0.01 [[ 9.97447261e-01 7.14069571e-02 8.69009234e-05 3.35077082e+00] [-7.14069566e-02 9.97447265e-01 -8.78820116e-06 -2.02759459e-01] [-8.73066270e-05 2.56043671e-06 9.99999996e-01 -1.15905665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.19538475 meters 0.05440581817491969 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.21, Z:-0.01 [[ 9.96725655e-01 8.08022456e-02 2.99420900e-03 3.41183161e+00] [-8.08017182e-02 9.96730151e-01 -2.96873379e-04 -2.08006428e-01] [-3.00840642e-03 5.39640812e-05 9.99995473e-01 -9.26118254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.25538475 meters 0.054422874257330785 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.22, Z:-0.01 [[ 9.96489625e-01 8.36944306e-02 1.91555956e-03 3.47125451e+00] [-8.36942252e-02 9.96491466e-01 -1.87264131e-04 -2.22693095e-01] [-1.92451171e-03 2.62854906e-05 9.99998148e-01 -1.20818845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.31538475 meters 0.05474701634505094 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.24, Z:-0.01 [[ 9.96880778e-01 7.87539248e-02 5.15118688e-03 3.53113834e+00] [-7.87523341e-02 9.96894081e-01 -5.11241867e-04 -2.44318946e-01] [-5.17545001e-03 1.03979200e-04 9.99986602e-01 -1.09222577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.375384749999999 meters 0.05654000834846784 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.27, Z:-0.01 [[ 9.97728300e-01 6.71662287e-02 5.19005743e-03 3.58964638e+00] [-6.71644480e-02 9.97741785e-01 -5.16834754e-04 -2.73056659e-01] [-5.21305101e-03 1.67073318e-04 9.99986398e-01 -1.40852429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.43538475 meters 0.05776658639157039 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.29, Z:-0.02 [[ 9.98069285e-01 6.19965171e-02 3.75961551e-03 3.64934613e+00] [-6.19955470e-02 9.98076356e-01 -3.74148030e-04 -2.88340309e-01] [-3.77557923e-03 1.40346236e-04 9.99992863e-01 -1.54468457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4953847499999995 meters 0.06315845010996964 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.32, Z:-0.02 [[ 9.99039868e-01 4.35044742e-02 5.16756146e-03 3.70621739e+00] [-4.35023917e-02 9.99053190e-01 -5.14765875e-04 -3.23064997e-01] [-5.18506338e-03 2.89470349e-04 9.99986516e-01 -1.65448877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.55538475 meters 0.06853585385661655 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.35, Z:-0.01 [[ 9.99725974e-01 2.18914332e-02 8.29104929e-03 3.76400480e+00] [-2.18853276e-02 9.99760146e-01 -8.26423393e-04 -3.50543591e-01] [-8.30715224e-03 6.44744601e-04 9.99965287e-01 -1.43044367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.61538475 meters 0.07086189364429864 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.36, Z:-0.01 [[ 9.99838186e-01 1.49355292e-02 1.00265729e-02 3.82389486e+00] [-1.49262491e-02 9.99888098e-01 -9.99748336e-04 -3.61515900e-01] [-1.00403827e-02 8.49927437e-04 9.99949233e-01 -1.42749231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.67538475 meters 0.07210319983642968 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.36, Z:-0.01 [[ 9.99899341e-01 1.07412098e-02 9.27010658e-03 3.88460791e+00] [-1.07330982e-02 9.99941971e-01 -9.24331822e-04 -3.64825446e-01] [-9.27949709e-03 8.24741815e-04 9.99956604e-01 -1.38923416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.73538475 meters 0.07094413462489796 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.35, Z:-0.01 [[ 9.99889904e-01 1.23434291e-02 8.23522369e-03 3.94809907e+00] [-1.23370830e-02 9.99923558e-01 -8.20960460e-04 -3.51774646e-01] [-8.24472764e-03 7.19271438e-04 9.99965753e-01 -1.38020663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.795384749999999 meters 0.07399782019017694 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.35, Z:-0.01 [[ 9.99856472e-01 1.52266485e-02 7.42865438e-03 4.00819392e+00] [-1.52215619e-02 9.99883871e-01 -7.40785872e-04 -3.48175724e-01] [-7.43907139e-03 6.27603826e-04 9.99972133e-01 -1.45056306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.85538475 meters 0.06788188401454848 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.32, Z:-0.01 [[ 9.99843606e-01 1.71673412e-02 4.24815276e-03 4.07259709e+00] [-1.71656951e-02 9.99852569e-01 -4.23652802e-04 -3.23897792e-01] [-4.25479944e-03 3.50664050e-04 9.99990887e-01 -1.47787149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.915384749999999 meters 0.06649443835260543 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.31, Z:-0.02 [[ 9.99769837e-01 2.13245667e-02 2.35292771e-03 4.13497917e+00] [-2.13240721e-02 9.99772588e-01 -2.35065829e-04 -3.09993692e-01] [-2.35740530e-03 1.84837726e-04 9.99997204e-01 -1.75026324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.97538475 meters 0.06587500809349733 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.30, Z:-0.02 [[ 9.99647019e-01 2.65595472e-02 6.53666448e-04 4.19668887e+00] [-2.65595101e-02 9.99647232e-01 -6.53197500e-05 -3.00130252e-01] [-6.55170718e-04 4.79356328e-05 9.99999784e-01 -2.07691504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0353847499999995 meters 0.06327591177228531 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.29, Z:-0.02 [[ 9.99391702e-01 3.48683531e-02 6.50953478e-04 4.25936958e+00] [-3.48683181e-02 9.99391913e-01 -6.49523960e-05 -2.86956417e-01] [-6.52822425e-04 4.22152326e-05 9.99999786e-01 -2.12908257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.09538475 meters 0.06197303647154955 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.28, Z:-0.02 [[ 9.99118437e-01 4.19156819e-02 2.32912946e-03 4.32153634e+00] [-4.19152534e-02 9.99121143e-01 -2.32524304e-04 -2.77506622e-01] [-2.33682891e-03 1.34693267e-04 9.99997261e-01 -2.29097279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.15538475 meters 0.06219318924065907 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.27, Z:-0.02 [[ 9.98994890e-01 4.47174396e-02 3.09198921e-03 4.38287566e+00] [-4.47166980e-02 9.98999661e-01 -3.08599729e-04 -2.74029582e-01] [-3.10269596e-03 1.70026005e-04 9.99995172e-01 -2.26784471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.215384749999999 meters 0.06125228094795142 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.27, Z:-0.02 [[ 9.99032230e-01 4.38800636e-02 3.02381373e-03 4.44600702e+00] [-4.38793578e-02 9.99036792e-01 -2.99411438e-04 -2.69365392e-01] [-3.03403937e-03 1.66438671e-04 9.99995383e-01 -2.32041995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.27538475 meters 0.06368324010366447 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.27, Z:-0.03 [[ 9.99365648e-01 3.55948676e-02 1.14345452e-03 4.50613252e+00] [-3.55947599e-02 9.99366299e-01 -1.14414656e-04 -2.72947146e-01] [-1.14680249e-03 7.36410874e-05 9.99999340e-01 -2.64593488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.335384749999999 meters 0.06543272444836419 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.28, Z:-0.02 [[ 9.99638585e-01 2.63381259e-02 5.38536238e-03 4.56702931e+00] [-2.63355975e-02 9.99653012e-01 -5.39884153e-04 -2.75911179e-01] [-5.39771326e-03 3.97862294e-04 9.99985353e-01 -2.44100201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.39538475 meters 0.06646942167403719 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.27, Z:-0.03 [[ 9.99721718e-01 2.29798186e-02 5.33060078e-03 4.62786375e+00] [-2.29772939e-02 9.99735844e-01 -5.34393359e-04 -2.73521260e-01] [-5.34147294e-03 4.11761866e-04 9.99985649e-01 -2.71943214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4553847499999994 meters 0.06856829686437647 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.28, Z:-0.03 [[ 9.99725022e-01 2.23932874e-02 6.95846774e-03 4.68890840e+00] [-2.23889816e-02 9.99749093e-01 -6.96081646e-04 -2.76233269e-01] [-6.97230937e-03 5.40097233e-04 9.99975547e-01 -2.83847835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.51538475 meters 0.06752671109611112 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.27, Z:-0.03 [[ 9.99773389e-01 1.91016363e-02 9.39675516e-03 4.75012122e+00] [-1.90935972e-02 9.99817255e-01 -9.44493477e-04 -2.71295325e-01] [-9.41307932e-03 7.64861586e-04 9.99955403e-01 -3.04241904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.57538475 meters 0.068703508980893 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.27, Z:-0.03 [[ 9.99837120e-01 1.69652957e-02 6.15725440e-03 4.81084652e+00] [-1.69618043e-02 9.99855947e-01 -6.18825397e-04 -2.72679833e-01] [-6.16686599e-03 5.14286459e-04 9.99980852e-01 -3.38761823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.63538475 meters 0.06894381750408081 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.27, Z:-0.04 [[ 9.99794340e-01 2.00282246e-02 3.18561178e-03 4.87191583e+00] [-2.00273057e-02 9.99799382e-01 -3.20102172e-04 -2.73265292e-01] [-3.19138377e-03 2.56237119e-04 9.99994875e-01 -3.68382854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.69538475 meters 0.06504005915892512 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.25, Z:-0.04 [[ 9.99427118e-01 3.36839179e-02 3.29089364e-03 4.93532657e+00] [-3.36830103e-02 9.99432512e-01 -3.30855278e-04 -2.51302450e-01] [-3.30017059e-03 2.19818533e-04 9.99994530e-01 -3.84937621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.755384749999999 meters 0.06236188072155391 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.24, Z:-0.04 [[ 9.99101259e-01 4.23567429e-02 1.60618437e-03 4.99755144e+00] [-4.23565382e-02 9.99102546e-01 -1.61296017e-04 -2.41122908e-01] [-1.61157487e-03 9.31186442e-05 9.99998697e-01 -3.71058625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.81538475 meters 0.06017291293001061 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.23, Z:-0.04 [[ 9.98502240e-01 5.46184138e-02 3.17884068e-03 5.05940643e+00] [-5.46176720e-02 9.98507290e-01 -3.19776364e-04 -2.31241943e-01] [-3.19156127e-03 1.45676539e-04 9.99994896e-01 -3.56779258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.875384749999999 meters 0.05828806718981521 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.22, Z:-0.04 [[ 9.97980765e-01 6.34599531e-02 2.68818549e-03 5.12193847e+00] [-6.34594547e-02 9.97984381e-01 -2.70405930e-04 -2.15493346e-01] [-2.69992708e-03 9.92691319e-05 9.99996350e-01 -3.87092468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.93538475 meters 0.05919061867884362 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.23, Z:-0.04 [[ 9.98079994e-01 6.18896600e-02 2.44860019e-03 5.18234094e+00] [-6.18892490e-02 9.98082993e-01 -2.43358062e-04 -2.25954236e-01] [-2.45896755e-03 9.13487861e-05 9.99996973e-01 -3.97654795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9953847499999995 meters 0.06214489434266663 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.24, Z:-0.04 [[ 9.98740156e-01 5.01142934e-02 2.58053879e-03 5.24055340e+00] [-5.01137890e-02 9.98743481e-01 -2.59791656e-04 -2.39329596e-01] [-2.59031557e-03 1.30143783e-04 9.99996637e-01 -4.38400690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.05538475 meters 0.06389493707325297 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.25, Z:-0.04 [[ 9.99370788e-01 3.54668119e-02 3.65222229e-04 5.30064479e+00] [-3.54668008e-02 9.99370854e-01 -3.67796670e-05 -2.51333924e-01] [-3.66296909e-04 2.38032608e-05 9.99999933e-01 -4.44244441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.11538475 meters 0.0653134913693252 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.26, Z:-0.04 [[ 9.99664449e-01 2.57320201e-02 2.97538302e-03 5.36014314e+00] [-2.57312400e-02 9.99668852e-01 -3.00187973e-04 -2.61585192e-01] [-2.98212217e-03 2.23526950e-04 9.99995528e-01 -4.46083454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.175384750000001 meters 0.06548370620494269 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.26, Z:-0.04 [[ 9.99529063e-01 2.98983669e-02 6.90937515e-03 5.42013517e+00] [-2.98942579e-02 9.99552824e-01 -6.97224978e-04 -2.64683518e-01] [-6.92713133e-03 4.90345986e-04 9.99975887e-01 -4.29498555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.23538475 meters 0.06349067641523769 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.26, Z:-0.05 [[ 9.99232632e-01 3.88355169e-02 5.09409711e-03 5.48133544e+00] [-3.88333993e-02 9.99245567e-01 -5.13986728e-04 -2.57516241e-01] [-5.11021490e-03 3.15771204e-04 9.99986893e-01 -4.51796877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.29538475 meters 0.06323349235331092 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.26, Z:-0.05 [[ 9.98918359e-01 4.61771489e-02 5.45732731e-03 5.54120717e+00] [-4.61748270e-02 9.98933222e-01 -5.50754378e-04 -2.60319674e-01] [-5.47693782e-03 2.98167515e-04 9.99984957e-01 -4.60042730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.35538475 meters 0.06070045609403183 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.25, Z:-0.05 [[ 9.98236392e-01 5.93469137e-02 1.43184143e-03 5.60254758e+00] [-5.93467676e-02 9.98237417e-01 -1.44389356e-04 -2.52017386e-01] [-1.43788675e-03 5.91595491e-05 9.99998964e-01 -4.98218444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.415384750000001 meters 0.05957574044510628 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.25, Z:-0.06 [[ 9.97316971e-01 7.31284119e-02 -3.33100145e-03 5.66328644e+00] [-7.31276967e-02 9.97322529e-01 3.36156975e-04 -2.47105953e-01] [ 3.34666542e-03 -9.16665921e-05 9.99994396e-01 -5.54835166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.47538475 meters 0.05863491544262712 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.25, Z:-0.06 [[ 9.96547005e-01 8.28590730e-02 -5.33298773e-03 5.72415284e+00] [-8.28573768e-02 9.96561270e-01 5.38597764e-04 -2.49861030e-01] [ 5.35927674e-03 -9.48606144e-05 9.99985634e-01 -5.58068791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.53538475 meters 0.05835159336240828 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.26, Z:-0.06 [[ 9.96202719e-01 8.69821332e-02 -3.77498254e-03 5.78505862e+00] [-8.69812956e-02 9.96209870e-01 3.85807638e-04 -2.59982440e-01] [ 3.79423324e-03 -5.59897462e-05 9.99992800e-01 -5.73105074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.595384750000001 meters 0.05818527386899555 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.27, Z:-0.06 [[ 9.96140754e-01 8.77349360e-02 -2.48567141e-03 5.84611258e+00] [-8.77345701e-02 9.96143855e-01 2.56084350e-04 -2.69442454e-01] [ 2.49855385e-03 -3.70167449e-05 9.99996878e-01 -5.76617055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.655384750000001 meters 0.05789540988335581 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.29, Z:-0.05 [[ 9.96114328e-01 8.79538766e-02 4.51233790e-03 5.90542227e+00] [-8.79527108e-02 9.96124547e-01 -4.56534223e-04 -2.93813808e-01] [-4.53500450e-03 5.78879302e-05 9.99989715e-01 -5.27282871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.71538475 meters 0.0577041719417282 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.31, Z:-0.05 [[ 9.96082246e-01 8.82897890e-02 5.00720730e-03 5.96671501e+00] [-8.82883591e-02 9.96094829e-01 -5.06319299e-04 -3.07873129e-01] [-5.03235613e-03 6.22575480e-05 9.99987336e-01 -5.41697800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.77538475 meters 0.058708326601382796 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.34, Z:-0.06 [[ 9.96975679e-01 7.76978511e-02 1.59382716e-03 6.02439401e+00] [-7.76976909e-02 9.96976952e-01 -1.62262809e-04 -3.44113700e-01] [-1.60161641e-03 3.79353842e-05 9.99998717e-01 -5.81082381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.835384750000001 meters 0.06026671149330309 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.37, Z:-0.06 [[ 9.97757434e-01 6.69334836e-02 1.10553581e-04 6.08289408e+00] [-6.69334828e-02 9.97757440e-01 -1.10233917e-05 -3.72610071e-01] [-1.11043492e-04 3.59893474e-06 9.99999994e-01 -6.12041117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.89538475 meters 0.06255003210416124 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.40, Z:-0.06 [[ 9.98608206e-01 5.26258719e-02 -3.48829673e-03 6.14106415e+00] [-5.26249486e-02 9.98614284e-01 3.56018611e-04 -4.03843906e-01] [ 3.50219873e-03 -1.71951670e-04 9.99993852e-01 -6.40914433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.95538475 meters 0.06389609749446065 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.43, Z:-0.06 [[ 9.99061324e-01 4.30337708e-02 -4.95625739e-03 6.19986508e+00] [-4.30317879e-02 9.99073575e-01 5.06060035e-04 -4.29074831e-01] [ 4.97344346e-03 -2.92308392e-04 9.99987590e-01 -6.37336150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.01538475 meters 0.06599000108207517 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.45, Z:-0.07 [[ 9.99376138e-01 3.48560809e-02 -5.69107848e-03 6.25852520e+00] [-3.48533362e-02 9.99392269e-01 5.80783824e-04 -4.49541595e-01] [ 5.70786369e-03 -3.82068423e-04 9.99983637e-01 -6.58797860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.075384750000001 meters 0.06812256173611814 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.47, Z:-0.07 [[ 9.99497585e-01 3.12563873e-02 -5.25500198e-03 6.31716980e+00] [-3.12539979e-02 9.99511331e-01 5.36202578e-04 -4.65929632e-01] [ 5.26919377e-03 -3.71693361e-04 9.99986049e-01 -6.56535670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.13538475 meters 0.06806897568724879 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.47, Z:-0.06 [[ 9.99533428e-01 3.02371949e-02 -4.31729536e-03 6.37902549e+00] [-3.02355522e-02 9.99542702e-01 4.45289202e-04 -4.73946083e-01] [ 4.32878536e-03 -3.14545633e-04 9.99990581e-01 -6.14297789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.19538475 meters 0.06789307555397982 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.48, Z:-0.06 [[ 9.99568168e-01 2.90292063e-02 -4.55881789e-03 6.44147816e+00] [-2.90273732e-02 9.99578508e-01 4.67769173e-04 -4.77602125e-01] [ 4.57047535e-03 -3.35236667e-04 9.99989499e-01 -6.06229221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.255384750000001 meters 0.0677875857526251 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.48, Z:-0.06 [[ 9.99601369e-01 2.72522359e-02 -7.37684801e-03 6.50262824e+00] [-2.72473973e-02 9.99628435e-01 7.55637190e-04 -4.78360667e-01] [ 7.39469983e-03 -5.54336061e-04 9.99972505e-01 -6.04096480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.31538475 meters 0.06779829637004602 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.48, Z:-0.06 [[ 9.99515738e-01 2.90858199e-02 -1.10591806e-02 6.56516604e+00] [-2.90749875e-02 9.99576584e-01 1.13905239e-03 -4.75024474e-01] [ 1.10876282e-02 -8.16955256e-04 9.99938197e-01 -6.18270823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.37538475 meters 0.06587570283512324 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.47, Z:-0.06 [[ 9.99286630e-01 3.56725485e-02 -1.23975818e-02 6.62700450e+00] [-3.56594910e-02 9.99363188e-01 1.27276258e-03 -4.66600769e-01] [ 1.24350895e-02 -8.29763170e-04 9.99922337e-01 -6.09803631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.43538475 meters 0.06725286447825976 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.47, Z:-0.07 [[ 9.99001961e-01 4.21116654e-02 -1.48892219e-02 6.68689264e+00] [-4.20935514e-02 9.99112505e-01 1.52802742e-03 -4.65508665e-01] [ 1.49403555e-02 -8.99762162e-04 9.99887982e-01 -6.54226030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.495384750000001 meters 0.06468857399634989 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.45, Z:-0.07 [[ 9.98890804e-01 4.46606031e-02 -1.49195414e-02 6.74953829e+00] [-4.46426780e-02 9.99001843e-01 1.53250256e-03 -4.54159731e-01] [ 1.49730918e-02 -8.64754436e-04 9.99887523e-01 -6.58314618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.55538475 meters 0.0669063457533827 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.46, Z:-0.07 [[ 9.98782844e-01 4.60860085e-02 -1.75758525e-02 6.81071126e+00] [-4.60612281e-02 9.98936974e-01 1.81234686e-03 -4.56285768e-01] [ 1.76406927e-02 -1.00057560e-03 9.99843890e-01 -7.14338091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.61538475 meters 0.06199326363113415 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.44, Z:-0.07 [[ 9.98405439e-01 5.27447357e-02 -2.01139824e-02 6.87361564e+00] [-5.27136927e-02 9.98607520e-01 2.07080944e-03 -4.37976482e-01] [ 2.01951983e-02 -1.00722513e-03 9.99795549e-01 -6.87913690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.675384750000001 meters 0.06033713003387469 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.43, Z:-0.07 [[ 9.97628932e-01 6.51824657e-02 -2.20853024e-02 6.93572164e+00] [-6.51480844e-02 9.97873017e-01 2.27345249e-03 -4.26088106e-01] [ 2.21865166e-02 -8.29246835e-04 9.99753505e-01 -7.24652837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.73538475 meters 0.059478183825459253 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.42, Z:-0.07 [[ 9.96803629e-01 7.71637961e-02 -2.06947724e-02 6.99570565e+00] [-7.71362001e-02 9.97018290e-01 2.12961469e-03 -4.22006049e-01] [ 2.07973957e-02 -5.26491548e-04 9.99783572e-01 -7.48346584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.79538475 meters 0.05778028277067651 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.42, Z:-0.07 [[ 9.96290035e-01 8.44046830e-02 -1.67933387e-02 7.05688102e+00] [-8.43875311e-02 9.96431511e-01 1.72863546e-03 -4.19081015e-01] [ 1.68793168e-02 -3.05073896e-04 9.99857488e-01 -6.96235008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.85538475 meters 0.05735019260476493 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.43, Z:-0.07 [[ 9.96262728e-01 8.53781868e-02 -1.30821479e-02 7.11670092e+00] [-8.53678567e-02 9.96348591e-01 1.34705228e-03 -4.26576159e-01] [ 1.31493885e-02 -2.25223053e-04 9.99913518e-01 -6.99601677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.915384750000001 meters 0.05713572284499176 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.44, Z:-0.07 [[ 9.96458278e-01 8.32355813e-02 -1.19472980e-02 7.17732473e+00] [-8.32267311e-02 9.96529870e-01 1.23691476e-03 -4.39152716e-01] [ 1.20087946e-02 -2.38199399e-04 9.99927863e-01 -7.04673737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.97538475 meters 0.05731764614113834 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.46, Z:-0.07 [[ 9.96746874e-01 7.97144207e-02 -1.18861423e-02 7.23812558e+00] [-7.97053717e-02 9.96817702e-01 1.23384629e-03 -4.56443061e-01] [ 1.19466724e-02 -2.82443042e-04 9.99928596e-01 -7.24687795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.03538475 meters 0.05791449749757681 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.48, Z:-0.07 [[ 9.97154990e-01 7.46945864e-02 -1.01313871e-02 7.29886100e+00] [-7.46877665e-02 9.97206415e-01 1.05036813e-03 -4.76509600e-01] [ 1.01815410e-02 -2.90689146e-04 9.99948125e-01 -7.36110659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.095384750000001 meters 0.058675021737431686 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.49, Z:-0.08 [[ 9.97528159e-01 6.95364605e-02 -1.01119610e-02 7.35798621e+00] [-6.95294080e-02 9.97579352e-01 1.04774891e-03 -4.94703127e-01] [ 1.01603402e-02 -3.42080380e-04 9.99948324e-01 -7.63166722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.15538475 meters 0.05899887744348632 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.51, Z:-0.08 [[ 9.97782489e-01 6.58222293e-02 -9.87619227e-03 7.41802119e+00] [-6.58153136e-02 9.97831296e-01 1.02397730e-03 -5.12170383e-01] [ 9.92217421e-03 -3.71701931e-04 9.99950705e-01 -7.68580470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.21538475 meters 0.058920458912265904 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.52, Z:-0.08 [[ 9.97823027e-01 6.54418392e-02 -8.15925427e-03 7.47942946e+00] [-6.54370613e-02 9.97856335e-01 8.51458212e-04 -5.21487440e-01] [ 8.19748455e-03 -3.15686988e-04 9.99966350e-01 -7.72958290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.27538475 meters 0.059238775101784664 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.53, Z:-0.08 [[ 9.97896417e-01 6.44206056e-02 -7.26134632e-03 7.54046789e+00] [-6.44167771e-02 9.97922793e-01 7.60133349e-04 -5.34778696e-01] [ 7.29523125e-03 -2.90781818e-04 9.99973347e-01 -8.19667255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.335384750000001 meters 0.059199405545202984 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.55, Z:-0.08 [[ 9.97951526e-01 6.38453372e-02 -4.06503832e-03 7.60172409e+00] [-6.38441215e-02 9.97959791e-01 4.28271873e-04 -5.46596258e-01] [ 4.08408795e-03 -1.67865770e-04 9.99991646e-01 -8.05769836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.39538475 meters 0.05946337280416016 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.56, Z:-0.08 [[ 9.98108591e-01 6.14403224e-02 -2.08014361e-03 7.66306816e+00] [-6.14399938e-02 9.98110754e-01 2.21537465e-04 -5.56367149e-01] [ 2.08982504e-03 -9.33144363e-05 9.99997812e-01 -8.15902112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.45538475 meters 0.06092127947502655 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.57, Z:-0.08 [[ 9.98476851e-01 5.51511186e-02 -1.52700718e-03 7.72283203e+00] [-5.51509382e-02 9.98478016e-01 1.60026383e-04 -5.71273254e-01] [ 1.53350873e-03 -7.55667602e-05 9.99998821e-01 -8.41762783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.51538475 meters 0.06306470376824334 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.59, Z:-0.08 [[ 9.98727284e-01 5.04178203e-02 -1.36256256e-03 7.78188581e+00] [-5.04176721e-02 9.98728210e-01 1.42964681e-04 -5.86425391e-01] [ 1.36803764e-03 -7.40854951e-05 9.99999061e-01 -8.46601217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.57538475 meters 0.06480138952622227 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.59, Z:-0.08 [[ 9.99339294e-01 3.59847672e-02 5.10603222e-03 7.84274987e+00] [-3.59825032e-02 9.99352277e-01 -5.34603489e-04 -5.92754216e-01] [-5.12196251e-03 3.50522453e-04 9.99986821e-01 -8.36330003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.63538475 meters 0.0666073938146388 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.60, Z:-0.08 [[ 9.99520845e-01 3.02154672e-02 6.71611875e-03 7.90253020e+00] [-3.02114198e-02 9.99543283e-01 -7.03311227e-04 -6.04811270e-01] [-6.73430226e-03 5.00070749e-04 9.99977199e-01 -7.95294740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.69538475 meters 0.06970847420770726 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.61, Z:-0.08 [[ 9.99716467e-01 2.18524244e-02 9.45813076e-03 7.96285224e+00] [-2.18440175e-02 9.99760900e-01 -9.91255495e-04 -6.11910241e-01] [-9.47753065e-03 7.84370868e-04 9.99954780e-01 -8.03620866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.755384750000001 meters 0.06937341470101348 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.60, Z:-0.09 [[ 9.99836722e-01 1.70768778e-02 5.90844185e-03 8.02493383e+00] [-1.70735148e-02 9.99854045e-01 -6.19168018e-04 -6.01711284e-01] [-5.91815294e-03 5.18189052e-04 9.99982353e-01 -8.67355205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.81538475 meters 0.06827076941250347 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.60, Z:-0.08 [[ 9.99818028e-01 1.84199442e-02 4.96143721e-03 8.08707312e+00] [-1.84175903e-02 9.99830247e-01 -5.19724486e-04 -5.95580875e-01] [-4.97016829e-03 4.28252193e-04 9.99987557e-01 -8.44359230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.87538475 meters 0.0685138916664326 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.59, Z:-0.09 [[ 9.99754427e-01 2.21586404e-02 -2.84147369e-04 8.14888129e+00] [-2.21586327e-02 9.99754467e-01 3.00628233e-05 -5.85344440e-01] [ 2.84743752e-04 -2.37591235e-05 9.99999959e-01 -9.09551261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.93538475 meters 0.06652298233294701 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.57, Z:-0.09 [[ 9.99546853e-01 2.97999649e-02 -4.24865968e-03 8.21178830e+00] [-2.97983369e-02 9.99555831e-01 4.45985786e-04 -5.72427255e-01] [ 4.26006292e-03 -3.19180696e-04 9.99990875e-01 -9.39115848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.995384750000001 meters 0.0633904879937629 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.56, Z:-0.09 [[ 9.99345554e-01 3.58430786e-02 -4.87206219e-03 8.27465307e+00] [-3.58410092e-02 9.99357374e-01 5.11440699e-04 -5.58170750e-01] [ 4.88726288e-03 -3.36486363e-04 9.99988001e-01 -9.20741504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.05538475 meters 0.06220834305456808 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.55, Z:-0.09 [[ 9.99140273e-01 4.12887523e-02 -3.73542269e-03 8.33699840e+00] [-4.12875745e-02 9.99147228e-01 3.91916930e-04 -5.47142859e-01] [ 3.74841899e-03 -2.37353446e-04 9.99992946e-01 -9.05486339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.11538475 meters 0.061505325792032675 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.54, Z:-0.09 [[ 9.98898641e-01 4.68843803e-02 -1.83300188e-03 8.39914361e+00] [-4.68841055e-02 9.98900317e-01 1.92628826e-04 -5.39968595e-01] [ 1.84001745e-03 -1.06478019e-04 9.99998301e-01 -8.77308886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.175384750000001 meters 0.061540200108747854 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.54, Z:-0.09 [[ 9.98667885e-01 5.11898312e-02 -6.48510840e-03 8.46093813e+00] [-5.11864828e-02 9.98688880e-01 6.81361526e-04 -5.35057663e-01] [ 6.51148443e-03 -3.48503984e-04 9.99978739e-01 -8.72326498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.23538475 meters 0.06182201843137955 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.53, Z:-0.09 [[ 9.98603420e-01 5.20904966e-02 -8.81985445e-03 8.52312936e+00] [-5.20842896e-02 9.98642257e-01 9.32139892e-04 -5.33819850e-01] [ 8.85643499e-03 -4.71462230e-04 9.99960670e-01 -8.91923932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.29538475 meters 0.06221736925394552 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.53, Z:-0.09 [[ 9.98774364e-01 4.75875447e-02 -1.36086717e-02 8.58365506e+00] [-4.75724354e-02 9.98866764e-01 1.43202176e-03 -5.33698355e-01] [ 1.36613963e-02 -7.82868966e-04 9.99906372e-01 -9.23381759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.35538475 meters 0.06402811066788244 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.54, Z:-0.09 [[ 9.98893350e-01 4.30494037e-02 -1.89426291e-02 8.64297919e+00] [-4.30192824e-02 9.99072250e-01 1.99494595e-03 -5.42580582e-01] [ 1.90109363e-02 -1.17783993e-03 9.99818582e-01 -9.41654045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.415384750000001 meters 0.06525370058703206 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.55, Z:-0.10 [[ 9.98941458e-01 4.13687835e-02 -2.01143752e-02 8.70309526e+00] [-4.13344794e-02 9.99143119e-01 2.11839712e-03 -5.47014658e-01] [ 2.01847751e-02 -1.28473748e-03 9.99795441e-01 -9.65878209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.47538475 meters 0.06211820193924785 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.54, Z:-0.09 [[ 9.98374125e-01 5.33964293e-02 -1.99481318e-02 8.76534614e+00] [-5.33650744e-02 9.98572858e-01 2.10122846e-03 -5.36600360e-01] [ 2.00318611e-02 -1.03327859e-03 9.99798808e-01 -9.39164350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.53538475 meters 0.059133145130341964 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.53, Z:-0.09 [[ 9.97518019e-01 6.69274423e-02 -2.18751030e-02 8.82755111e+00] [-6.68929714e-02 9.97757495e-01 2.30457893e-03 -5.26225726e-01] [ 2.19802876e-02 -8.35568368e-04 9.99758055e-01 -9.03538458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.595384750000001 meters 0.0595082110510161 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.53, Z:-0.09 [[ 9.97380506e-01 6.86389176e-02 -2.28215999e-02 8.88837113e+00] [-6.86016337e-02 9.97641213e-01 2.41354138e-03 -5.29192004e-01] [ 2.29334315e-02 -8.41620079e-04 9.99736640e-01 -9.37907140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.65538475 meters 0.06106464961973688 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.54, Z:-0.09 [[ 9.97888323e-01 6.10980363e-02 -2.20437202e-02 8.94854618e+00] [-6.10614855e-02 9.98131292e-01 2.32803729e-03 -5.40775130e-01] [ 2.21447654e-02 -9.77098929e-04 9.99754297e-01 -9.36037627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.71538475 meters 0.06272109747095928 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.55, Z:-0.09 [[ 9.98475745e-01 4.95025158e-02 -2.44067046e-02 9.00811378e+00] [-4.94542494e-02 9.98773064e-01 2.57760769e-03 -5.53873587e-01] [ 2.45043572e-02 -1.36666350e-03 9.99698789e-01 -9.30684605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.77538475 meters 0.06310179258497133 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.56, Z:-0.09 [[ 9.98799332e-01 4.22805366e-02 -2.47436982e-02 9.06823351e+00] [-4.22286786e-02 9.99104550e-01 2.61482877e-03 -5.62816270e-01] [ 2.48320978e-02 -1.56679555e-03 9.99690408e-01 -9.27108034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.835384750000001 meters 0.06320427081794308 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.57, Z:-0.09 [[ 9.98784111e-01 4.25415696e-02 -2.49101209e-02 9.13088103e+00] [-4.24887905e-02 9.99093444e-01 2.64448274e-03 -5.67933341e-01] [ 2.50000390e-02 -1.58286643e-03 9.99686197e-01 -9.17887914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.89538475 meters 0.06181870481181884 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.57, Z:-0.09 [[ 9.98458557e-01 5.08295017e-02 -2.22906357e-02 9.19152924e+00] [-5.07893994e-02 9.98706593e-01 2.36189170e-03 -5.66777780e-01] [ 2.23818586e-02 -1.22612298e-03 9.99748743e-01 -9.19065447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.95538475 meters 0.06152262500216999 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.57, Z:-0.09 [[ 9.98373884e-01 5.31368129e-02 -2.06414013e-02 9.25312744e+00] [-5.31028712e-02 9.98586647e-01 2.18939196e-03 -5.70853805e-01] [ 2.07285651e-02 -1.08971408e-03 9.99784546e-01 -9.29760522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.01538475 meters 0.06179653126182939 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.58, Z:-0.09 [[ 9.98343513e-01 5.17890458e-02 -2.50624104e-02 9.31353288e+00] [-5.17385853e-02 9.98657125e-01 2.65810584e-03 -5.76333524e-01] [ 2.51664154e-02 -1.35700907e-03 9.99682355e-01 -9.47655895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.07538475 meters 0.0632972505433682 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.58, Z:-0.10 [[ 9.98392313e-01 4.82620605e-02 -2.97247757e-02 9.37338249e+00] [-4.81895438e-02 9.98833237e-01 3.15158006e-03 -5.81522032e-01] [ 2.98421957e-02 -1.71408993e-03 9.99553153e-01 -9.82076913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.13538475 meters 0.06356458284035274 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.59, Z:-0.10 [[ 9.98375337e-01 4.69221371e-02 -3.23264480e-02 9.43456312e+00] [-4.68355962e-02 9.98896724e-01 3.42954103e-03 -5.86950473e-01] [ 3.24517044e-02 -1.90994071e-03 9.99471480e-01 -9.85042227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.19538475 meters 0.06376717707912347 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.59, Z:-0.10 [[ 9.98254553e-01 4.81510367e-02 -3.41953950e-02 9.49691546e+00] [-4.80544587e-02 9.98838081e-01 3.64104226e-03 -5.88993254e-01] [ 3.43309827e-02 -1.99144582e-03 9.99408534e-01 -1.01726185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.255384750000001 meters 0.06252757276210438 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.59, Z:-0.10 [[ 9.97923528e-01 5.58649068e-02 -3.20584630e-02 9.55854331e+00] [-5.57840853e-02 9.98437030e-01 3.41065747e-03 -5.87399602e-01] [ 3.21988927e-02 -1.61522330e-03 9.99480176e-01 -1.01327433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.31538475 meters 0.06086954302136745 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.59, Z:-0.10 [[ 9.97174965e-01 6.90243011e-02 -2.96265986e-02 9.61965242e+00] [-6.89610791e-02 9.97614373e-01 3.15166865e-03 -5.85612390e-01] [ 2.97734623e-02 -1.09968287e-03 9.99556067e-01 -1.01678430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.37538475 meters 0.05934275887273329 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.58, Z:-0.10 [[ 9.96242685e-01 8.19268747e-02 -2.80802385e-02 9.68058863e+00] [-8.18751983e-02 9.96638113e-01 2.98709895e-03 -5.83056479e-01] [ 2.82305596e-02 -6.76800389e-04 9.99601209e-01 -1.02122275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.43538475 meters 0.058412936642722436 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.58, Z:-0.10 [[ 9.95078925e-01 9.53399198e-02 -2.69857952e-02 9.74213077e+00] [-9.52970952e-02 9.95444734e-01 2.87151223e-03 -5.82614471e-01] [ 2.71366375e-02 -2.85713405e-04 9.99631693e-01 -1.03271361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.495384750000001 meters 0.058390145712485915 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.59, Z:-0.11 [[ 9.94279233e-01 1.03089603e-01 -2.79524544e-02 9.80291475e+00] [-1.03046411e-01 9.94672070e-01 2.98512144e-03 -5.91873576e-01] [ 2.81112606e-02 -8.76441416e-05 9.99604797e-01 -1.06227980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.55538475 meters 0.05849823494551443 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.61, Z:-0.11 [[ 9.94167125e-01 1.04164660e-01 -2.79544648e-02 9.86443277e+00] [-1.04121609e-01 9.94560063e-01 2.99524826e-03 -6.07405629e-01] [ 2.81143933e-02 -6.71134983e-05 9.99604710e-01 -1.09857441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.61538475 meters 0.05828599133111515 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.63, Z:-0.11 [[ 9.94574797e-01 1.00667876e-01 -2.62097718e-02 9.92490299e+00] [-1.00628817e-01 9.94920074e-01 2.80830501e-03 -6.30280648e-01] [ 2.63593342e-02 -1.55611041e-04 9.99652520e-01 -1.09368244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.675384750000001 meters 0.05862564377972363 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.65, Z:-0.11 [[ 9.94765470e-01 9.91019926e-02 -2.49089362e-02 9.98437187e+00] [-9.90661001e-02 9.95077262e-01 2.67389528e-03 -6.49392607e-01] [ 2.50513044e-02 -1.92267527e-04 9.99686148e-01 -1.13842413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.73538475 meters 0.05861555170061516 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.66, Z:-0.12 [[ 9.94463720e-01 1.03024835e-01 -2.06831582e-02 1.00446556e+01] [-1.03000912e-01 9.94678781e-01 2.22146563e-03 -6.64692441e-01] [ 2.08019647e-02 -7.87828224e-05 9.99783613e-01 -1.15124664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.79538475 meters 0.05868071528675918 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.68, Z:-0.12 [[ 9.94095793e-01 1.06688923e-01 -1.97744130e-02 1.01059268e+01] [-1.06667737e-01 9.94292449e-01 2.12605316e-03 -6.80250366e-01] [ 1.98883758e-02 -4.20861127e-06 9.99802207e-01 -1.16891676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.85538475 meters 0.0590729672173365 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.70, Z:-0.12 [[ 9.94196279e-01 1.05493109e-01 -2.10941411e-02 1.01656394e+01] [-1.05468555e-01 9.94420033e-01 2.27627079e-03 -7.01469193e-01] [ 2.12165674e-02 -3.82913612e-05 9.99774903e-01 -1.20216609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.915384750000001 meters 0.05953196395974583 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.73, Z:-0.12 [[ 9.94792934e-01 9.90829825e-02 -2.38659038e-02 1.02233766e+01] [-9.90497566e-02 9.95079155e-01 2.57323192e-03 -7.27977239e-01] [ 2.40034268e-02 -1.95920967e-04 9.99711857e-01 -1.24244035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.97538475 meters 0.05978890738049521 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.75, Z:-0.13 [[ 9.95509120e-01 9.23718070e-02 -2.07133037e-02 1.02839327e+01] [-9.23452366e-02 9.95724535e-01 2.23766151e-03 -7.50498052e-01] [ 2.08314416e-02 -3.14837504e-04 9.99782952e-01 -1.26137754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.03538475 meters 0.06009977809109997 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.77, Z:-0.12 [[ 9.96197670e-01 8.56176565e-02 -1.61188964e-02 1.03435439e+01] [-8.56005776e-02 9.96328001e-01 1.74780172e-03 -7.74270902e-01] [ 1.62093506e-02 -3.61369155e-04 9.99868555e-01 -1.24019942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.095384750000001 meters 0.06088854233734328 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.79, Z:-0.12 [[ 9.96569773e-01 8.15690757e-02 -1.39704740e-02 1.04040259e+01] [-8.15557904e-02 9.96667620e-01 1.51899221e-03 -7.94042119e-01] [ 1.40478219e-02 -3.74408665e-04 9.99901254e-01 -1.23559388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.15538475 meters 0.06084551740869597 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.80, Z:-0.13 [[ 9.96342621e-01 8.41784042e-02 -1.46757301e-02 1.04656248e+01] [-8.41639710e-02 9.96450635e-01 1.59942734e-03 -8.04720225e-01] [ 1.47582778e-02 -3.58409906e-04 9.99891026e-01 -1.25434173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.21538475 meters 0.06029067081951575 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.82, Z:-0.13 [[ 9.96042685e-01 8.80006106e-02 -1.24443693e-02 1.05257568e+01] [-8.79905573e-02 9.96120388e-01 1.35413763e-03 -8.16621311e-01] [ 1.25152549e-02 -2.53791885e-04 9.99921649e-01 -1.25938055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.27538475 meters 0.05993495053998166 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.83, Z:-0.12 [[ 9.95853654e-01 9.01457002e-02 -1.22168678e-02 1.05864101e+01] [-9.01360913e-02 9.95928562e-01 1.33599229e-03 -8.29464764e-01] [ 1.22875615e-02 -2.29272095e-04 9.99924479e-01 -1.24577297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.335384750000001 meters 0.06078911407852703 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.85, Z:-0.13 [[ 9.96011734e-01 8.76467965e-02 -1.66932523e-02 1.06457275e+01] [-8.76285806e-02 9.96151553e-01 1.82096501e-03 -8.46458265e-01] [ 1.67886109e-02 -3.50896515e-04 9.99859000e-01 -1.27939531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.39538475 meters 0.06109900841063248 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.86, Z:-0.13 [[ 9.96512649e-01 8.22723379e-02 -1.39213337e-02 1.07063196e+01] [-8.22590441e-02 9.96609814e-01 1.52582029e-03 -8.64885588e-01] [ 1.39996706e-02 -3.75343613e-04 9.99901929e-01 -1.25732766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.45538475 meters 0.061575235317648566 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.88, Z:-0.12 [[ 9.97084139e-01 7.55413859e-02 -1.08036324e-02 1.07667474e+01] [-7.55329490e-02 9.97142599e-01 1.18741385e-03 -8.80552176e-01] [ 1.08624610e-02 -3.67921304e-04 9.99940934e-01 -1.22760776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.51538475 meters 0.06284718678829816 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.90, Z:-0.12 [[ 9.97845377e-01 6.46673506e-02 -1.10786720e-02 1.08258077e+01] [-6.46578450e-02 9.97906753e-01 1.21441780e-03 -8.97982672e-01] [ 1.11340148e-02 -4.95478128e-04 9.99937892e-01 -1.19320799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.57538475 meters 0.06521311333266257 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.91, Z:-0.12 [[ 9.98771570e-01 4.86837486e-02 -9.23279087e-03 1.08846745e+01] [-4.86764655e-02 9.98814086e-01 1.01204765e-03 -9.14188592e-01] [ 9.27111185e-03 -5.61384792e-04 9.99956865e-01 -1.18975571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.63538475 meters 0.0693151449900675 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.93, Z:-0.12 [[ 9.99433000e-01 3.20867437e-02 -1.02038482e-02 1.09425624e+01] [-3.20769814e-02 9.99484775e-01 1.11899432e-03 -9.32026099e-01] [ 1.02344958e-02 -7.91051198e-04 9.99947313e-01 -1.18788684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.69538475 meters 0.07437672505741104 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.94, Z:-0.12 [[ 9.99773927e-01 1.69449022e-02 -1.28438675e-02 1.10012167e+01] [-1.69281881e-02 9.99855715e-01 1.40893916e-03 -9.42071802e-01] [ 1.28658886e-02 -1.19119723e-03 9.99916521e-01 -1.19068536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.755384750000001 meters 0.07399521623313894 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.94, Z:-0.12 [[ 9.99765391e-01 1.63570128e-02 -1.41989809e-02 1.10640139e+01] [-1.63365032e-02 9.99865335e-01 1.55923910e-03 -9.37974512e-01] [ 1.42225733e-02 -1.32691159e-03 9.99897974e-01 -1.21718173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.81538475 meters 0.07167803225193993 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.92, Z:-0.12 [[ 9.99667107e-01 2.26441821e-02 -1.23658981e-02 1.11262139e+01] [-2.26291130e-02 9.99743008e-01 1.35717975e-03 -9.23073120e-01] [ 1.23934523e-02 -1.07689865e-03 9.99922618e-01 -1.21486140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.87538475 meters 0.06921719345929517 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.91, Z:-0.12 [[ 9.99531629e-01 2.88177219e-02 -1.02985698e-02 1.11888133e+01] [-2.88075945e-02 9.99584336e-01 1.13040059e-03 -9.05064536e-01] [ 1.03268647e-02 -8.33194123e-04 9.99946329e-01 -1.20952242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.93538475 meters 0.06372634815854736 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.87, Z:-0.12 [[ 9.99143501e-01 3.90235354e-02 -1.37633055e-02 1.12539368e+01] [-3.90064106e-02 9.99237819e-01 1.51059327e-03 -8.70834728e-01] [ 1.38117641e-02 -9.72442303e-04 9.99904140e-01 -1.18554635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.99538475 meters 0.06297179618604817 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.86, Z:-0.12 [[ 9.98789625e-01 4.69551822e-02 -1.46456951e-02 1.13155531e+01] [-4.69366406e-02 9.98896575e-01 1.60736592e-03 -8.61568800e-01] [ 1.47050089e-02 -9.18000671e-04 9.99891454e-01 -1.19426929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.05538475 meters 0.061011457721036444 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.85, Z:-0.12 [[ 9.98173775e-01 5.81893974e-02 -1.62206051e-02 1.13777779e+01] [-5.81681271e-02 9.98305213e-01 1.78043722e-03 -8.49261252e-01] [ 1.62967172e-02 -8.33663524e-04 9.99866852e-01 -1.20603909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.11538475 meters 0.058595856973579864 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.83, Z:-0.12 [[ 9.96827799e-01 7.69938166e-02 -2.01566753e-02 1.14405574e+01] [-7.69648029e-02 9.97031356e-01 2.21238267e-03 -8.29168654e-01] [ 2.02671771e-02 -6.54010008e-04 9.99794386e-01 -1.22470921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.175384750000001 meters 0.05758589558503351 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.82, Z:-0.12 [[ 9.95586059e-01 9.17807248e-02 -1.96137116e-02 1.15012475e+01] [-9.17561312e-02 9.95779183e-01 2.15207271e-03 -8.18926245e-01] [ 1.97284445e-02 -3.42895286e-04 9.99805316e-01 -1.23673377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.23538475 meters 0.056761139223610806 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.82, Z:-0.12 [[ 9.95167003e-01 9.66113975e-02 -1.75747854e-02 1.15634006e+01] [-9.65923665e-02 9.95322153e-01 1.93050161e-03 -8.17724838e-01] [ 1.76790817e-02 -2.23581396e-04 9.99843688e-01 -1.24702548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.29538475 meters 0.05650743718001291 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.83, Z:-0.12 [[ 9.95430470e-01 9.37597870e-02 -1.80909207e-02 1.16247350e+01] [-9.37389979e-02 9.95594806e-01 1.99559717e-03 -8.26369696e-01] [ 1.81983335e-02 -2.90653455e-04 9.99834354e-01 -1.22857189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.35538475 meters 0.056832933997490516 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.84, Z:-0.12 [[ 9.96413894e-01 8.34732602e-02 -1.38407730e-02 1.16841196e+01] [-8.34600405e-02 9.96509949e-01 1.53100849e-03 -8.44004061e-01] [ 1.39202663e-02 -3.70366652e-04 9.99903040e-01 -1.23833111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.41538475 meters 0.05781169865755247 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.86, Z:-0.12 [[ 9.97361152e-01 7.19748505e-02 -9.50543685e-03 1.17433955e+01] [-7.19681095e-02 9.97406381e-01 1.04977872e-03 -8.61936503e-01] [ 9.55634104e-03 -3.62920197e-04 9.99954271e-01 -1.23309583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.47538475 meters 0.059878021036007846 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.88, Z:-0.12 [[ 9.98051760e-01 6.17122295e-02 -9.18064322e-03 1.18018493e+01] [-6.17055030e-02 9.98093884e-01 1.01440904e-03 -8.80103733e-01] [ 9.22574529e-03 -4.45936525e-04 9.99957342e-01 -1.24992342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.53538475 meters 0.06061082996411356 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.89, Z:-0.13 [[ 9.98333677e-01 5.70303506e-02 -8.79817882e-03 1.18624238e+01] [-5.70239925e-02 9.98372335e-01 9.72043399e-04 -8.89614955e-01] [ 8.83929431e-03 -4.68716377e-04 9.99960823e-01 -1.26152797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.595384750000001 meters 0.06030685041846687 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.89, Z:-0.13 [[ 9.98278371e-01 5.80099494e-02 -8.66833251e-03 1.19243169e+01] [-5.80037620e-02 9.98315899e-01 9.63718046e-04 -8.94826707e-01] [ 8.70963940e-03 -4.59262985e-04 9.99961965e-01 -1.27689967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.65538475 meters 0.05916267604717121 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.90, Z:-0.13 [[ 9.98044628e-01 6.18355439e-02 -9.12609376e-03 1.19854993e+01] [-6.18288736e-02 9.98086252e-01 1.01150883e-03 -8.97234090e-01] [ 9.17117592e-03 -4.45274859e-04 9.99957845e-01 -1.28233588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.71538475 meters 0.06086303382226869 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.91, Z:-0.13 [[ 9.97932825e-01 6.34610372e-02 -1.01377228e-02 1.20459524e+01] [-6.34528320e-02 9.97984200e-01 1.12930032e-03 -9.07490799e-01] [ 1.01889537e-02 -4.83698642e-04 9.99947974e-01 -1.34485513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.77538475 meters 0.06026803400663353 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.91, Z:-0.13 [[ 9.98061786e-01 6.13189000e-02 -1.06143542e-02 1.21079811e+01] [-6.13098036e-02 9.98118086e-01 1.18058552e-03 -9.11632491e-01] [ 1.06667711e-02 -5.27533321e-04 9.99942969e-01 -1.31834565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.835384750000001 meters 0.06145492714796082 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.92, Z:-0.13 [[ 9.98464695e-01 5.47021275e-02 -8.71382730e-03 1.21679231e+01] [-5.46957525e-02 9.98502597e-01 9.68403475e-04 -9.19474655e-01] [ 8.75375293e-03 -4.90307339e-04 9.99961565e-01 -1.28658853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.89538475 meters 0.06287530273905881 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.92, Z:-0.13 [[ 9.98848853e-01 4.72563215e-02 -8.23457373e-03 1.22289210e+01] [-4.72503688e-02 9.98882658e-01 9.16049694e-04 -9.20076565e-01] [ 8.26866203e-03 -5.25908540e-04 9.99965676e-01 -1.26303400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.95538475 meters 0.06463066726067875 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.92, Z:-0.12 [[ 9.99194008e-01 3.95511752e-02 -6.85845885e-03 1.22902139e+01] [-3.95468650e-02 9.99217425e-01 7.62976299e-04 -9.23178131e-01] [ 6.88326821e-03 -4.91130800e-04 9.99976189e-01 -1.22654557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.01538475 meters 0.06576906152259895 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.92, Z:-0.12 [[ 9.99311306e-01 3.63280010e-02 -7.56244320e-03 1.23519664e+01] [-3.63226652e-02 9.99339760e-01 8.41761584e-04 -9.23110282e-01] [ 7.58802969e-03 -5.66493774e-04 9.99971050e-01 -1.20249874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.07538475 meters 0.06463411504198983 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.91, Z:-0.12 [[ 9.99157444e-01 4.01759769e-02 -8.38410403e-03 1.24142081e+01] [-4.01695532e-02 9.99192442e-01 9.33238287e-04 -9.14193718e-01] [ 8.41482714e-03 -5.95666269e-04 9.99964417e-01 -1.22525552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.13538475 meters 0.06426161126621456 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.91, Z:-0.12 [[ 9.98994038e-01 4.39526393e-02 -8.89252654e-03 1.24762318e+01] [-4.39455614e-02 9.99033437e-01 9.89875010e-04 -9.10041553e-01] [ 8.92743897e-03 -5.98092163e-04 9.99959971e-01 -1.22077827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.19538475 meters 0.06268445844079452 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.90, Z:-0.12 [[ 9.98698700e-01 5.02178574e-02 -8.89236005e-03 1.25378608e+01] [-5.02110296e-02 9.98738140e-01 9.89562570e-04 -9.03385461e-01] [ 8.93083285e-03 -5.41780298e-04 9.99959973e-01 -1.22850311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.255384750000001 meters 0.06171094865473341 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.90, Z:-0.13 [[ 9.98317079e-01 5.68039448e-02 -1.16756814e-02 1.25991158e+01] [-5.67926214e-02 9.98385151e-01 1.29937939e-03 -8.99276172e-01] [ 1.17306368e-02 -6.34100087e-04 9.99930993e-01 -1.25060838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.31538475 meters 0.07008535000586907 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.92, Z:-0.14 [[ 9.98246917e-01 5.79531250e-02 -1.20219491e-02 1.26580329e+01] [-5.79411024e-02 9.98319095e-01 1.34624717e-03 -9.16916506e-01] [ 1.20797606e-02 -6.47322105e-04 9.99926828e-01 -1.36730789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.37538475 meters 0.06957442993351928 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.92, Z:-0.14 [[ 9.98449399e-01 5.39031209e-02 -1.39014831e-02 1.27193328e+01] [-5.38867055e-02 9.98545848e-01 1.55298908e-03 -9.15363421e-01] [ 1.39649792e-02 -8.01475891e-04 9.99902164e-01 -1.36150777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.43538475 meters 0.07419287637477788 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.92, Z:-0.14 [[ 9.98740525e-01 4.77044639e-02 -1.55450149e-02 1.27785137e+01] [-4.76832103e-02 9.98861002e-01 1.73522681e-03 -9.22541548e-01] [ 1.56100872e-02 -9.91805125e-04 9.99877663e-01 -1.37425729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.49538475 meters 0.07405110634311815 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.92, Z:-0.13 [[ 9.99007098e-01 4.26877967e-02 -1.27503025e-02 1.28402434e+01] [-4.26730806e-02 9.99088074e-01 1.42414127e-03 -9.22029115e-01] [ 1.27994686e-02 -8.78632550e-04 9.99917697e-01 -1.33199254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.55538475 meters 0.07480047433860054 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.92, Z:-0.13 [[ 9.99103377e-01 4.15255645e-02 -8.25048735e-03 1.29036590e+01] [-4.15192938e-02 9.99137270e-01 9.29948795e-04 -9.24255960e-01] [ 8.28198605e-03 -5.86560573e-04 9.99965532e-01 -1.31745313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.61538475 meters 0.0731559150217079 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.92, Z:-0.13 [[ 9.98942296e-01 4.53004443e-02 -7.88410333e-03 1.29646666e+01] [-4.52948759e-02 9.98973270e-01 8.83507522e-04 -9.21667722e-01] [ 7.91603176e-03 -5.25463551e-04 9.99968530e-01 -1.32230817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.675384750000001 meters 0.06897290231509244 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.91, Z:-0.14 [[ 9.98550961e-01 5.22502038e-02 -1.28799950e-02 1.30267009e+01] [-5.22359086e-02 9.98633729e-01 1.44403366e-03 -9.11462119e-01] [ 1.29378485e-02 -7.69142956e-04 9.99916007e-01 -1.35590978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.73538475 meters 0.07034133786738551 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.91, Z:-0.14 [[ 9.98448130e-01 5.25740681e-02 -1.83657243e-02 1.30882364e+01] [-5.25448717e-02 9.98616421e-01 2.06900721e-03 -9.14048472e-01] [ 1.84490900e-02 -1.10077175e-03 9.99829195e-01 -1.41504033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.79538475 meters 0.0713714063281219 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.91, Z:-0.14 [[ 9.98568588e-01 5.12256136e-02 -1.53854544e-02 1.31514623e+01] [-5.12048446e-02 9.98686654e-01 1.74108253e-03 -9.14542384e-01] [ 1.54544360e-02 -9.50780517e-04 9.99880121e-01 -1.42765014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.85538475 meters 0.07070657679581319 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.91, Z:-0.15 [[ 9.98483414e-01 5.23358670e-02 -1.70830277e-02 1.32152083e+01] [-5.23103133e-02 9.98628995e-01 1.93958994e-03 -9.11344929e-01] [ 1.71611169e-02 -1.04302985e-03 9.99852193e-01 -1.46690074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.91538475 meters 0.07154472978138413 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.92, Z:-0.15 [[ 9.98402370e-01 5.40389872e-02 -1.65074329e-02 1.32773213e+01] [-5.40152751e-02 9.98538341e-01 1.87927230e-03 -9.16748508e-01] [ 1.65848586e-02 -9.84616389e-04 9.99861977e-01 -1.49742694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.97538475 meters 0.0671456491713324 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.90, Z:-0.15 [[ 9.97828442e-01 6.46057420e-02 -1.28256591e-02 1.33395277e+01] [-6.45923469e-02 9.97910671e-01 1.45633447e-03 -9.04470129e-01] [ 1.28929497e-02 -6.24732533e-04 9.99916687e-01 -1.49633297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.03538475 meters 0.06285180394067764 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.89, Z:-0.15 [[ 9.97046873e-01 7.57147094e-02 -1.28380781e-02 1.34020637e+01] [-7.57021977e-02 9.97129405e-01 1.45844993e-03 -8.93725856e-01] [ 1.29116513e-02 -4.82272218e-04 9.99916525e-01 -1.49232150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.095384749999997 meters 0.06071771145991609 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.89, Z:-0.15 [[ 9.96408861e-01 8.33384160e-02 -1.49696344e-02 1.34645780e+01] [-8.33222214e-02 9.96521202e-01 1.70336764e-03 -8.90432382e-01] [ 1.50595140e-02 -4.49947424e-04 9.99886498e-01 -1.51186635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.15538475 meters 0.059919010303125554 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.89, Z:-0.15 [[ 9.96065793e-01 8.75029300e-02 -1.40061630e-02 1.35249610e+01] [-8.74891264e-02 9.96164195e-01 1.59642411e-03 -8.94033046e-01] [ 1.40921299e-02 -3.64756484e-04 9.99900634e-01 -1.52899215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.21538475 meters 0.06033734182111192 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.91, Z:-0.15 [[ 9.96177959e-01 8.59568649e-02 -1.55206591e-02 1.35859194e+01] [-8.59396011e-02 9.96298764e-01 1.77709939e-03 -9.09425095e-01] [ 1.56159674e-02 -4.36467992e-04 9.99877968e-01 -1.53242476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.275384749999997 meters 0.06284536751694098 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.93, Z:-0.15 [[ 9.96941893e-01 7.63126795e-02 -1.68296594e-02 1.36445138e+01] [-7.62910923e-02 9.97083735e-01 1.92193634e-03 -9.31956248e-01] [ 1.69272478e-02 -6.32105755e-04 9.99856524e-01 -1.54487450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.33538475 meters 0.06935383332080343 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.97, Z:-0.16 [[ 9.97904913e-01 6.21304556e-02 -1.80441318e-02 1.37002438e+01] [-6.21033378e-02 9.98067599e-01 2.05987659e-03 -9.65647568e-01] [ 1.81372444e-02 -9.34960160e-04 9.99835070e-01 -1.55043570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.395384749999998 meters 0.07339159339081705 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.99, Z:-0.15 [[ 9.98564292e-01 5.08117352e-02 -1.69564600e-02 1.37588366e+01] [-5.07861422e-02 9.98707673e-01 1.93682869e-03 -9.89349201e-01] [ 1.70329603e-02 -1.07289478e-03 9.99854353e-01 -1.52812229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.455384749999997 meters 0.07515534902814641 Centerline is valid? [True, True] Translation: X:13.82, Y:-1.00, Z:-0.16 [[ 9.98657819e-01 4.80108711e-02 -1.94297970e-02 1.38188382e+01] [-4.79767306e-02 9.98845987e-01 2.21972425e-03 -1.00151006e+00] [ 1.95139457e-02 -1.28456684e-03 9.99808760e-01 -1.55543441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.51538475 meters 0.07437284739311725 Centerline is valid? [True, True] Translation: X:13.88, Y:-1.01, Z:-0.16 [[ 9.98665315e-01 4.82064420e-02 -1.85399178e-02 1.38808201e+01] [-4.81751873e-02 9.98836633e-01 2.12901244e-03 -1.00600212e+00] [ 1.86209812e-02 -1.23300686e-03 9.99825854e-01 -1.56017936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.575384749999998 meters 0.0746326797948203 Centerline is valid? [True, True] Translation: X:13.94, Y:-1.01, Z:-0.16 [[ 9.98752450e-01 4.76424681e-02 -1.49579350e-02 1.39429346e+01] [-4.76219694e-02 9.98863943e-01 1.72383365e-03 -1.00881252e+00] [ 1.50230696e-02 -1.00935676e-03 9.99886638e-01 -1.55151862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.63538475 meters 0.07673961425981146 Centerline is valid? [True, True] Translation: X:14.00, Y:-1.02, Z:-0.15 [[ 9.99049746e-01 4.15264056e-02 -1.32349347e-02 1.40033796e+01] [-4.15098780e-02 9.99136936e-01 1.52116715e-03 -1.01665863e+00] [ 1.32866807e-02 -9.70341127e-04 9.99911257e-01 -1.52846038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.69538475 meters 0.08086481242835086 Centerline is valid? [True, True] Translation: X:14.06, Y:-1.02, Z:-0.15 [[ 9.99406147e-01 3.15898646e-02 -1.37634819e-02 1.40637880e+01] [-3.15710526e-02 9.99500258e-01 1.58199353e-03 -1.02407153e+00] [ 1.38065787e-02 -1.14652644e-03 9.99904027e-01 -1.54371462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.755384749999997 meters 0.08222446422342619 Centerline is valid? [True, True] Translation: X:14.13, Y:-1.02, Z:-0.16 [[ 9.99404308e-01 3.00754670e-02 -1.69261608e-02 1.41251633e+01] [-3.00467874e-02 9.99546599e-01 1.94621266e-03 -1.02265741e+00] [ 1.69770197e-02 -1.43647657e-03 9.99854848e-01 -1.58306549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.81538475 meters 0.0794472949967601 Centerline is valid? [True, True] Translation: X:14.19, Y:-1.01, Z:-0.16 [[ 9.99077595e-01 3.79028431e-02 -2.01824893e-02 1.41874445e+01] [-3.78636604e-02 9.99280221e-01 2.32016488e-03 -1.01101737e+00] [ 2.02559032e-02 -1.55384183e-03 9.99793621e-01 -1.62075258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.87538475 meters 0.0749446765732398 Centerline is valid? [True, True] Translation: X:14.25, Y:-1.00, Z:-0.16 [[ 9.98574468e-01 4.89198138e-02 -2.13514426e-02 1.42497787e+01] [-4.88784576e-02 9.98801717e-01 2.45483299e-03 -9.98241640e-01] [ 2.14459475e-02 -1.40770796e-03 9.99769018e-01 -1.64657334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.935384749999997 meters 0.06842155571807364 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.98, Z:-0.17 [[ 9.97362693e-01 6.73719110e-02 -2.69941687e-02 1.43127862e+01] [-6.73125230e-02 9.97727113e-01 3.10374470e-03 -9.75438072e-01] [ 2.71419192e-02 -1.27851357e-03 9.99630773e-01 -1.73673483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.99538475 meters 0.06562403075758289 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.97, Z:-0.17 [[ 9.96762065e-01 7.60634701e-02 -2.60717177e-02 1.43744412e+01] [-7.60110389e-02 9.97102470e-01 2.99764986e-03 -9.71950524e-01] [ 2.62241858e-02 -1.00620531e-03 9.99655581e-01 -1.74920296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.055384749999998 meters 0.062343732414433445 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.97, Z:-0.17 [[ 9.95887986e-01 8.66576825e-02 -2.64114677e-02 1.44362365e+01] [-8.66075703e-02 9.96237874e-01 3.03756842e-03 -9.68178427e-01] [ 2.65753331e-02 -7.37644841e-04 9.99646541e-01 -1.74830957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.115384749999997 meters 0.05986943301540128 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.96, Z:-0.18 [[ 9.94698703e-01 9.89747856e-02 -2.79012747e-02 1.44982821e+01] [-9.89236452e-02 9.95089847e-01 3.21070095e-03 -9.64791455e-01] [ 2.80820536e-02 -4.33584277e-04 9.99605527e-01 -1.75942546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.17538475 meters 0.05865179053653213 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.97, Z:-0.18 [[ 9.93343251e-01 1.12177514e-01 -2.61799861e-02 1.45594443e+01] [-1.12137033e-01 9.93688181e-01 3.01393772e-03 -9.66922484e-01] [ 2.63528388e-02 -5.81287294e-05 9.99652702e-01 -1.77489719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.235384749999998 meters 0.05898379621894451 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.97, Z:-0.18 [[ 9.91927266e-01 1.24395730e-01 -2.46171007e-02 1.46204365e+01] [-1.24363422e-01 9.92232657e-01 2.84505453e-03 -9.70782412e-01] [ 2.47798039e-02 2.39379723e-04 9.99692905e-01 -1.81126415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.29538475 meters 0.05965020617199622 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.98, Z:-0.18 [[ 9.90738307e-01 1.33473926e-01 -2.49463054e-02 1.46813442e+01] [-1.33443639e-01 9.91052212e-01 2.88238510e-03 -9.84698539e-01] [ 2.51078144e-02 4.73236439e-04 9.99684637e-01 -1.80484415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.35538475 meters 0.05803404334238403 Centerline is valid? [True, True] Translation: X:14.74, Y:-1.01, Z:-0.17 [[ 9.90126261e-01 1.38157322e-01 -2.37179501e-02 1.47402864e+01] [-1.38131012e-01 9.90410142e-01 2.75195017e-03 -1.01446121e+00] [ 2.38707004e-02 5.51406324e-04 9.99714902e-01 -1.68280951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.415384749999998 meters 0.05859623532454852 Centerline is valid? [True, True] Translation: X:14.80, Y:-1.04, Z:-0.17 [[ 9.89357638e-01 1.43747936e-01 -2.25387494e-02 1.47999986e+01] [-1.43725658e-01 9.89614119e-01 2.61372218e-03 -1.04013104e+00] [ 2.26803818e-02 6.53490568e-04 9.99742553e-01 -1.68784317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.47538475 meters 0.059455047715905714 Centerline is valid? [True, True] Translation: X:14.86, Y:-1.06, Z:-0.17 [[ 9.88189120e-01 1.51706277e-01 -2.16210041e-02 1.48581364e+01] [-1.51687684e-01 9.88425294e-01 2.50694395e-03 -1.06442691e+00] [ 2.17510664e-02 8.02305296e-04 9.99763096e-01 -1.70536980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.53538475 meters 0.05962388774546964 Centerline is valid? [True, True] Translation: X:14.92, Y:-1.09, Z:-0.17 [[ 9.87700577e-01 1.55539756e-01 -1.59672689e-02 1.49179352e+01] [-1.55530069e-01 9.87829418e-01 1.85428902e-03 -1.09286599e+00] [ 1.60613536e-02 6.51908096e-04 9.99870796e-01 -1.69265679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.595384749999997 meters 0.05906880626825285 Centerline is valid? [True, True] Translation: X:14.98, Y:-1.13, Z:-0.17 [[ 9.88325652e-01 1.51885572e-01 -1.19657619e-02 1.49756388e+01] [-1.51879870e-01 9.88397984e-01 1.38906108e-03 -1.12653222e+00] [ 1.20379133e-02 4.44513670e-04 9.99927443e-01 -1.68922655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.65538475 meters 0.0583792853859458 Centerline is valid? [True, True] Translation: X:15.03, Y:-1.16, Z:-0.17 [[ 9.89544783e-01 1.44001490e-01 -8.04326021e-03 1.50322274e+01] [-1.43998654e-01 9.89577443e-01 9.33633090e-04 -1.16283482e+00] [ 8.09387343e-03 2.34346890e-04 9.99967217e-01 -1.70825246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.71538475 meters 0.05854024389203744 Centerline is valid? [True, True] Translation: X:15.09, Y:-1.19, Z:-0.18 [[ 9.89975973e-01 1.41075951e-01 -6.71933049e-03 1.50900318e+01] [-1.41073900e-01 9.89998760e-01 7.80740987e-04 -1.19450678e+00] [ 6.76227264e-03 1.75007337e-04 9.99977120e-01 -1.77857290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.775384749999997 meters 0.059639572300989444 Centerline is valid? [True, True] Translation: X:15.15, Y:-1.22, Z:-0.18 [[ 9.89107318e-01 1.47110748e-01 -5.01419836e-03 1.51488156e+01] [-1.47109659e-01 9.89120015e-01 5.87253926e-04 -1.22044631e+00] [ 5.04603532e-03 1.56779855e-04 9.99987256e-01 -1.81183879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.83538475 meters 0.06127313293942963 Centerline is valid? [True, True] Translation: X:15.21, Y:-1.24, Z:-0.19 [[ 9.88554050e-01 1.50812546e-01 -4.05794828e-03 1.52084625e+01] [-1.50811857e-01 9.88562368e-01 4.76976375e-04 -1.23745535e+00] [ 4.08346898e-03 1.40469791e-04 9.99991653e-01 -1.85490161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.895384749999998 meters 0.0614897094077422 Centerline is valid? [True, True] Translation: X:15.27, Y:-1.26, Z:-0.19 [[ 9.88118260e-01 1.53657785e-01 -3.40415390e-03 1.52675902e+01] [-1.53657323e-01 9.88124116e-01 3.98464925e-04 -1.26498768e+00] [ 3.42495380e-03 1.29342708e-04 9.99994126e-01 -1.87897972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.955384749999997 meters 0.0619023722141309 Centerline is valid? [True, True] Translation: X:15.33, Y:-1.29, Z:-0.19 [[ 9.88369635e-01 1.52070428e-01 2.21937378e-04 1.53252245e+01] [-1.52070426e-01 9.88369660e-01 -2.56346173e-05 -1.29014611e+00] [-2.23254438e-04 -8.41363429e-06 9.99999975e-01 -1.91963972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.01538475 meters 0.06024917141799539 Centerline is valid? [True, True] Translation: X:15.38, Y:-1.33, Z:-0.19 [[ 9.89231448e-01 1.46311320e-01 3.76038347e-03 1.53824566e+01] [-1.46310708e-01 9.89238588e-01 -4.38812853e-04 -1.32505463e+00] [-3.78411973e-03 -1.16096893e-04 9.99992833e-01 -1.91205936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.075384749999998 meters 0.05948212489487899 Centerline is valid? [True, True] Translation: X:15.44, Y:-1.35, Z:-0.19 [[ 9.89855727e-01 1.41854928e-01 7.92581331e-03 1.54405484e+01] [-1.41852064e-01 9.89887436e-01 -9.25241653e-04 -1.35422126e+00] [-7.97691311e-03 -2.08437225e-04 9.99968162e-01 -1.91410570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.13538475 meters 0.05928226106957221 Centerline is valid? [True, True] Translation: X:15.50, Y:-1.38, Z:-0.19 [[ 9.90247557e-01 1.38969401e-01 9.86312423e-03 1.54995396e+01] [-1.38964825e-01 9.90296649e-01 -1.15103582e-03 -1.37896295e+00] [-9.92737763e-03 -2.30816927e-04 9.99950696e-01 -1.93787933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.19538475 meters 0.05866826921022776 Centerline is valid? [True, True] Translation: X:15.56, Y:-1.41, Z:-0.20 [[ 9.90739711e-01 1.35377101e-01 1.03857920e-02 1.55590298e+01] [-1.35371798e-01 9.90794126e-01 -1.21511829e-03 -1.40510779e+00] [-1.04546809e-02 -2.02077397e-04 9.99945328e-01 -1.96780479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.255384749999997 meters 0.05812497539244697 Centerline is valid? [True, True] Translation: X:15.62, Y:-1.43, Z:-0.20 [[ 9.91342145e-01 1.30881841e-01 1.05211893e-02 1.56188832e+01] [-1.30876110e-01 9.91397963e-01 -1.23431240e-03 -1.43218077e+00] [-1.05922347e-02 -1.53346433e-04 9.99943889e-01 -1.97488954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.31538475 meters 0.05791465476621176 Centerline is valid? [True, True] Translation: X:15.68, Y:-1.45, Z:-0.20 [[ 9.91780870e-01 1.27537910e-01 1.02365694e-02 1.56777329e+01] [-1.27532296e-01 9.91833690e-01 -1.20205416e-03 -1.45455712e+00] [-1.03062819e-02 -1.13318877e-04 9.99946882e-01 -2.00313022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.37538475 meters 0.05728149699461378 Centerline is valid? [True, True] Translation: X:15.74, Y:-1.48, Z:-0.20 [[ 9.92123993e-01 1.24713587e-01 1.16835044e-02 1.57378697e+01] [-1.24706037e-01 9.92192780e-01 -1.37533169e-03 -1.47807550e+00] [-1.17638113e-02 -9.25039680e-05 9.99930800e-01 -1.99871778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.435384749999997 meters 0.05717674772968917 Centerline is valid? [True, True] Translation: X:15.80, Y:-1.50, Z:-0.20 [[ 9.92717679e-01 1.19880850e-01 1.18402661e-02 1.57979189e+01] [-1.19872714e-01 9.92788286e-01 -1.39697852e-03 -1.50106092e+00] [-1.19223484e-02 -3.25195568e-05 9.99928926e-01 -2.02214614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.49538475 meters 0.05706322699635894 Centerline is valid? [True, True] Translation: X:15.86, Y:-1.52, Z:-0.21 [[ 9.93227282e-01 1.15875583e-01 8.50974217e-03 1.58576513e+01] [-1.15871224e-01 9.93263736e-01 -1.00524011e-03 -1.52453471e+00] [-8.56890108e-03 1.23976663e-05 9.99963286e-01 -2.06433160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.555384749999998 meters 0.056932294991367566 Centerline is valid? [True, True] Translation: X:15.92, Y:-1.55, Z:-0.21 [[ 9.93526514e-01 1.13298238e-01 8.28096085e-03 1.59183844e+01] [-1.13294002e-01 9.93561024e-01 -9.80420931e-04 -1.54550377e+00] [-8.33871990e-03 3.58909979e-05 9.99965232e-01 -2.06341977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.615384749999997 meters 0.05671988053377655 Centerline is valid? [True, True] Translation: X:15.98, Y:-1.56, Z:-0.21 [[ 9.93400817e-01 1.14428210e-01 7.81034158e-03 1.59786528e+01] [-1.14424458e-01 9.93431520e-01 -9.27024728e-04 -1.56312428e+00] [-7.86511729e-03 2.72130182e-05 9.99969069e-01 -2.07387426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.67538475 meters 0.05639992453120056 Centerline is valid? [True, True] Translation: X:16.04, Y:-1.57, Z:-0.21 [[ 9.92518466e-01 1.21835662e-01 7.94765026e-03 1.60396153e+01] [-1.21831995e-01 9.92550286e-01 -9.45732847e-04 -1.57455005e+00] [-8.00366653e-03 -2.96207739e-05 9.99967970e-01 -2.09119253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.735384749999998 meters 0.05637748294845117 Centerline is valid? [True, True] Translation: X:16.10, Y:-1.59, Z:-0.21 [[ 9.92075152e-01 1.25387256e-01 8.05788306e-03 1.61007944e+01] [-1.25383585e-01 9.92107874e-01 -9.61157543e-04 -1.58627323e+00] [-8.11480614e-03 -5.67857467e-05 9.99967073e-01 -2.08251974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.795384749999997 meters 0.05636748396369386 Centerline is valid? [True, True] Translation: X:16.16, Y:-1.60, Z:-0.21 [[ 9.91607595e-01 1.29147433e-01 5.94281277e-03 1.61616293e+01] [-1.29145500e-01 9.91625401e-01 -7.09500792e-04 -1.60019862e+00] [-5.98467431e-03 -6.39411535e-05 9.99982090e-01 -2.10773626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.85538475 meters 0.05670658428647812 Centerline is valid? [True, True] Translation: X:16.22, Y:-1.61, Z:-0.22 [[ 9.91285633e-01 1.31691034e-01 3.20381519e-03 1.62220404e+01] [-1.31690489e-01 9.91290810e-01 -3.81673771e-04 -1.61360924e+00] [-3.22617556e-03 -4.35642614e-05 9.99994795e-01 -2.15204483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.915384749999998 meters 0.0561500689775588 Centerline is valid? [True, True] Translation: X:16.28, Y:-1.64, Z:-0.21 [[ 9.91519654e-01 1.29941806e-01 1.97558891e-03 1.62824488e+01] [-1.29941597e-01 9.91521622e-01 -2.33996268e-04 -1.63585464e+00] [-1.98924502e-03 -2.46992799e-05 9.99998021e-01 -2.14754650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.97538475 meters 0.05568361564538022 Centerline is valid? [True, True] Translation: X:16.34, Y:-1.66, Z:-0.22 [[ 9.92317532e-01 1.23717016e-01 1.21910663e-04 1.63425836e+01] [-1.23717015e-01 9.92317540e-01 -1.10642225e-05 -1.65819776e+00] [-1.22342922e-04 -4.10320133e-06 9.99999993e-01 -2.16449798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.03538475 meters 0.0555872724262635 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.68, Z:-0.22 [[ 9.93223528e-01 1.16203385e-01 -1.94856566e-03 1.64026154e+01] [-1.16203139e-01 9.93225439e-01 2.39626619e-04 -1.68136667e+00] [ 1.96321040e-03 -1.15733503e-05 9.99998073e-01 -2.20106523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.095384749999997 meters 0.05577749647876956 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.71, Z:-0.22 [[ 9.94466945e-01 1.05049962e-01 -5.72559383e-06 1.64621368e+01] [-1.05049962e-01 9.94466945e-01 1.73337181e-06 -1.70630388e+00] [ 5.87600443e-06 -1.12230755e-06 1.00000000e+00 -2.15803122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.15538475 meters 0.05679282025967242 Centerline is valid? [True, True] Translation: X:16.52, Y:-1.72, Z:-0.22 [[ 9.95003818e-01 9.98307456e-02 -1.10646197e-03 1.65219833e+01] [-9.98306542e-02 9.95004433e-01 1.37643162e-04 -1.71989167e+00] [ 1.11467559e-03 -2.64966491e-05 9.99999378e-01 -2.17332244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.21538475 meters 0.058100483175650024 Centerline is valid? [True, True] Translation: X:16.58, Y:-1.73, Z:-0.22 [[ 9.95803153e-01 9.15202466e-02 -3.54622196e-04 1.65822486e+01] [-9.15202370e-02 9.95803216e-01 4.33197185e-05 -1.72916295e+00] [ 3.57098554e-04 -1.06828049e-05 9.99999936e-01 -2.19110816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.275384749999997 meters 0.059523488214418094 Centerline is valid? [True, True] Translation: X:16.64, Y:-1.74, Z:-0.22 [[ 9.96625747e-01 8.20531701e-02 -2.09716253e-03 1.66419653e+01] [-8.20528147e-02 9.96627950e-01 2.55089964e-04 -1.74183064e+00] [ 2.11102174e-03 -8.21511373e-05 9.99997768e-01 -2.17903486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.33538475 meters 0.06182897410742401 Centerline is valid? [True, True] Translation: X:16.70, Y:-1.75, Z:-0.22 [[ 9.97279518e-01 7.36216876e-02 -3.66198985e-03 1.67011368e+01] [-7.36205468e-02 9.97286226e-01 4.45524991e-04 -1.75391752e+00] [ 3.68485234e-03 -1.74715253e-04 9.99993196e-01 -2.18417072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.395384749999998 meters 0.06289000866213555 Centerline is valid? [True, True] Translation: X:16.76, Y:-1.76, Z:-0.22 [[ 9.97542686e-01 6.99429172e-02 -4.07152106e-03 1.67615091e+01] [-6.99414778e-02 9.97550973e-01 4.95035001e-04 -1.76004433e+00] [ 4.09617399e-03 -2.09050345e-04 9.99991589e-01 -2.20215691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.455384749999997 meters 0.060661219064968866 Centerline is valid? [True, True] Translation: X:16.82, Y:-1.76, Z:-0.22 [[ 9.97162926e-01 7.50680080e-02 -5.55816737e-03 1.68233807e+01] [-7.50654048e-02 9.97178383e-01 6.75809157e-04 -1.75694264e+00] [ 5.59321600e-03 -2.56665753e-04 9.99984325e-01 -2.19587691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.51538475 meters 0.059005727502185426 Centerline is valid? [True, True] Translation: X:16.89, Y:-1.75, Z:-0.22 [[ 9.96411188e-01 8.44437728e-02 -5.83034541e-03 1.68851952e+01] [-8.44410677e-02 9.96428223e-01 7.09027030e-04 -1.75347926e+00] [ 5.86939363e-03 -2.14161874e-04 9.99982752e-01 -2.18426680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.575384749999998 meters 0.05739104734016081 Centerline is valid? [True, True] Translation: X:16.95, Y:-1.75, Z:-0.22 [[ 9.95630166e-01 9.31748359e-02 -6.24677143e-03 1.69471218e+01] [-9.31719022e-02 9.95649747e-01 7.59650800e-04 -1.74736669e+00] [ 6.29037674e-03 -1.74307675e-04 9.99980200e-01 -2.19958675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.63538475 meters 0.057400988031831114 Centerline is valid? [True, True] Translation: X:17.01, Y:-1.75, Z:-0.22 [[ 9.95336923e-01 9.61487185e-02 -7.73523498e-03 1.70100221e+01] [-9.61442962e-02 9.95366961e-01 9.42406920e-04 -1.74817827e+00] [ 7.79000855e-03 -1.94313680e-04 9.99969639e-01 -2.22359653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.69538475 meters 0.05795487754593913 Centerline is valid? [True, True] Translation: X:17.07, Y:-1.76, Z:-0.22 [[ 9.95606574e-01 9.30988489e-02 -1.00076883e-02 1.70687998e+01] [-9.30912876e-02 9.95656831e-01 1.21975180e-03 -1.75935806e+00] [ 1.00777807e-02 -2.82764330e-04 9.99949178e-01 -2.22699200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.755384749999997 meters 0.057865813744296286 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.77, Z:-0.22 [[ 9.95928539e-01 8.95358164e-02 -1.04729748e-02 1.71308827e+01] [-8.95273331e-02 9.95983547e-01 1.27699720e-03 -1.76581442e+00] [ 1.05452476e-02 -3.34180454e-04 9.99944341e-01 -2.22011514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.81538475 meters 0.058817031033878996 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.77, Z:-0.22 [[ 9.96093690e-01 8.74810814e-02 -1.20175009e-02 1.71911798e+01] [-8.74697380e-02 9.96166097e-01 1.46729865e-03 -1.77446447e+00] [ 1.20997879e-02 -4.10399272e-04 9.99926711e-01 -2.24400887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.87538475 meters 0.05929515027708112 Centerline is valid? [True, True] Translation: X:17.25, Y:-1.78, Z:-0.22 [[ 9.96228405e-01 8.55853494e-02 -1.42868014e-02 1.72516692e+01] [-8.55691301e-02 9.96330710e-01 1.74383951e-03 -1.78076822e+00] [ 1.43836261e-02 -5.14753288e-04 9.99896418e-01 -2.24622716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.935384749999997 meters 0.06023987968598653 Centerline is valid? [True, True] Translation: X:17.31, Y:-1.79, Z:-0.22 [[ 9.96667196e-01 8.05298853e-02 -1.30168297e-02 1.73121306e+01] [-8.05159929e-02 9.96752051e-01 1.58867031e-03 -1.79034404e+00] [ 1.31024871e-02 -5.35312620e-04 9.99914015e-01 -2.22335453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.99538475 meters 0.06194284005144259 Centerline is valid? [True, True] Translation: X:17.37, Y:-1.80, Z:-0.22 [[ 9.97120481e-01 7.50770076e-02 -1.06859695e-02 1.73715865e+01] [-7.50673301e-02 9.97177614e-01 1.30442981e-03 -1.80217189e+00] [ 1.07537422e-02 -4.98506486e-04 9.99942053e-01 -2.22180777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.055384749999998 meters 0.06415467304297377 Centerline is valid? [True, True] Translation: X:17.43, Y:-1.81, Z:-0.22 [[ 9.97648975e-01 6.80618725e-02 -8.00645187e-03 1.74319814e+01] [-6.80562140e-02 9.97681009e-01 9.77397393e-04 -1.80982321e+00] [ 8.05440848e-03 -4.30210706e-04 9.99967470e-01 -2.21708104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.115384749999997 meters 0.06629113920681544 Centerline is valid? [True, True] Translation: X:17.49, Y:-1.81, Z:-0.22 [[ 9.97858140e-01 6.50676263e-02 -6.73319553e-03 1.74918796e+01] [-6.50635456e-02 9.97880783e-01 8.23559936e-04 -1.81482017e+00] [ 6.77251352e-03 -3.83710412e-04 9.99976993e-01 -2.22365063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.17538475 meters 0.06664454110473075 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.82, Z:-0.22 [[ 9.98223884e-01 5.93516187e-02 -5.14427561e-03 1.75527361e+01] [-5.93491644e-02 9.98237087e-01 6.28576730e-04 -1.81572685e+00] [ 5.17251375e-03 -3.22151846e-04 9.99986571e-01 -2.20604924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.235384749999998 meters 0.0663695733678463 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.81, Z:-0.22 [[ 9.98577721e-01 5.31230326e-02 -4.52522240e-03 1.76147007e+01] [-5.31210680e-02 9.98587926e-01 5.53322243e-04 -1.81139496e+00] [ 4.54822661e-03 -3.12150618e-04 9.99989608e-01 -2.19363497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.295384749999997 meters 0.0675884816683616 Centerline is valid? [True, True] Translation: X:17.68, Y:-1.81, Z:-0.22 [[ 9.98872459e-01 4.73348261e-02 -3.63659074e-03 1.76763089e+01] [-4.73335183e-02 9.98879042e-01 4.44913927e-04 -1.81279918e+00] [ 3.65357419e-03 -2.72279634e-04 9.99993289e-01 -2.19655420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.35538475 meters 0.07130259821573143 Centerline is valid? [True, True] Translation: X:17.74, Y:-1.81, Z:-0.22 [[ 9.99387586e-01 3.48212421e-02 -3.45461926e-03 1.77374480e+01] [-3.48199879e-02 9.99393511e-01 4.22560322e-04 -1.81465655e+00] [ 3.46723814e-03 -3.02011739e-04 9.99993944e-01 -2.18411435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.415384749999998 meters 0.0705975941341721 Centerline is valid? [True, True] Translation: X:17.80, Y:-1.80, Z:-0.22 [[ 9.99713173e-01 2.38949376e-02 -1.61336340e-03 1.78010930e+01] [-2.38946500e-02 9.99714463e-01 1.97305417e-04 -1.79516032e+00] [ 1.61761732e-03 -1.58698071e-04 9.99998679e-01 -2.17167701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.47538475 meters 0.07105432071665739 Centerline is valid? [True, True] Translation: X:17.86, Y:-1.79, Z:-0.22 [[ 9.99740441e-01 2.27587953e-02 -1.04321659e-03 1.78643391e+01] [-2.27586733e-02 9.99740980e-01 1.28674194e-04 -1.78766633e+00] [ 1.04587484e-03 -1.04898570e-04 9.99999448e-01 -2.18933695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.53538475 meters 0.07163166188709841 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.77, Z:-0.22 [[ 9.99751284e-01 2.19385791e-02 -4.00866784e-03 1.79283054e+01] [-2.19367848e-02 9.99759239e-01 4.91034740e-04 -1.77000594e+00] [ 4.01847531e-03 -4.02975328e-04 9.99991845e-01 -2.20774330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.595384749999997 meters 0.07310848670224802 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.74, Z:-0.23 [[ 9.99565615e-01 2.81308555e-02 -8.78842927e-03 1.79919864e+01] [-2.81224754e-02 9.99603906e-01 1.07569293e-03 -1.74227385e+00] [ 8.81520839e-03 -8.28073282e-04 9.99960802e-01 -2.25374205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.65538475 meters 0.06837427723832981 Centerline is valid? [True, True] Translation: X:18.06, Y:-1.72, Z:-0.22 [[ 9.99316315e-01 3.55087682e-02 -1.02970488e-02 1.80551652e+01] [-3.54976547e-02 9.99368965e-01 1.26011560e-03 -1.72344056e+00] [ 1.03352961e-02 -8.93732995e-04 9.99946190e-01 -2.22758201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.71538475 meters 0.06452370096756915 Centerline is valid? [True, True] Translation: X:18.12, Y:-1.69, Z:-0.22 [[ 9.98785974e-01 4.82330552e-02 -1.00075273e-02 1.81196611e+01] [-4.82231929e-02 9.98835834e-01 1.22460696e-03 -1.69463149e+00] [ 1.00549434e-02 -7.40525339e-04 9.99949174e-01 -2.23231568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.775384749999997 meters 0.06117739388675602 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.66, Z:-0.22 [[ 9.97759888e-01 6.56861699e-02 -1.26701697e-02 1.81841441e+01] [-6.56717610e-02 9.97840075e-01 1.55039697e-03 -1.66341201e+00] [ 1.27446427e-02 -7.14851556e-04 9.99918528e-01 -2.23572018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.83538475 meters 0.05928475099697161 Centerline is valid? [True, True] Translation: X:18.25, Y:-1.65, Z:-0.22 [[ 9.97121774e-01 7.43330691e-02 -1.49252443e-02 1.82464592e+01] [-7.43140390e-02 9.97233216e-01 1.82638003e-03 -1.65275585e+00] [ 1.50197098e-02 -7.11968115e-04 9.99886944e-01 -2.23104449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.895384749999998 meters 0.057435224664043646 Centerline is valid? [True, True] Translation: X:18.31, Y:-1.63, Z:-0.22 [[ 9.96106928e-01 8.69414507e-02 -1.45661048e-02 1.83101432e+01] [-8.69246706e-02 9.96213293e-01 1.78237669e-03 -1.63015920e+00] [ 1.46659096e-02 -5.09283911e-04 9.99892320e-01 -2.21386808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.955384749999997 meters 0.05765942784786839 Centerline is valid? [True, True] Translation: X:18.37, Y:-1.63, Z:-0.22 [[ 9.95888009e-01 8.95933150e-02 -1.34205392e-02 1.83719895e+01] [-8.95792957e-02 9.95978338e-01 1.64333513e-03 -1.62613151e+00] [ 1.35137982e-02 -4.34375305e-04 9.99908590e-01 -2.18515622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.01538475 meters 0.05763000963422783 Centerline is valid? [True, True] Translation: X:18.44, Y:-1.62, Z:-0.22 [[ 9.95781509e-01 9.07192687e-02 -1.37549946e-02 1.84352113e+01] [-9.07045482e-02 9.95876410e-01 1.69157975e-03 -1.62412908e+00] [ 1.38517335e-02 -4.36803269e-04 9.99903965e-01 -2.17607009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.075384749999998 meters 0.058175780588503055 Centerline is valid? [True, True] Translation: X:18.50, Y:-1.62, Z:-0.22 [[ 9.95589064e-01 9.23965715e-02 -1.62876805e-02 1.84968988e+01] [-9.23761021e-02 9.95722165e-01 2.00625294e-03 -1.62186407e+00] [ 1.64033754e-02 -4.92811053e-04 9.99865334e-01 -2.19746573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.135384749999997 meters 0.05801206417222023 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.62, Z:-0.22 [[ 9.95777988e-01 9.06219576e-02 -1.46239187e-02 1.85597003e+01] [-9.06051931e-02 9.95885253e-01 1.80623136e-03 -1.62401081e+00] [ 1.47274292e-02 -4.73602451e-04 9.99891433e-01 -2.17492001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.19538475 meters 0.05804808923102116 Centerline is valid? [True, True] Translation: X:18.62, Y:-1.63, Z:-0.22 [[ 9.95896215e-01 8.97419480e-02 -1.17094963e-02 1.86216356e+01] [-8.97310915e-02 9.95964973e-01 1.45031589e-03 -1.62777044e+00] [ 1.17924024e-02 -3.93658215e-04 9.99930390e-01 -2.16614350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.255384749999997 meters 0.05790970663071375 Centerline is valid? [True, True] Translation: X:18.68, Y:-1.63, Z:-0.22 [[ 9.95871585e-01 9.00312384e-02 -1.15828291e-02 1.86846455e+01] [-9.00205834e-02 9.95938865e-01 1.43905327e-03 -1.62970890e+00] [ 1.16653494e-02 -3.90419230e-04 9.99931881e-01 -2.18295795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.31538475 meters 0.05898897538337686 Centerline is valid? [True, True] Translation: X:18.75, Y:-1.64, Z:-0.22 [[ 9.96244028e-01 8.52361152e-02 -1.52526135e-02 1.87452859e+01] [-8.52171626e-02 9.96360610e-01 1.88941585e-03 -1.63615672e+00] [ 1.53581498e-02 -5.82534808e-04 9.99881887e-01 -2.21309461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.37538475 meters 0.059659126728455164 Centerline is valid? [True, True] Translation: X:18.81, Y:-1.64, Z:-0.22 [[ 9.96819197e-01 7.74910259e-02 -1.86179767e-02 1.88063387e+01] [-7.74614202e-02 9.96992681e-01 2.30717584e-03 -1.64102619e+00] [ 1.87407720e-02 -8.57662249e-04 9.99824008e-01 -2.24398312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.435384749999997 meters 0.06094845317296615 Centerline is valid? [True, True] Translation: X:18.87, Y:-1.65, Z:-0.22 [[ 9.97682060e-01 6.54818458e-02 -1.85104246e-02 1.88665413e+01] [-6.54505204e-02 9.97853180e-01 2.29373361e-03 -1.65026191e+00] [ 1.86208840e-02 -1.07689995e-03 9.99826036e-01 -2.22234573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.49538475 meters 0.07298651909508487 Centerline is valid? [True, True] Translation: X:18.92, Y:-1.68, Z:-0.23 [[ 9.98282696e-01 5.59587144e-02 -1.73286265e-02 1.89239561e+01] [-5.59298120e-02 9.98432391e-01 2.14844369e-03 -1.67801504e+00] [ 1.74216861e-02 -1.17556734e-03 9.99847540e-01 -2.31581937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.555384749999998 meters 0.07602066341633684 Centerline is valid? [True, True] Translation: X:18.98, Y:-1.68, Z:-0.23 [[ 9.98373314e-01 5.41937759e-02 -1.77133034e-02 1.89846516e+01] [-5.41632818e-02 9.98529675e-01 2.19712246e-03 -1.68055208e+00] [ 1.78063294e-02 -1.23413779e-03 9.99840693e-01 -2.34055620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.615384749999997 meters 0.07266299190004775 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.67, Z:-0.23 [[ 9.98125794e-01 5.81582798e-02 -1.90398159e-02 1.90479975e+01] [-5.81237307e-02 9.98306589e-01 2.36341909e-03 -1.67055327e+00] [ 1.91450261e-02 -1.25232442e-03 9.99815933e-01 -2.33513406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.67538475 meters 0.07273774604226964 Centerline is valid? [True, True] Translation: X:19.11, Y:-1.68, Z:-0.23 [[ 9.98055468e-01 5.91868721e-02 -1.95498519e-02 1.91095419e+01] [-5.91504356e-02 9.98246105e-01 2.43729872e-03 -1.67524972e+00] [ 1.96598196e-02 -1.27617706e-03 9.99805913e-01 -2.34470091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.735384749999998 meters 0.07199886885537564 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.67, Z:-0.24 [[ 9.98019765e-01 5.92292457e-02 -2.11765061e-02 1.91730223e+01] [-5.91863471e-02 9.98243441e-01 2.64735837e-03 -1.66979129e+00] [ 2.12961094e-02 -1.38875594e-03 9.99772248e-01 -2.36148788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.795384749999997 meters 0.07757049182741313 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.68, Z:-0.24 [[ 9.98407487e-01 5.16184203e-02 -2.27602597e-02 1.92324717e+01] [-5.15669285e-02 9.98665492e-01 2.84388827e-03 -1.67731031e+00] [ 2.28766829e-02 -1.66568266e-03 9.99736907e-01 -2.40726936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.85538475 meters 0.08429188895873116 Centerline is valid? [True, True] Translation: X:19.29, Y:-1.69, Z:-0.24 [[ 9.98690136e-01 4.50120384e-02 -2.43295878e-02 1.92913604e+01] [-4.49511928e-02 9.98984552e-01 3.04230813e-03 -1.68770419e+00] [ 2.44418229e-02 -1.94467912e-03 9.99699363e-01 -2.43570889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.915384749999998 meters 0.08573018667489672 Centerline is valid? [True, True] Translation: X:19.35, Y:-1.69, Z:-0.24 [[ 9.98896951e-01 4.04859161e-02 -2.37859639e-02 1.93517898e+01] [-4.04265131e-02 9.99178091e-01 2.97317053e-03 -1.68897528e+00] [ 2.38867855e-02 -2.00830740e-03 9.99712653e-01 -2.43618377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.97538475 meters 0.08313295432506278 Centerline is valid? [True, True] Translation: X:19.42, Y:-1.68, Z:-0.24 [[ 9.98920669e-01 4.13067770e-02 -2.12425638e-02 1.94151602e+01] [-4.12595306e-02 9.99144928e-01 2.65781466e-03 -1.68146633e+00] [ 2.13341856e-02 -1.77848779e-03 9.99770818e-01 -2.43321739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.03538475 meters 0.08431351987951427 Centerline is valid? [True, True] Translation: X:19.48, Y:-1.68, Z:-0.24 [[ 9.98721105e-01 4.76178665e-02 -1.69909665e-02 1.94757384e+01] [-4.75885643e-02 9.98864762e-01 2.12497312e-03 -1.68037012e+00] [ 1.70728644e-02 -1.31367980e-03 9.99853385e-01 -2.42572916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.095384749999997 meters 0.07660781559805731 Centerline is valid? [True, True] Translation: X:19.54, Y:-1.66, Z:-0.24 [[ 9.98399794e-01 5.46419817e-02 -1.45638282e-02 1.95392901e+01] [-5.46211873e-02 9.98505486e-01 1.82207124e-03 -1.66126778e+00] [ 1.46416239e-02 -1.02366196e-03 9.99892282e-01 -2.40967448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.15538475 meters 0.07607388162650923 Centerline is valid? [True, True] Translation: X:19.60, Y:-1.65, Z:-0.25 [[ 9.98269461e-01 5.70041705e-02 -1.44432798e-02 1.96017796e+01] [-5.69839493e-02 9.98373457e-01 1.80807367e-03 -1.65322971e+00] [ 1.45228549e-02 -9.81909607e-04 9.99894056e-01 -2.45254626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.21538475 meters 0.07827155546240187 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.66, Z:-0.24 [[ 9.98665475e-01 5.00637546e-02 -1.26842581e-02 1.96617285e+01] [-5.00476080e-02 9.98745572e-01 1.58740091e-03 -1.65929573e+00] [ 1.27478178e-02 -9.50465708e-04 9.99918292e-01 -2.43165271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.275384749999997 meters 0.08305854535735156 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.67, Z:-0.25 [[ 9.99108484e-01 3.97940395e-02 -1.40950978e-02 1.97211681e+01] [-3.97730835e-02 9.99207181e-01 1.76407317e-03 -1.66778744e+00] [ 1.41541225e-02 -1.20189497e-03 9.99899103e-01 -2.47020411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.33538475 meters 0.0854312648798017 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.67, Z:-0.25 [[ 9.99383085e-01 3.14083457e-02 -1.57151322e-02 1.97809354e+01] [-3.13812592e-02 9.99505551e-01 1.96728706e-03 -1.67422211e+00] [ 1.57691510e-02 -1.47291278e-03 9.99874574e-01 -2.48780811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.395384749999998 meters 0.08311496627108542 Centerline is valid? [True, True] Translation: X:19.84, Y:-1.67, Z:-0.25 [[ 9.99265782e-01 3.48531671e-02 -1.59108246e-02 1.98423874e+01] [-3.48258204e-02 9.99391411e-01 1.99268214e-03 -1.67269549e+00] [ 1.59705928e-02 -1.43711156e-03 9.99871429e-01 -2.48897633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.455384749999997 meters 0.08024941976871709 Centerline is valid? [True, True] Translation: X:19.90, Y:-1.66, Z:-0.25 [[ 9.98816717e-01 4.55451042e-02 -1.70531486e-02 1.99042802e+01] [-4.55152463e-02 9.98961362e-01 2.13511779e-03 -1.66139274e+00] [ 1.71326807e-02 -1.35641309e-03 9.99852305e-01 -2.53878144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.51538475 meters 0.07681903371484718 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.65, Z:-0.25 [[ 9.98514178e-01 5.19664691e-02 -1.63988656e-02 1.99664678e+01] [-5.19397072e-02 9.98648110e-01 2.05393059e-03 -1.65464174e+00] [ 1.64834317e-02 -1.19912654e-03 9.99863420e-01 -2.53156318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.575384749999998 meters 0.07405538399698343 Centerline is valid? [True, True] Translation: X:20.03, Y:-1.65, Z:-0.25 [[ 9.98255270e-01 5.67927872e-02 -1.61553185e-02 2.00280752e+01] [-5.67674415e-02 9.98385378e-01 2.02352536e-03 -1.64993528e+00] [ 1.62441554e-02 -1.10289876e-03 9.99867447e-01 -2.53870835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.635384749999997 meters 0.07873544314748755 Centerline is valid? [True, True] Translation: X:20.09, Y:-1.66, Z:-0.26 [[ 9.98654024e-01 4.84491083e-02 -1.85154908e-02 2.00877294e+01] [-4.84143850e-02 9.98824643e-01 2.31929834e-03 -1.65779072e+00] [ 1.86060964e-02 -1.41976052e-03 9.99825884e-01 -2.58187265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.69538475 meters 0.08270216904109369 Centerline is valid? [True, True] Translation: X:20.15, Y:-1.67, Z:-0.26 [[ 9.99065616e-01 3.95110232e-02 -1.75149672e-02 2.01480836e+01] [-3.94785817e-02 9.99218008e-01 2.19425814e-03 -1.66678463e+00] [ 1.75879680e-02 -1.50074179e-03 9.99844193e-01 -2.56897839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.755384749999997 meters 0.08252377855004342 Centerline is valid? [True, True] Translation: X:20.21, Y:-1.67, Z:-0.26 [[ 9.99086301e-01 3.91824436e-02 -1.70674779e-02 2.02094199e+01] [-3.91515813e-02 9.99230994e-01 2.13877460e-03 -1.66677657e+00] [ 1.71381553e-02 -1.46860165e-03 9.99852052e-01 -2.57101393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.81538475 meters 0.08176495553972146 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.66, Z:-0.26 [[ 9.99125879e-01 3.96284425e-02 -1.33065254e-02 2.02706631e+01] [-3.96097269e-02 9.99213836e-01 1.66721432e-03 -1.66286539e+00] [ 1.33621334e-02 -1.13868914e-03 9.99910074e-01 -2.55804180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.87538475 meters 0.08187202889803118 Centerline is valid? [True, True] Translation: X:20.33, Y:-1.66, Z:-0.26 [[ 9.99094103e-01 4.02472604e-02 -1.38250041e-02 2.03321996e+01] [-4.02270977e-02 9.99189059e-01 1.73353303e-03 -1.66257572e+00] [ 1.38835628e-02 -1.17582284e-03 9.99902927e-01 -2.56417314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.935384749999997 meters 0.07894564130084891 Centerline is valid? [True, True] Translation: X:20.39, Y:-1.65, Z:-0.26 [[ 9.98786554e-01 4.69927499e-02 -1.47343251e-02 2.03943716e+01] [-4.69705876e-02 9.98894566e-01 1.84679057e-03 -1.65369954e+00] [ 1.48048231e-02 -1.15246968e-03 9.99889738e-01 -2.57660581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.99538475 meters 0.06850188343378205 Centerline is valid? [True, True] Translation: X:20.46, Y:-1.63, Z:-0.26 [[ 9.97436558e-01 6.93482268e-02 -1.76390476e-02 2.04586997e+01] [-6.93199420e-02 9.97592030e-01 2.21066455e-03 -1.62736044e+00] [ 1.77498790e-02 -9.82259879e-04 9.99841976e-01 -2.57998518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.055384749999998 meters 0.06476308032023313 Centerline is valid? [True, True] Translation: X:20.52, Y:-1.62, Z:-0.26 [[ 9.96205382e-01 8.45638682e-02 -2.05861422e-02 2.05200956e+01] [-8.45285826e-02 9.96417715e-01 2.57976876e-03 -1.61970825e+00] [ 2.07305520e-02 -8.29862104e-04 9.99784755e-01 -2.63715239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.115384749999997 meters 0.05914492315821434 Centerline is valid? [True, True] Translation: X:20.58, Y:-1.60, Z:-0.27 [[ 9.93799750e-01 1.09328064e-01 -2.02344180e-02 2.05833487e+01] [-1.09299089e-01 9.94005674e-01 2.53572868e-03 -1.60445858e+00] [ 2.03903526e-02 -3.08403082e-04 9.99792048e-01 -2.66355995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.17538475 meters 0.05841778778138554 Centerline is valid? [True, True] Translation: X:20.64, Y:-1.60, Z:-0.27 [[ 9.92095270e-01 1.23633085e-01 -2.14903710e-02 2.06416538e+01] [-1.23603840e-01 9.92328000e-01 2.68895845e-03 -1.60293334e+00] [ 2.16579411e-02 -1.14105745e-05 9.99765439e-01 -2.69537133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.235384749999998 meters 0.05841452925342753 Centerline is valid? [True, True] Translation: X:20.70, Y:-1.61, Z:-0.27 [[ 9.90877974e-01 1.33254815e-01 -2.00996433e-02 2.06993899e+01] [-1.33231247e-01 9.91081792e-01 2.51309057e-03 -1.61306882e+00] [ 2.02552719e-02 1.87734448e-04 9.99794823e-01 -2.66745430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.295384749999997 meters 0.0587509776497103 Centerline is valid? [True, True] Translation: X:20.76, Y:-1.64, Z:-0.27 [[ 9.90483663e-01 1.35883004e-01 -2.18614446e-02 2.07562040e+01] [-1.35855790e-01 9.90724856e-01 2.73218098e-03 -1.63644548e+00] [ 2.20299335e-02 2.63823197e-04 9.99757277e-01 -2.67798424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.35538475 meters 0.058882160276672785 Centerline is valid? [True, True] Translation: X:20.81, Y:-1.66, Z:-0.27 [[ 9.90594002e-01 1.35232579e-01 -2.08727581e-02 2.08134365e+01] [-1.35207642e-01 9.90813854e-01 2.60790120e-03 -1.65888899e+00] [ 2.10336911e-02 2.38785119e-04 9.99778739e-01 -2.69592082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.415384749999998 meters 0.058615447925469244 Centerline is valid? [True, True] Translation: X:20.87, Y:-1.69, Z:-0.27 [[ 9.90774636e-01 1.34053539e-01 -1.98813835e-02 2.08725346e+01] [-1.34030578e-01 9.90974071e-01 2.48894918e-03 -1.69120848e+00] [ 2.00355880e-02 1.98725592e-04 9.99799248e-01 -2.67475916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.47538475 meters 0.05893812856345566 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.72, Z:-0.27 [[ 9.91103323e-01 1.31423099e-01 -2.10278692e-02 2.09306034e+01] [-1.31396588e-01 9.91326358e-01 2.64348005e-03 -1.72486002e+00] [ 2.11928953e-02 1.43028404e-04 9.99775395e-01 -2.70339692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.53538475 meters 0.05876475627989062 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.74, Z:-0.27 [[ 9.91447456e-01 1.28796995e-01 -2.10541285e-02 2.09911943e+01] [-1.28769684e-01 9.91670977e-01 2.65347758e-03 -1.74354317e+00] [ 2.12205281e-02 8.03498797e-05 9.99774816e-01 -2.70028548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.595384749999997 meters 0.05991610508112064 Centerline is valid? [True, True] Translation: X:21.05, Y:-1.80, Z:-0.27 [[ 9.93925291e-01 1.08183611e-01 -2.02193377e-02 2.10470194e+01] [-1.08154172e-01 9.94130870e-01 2.54711943e-03 -1.80065014e+00] [ 2.03762243e-02 -3.44840709e-04 9.99792324e-01 -2.66973169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.65538475 meters 0.06273106246392704 Centerline is valid? [True, True] Translation: X:21.10, Y:-1.84, Z:-0.27 [[ 9.95383980e-01 9.34728060e-02 -2.17615860e-02 2.11026132e+01] [-9.34352124e-02 9.95621591e-01 2.74016377e-03 -1.84095245e+00] [ 2.19224356e-02 -6.94216716e-04 9.99759434e-01 -2.66855321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.71538475 meters 0.062143353268310664 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.87, Z:-0.26 [[ 9.95419055e-01 9.37749078e-02 -1.86325444e-02 2.11619284e+01] [-9.37473579e-02 9.95593249e-01 2.34851039e-03 -1.86504498e+00] [ 1.87706667e-02 -5.91000191e-04 9.99823641e-01 -2.62515718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.775384749999997 meters 0.06040790179374437 Centerline is valid? [True, True] Translation: X:21.22, Y:-1.88, Z:-0.26 [[ 9.94924575e-01 9.89044305e-02 -1.85203774e-02 2.12219016e+01] [-9.88780878e-02 9.95096815e-01 2.33495836e-03 -1.87824864e+00] [ 1.86605062e-02 -4.91847958e-04 9.99825757e-01 -2.61937586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.83538475 meters 0.060516784918154175 Centerline is valid? [True, True] Translation: X:21.28, Y:-1.89, Z:-0.26 [[ 9.94839342e-01 9.93255738e-02 -2.07150474e-02 2.12822576e+01] [-9.92924926e-02 9.95054836e-01 2.62198216e-03 -1.89171906e+00] [ 2.08730379e-02 -5.51602325e-04 9.99781982e-01 -2.63728751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.895384749999998 meters 0.06559217866364417 Centerline is valid? [True, True] Translation: X:21.34, Y:-1.93, Z:-0.26 [[ 9.96369545e-01 8.20739498e-02 -2.26184784e-02 2.13392449e+01] [-8.20301571e-02 9.96625748e-01 2.85878000e-03 -1.92582895e+00] [ 2.27767893e-02 -9.93003997e-04 9.99740082e-01 -2.64478596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.955384749999997 meters 0.0704961768748926 Centerline is valid? [True, True] Translation: X:21.40, Y:-1.95, Z:-0.27 [[ 9.97271927e-01 7.04625799e-02 -2.19938370e-02 2.13982818e+01] [-7.04183270e-02 9.97513672e-01 2.78105773e-03 -1.94745835e+00] [ 2.21351136e-02 -1.22470159e-03 9.99754238e-01 -2.66444287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.01538475 meters 0.07657064478586198 Centerline is valid? [True, True] Translation: X:21.46, Y:-1.97, Z:-0.27 [[ 9.98028191e-01 5.80477582e-02 -2.38786013e-02 2.14569382e+01] [-5.79920646e-02 9.98312480e-01 3.01885822e-03 -1.96845556e+00] [ 2.40135436e-02 -1.62813622e-03 9.99710307e-01 -2.68148692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.075384749999998 meters 0.07776812236515551 Centerline is valid? [True, True] Translation: X:21.52, Y:-1.98, Z:-0.27 [[ 9.98341078e-01 5.32590294e-02 -2.18762041e-02 2.15171992e+01] [-5.32111235e-02 9.98579452e-01 2.76656588e-03 -1.97547280e+00] [ 2.19924725e-02 -1.59791897e-03 9.99756859e-01 -2.67193040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.135384749999997 meters 0.0793249161650716 Centerline is valid? [True, True] Translation: X:21.58, Y:-1.98, Z:-0.27 [[ 9.98185448e-01 5.57219503e-02 -2.28227213e-02 2.15773305e+01] [-5.56704362e-02 9.98445025e-01 2.88680676e-03 -1.97943282e+00] [ 2.29480910e-02 -1.61101765e-03 9.99735360e-01 -2.72249618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.19538475 meters 0.07723095752174974 Centerline is valid? [True, True] Translation: X:21.64, Y:-1.98, Z:-0.27 [[ 9.98138590e-01 5.66790164e-02 -2.25132125e-02 2.16405008e+01] [-5.66288559e-02 9.98391203e-01 2.85987312e-03 -1.97782674e+00] [ 2.26390881e-02 -1.57965226e-03 9.99742455e-01 -2.72751071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.255384749999997 meters 0.07892594645839977 Centerline is valid? [True, True] Translation: X:21.70, Y:-1.98, Z:-0.28 [[ 9.98272823e-01 5.32415703e-02 -2.48335725e-02 2.17009891e+01] [-5.31795997e-02 9.98579997e-01 3.14968539e-03 -1.98257770e+00] [ 2.49660030e-02 -1.82360588e-03 9.99686637e-01 -2.76792110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.31538475 meters 0.08066509786014918 Centerline is valid? [True, True] Translation: X:21.76, Y:-1.99, Z:-0.28 [[ 9.98490314e-01 4.76150802e-02 -2.73842350e-02 2.17616047e+01] [-4.75376039e-02 9.98863409e-01 3.47368540e-03 -1.98621217e+00] [ 2.75185101e-02 -2.16666031e-03 9.99618946e-01 -2.78046638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.37538475 meters 0.08090794474179766 Centerline is valid? [True, True] Translation: X:21.82, Y:-1.98, Z:-0.28 [[ 9.98553968e-01 4.69499995e-02 -2.61853021e-02 2.18241871e+01] [-4.68785583e-02 9.98895026e-01 3.33586355e-03 -1.98374484e+00] [ 2.63129868e-02 -2.10351058e-03 9.99651540e-01 -2.78356959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.435384749999997 meters 0.08066200838736738 Centerline is valid? [True, True] Translation: X:21.89, Y:-1.98, Z:-0.28 [[ 9.98489447e-01 4.87519158e-02 -2.53391898e-02 2.18872112e+01] [-4.86856073e-02 9.98808938e-01 3.22757462e-03 -1.97749594e+00] [ 2.54663597e-02 -1.98904535e-03 9.99673701e-01 -2.78238215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.49538475 meters 0.07818813080985038 Centerline is valid? [True, True] Translation: X:21.95, Y:-1.97, Z:-0.28 [[ 9.98464607e-01 5.00184816e-02 -2.38029319e-02 2.19509890e+01] [-4.99602914e-02 9.98746598e-01 3.03347479e-03 -1.96711152e+00] [ 2.39248270e-02 -1.83961580e-03 9.99712068e-01 -2.77633818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.555384749999998 meters 0.08199936334433071 Centerline is valid? [True, True] Translation: X:22.01, Y:-1.97, Z:-0.28 [[ 9.98433911e-01 4.97430651e-02 -2.55998423e-02 2.20117590e+01] [-4.96755121e-02 9.98760062e-01 3.26841402e-03 -1.96968162e+00] [ 2.57306810e-02 -1.99161012e-03 9.99666927e-01 -2.83296821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.615384749999997 meters 0.07888221745553968 Centerline is valid? [True, True] Translation: X:22.07, Y:-1.96, Z:-0.29 [[ 9.98203323e-01 5.29603271e-02 -2.80237207e-02 2.20744660e+01] [-5.28806475e-02 9.98594432e-01 3.57731851e-03 -1.95995958e+00] [ 2.81737874e-02 -2.08897873e-03 9.99600857e-01 -2.86033074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.67538475 meters 0.07795431812615744 Centerline is valid? [True, True] Translation: X:22.14, Y:-1.96, Z:-0.29 [[ 9.97840120e-01 5.87225495e-02 -2.94407432e-02 2.21354451e+01] [-5.86371394e-02 9.98272294e-01 3.75683285e-03 -1.95615138e+00] [ 2.96104890e-02 -2.02239758e-03 9.99559467e-01 -2.89340248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.735384749999998 meters 0.07829065384447277 Centerline is valid? [True, True] Translation: X:22.20, Y:-1.96, Z:-0.29 [[ 9.97709330e-01 5.92170007e-02 -3.27023033e-02 2.21965942e+01] [-5.91117242e-02 9.98242632e-01 4.17756040e-03 -1.95652933e+00] [ 3.28922159e-02 -2.23490145e-03 9.99456406e-01 -2.92170019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.795384749999997 meters 0.07667096329397216 Centerline is valid? [True, True] Translation: X:22.26, Y:-1.96, Z:-0.29 [[ 9.97868857e-01 5.65504966e-02 -3.25543606e-02 2.22578079e+01] [-5.64448004e-02 9.98397066e-01 4.15739950e-03 -1.95568034e+00] [ 3.27372811e-02 -2.31101510e-03 9.99461320e-01 -2.90550924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.85538475 meters 0.07672325723268537 Centerline is valid? [True, True] Translation: X:22.32, Y:-1.96, Z:-0.29 [[ 9.97721420e-01 5.93355661e-02 -3.21132220e-02 2.23173160e+01] [-5.92342259e-02 9.98235697e-01 4.09875414e-03 -1.95777365e+00] [ 3.22997665e-02 -2.18721296e-03 9.99475833e-01 -2.91646929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.915384749999998 meters 0.07654667451832628 Centerline is valid? [True, True] Translation: X:22.38, Y:-1.96, Z:-0.29 [[ 9.97549321e-01 6.18710921e-02 -3.26698584e-02 2.23769412e+01] [-6.17676121e-02 9.98081854e-01 4.16821062e-03 -1.96015253e+00] [ 3.28650846e-02 -2.14005653e-03 9.99457506e-01 -2.93605306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.97538475 meters 0.07519920894584411 Centerline is valid? [True, True] Translation: X:22.44, Y:-1.96, Z:-0.29 [[ 9.97579133e-01 6.20242644e-02 -3.14461971e-02 2.24369148e+01] [-6.19285207e-02 9.98072530e-01 4.01048050e-03 -1.96140247e+00] [ 3.16343325e-02 -2.05335520e-03 9.99497400e-01 -2.92822459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.03538475 meters 0.07755240443823541 Centerline is valid? [True, True] Translation: X:22.50, Y:-1.97, Z:-0.29 [[ 9.97742309e-01 5.93313697e-02 -3.14654321e-02 2.24966728e+01] [-5.92341542e-02 9.98236047e-01 4.01361688e-03 -1.97086029e+00] [ 3.16480620e-02 -2.14072712e-03 9.99496782e-01 -2.94796598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.095384749999997 meters 0.07693234740110028 Centerline is valid? [True, True] Translation: X:22.56, Y:-1.98, Z:-0.29 [[ 9.97925364e-01 5.64172285e-02 -3.10171472e-02 2.25566505e+01] [-5.63213697e-02 9.98404853e-01 3.95624158e-03 -1.97603596e+00] [ 3.11908705e-02 -2.20110561e-03 9.99511023e-01 -2.93592957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.15538475 meters 0.08055087276741674 Centerline is valid? [True, True] Translation: X:22.61, Y:-1.99, Z:-0.30 [[ 9.97995581e-01 5.40391701e-02 -3.29330768e-02 2.26146020e+01] [-5.39297896e-02 9.98535892e-01 4.20122184e-03 -1.98749287e+00] [ 3.31118897e-02 -2.41672694e-03 9.99448729e-01 -2.98495838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.21538475 meters 0.08076041268562179 Centerline is valid? [True, True] Translation: X:22.67, Y:-1.99, Z:-0.30 [[ 9.98154550e-01 5.32240333e-02 -2.92351917e-02 2.26744469e+01] [-5.31375324e-02 9.98580243e-01 3.72832510e-03 -1.99403340e+00] [ 2.93921213e-02 -2.16795872e-03 9.99565607e-01 -2.96852527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.275384749999997 meters 0.07808331111621225 Centerline is valid? [True, True] Translation: X:22.73, Y:-2.00, Z:-0.29 [[ 9.98266020e-01 5.34430234e-02 -2.46738221e-02 2.27345189e+01] [-5.33814987e-02 9.98569236e-01 3.14595835e-03 -1.99658759e+00] [ 2.48066492e-02 -1.82337771e-03 9.99690605e-01 -2.92646320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.33538475 meters 0.07383627184204582 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.99, Z:-0.29 [[ 9.98308486e-01 5.43802933e-02 -2.05657580e-02 2.27968747e+01] [-5.43377275e-02 9.98519168e-01 2.62332917e-03 -1.99201353e+00] [ 2.06779610e-02 -1.50139522e-03 9.99785061e-01 -2.87913262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.395384749999998 meters 0.07334671956490178 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.99, Z:-0.29 [[ 9.98061410e-01 5.86401288e-02 -2.08508436e-02 2.28575998e+01] [-5.85973066e-02 9.98278159e-01 2.65933876e-03 -1.99265104e+00] [ 2.09708857e-02 -1.43238011e-03 9.99779061e-01 -2.91294335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.455384749999997 meters 0.07287438304693819 Centerline is valid? [True, True] Translation: X:22.92, Y:-2.00, Z:-0.29 [[ 9.97976553e-01 5.97303338e-02 -2.17964959e-02 2.29185509e+01] [-5.96837582e-02 9.98213460e-01 2.78172388e-03 -1.99806703e+00] [ 2.19237088e-02 -1.47519842e-03 9.99758558e-01 -2.93056829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.51538475 meters 0.07267245069257733 Centerline is valid? [True, True] Translation: X:22.98, Y:-2.00, Z:-0.30 [[ 9.97837447e-01 6.14187372e-02 -2.34129708e-02 2.29800375e+01] [-6.13654538e-02 9.98110891e-01 2.98820670e-03 -1.99818221e+00] [ 2.35522730e-02 -1.54499697e-03 9.99721413e-01 -2.97040418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.575384749999998 meters 0.0729580019814114 Centerline is valid? [True, True] Translation: X:23.04, Y:-2.00, Z:-0.30 [[ 9.97985797e-01 5.95141265e-02 -2.19639954e-02 2.30410983e+01] [-5.94667439e-02 9.98226347e-01 2.80473919e-03 -2.00396599e+00] [ 2.20919605e-02 -1.49296259e-03 9.99754828e-01 -2.96934290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.635384749999997 meters 0.07454575073458293 Centerline is valid? [True, True] Translation: X:23.10, Y:-2.01, Z:-0.30 [[ 9.98322948e-01 5.45008903e-02 -1.95177972e-02 2.31009672e+01] [-5.44624950e-02 9.98512703e-01 2.49375774e-03 -2.01385668e+00] [ 1.96246805e-02 -1.42658765e-03 9.99806400e-01 -2.95745864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.69538475 meters 0.07999715132722057 Centerline is valid? [True, True] Translation: X:23.16, Y:-2.03, Z:-0.30 [[ 9.98765231e-01 4.69247619e-02 -1.63119895e-02 2.31593064e+01] [-4.68968975e-02 9.98897556e-01 2.08676748e-03 -2.02736339e+00] [ 1.63919275e-02 -1.31920910e-03 9.99864773e-01 -2.96102482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.755384749999997 meters 0.07952918366130426 Centerline is valid? [True, True] Translation: X:23.22, Y:-2.03, Z:-0.30 [[ 9.98860076e-01 4.47862621e-02 -1.65148073e-02 2.32203790e+01] [-4.47574229e-02 9.98995652e-01 2.11193436e-03 -2.02976037e+00] [ 1.65928063e-02 -1.37036670e-03 9.99861391e-01 -2.96407887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.81538475 meters 0.07656437899704821 Centerline is valid? [True, True] Translation: X:23.28, Y:-2.03, Z:-0.30 [[ 9.98710741e-01 4.82132428e-02 -1.58851528e-02 2.32822022e+01] [-4.81869849e-02 9.98836266e-01 2.03183322e-03 -2.02719894e+00] [ 1.59646279e-02 -1.26375604e-03 9.99871759e-01 -2.97054181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.87538475 meters 0.07366561796937798 Centerline is valid? [True, True] Translation: X:23.34, Y:-2.02, Z:-0.30 [[ 9.98420535e-01 5.45674305e-02 -1.33727704e-02 2.33434515e+01] [-5.45493934e-02 9.98509609e-01 1.71013005e-03 -2.02396666e+00] [ 1.34461572e-02 -9.77952441e-04 9.99909118e-01 -2.96432794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.935384749999997 meters 0.07426152529865929 Centerline is valid? [True, True] Translation: X:23.40, Y:-2.03, Z:-0.30 [[ 9.98363063e-01 5.56714854e-02 -1.31103340e-02 2.34042190e+01] [-5.56542262e-02 9.98448693e-01 1.67792044e-03 -2.02903554e+00] [ 1.31834082e-02 -9.45528293e-04 9.99912648e-01 -2.98481546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.99538475 meters 0.08093581700124604 Centerline is valid? [True, True] Translation: X:23.46, Y:-2.05, Z:-0.30 [[ 9.98875542e-01 4.53402048e-02 -1.38534246e-02 2.34615676e+01] [-4.53199274e-02 9.98970949e-01 1.77431882e-03 -2.04702891e+00] [ 1.39196167e-02 -1.14448748e-03 9.99902462e-01 -3.01278235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.055384749999998 meters 0.08433765378556703 Centerline is valid? [True, True] Translation: X:23.52, Y:-2.06, Z:-0.30 [[ 9.99243723e-01 3.65973415e-02 -1.31383926e-02 2.35219429e+01] [-3.65783638e-02 9.99329372e-01 1.68193350e-03 -2.05638138e+00] [ 1.31911360e-02 -1.20008059e-03 9.99912273e-01 -3.01809732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.115384749999997 meters 0.08384965404695595 Centerline is valid? [True, True] Translation: X:23.58, Y:-2.06, Z:-0.30 [[ 9.99354932e-01 3.44144062e-02 -1.02648971e-02 2.35827926e+01] [-3.44027027e-02 9.99407187e-01 1.31460612e-03 -2.06034012e+00] [ 1.03040533e-02 -9.60617906e-04 9.99946450e-01 -2.99534385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.17538475 meters 0.0805975880542284 Centerline is valid? [True, True] Translation: X:23.65, Y:-2.06, Z:-0.30 [[ 9.99264827e-01 3.72933139e-02 -8.88898034e-03 2.36451198e+01] [-3.72846482e-02 9.99304037e-01 1.13866822e-03 -2.05662656e+00] [ 8.92525865e-03 -8.06408601e-04 9.99959844e-01 -2.97901091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.235384749999998 meters 0.07997688025289172 Centerline is valid? [True, True] Translation: X:23.71, Y:-2.06, Z:-0.30 [[ 9.99076948e-01 4.24423530e-02 -6.62567535e-03 2.37050683e+01] [-4.24376561e-02 9.99098757e-01 8.47957662e-04 -2.05782497e+00] [ 6.65569333e-03 -5.65996821e-04 9.99977690e-01 -2.98536900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.295384749999997 meters 0.07786599688429215 Centerline is valid? [True, True] Translation: X:23.77, Y:-2.06, Z:-0.30 [[ 9.99022019e-01 4.36144955e-02 -7.26513709e-03 2.37673961e+01] [-4.36088228e-02 9.99048243e-01 9.37470155e-04 -2.05818370e+00] [ 7.29910973e-03 -6.19729250e-04 9.99973169e-01 -2.99477305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.35538475 meters 0.0798576462009458 Centerline is valid? [True, True] Translation: X:23.83, Y:-2.06, Z:-0.30 [[ 9.98970203e-01 4.46972130e-02 -7.79056630e-03 2.38278596e+01] [-4.46907097e-02 9.99000364e-01 1.00694643e-03 -2.06499526e+00] [ 7.82778626e-03 -6.57743543e-04 9.99969146e-01 -3.02085731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.415384749999998 meters 0.0805520573090278 Centerline is valid? [True, True] Translation: X:23.89, Y:-2.07, Z:-0.30 [[ 9.98853358e-01 4.71470909e-02 -8.31386560e-03 2.38881202e+01] [-4.71397986e-02 9.98887728e-01 1.07102598e-03 -2.07198800e+00] [ 8.35511408e-03 -6.77883944e-04 9.99964866e-01 -3.03685024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.475384749999996 meters 0.07727278160561113 Centerline is valid? [True, True] Translation: X:23.95, Y:-2.07, Z:-0.30 [[ 9.98569617e-01 5.26790220e-02 -9.14548765e-03 2.39494562e+01] [-5.26704348e-02 9.98611255e-01 1.17744792e-03 -2.07099984e+00] [ 9.19481371e-03 -6.94066907e-04 9.99957486e-01 -3.04714336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.53538475 meters 0.07066778397630882 Centerline is valid? [True, True] Translation: X:24.01, Y:-2.06, Z:-0.30 [[ 9.98270644e-01 5.75540979e-02 -1.19685884e-02 2.40118154e+01] [-5.75397311e-02 9.98342027e-01 1.54156011e-03 -2.06263571e+00] [ 1.20374679e-02 -8.50224842e-04 9.99927186e-01 -3.04476293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.595384749999997 meters 0.07269607851182054 Centerline is valid? [True, True] Translation: X:24.07, Y:-2.08, Z:-0.30 [[ 9.98476560e-01 5.42720812e-02 -9.95493524e-03 2.40713871e+01] [-5.42619769e-02 9.98525910e-01 1.28250276e-03 -2.07649251e+00] [ 1.00098649e-02 -7.40374478e-04 9.99949626e-01 -3.03402131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.65538475 meters 0.0757142686605996 Centerline is valid? [True, True] Translation: X:24.13, Y:-2.09, Z:-0.30 [[ 9.98921191e-01 4.53774808e-02 -9.86599834e-03 2.41301788e+01] [-4.53671256e-02 9.98969573e-01 1.27097355e-03 -2.09092981e+00] [ 9.91350573e-03 -8.22010429e-04 9.99950522e-01 -3.02784514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.71538475 meters 0.07683523710373047 Centerline is valid? [True, True] Translation: X:24.19, Y:-2.10, Z:-0.30 [[ 9.98903213e-01 4.59930421e-02 -8.77564537e-03 2.41902717e+01] [-4.59848693e-02 9.98941496e-01 1.13092699e-03 -2.09878987e+00] [ 8.81837109e-03 -7.26139694e-04 9.99960854e-01 -3.03038727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.775384749999997 meters 0.07594546380692573 Centerline is valid? [True, True] Translation: X:24.25, Y:-2.10, Z:-0.30 [[ 9.98764749e-01 4.89084266e-02 -8.77169050e-03 2.42510830e+01] [-4.89003758e-02 9.98803022e-01 1.13008007e-03 -2.10103545e+00] [ 8.81646141e-03 -6.99745178e-04 9.99960889e-01 -3.03310706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.83538475 meters 0.07818332183853126 Centerline is valid? [True, True] Translation: X:24.31, Y:-2.11, Z:-0.31 [[ 9.98739697e-01 4.86304817e-02 -1.24134833e-02 2.43112997e+01] [-4.86143208e-02 9.98816343e-01 1.60051006e-03 -2.10927200e+00] [ 1.24766236e-02 -9.95019876e-04 9.99921669e-01 -3.09075182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.895384749999998 meters 0.0771140681179099 Centerline is valid? [True, True] Translation: X:24.37, Y:-2.11, Z:-0.31 [[ 9.98690257e-01 4.94099723e-02 -1.32824829e-02 2.43719196e+01] [-4.93915471e-02 9.98778026e-01 1.71185361e-03 -2.11349036e+00] [ 1.33508347e-02 -1.05356914e-03 9.99910319e-01 -3.09834029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.955384749999997 meters 0.07701906271160054 Centerline is valid? [True, True] Translation: X:24.43, Y:-2.12, Z:-0.31 [[ 9.98513018e-01 5.17017238e-02 -1.72824887e-02 2.44325793e+01] [-5.16708696e-02 9.98661684e-01 2.22737654e-03 -2.11809213e+00] [ 1.73745185e-02 -1.33106325e-03 9.99848166e-01 -3.13512707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.01538475 meters 0.0786281480945666 Centerline is valid? [True, True] Translation: X:24.49, Y:-2.13, Z:-0.31 [[ 9.98633055e-01 5.02446334e-02 -1.44047704e-02 2.44904476e+01] [-5.02230777e-02 9.98736303e-01 1.85451764e-03 -2.12945818e+00] [ 1.44797467e-02 -1.12853071e-03 9.99894526e-01 -3.11996439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.075384749999998 meters 0.07464604762776678 Centerline is valid? [True, True] Translation: X:24.55, Y:-2.13, Z:-0.31 [[ 9.98694674e-01 4.91861358e-02 -1.37721710e-02 2.45501777e+01] [-4.91663382e-02 9.98789031e-01 1.77262041e-03 -2.13023428e+00] [ 1.38426817e-02 -1.09317934e-03 9.99903588e-01 -3.08909777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.135384749999997 meters 0.07573047878050705 Centerline is valid? [True, True] Translation: X:24.61, Y:-2.14, Z:-0.31 [[ 9.98738859e-01 4.88464285e-02 -1.16068165e-02 2.46093414e+01] [-4.88323450e-02 9.98805872e-01 1.49387016e-03 -2.13512832e+00] [ 1.16659267e-02 -9.25198108e-04 9.99931523e-01 -3.09537751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.19538475 meters 0.07445414700875319 Centerline is valid? [True, True] Translation: X:24.67, Y:-2.14, Z:-0.31 [[ 9.98632671e-01 5.14420459e-02 -9.30074588e-03 2.46700041e+01] [-5.14331123e-02 9.98675724e-01 1.19733414e-03 -2.13820747e+00] [ 9.35002244e-03 -7.17330684e-04 9.99956030e-01 -3.07718087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.255384749999997 meters 0.07173126137035765 Centerline is valid? [True, True] Translation: X:24.73, Y:-2.14, Z:-0.31 [[ 9.98456022e-01 5.47240088e-02 -9.53178314e-03 2.47313643e+01] [-5.47147677e-02 9.98501270e-01 1.22779027e-03 -2.13879112e+00] [ 9.58468718e-03 -7.04365290e-04 9.99953818e-01 -3.06449931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.31538475 meters 0.07109165586592299 Centerline is valid? [True, True] Translation: X:24.79, Y:-2.14, Z:-0.31 [[ 9.98419330e-01 5.47039890e-02 -1.28963118e-02 2.47918527e+01] [-5.46870778e-02 9.98502161e-01 1.66060732e-03 -2.14312135e+00] [ 1.29678371e-02 -9.52720845e-04 9.99915460e-01 -3.09860784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.37538475 meters 0.07496128965928406 Centerline is valid? [True, True] Translation: X:24.85, Y:-2.16, Z:-0.31 [[ 9.98449772e-01 5.40884772e-02 -1.31335308e-02 2.48500920e+01] [-5.40708937e-02 9.98535668e-01 1.69050009e-03 -2.15626752e+00] [ 1.32057356e-02 -9.77737680e-04 9.99912322e-01 -3.12975212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.435384749999997 meters 0.0728505394906196 Centerline is valid? [True, True] Translation: X:24.91, Y:-2.16, Z:-0.31 [[ 9.98234567e-01 5.73718188e-02 -1.53695722e-02 2.49103459e+01] [-5.73481293e-02 9.98352282e-01 1.97801135e-03 -2.16060313e+00] [ 1.54577296e-02 -1.09310309e-03 9.99879925e-01 -3.13843024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.49538475 meters 0.0639567328874859 Centerline is valid? [True, True] Translation: X:24.97, Y:-2.15, Z:-0.31 [[ 9.97105209e-01 7.42375615e-02 -1.64312845e-02 2.49725226e+01] [-7.42127634e-02 9.97240189e-01 2.11468478e-03 -2.14807898e+00] [ 1.65429263e-02 -8.89152186e-04 9.99862761e-01 -3.13754836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.555384749999998 meters 0.05900746002640262 Centerline is valid? [True, True] Translation: X:25.03, Y:-2.14, Z:-0.32 [[ 9.95799573e-01 8.95615562e-02 -1.90246781e-02 2.50344338e+01] [-8.95310902e-02 9.95981017e-01 2.44884414e-03 -2.14291148e+00] [ 1.91675405e-02 -7.35257777e-04 9.99816015e-01 -3.16739543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.615384749999997 meters 0.05816521663071467 Centerline is valid? [True, True] Translation: X:25.09, Y:-2.15, Z:-0.32 [[ 9.95310606e-01 9.51431521e-02 -1.74521592e-02 2.50927739e+01] [-9.51184002e-02 9.95463435e-01 2.24478981e-03 -2.15249130e+00] [ 1.75865627e-02 -5.74241638e-04 9.99845180e-01 -3.17792958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.67538475 meters 0.057438259955599286 Centerline is valid? [True, True] Translation: X:25.15, Y:-2.16, Z:-0.32 [[ 9.95114536e-01 9.70643368e-02 -1.80436850e-02 2.51510627e+01] [-9.70382377e-02 9.95277954e-01 2.31846418e-03 -2.16332977e+00] [ 1.81835221e-02 -5.56210012e-04 9.99834511e-01 -3.18449763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.735384749999998 meters 0.05763570937625375 Centerline is valid? [True, True] Translation: X:25.21, Y:-2.18, Z:-0.32 [[ 9.95046692e-01 9.78962476e-02 -1.72744133e-02 2.52077870e+01] [-9.78724815e-02 9.95196492e-01 2.21792407e-03 -2.17889523e+00] [ 1.74085620e-02 -5.16248315e-04 9.99848326e-01 -3.20216388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.795384749999997 meters 0.06040175275986803 Centerline is valid? [True, True] Translation: X:25.26, Y:-2.21, Z:-0.32 [[ 9.95805291e-01 9.00843038e-02 -1.60199838e-02 2.52647769e+01] [-9.00628412e-02 9.95933959e-01 2.05764801e-03 -2.20777287e+00] [ 1.61402077e-02 -6.06211512e-04 9.99869555e-01 -3.21506948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.85538475 meters 0.06501990995861166 Centerline is valid? [True, True] Translation: X:25.32, Y:-2.24, Z:-0.32 [[ 9.96745727e-01 7.87531742e-02 -1.72015497e-02 2.53224418e+01] [-7.87267179e-02 9.96893784e-01 2.21085459e-03 -2.23835159e+00] [ 1.73222298e-02 -8.49438307e-04 9.99849598e-01 -3.23705130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.915384749999998 meters 0.0673698274641915 Centerline is valid? [True, True] Translation: X:25.38, Y:-2.26, Z:-0.33 [[ 9.97028351e-01 7.50628709e-02 -1.73214675e-02 2.53801489e+01] [-7.50354984e-02 9.97178379e-01 2.22571996e-03 -2.26075504e+00] [ 1.74396618e-02 -9.19380961e-04 9.99847495e-01 -3.25016273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.975384749999996 meters 0.0676506075849689 Centerline is valid? [True, True] Translation: X:25.44, Y:-2.28, Z:-0.32 [[ 9.97075301e-01 7.46190092e-02 -1.65180830e-02 2.54401291e+01] [-7.45940332e-02 9.97211722e-01 2.12388826e-03 -2.27793511e+00] [ 1.66305084e-02 -8.85526091e-04 9.99861311e-01 -3.24801915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.03538475 meters 0.06772845804578412 Centerline is valid? [True, True] Translation: X:25.50, Y:-2.29, Z:-0.32 [[ 9.97443842e-01 6.98321514e-02 -1.51410935e-02 2.55002422e+01] [-6.98106041e-02 9.97558362e-01 1.94764467e-03 -2.29078603e+00] [ 1.52401327e-02 -8.85657299e-04 9.99883470e-01 -3.23181731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.095384749999997 meters 0.06891468559908853 Centerline is valid? [True, True] Translation: X:25.56, Y:-2.31, Z:-0.32 [[ 9.97987386e-01 6.14738005e-02 -1.55611189e-02 2.55599022e+01] [-6.14500202e-02 9.98108154e-01 2.00219306e-03 -2.30628528e+00] [ 1.56547621e-02 -1.04193235e-03 9.99876914e-01 -3.21117246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.15538475 meters 0.06867509877029293 Centerline is valid? [True, True] Translation: X:25.62, Y:-2.32, Z:-0.32 [[ 9.98177924e-01 5.84615475e-02 -1.49358284e-02 2.56203851e+01] [-5.84392903e-02 9.98289113e-01 1.92268725e-03 -2.31544301e+00] [ 1.50226782e-02 -1.04634476e-03 9.99886606e-01 -3.19509978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.21538475 meters 0.06984646630179775 Centerline is valid? [True, True] Translation: X:25.68, Y:-2.32, Z:-0.32 [[ 9.98022017e-01 6.02382185e-02 -1.79835981e-02 2.56807681e+01] [-6.02060628e-02 9.98183263e-01 2.32462963e-03 -2.32453457e+00] [ 1.80909581e-02 -1.23730992e-03 9.99835580e-01 -3.23557325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.275384749999997 meters 0.06896721821730004 Centerline is valid? [True, True] Translation: X:25.74, Y:-2.33, Z:-0.33 [[ 9.97849771e-01 6.20726099e-02 -2.10434106e-02 2.57422108e+01] [-6.20290592e-02 9.98070647e-01 2.71664098e-03 -2.32897534e+00] [ 2.11714394e-02 -1.40549662e-03 9.99774872e-01 -3.26318857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.33538475 meters 0.0716678849659715 Centerline is valid? [True, True] Translation: X:25.80, Y:-2.34, Z:-0.33 [[ 9.97756146e-01 6.23334519e-02 -2.44379694e-02 2.58016171e+01] [-6.22747234e-02 9.98054051e-01 3.15763506e-03 -2.34108389e+00] [ 2.45872407e-02 -1.62868200e-03 9.99696361e-01 -3.32797433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.395384749999998 meters 0.07464510477532853 Centerline is valid? [True, True] Translation: X:25.86, Y:-2.36, Z:-0.34 [[ 9.98007258e-01 5.62594435e-02 -2.85725166e-02 2.58608140e+01] [-5.61767153e-02 9.98414021e-01 3.69052565e-03 -2.35512700e+00] [ 2.87348281e-02 -2.07806126e-03 9.99584910e-01 -3.38006259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.455384749999997 meters 0.07642037637122195 Centerline is valid? [True, True] Translation: X:25.92, Y:-2.37, Z:-0.34 [[ 9.98336115e-01 5.11580074e-02 -2.66056317e-02 2.59192018e+01] [-5.10845069e-02 9.98688425e-01 3.43542576e-03 -2.36906183e+00] [ 2.67464860e-02 -2.07057402e-03 9.99640104e-01 -3.36981350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.51538475 meters 0.07592221609642215 Centerline is valid? [True, True] Translation: X:25.98, Y:-2.38, Z:-0.33 [[ 9.98515608e-01 5.04535447e-02 -2.05187796e-02 2.59781757e+01] [-5.04097156e-02 9.98725112e-01 2.64802640e-03 -2.37678767e+00] [ 2.06262228e-02 -1.60974985e-03 9.99785961e-01 -3.32577045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.575384749999998 meters 0.07293844000412336 Centerline is valid? [True, True] Translation: X:26.04, Y:-2.37, Z:-0.33 [[ 9.98277889e-01 5.60034428e-02 -1.74605542e-02 2.60393756e+01] [-5.59725307e-02 9.98429764e-01 2.25447577e-03 -2.37421192e+00] [ 1.75593954e-02 -1.27328190e-03 9.99845011e-01 -3.31363919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.635384749999997 meters 0.07222694434036851 Centerline is valid? [True, True] Translation: X:26.10, Y:-2.38, Z:-0.33 [[ 9.98067387e-01 6.03263959e-02 -1.49069500e-02 2.60990267e+01] [-6.03043575e-02 9.98178182e-01 1.92391590e-03 -2.37626691e+00] [ 1.49958552e-02 -1.02124367e-03 9.99887034e-01 -3.31849591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.69538475 meters 0.06881381798782685 Centerline is valid? [True, True] Translation: X:26.16, Y:-2.37, Z:-0.33 [[ 9.97924050e-01 6.31392406e-02 -1.26896439e-02 2.61609870e+01] [-6.31234857e-02 9.98004379e-01 1.63866872e-03 -2.37430223e+00] [ 1.27677845e-02 -8.34252376e-04 9.99918141e-01 -3.30840142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.755384749999997 meters 0.06883492023981609 Centerline is valid? [True, True] Translation: X:26.22, Y:-2.38, Z:-0.33 [[ 9.97933899e-01 6.25033684e-02 -1.48748811e-02 2.62223674e+01] [-6.24815144e-02 9.98044256e-01 1.92986483e-03 -2.38034175e+00] [ 1.49664127e-02 -9.96472437e-04 9.99887500e-01 -3.33222292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.815384749999996 meters 0.07425165087172864 Centerline is valid? [True, True] Translation: X:26.28, Y:-2.40, Z:-0.34 [[ 9.98139740e-01 5.76884022e-02 -1.97258341e-02 2.62797176e+01] [-5.76491803e-02 9.98333642e-01 2.55172259e-03 -2.39607619e+00] [ 1.98401686e-02 -1.40979755e-03 9.99802171e-01 -3.41545978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.87538475 meters 0.07238471599465122 Centerline is valid? [True, True] Translation: X:26.34, Y:-2.40, Z:-0.34 [[ 9.98086118e-01 5.75396904e-02 -2.26557803e-02 2.63406343e+01] [-5.74878944e-02 9.98341900e-01 2.93145933e-03 -2.39849067e+00] [ 2.27868900e-02 -1.62341577e-03 9.99739027e-01 -3.42994406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.935384749999997 meters 0.07175909386613308 Centerline is valid? [True, True] Translation: X:26.40, Y:-2.40, Z:-0.34 [[ 9.98009261e-01 5.90555954e-02 -2.21348297e-02 2.64001833e+01] [-5.90065653e-02 9.98253491e-01 2.86225670e-03 -2.40495060e+00] [ 2.22652033e-02 -1.55045842e-03 9.99750897e-01 -3.43306154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.99538475 meters 0.06982129376986508 Centerline is valid? [True, True] Translation: X:26.46, Y:-2.40, Z:-0.35 [[ 9.97714686e-01 6.39858882e-02 -2.17074151e-02 2.64610391e+01] [-6.39398843e-02 9.97949803e-01 2.80746783e-03 -2.40370386e+00] [ 2.18425490e-02 -1.41308227e-03 9.99760424e-01 -3.45471111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.055384749999998 meters 0.07165617827867034 Centerline is valid? [True, True] Translation: X:26.52, Y:-2.41, Z:-0.35 [[ 9.97696864e-01 6.48333296e-02 -1.99401017e-02 2.65193277e+01] [-6.47947128e-02 9.97895286e-01 2.57733334e-03 -2.41386038e+00] [ 2.00652306e-02 -1.27938423e-03 9.99797854e-01 -3.47910564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.115384749999997 meters 0.07019342990241245 Centerline is valid? [True, True] Translation: X:26.58, Y:-2.42, Z:-0.34 [[ 9.97969319e-01 6.12271023e-02 -1.75635967e-02 2.65795958e+01] [-6.11965765e-02 9.98123150e-01 2.27074497e-03 -2.42162182e+00] [ 1.76696636e-02 -1.19130182e-03 9.99843170e-01 -3.43886441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.17538475 meters 0.06973137085727353 Centerline is valid? [True, True] Translation: X:26.64, Y:-2.43, Z:-0.34 [[ 9.98021102e-01 6.08267675e-02 -1.59369015e-02 2.66394300e+01] [-6.08015841e-02 9.98147746e-01 2.06043440e-03 -2.42907409e+00] [ 1.60327118e-02 -1.08736815e-03 9.99870877e-01 -3.44747066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.235384749999998 meters 0.06933977396771687 Centerline is valid? [True, True] Translation: X:26.70, Y:-2.44, Z:-0.35 [[ 9.97761300e-01 6.39344951e-02 -1.96155104e-02 2.67004699e+01] [-6.38969068e-02 9.97953278e-01 2.53769365e-03 -2.43754610e+00] [ 1.97376090e-02 -1.27864208e-03 9.99804377e-01 -3.49192920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.295384749999997 meters 0.06901698543754951 Centerline is valid? [True, True] Translation: X:26.76, Y:-2.45, Z:-0.35 [[ 9.97599846e-01 6.60590783e-02 -2.07544147e-02 2.67600321e+01] [-6.60174883e-02 9.97814858e-01 2.68345997e-03 -2.44558498e+00] [ 2.08863302e-02 -1.30686492e-03 9.99781003e-01 -3.51008491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.35538475 meters 0.0679653982815428 Centerline is valid? [True, True] Translation: X:26.82, Y:-2.45, Z:-0.35 [[ 9.97617326e-01 6.52613880e-02 -2.23745692e-02 2.68202914e+01] [-6.52128418e-02 9.97867183e-01 2.89330440e-03 -2.45256808e+00] [ 2.25156694e-02 -1.42730136e-03 9.99745471e-01 -3.52083320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.415384749999998 meters 0.07126581020169642 Centerline is valid? [True, True] Translation: X:26.88, Y:-2.47, Z:-0.36 [[ 9.97760231e-01 6.28771985e-02 -2.28249587e-02 2.68787055e+01] [-6.28260776e-02 9.98020129e-01 2.95062961e-03 -2.46519806e+00] [ 2.29652956e-02 -1.51001826e-03 9.99735122e-01 -3.56516237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.475384749999996 meters 0.0720965818691832 Centerline is valid? [True, True] Translation: X:26.94, Y:-2.47, Z:-0.36 [[ 9.97757001e-01 6.26457437e-02 -2.35897896e-02 2.69383512e+01] [-6.25911085e-02 9.98034600e-01 3.04805791e-03 -2.47241576e+00] [ 2.37343741e-02 -1.56471004e-03 9.99717076e-01 -3.58836064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.53538475 meters 0.06727288151723516 Centerline is valid? [True, True] Translation: X:27.00, Y:-2.47, Z:-0.35 [[ 9.97752720e-01 6.43747411e-02 -1.85850173e-02 2.69998189e+01] [-6.43411370e-02 9.97925074e-01 2.40106770e-03 -2.46900238e+00] [ 1.87010229e-02 -1.19989068e-03 9.99824401e-01 -3.53530408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.595384749999997 meters 0.06907322037152758 Centerline is valid? [True, True] Translation: X:27.06, Y:-2.48, Z:-0.35 [[ 9.97844396e-01 6.33394660e-02 -1.71660422e-02 2.70583619e+01] [-6.33106306e-02 9.97991404e-01 2.21860435e-03 -2.47686022e+00] [ 1.72720878e-02 -1.12702896e-03 9.99850191e-01 -3.54838680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.65538475 meters 0.07040946812323003 Centerline is valid? [True, True] Translation: X:27.12, Y:-2.48, Z:-0.36 [[ 9.97951383e-01 6.15974825e-02 -1.72854774e-02 2.71187658e+01] [-6.15679883e-02 9.98100392e-01 2.23380348e-03 -2.48157153e+00] [ 1.73902384e-02 -1.16499521e-03 9.99848100e-01 -3.55609449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.71538475 meters 0.07188335998310537 Centerline is valid? [True, True] Translation: X:27.18, Y:-2.49, Z:-0.36 [[ 9.98122980e-01 5.87475730e-02 -1.72985504e-02 2.71782363e+01] [-5.87176119e-02 9.98272130e-01 2.23528062e-03 -2.48873259e+00] [ 1.73999781e-02 -1.21535538e-03 9.99847870e-01 -3.57436903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.775384749999997 meters 0.07506278231488063 Centerline is valid? [True, True] Translation: X:27.24, Y:-2.50, Z:-0.36 [[ 9.98440587e-01 5.29258230e-02 -1.77553288e-02 2.72375844e+01] [-5.28933372e-02 9.98597531e-01 2.29460921e-03 -2.49923515e+00] [ 1.78518716e-02 -1.35189237e-03 9.99839729e-01 -3.58852332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.83538475 meters 0.07872809306813502 Centerline is valid? [True, True] Translation: X:27.30, Y:-2.51, Z:-0.36 [[ 9.98484862e-01 5.09627193e-02 -2.07552672e-02 2.72960714e+01] [-5.09179240e-02 9.98699242e-01 2.68138275e-03 -2.51011335e+00] [ 2.08649202e-02 -1.62050497e-03 9.99780991e-01 -3.64023624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.895384749999998 meters 0.07508310788316765 Centerline is valid? [True, True] Translation: X:27.36, Y:-2.51, Z:-0.36 [[ 9.98204360e-01 5.59149246e-02 -2.14843381e-02 2.73571288e+01] [-5.58680630e-02 9.98434302e-01 2.77572532e-03 -2.51148776e+00] [ 2.16059046e-02 -1.57045276e-03 9.99765332e-01 -3.64092937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.955384749999997 meters 0.07040729777689647 Centerline is valid? [True, True] Translation: X:27.42, Y:-2.51, Z:-0.37 [[ 9.97425818e-01 6.87266379e-02 -2.04545085e-02 2.74177156e+01] [-6.86868363e-02 9.97634770e-01 2.64292084e-03 -2.50937363e+00] [ 2.05877679e-02 -1.23116200e-03 9.99787291e-01 -3.67087746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.01538475 meters 0.06333380940838941 Centerline is valid? [True, True] Translation: X:27.48, Y:-2.51, Z:-0.37 [[ 9.96516930e-01 8.07854748e-02 -2.06812595e-02 2.74785410e+01] [-8.07473871e-02 9.96731018e-01 2.67151184e-03 -2.50714717e+00] [ 2.08294722e-02 -9.92249117e-04 9.99782551e-01 -3.66269655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.075384749999998 meters 0.059904389400288166 Centerline is valid? [True, True] Translation: X:27.54, Y:-2.51, Z:-0.37 [[ 9.95730666e-01 9.06359220e-02 -1.74805847e-02 2.75383035e+01] [-9.06102306e-02 9.95883873e-01 2.25780191e-03 -2.51342110e+00] [ 1.76132703e-02 -6.64242790e-04 9.99844654e-01 -3.66367170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.135384749999997 meters 0.057596960224014004 Centerline is valid? [True, True] Translation: X:27.60, Y:-2.52, Z:-0.37 [[ 9.95060520e-01 9.82634285e-02 -1.41018085e-02 2.75979339e+01] [-9.82474736e-02 9.95160347e-01 1.82142608e-03 -2.52310921e+00] [ 1.42125402e-02 -4.26962122e-04 9.99898906e-01 -3.67265267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.19538475 meters 0.05703559626733787 Centerline is valid? [True, True] Translation: X:27.66, Y:-2.54, Z:-0.37 [[ 9.94774034e-01 1.01267658e-01 -1.30185287e-02 2.76574495e+01] [-1.01254299e-01 9.94859153e-01 1.68286619e-03 -2.54115908e+00] [ 1.31220223e-02 -3.55889588e-04 9.99913839e-01 -3.70228998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.255384749999997 meters 0.057229725426481 Centerline is valid? [True, True] Translation: X:27.72, Y:-2.56, Z:-0.37 [[ 9.94718933e-01 1.01285387e-01 -1.65986260e-02 2.77170103e+01] [-1.01263524e-01 9.94857305e-01 2.15454828e-03 -2.56042367e+00] [ 1.67314886e-02 -4.62334602e-04 9.99859912e-01 -3.74558159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.315384749999996 meters 0.05780663185146797 Centerline is valid? [True, True] Translation: X:27.78, Y:-2.58, Z:-0.38 [[ 9.94837007e-01 9.97746801e-02 -1.85564745e-02 2.77772444e+01] [-9.97471231e-02 9.95009908e-01 2.40702783e-03 -2.58130554e+00] [ 1.87040364e-02 -5.43645410e-04 9.99824916e-01 -3.76200202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.37538475 meters 0.059100547149721086 Centerline is valid? [True, True] Translation: X:27.84, Y:-2.60, Z:-0.37 [[ 9.95414968e-01 9.47475755e-02 -1.31125141e-02 2.78377093e+01] [-9.47332522e-02 9.95501223e-01 1.71057871e-03 -2.60462301e+00] [ 1.32155970e-02 -4.60544543e-04 9.99912564e-01 -3.73159332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.435384749999997 meters 0.06145560353377095 Centerline is valid? [True, True] Translation: X:27.90, Y:-2.63, Z:-0.37 [[ 9.95983473e-01 8.88393060e-02 -1.11579352e-02 2.78967238e+01] [-8.88286028e-02 9.96045868e-01 1.45217859e-03 -2.62750764e+00] [ 1.12428258e-02 -4.55202078e-04 9.99936694e-01 -3.72767212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.49538475 meters 0.06248484892534394 Centerline is valid? [True, True] Translation: X:27.96, Y:-2.64, Z:-0.37 [[ 9.96370408e-01 8.44435040e-02 -1.07380240e-02 2.79564766e+01] [-8.44333301e-02 9.96428150e-01 1.39811212e-03 -2.64270145e+00] [ 1.08177308e-02 -4.86390419e-04 9.99941368e-01 -3.73550178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.555384749999998 meters 0.062121863724439154 Centerline is valid? [True, True] Translation: X:28.02, Y:-2.65, Z:-0.38 [[ 9.96056478e-01 8.79026232e-02 -1.20258833e-02 2.80177246e+01] [-8.78900154e-02 9.96128941e-01 1.57392281e-03 -2.65396418e+00] [ 1.21176823e-02 -5.10760947e-04 9.99926448e-01 -3.76379486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.615384749999997 meters 0.06122978152557835 Centerline is valid? [True, True] Translation: X:28.08, Y:-2.67, Z:-0.38 [[ 9.95759475e-01 9.11605205e-02 -1.23623030e-02 2.80785017e+01] [-9.11473959e-02 9.95836091e-01 1.62213197e-03 -2.66552006e+00] [ 1.24587019e-02 -4.88461552e-04 9.99922268e-01 -3.79196430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.67538475 meters 0.061226194210650405 Centerline is valid? [True, True] Translation: X:28.14, Y:-2.68, Z:-0.38 [[ 9.95852871e-01 8.99717075e-02 -1.34963489e-02 2.81391887e+01] [-8.99558942e-02 9.95944168e-01 1.77543536e-03 -2.68029374e+00] [ 1.36013489e-02 -5.53996270e-04 9.99907344e-01 -3.80270249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.735384749999998 meters 0.06443899863830325 Centerline is valid? [True, True] Translation: X:28.20, Y:-2.70, Z:-0.38 [[ 9.96492784e-01 8.26180245e-02 -1.32813440e-02 2.81972419e+01] [-8.26021152e-02 9.96581082e-01 1.74292898e-03 -2.70441683e+00] [ 1.33799335e-02 -6.39749042e-04 9.99910280e-01 -3.81565717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.795384749999997 meters 0.06719223197870144 Centerline is valid? [True, True] Translation: X:28.26, Y:-2.72, Z:-0.38 [[ 9.97080462e-01 7.48129886e-02 -1.52829797e-02 2.82554709e+01] [-7.47910218e-02 9.97197214e-01 2.00466587e-03 -2.72184372e+00] [ 1.53901198e-02 -8.55783508e-04 9.99881199e-01 -3.82971628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.85538475 meters 0.06721337441638575 Centerline is valid? [True, True] Translation: X:28.32, Y:-2.73, Z:-0.38 [[ 9.97096591e-01 7.47759668e-02 -1.43855236e-02 2.83175682e+01] [-7.47563330e-02 9.97200023e-01 1.89850969e-03 -2.73092178e+00] [ 1.44872074e-02 -8.17588541e-04 9.99894721e-01 -3.80211853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.915384749999998 meters 0.06596751305632842 Centerline is valid? [True, True] Translation: X:28.38, Y:-2.73, Z:-0.38 [[ 9.96970588e-01 7.66643581e-02 -1.31233497e-02 2.83794902e+01] [-7.66482212e-02 9.97056699e-01 1.72894850e-03 -2.73339127e+00] [ 1.32172725e-02 -7.17829386e-04 9.99912390e-01 -3.78088355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.975384749999996 meters 0.06903120047987855 Centerline is valid? [True, True] Translation: X:28.44, Y:-2.74, Z:-0.38 [[ 9.97180069e-01 7.36675172e-02 -1.43180959e-02 2.84384032e+01] [-7.36480163e-02 9.97282515e-01 1.88522504e-03 -2.74379094e+00] [ 1.44180665e-02 -8.25409476e-04 9.99895714e-01 -3.81628946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.03538475 meters 0.07174520522096776 Centerline is valid? [True, True] Translation: X:28.50, Y:-2.76, Z:-0.38 [[ 9.97622067e-01 6.73305251e-02 -1.47245405e-02 2.84976283e+01] [-6.73092116e-02 9.97730280e-01 1.93886200e-03 -2.75637775e+00] [ 1.48216645e-02 -9.43154308e-04 9.99889708e-01 -3.80497912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.095384749999997 meters 0.07537050238331108 Centerline is valid? [True, True] Translation: X:28.56, Y:-2.77, Z:-0.38 [[ 9.97987781e-01 6.14861302e-02 -1.54869467e-02 2.85564259e+01] [-6.14618613e-02 9.98107351e-01 2.03861924e-03 -2.76975527e+00] [ 1.55829821e-02 -1.08266052e-03 9.99877992e-01 -3.82123529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.15538475 meters 0.07380462438583882 Centerline is valid? [True, True] Translation: X:28.62, Y:-2.77, Z:-0.38 [[ 9.98030025e-01 6.04814489e-02 -1.66752494e-02 2.86183935e+01] [-6.04531179e-02 9.98168617e-01 2.19831422e-03 -2.77440839e+00] [ 1.67776679e-02 -1.18591278e-03 9.99858542e-01 -3.81828787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.21538475 meters 0.0743912835183291 Centerline is valid? [True, True] Translation: X:28.68, Y:-2.78, Z:-0.38 [[ 9.97955406e-01 6.09675616e-02 -1.91823844e-02 2.86798027e+01] [-6.09299730e-02 9.98138815e-01 2.53846194e-03 -2.78216119e+00] [ 1.93014463e-02 -1.36448965e-03 9.99812779e-01 -3.82096110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.275384749999997 meters 0.07376601154809646 Centerline is valid? [True, True] Translation: X:28.74, Y:-2.78, Z:-0.38 [[ 9.97748047e-01 6.35550257e-02 -2.14381149e-02 2.87427124e+01] [-6.35086897e-02 9.97977256e-01 2.83602232e-03 -2.78375779e+00] [ 2.15749946e-02 -1.46812914e-03 9.99766155e-01 -3.84360688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.33538475 meters 0.07068400464265455 Centerline is valid? [True, True] Translation: X:28.81, Y:-2.78, Z:-0.38 [[ 9.97518069e-01 6.54915298e-02 -2.58565666e-02 2.88060460e+01] [-6.54244557e-02 9.97851622e-01 3.43249310e-03 -2.78097701e+00] [ 2.60258161e-02 -1.73232209e-03 9.99659770e-01 -3.83794160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.395384749999998 meters 0.0679222310000232 Centerline is valid? [True, True] Translation: X:28.87, Y:-2.78, Z:-0.38 [[ 9.97240591e-01 6.98519951e-02 -2.51376622e-02 2.88677789e+01] [-6.97900586e-02 9.97556130e-01 3.33390720e-03 -2.77795155e+00] [ 2.53091091e-02 -1.57034867e-03 9.99678440e-01 -3.83335701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.455384749999997 meters 0.06814210094079458 Centerline is valid? [True, True] Translation: X:28.93, Y:-2.78, Z:-0.39 [[ 9.97055886e-01 7.13658921e-02 -2.80440522e-02 2.89286389e+01] [-7.12893842e-02 9.97448739e-01 3.71982315e-03 -2.78167327e+00] [ 2.82379730e-02 -1.70962835e-03 9.99599767e-01 -3.85873618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.51538475 meters 0.07176955278430519 Centerline is valid? [True, True] Translation: X:28.99, Y:-2.79, Z:-0.39 [[ 9.97526054e-01 6.43961267e-02 -2.81941546e-02 2.89881497e+01] [-6.43160293e-02 9.97922574e-01 3.73955542e-03 -2.79234980e+00] [ 2.83763962e-02 -1.91696789e-03 9.99595471e-01 -3.88035385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.575384749999998 meters 0.07758578740055572 Centerline is valid? [True, True] Translation: X:29.05, Y:-2.81, Z:-0.39 [[ 9.98166115e-01 5.43601912e-02 -2.66341386e-02 2.90468686e+01] [-5.42851502e-02 9.98519224e-01 3.53300183e-03 -2.81154641e+00] [ 2.67867541e-02 -2.08068450e-03 9.99639005e-01 -3.87435620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.635384749999997 meters 0.07864499251504276 Centerline is valid? [True, True] Translation: X:29.11, Y:-2.82, Z:-0.38 [[ 9.98613724e-01 4.84324099e-02 -2.06138958e-02 2.91072911e+01] [-4.83861940e-02 9.98824957e-01 2.73516580e-03 -2.82007184e+00] [ 2.07221442e-02 -1.73394614e-03 9.99783770e-01 -3.84026503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.69538475 meters 0.07680123801602273 Centerline is valid? [True, True] Translation: X:29.17, Y:-2.82, Z:-0.38 [[ 9.98441497e-01 5.25560826e-02 -1.87732455e-02 2.91681895e+01] [-5.25184816e-02 9.98616846e-01 2.49067741e-03 -2.82050477e+00] [ 1.88781795e-02 -1.50085333e-03 9.99820665e-01 -3.83964635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.755384749999997 meters 0.07041868209924329 Centerline is valid? [True, True] Translation: X:29.23, Y:-2.81, Z:-0.38 [[ 9.97762173e-01 6.43595879e-02 -1.81242917e-02 2.92304855e+01] [-6.43264696e-02 9.97926010e-01 2.40498738e-03 -2.81032362e+00] [ 1.82414861e-02 -1.23373374e-03 9.99832849e-01 -3.84830492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.815384749999996 meters 0.06664038509392242 Centerline is valid? [True, True] Translation: X:29.29, Y:-2.81, Z:-0.39 [[ 9.96919631e-01 7.60275988e-02 -1.92627505e-02 2.92922818e+01] [-7.59923508e-02 9.97105124e-01 2.55633464e-03 -2.80572267e+00] [ 1.94013392e-02 -1.08463849e-03 9.99811188e-01 -3.88114709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.87538475 meters 0.06253423430326199 Centerline is valid? [True, True] Translation: X:29.35, Y:-2.80, Z:-0.39 [[ 9.96259145e-01 8.47764280e-02 -1.67533291e-02 2.93537339e+01] [-8.47510031e-02 9.96399682e-01 2.22308493e-03 -2.80184209e+00] [ 1.68814770e-02 -7.94907242e-04 9.99857182e-01 -3.88858229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.935384749999997 meters 0.06258224774983967 Centerline is valid? [True, True] Translation: X:29.41, Y:-2.81, Z:-0.39 [[ 9.96109177e-01 8.67628369e-02 -1.54504840e-02 2.94144149e+01] [-8.67414284e-02 9.96228746e-01 2.05167684e-03 -2.81112647e+00] [ 1.55702256e-02 -7.03497077e-04 9.99878529e-01 -3.91787959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.99538475 meters 0.0627232435592363 Centerline is valid? [True, True] Translation: X:29.48, Y:-2.82, Z:-0.39 [[ 9.95875876e-01 8.93596728e-02 -1.56871815e-02 2.94760011e+01] [-8.93377779e-02 9.95999188e-01 2.09238665e-03 -2.82091835e+00] [ 1.58113950e-02 -6.82299456e-04 9.99874759e-01 -3.94220786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.05538475 meters 0.059965981250025044 Centerline is valid? [True, True] Translation: X:29.54, Y:-2.82, Z:-0.40 [[ 9.95276761e-01 9.56438477e-02 -1.66259785e-02 2.95378414e+01] [-9.56201721e-02 9.95415429e-01 2.21499866e-03 -2.82426626e+00] [ 1.67616065e-02 -6.14757766e-04 9.99859325e-01 -3.95345554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.115384750000004 meters 0.05937418880636789 Centerline is valid? [True, True] Translation: X:29.60, Y:-2.83, Z:-0.40 [[ 9.95077895e-01 9.83210921e-02 -1.23670943e-02 2.95980978e+01] [-9.83081927e-02 9.95154653e-01 1.64814828e-03 -2.83477023e+00] [ 1.24692192e-02 -4.24249228e-04 9.99922166e-01 -3.95308256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17538475 meters 0.0607462092385151 Centerline is valid? [True, True] Translation: X:29.66, Y:-2.85, Z:-0.40 [[ 9.95272218e-01 9.67081085e-02 -8.98631449e-03 2.96573276e+01] [-9.67011715e-02 9.95312731e-01 1.20429535e-03 -2.85105629e+00] [ 9.06065835e-03 -3.29614568e-04 9.99958897e-01 -3.96681143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.23538475 meters 0.06222995738528041 Centerline is valid? [True, True] Translation: X:29.72, Y:-2.87, Z:-0.40 [[ 9.95468032e-01 9.48244395e-02 -7.19188728e-03 2.97163161e+01] [-9.48199258e-02 9.95493971e-01 9.66767943e-04 -2.87021687e+00] [ 7.25115366e-03 -2.80452363e-04 9.99973671e-01 -3.97255583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.295384750000004 meters 0.0613595034586332 Centerline is valid? [True, True] Translation: X:29.78, Y:-2.88, Z:-0.40 [[ 9.95410768e-01 9.50271628e-02 -1.12801133e-02 2.97765774e+01] [-9.50160553e-02 9.95474583e-01 1.51777779e-03 -2.88411032e+00] [ 1.13732962e-02 -4.39020489e-04 9.99935226e-01 -3.99942571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35538475 meters 0.06036445213807531 Centerline is valid? [True, True] Translation: X:29.84, Y:-2.90, Z:-0.40 [[ 9.95054110e-01 9.87225457e-02 -1.10080409e-02 2.98369248e+01] [-9.87122207e-02 9.95114923e-01 1.47870258e-03 -2.89994431e+00] [ 1.11002471e-02 -3.84760916e-04 9.99938316e-01 -4.02156942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.41538475 meters 0.05888224168720065 Centerline is valid? [True, True] Translation: X:29.90, Y:-2.91, Z:-0.40 [[ 9.94744747e-01 1.01921593e-01 -9.74052649e-03 2.98970803e+01] [-1.01913659e-01 9.94792387e-01 1.30872760e-03 -2.91110098e+00] [ 9.82318919e-03 -3.09157208e-04 9.99951704e-01 -4.02853522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.47538475 meters 0.059715283888905964 Centerline is valid? [True, True] Translation: X:29.96, Y:-2.93, Z:-0.41 [[ 9.94692776e-01 1.02108802e-01 -1.26520547e-02 2.99569072e+01] [-1.02095325e-01 9.94773153e-01 1.70823033e-03 -2.93121702e+00] [ 1.27603497e-02 -4.07448734e-04 9.99918500e-01 -4.06503915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53538475 meters 0.06239626800287799 Centerline is valid? [True, True] Translation: X:30.01, Y:-2.96, Z:-0.41 [[ 9.95440394e-01 9.45052873e-02 -1.29295517e-02 3.00145141e+01] [-9.44906268e-02 9.95524228e-01 1.74147066e-03 -2.95683533e+00] [ 1.30362602e-02 -5.11808793e-04 9.99914893e-01 -4.07552828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.59538475 meters 0.06533325245513254 Centerline is valid? [True, True] Translation: X:30.07, Y:-2.98, Z:-0.41 [[ 9.96067298e-01 8.77869212e-02 -1.19747086e-02 3.00736207e+01] [-8.77738502e-02 9.96139120e-01 1.61378809e-03 -2.97687263e+00] [ 1.20701452e-02 -5.56375265e-04 9.99926998e-01 -4.08609178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.65538475 meters 0.06698948944672743 Centerline is valid? [True, True] Translation: X:30.13, Y:-3.00, Z:-0.41 [[ 9.96289680e-01 8.53351556e-02 -1.11707501e-02 3.01336439e+01] [-8.53236074e-02 9.96352152e-01 1.50719483e-03 -2.99647236e+00] [ 1.12586176e-02 -5.48473957e-04 9.99936469e-01 -4.06767318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71538475 meters 0.06854791512284009 Centerline is valid? [True, True] Translation: X:30.19, Y:-3.01, Z:-0.40 [[ 9.96596802e-01 8.21464414e-02 -6.83931404e-03 3.01937336e+01] [-8.21420002e-02 9.96620204e-01 9.28224746e-04 -3.01260335e+00] [ 6.89244892e-03 -3.63270878e-04 9.99976181e-01 -4.04052558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.77538475 meters 0.06788160093653561 Centerline is valid? [True, True] Translation: X:30.25, Y:-3.02, Z:-0.41 [[ 9.96826516e-01 7.89371296e-02 -1.02871661e-02 3.02546000e+01] [-7.89269637e-02 9.96879431e-01 1.39110740e-03 -3.02098760e+00] [ 1.03648743e-02 -5.74757960e-04 9.99946118e-01 -4.06678782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.83538475 meters 0.06959848168695983 Centerline is valid? [True, True] Translation: X:30.31, Y:-3.04, Z:-0.41 [[ 9.97264067e-01 7.31448899e-02 -1.06867365e-02 3.03140398e+01] [-7.31335930e-02 9.97321107e-01 1.44462136e-03 -3.03702580e+00] [ 1.07637745e-02 -6.59109538e-04 9.99941852e-01 -4.06921314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.89538475 meters 0.07152009017839231 Centerline is valid? [True, True] Translation: X:30.37, Y:-3.05, Z:-0.41 [[ 9.97492092e-01 6.98245230e-02 -1.15785638e-02 3.03739403e+01] [-6.98110328e-02 9.97559005e-01 1.56570126e-03 -3.04893936e+00] [ 1.16596249e-02 -7.53463133e-04 9.99931740e-01 -4.09019215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.95538475 meters 0.07151557651719288 Centerline is valid? [True, True] Translation: X:30.44, Y:-3.05, Z:-0.41 [[ 9.97438556e-01 7.08780797e-02 -9.62415529e-03 3.04363530e+01] [-7.08687323e-02 9.97484791e-01 1.30925839e-03 -3.05068080e+00] [ 9.69274625e-03 -6.23853110e-04 9.99952830e-01 -4.09817891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.01538475 meters 0.07142573303523186 Centerline is valid? [True, True] Translation: X:30.50, Y:-3.05, Z:-0.41 [[ 9.97323650e-01 7.26896300e-02 -7.85838203e-03 3.04972112e+01] [-7.26834598e-02 9.97354487e-01 1.06830981e-03 -3.04998392e+00] [ 7.91524763e-03 -4.94276246e-04 9.99968552e-01 -4.09578960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.075384750000005 meters 0.06915515625823733 Centerline is valid? [True, True] Translation: X:30.56, Y:-3.04, Z:-0.41 [[ 9.97054326e-01 7.62225462e-02 -8.53193041e-03 3.05607509e+01] [-7.62153998e-02 9.97090701e-01 1.16009973e-03 -3.04277077e+00] [ 8.59553424e-03 -5.06417964e-04 9.99962929e-01 -4.09940180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.13538475 meters 0.06789306702835009 Centerline is valid? [True, True] Translation: X:30.62, Y:-3.04, Z:-0.41 [[ 9.96835244e-01 7.88250933e-02 -1.03004942e-02 3.06242630e+01] [-7.88148032e-02 9.96888290e-01 1.40176539e-03 -3.04062339e+00] [ 1.03789363e-02 -5.85497722e-04 9.99945966e-01 -4.12464690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.19538475 meters 0.06695758071464693 Centerline is valid? [True, True] Translation: X:30.69, Y:-3.04, Z:-0.42 [[ 9.96686774e-01 8.03978091e-02 -1.23153338e-02 3.06869158e+01] [-8.03831315e-02 9.96762620e-01 1.68300933e-03 -3.03977285e+00] [ 1.24107746e-02 -6.87488041e-04 9.99922747e-01 -4.15466926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.255384750000005 meters 0.06886620947118156 Centerline is valid? [True, True] Translation: X:30.75, Y:-3.04, Z:-0.42 [[ 9.97165763e-01 7.42011052e-02 -1.24352838e-02 3.07478318e+01] [-7.41857186e-02 9.97243003e-01 1.69472126e-03 -3.04111471e+00] [ 1.25267500e-02 -7.67397550e-04 9.99921243e-01 -4.15801924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.31538475 meters 0.07161777286051978 Centerline is valid? [True, True] Translation: X:30.81, Y:-3.04, Z:-0.42 [[ 9.97610713e-01 6.82437748e-02 -1.07542086e-02 3.08088570e+01] [-6.82319214e-02 9.97668410e-01 1.46571077e-03 -3.04496482e+00] [ 1.08291598e-02 -7.28428457e-04 9.99941098e-01 -4.15481645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.37538475 meters 0.07019565757235277 Centerline is valid? [True, True] Translation: X:30.87, Y:-3.04, Z:-0.42 [[ 9.97199880e-01 7.38584474e-02 -1.17187160e-02 3.08691696e+01] [-7.38447636e-02 9.97268470e-01 1.59671308e-03 -3.04217983e+00] [ 1.18046367e-02 -7.26876278e-04 9.99930059e-01 -4.15978301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.435384750000004 meters 0.0618765734104325 Centerline is valid? [True, True] Translation: X:30.93, Y:-3.02, Z:-0.42 [[ 9.95546020e-01 9.31665823e-02 -1.44259854e-02 3.09332586e+01] [-9.31478524e-02 9.95650346e-01 1.96631770e-03 -3.02063463e+00] [ 1.45464325e-02 -6.13810204e-04 9.99894007e-01 -4.19990334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.49538475 meters 0.05489448515280492 Centerline is valid? [True, True] Translation: X:31.00, Y:-3.00, Z:-0.42 [[ 9.93093538e-01 1.15427638e-01 -2.10163178e-02 3.09979875e+01] [-1.15392841e-01 9.93315803e-01 2.86499226e-03 -2.99703729e+00] [ 2.12065399e-02 -4.20072678e-04 9.99775028e-01 -4.24079025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.55538475 meters 0.05358640420617407 Centerline is valid? [True, True] Translation: X:31.06, Y:-2.99, Z:-0.43 [[ 9.91297657e-01 1.29415305e-01 -2.40963502e-02 3.10585473e+01] [-1.29373783e-01 9.91590470e-01 3.28076396e-03 -2.99015672e+00] [ 2.43182923e-02 -1.34777640e-04 9.99704258e-01 -4.28051601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.615384750000004 meters 0.053300221803243966 Centerline is valid? [True, True] Translation: X:31.12, Y:-3.00, Z:-0.43 [[ 9.90772782e-01 1.33558746e-01 -2.30511681e-02 3.11169691e+01] [-1.33521923e-01 9.91040897e-01 3.13615830e-03 -2.99856519e+00] [ 2.32635117e-02 -2.93839740e-05 9.99729367e-01 -4.28921877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67538475 meters 0.052997827372721566 Centerline is valid? [True, True] Translation: X:31.18, Y:-3.01, Z:-0.43 [[ 9.90787040e-01 1.33880243e-01 -2.04235787e-02 3.11759041e+01] [-1.33851398e-01 9.90997518e-01 2.77902187e-03 -3.01202321e+00] [ 2.06117719e-02 -1.96942896e-05 9.99787555e-01 -4.27430331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.73538475 meters 0.053449862383600305 Centerline is valid? [True, True] Translation: X:31.23, Y:-3.03, Z:-0.43 [[ 9.91636158e-01 1.27524941e-01 -1.98776375e-02 3.12345971e+01] [-1.27496302e-01 9.91835353e-01 2.70667000e-03 -3.03422183e+00] [ 2.00605115e-02 -1.49706564e-04 9.99798756e-01 -4.28418503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.795384750000004 meters 0.05755154164944865 Centerline is valid? [True, True] Translation: X:31.29, Y:-3.08, Z:-0.43 [[ 9.94215764e-01 1.05873744e-01 -1.80489790e-02 3.12900051e+01] [-1.05846562e-01 9.94379438e-01 2.45743141e-03 -3.07815511e+00] [ 1.82077111e-02 -5.32794669e-04 9.99834084e-01 -4.26318279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85538475 meters 0.0582698192333345 Centerline is valid? [True, True] Translation: X:31.35, Y:-3.10, Z:-0.42 [[ 9.94661087e-01 1.02518496e-01 -1.18016743e-02 3.13497673e+01] [-1.02506539e-01 9.94731019e-01 1.61529378e-03 -3.09924545e+00] [ 1.19050890e-02 -3.96921077e-04 9.99929053e-01 -4.22583977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.91538475 meters 0.056625620464206446 Centerline is valid? [True, True] Translation: X:31.41, Y:-3.11, Z:-0.42 [[ 9.93871023e-01 1.09680797e-01 -1.38026027e-02 3.14094105e+01] [-1.09665186e-01 9.93966797e-01 1.88510502e-03 -3.11135518e+00] [ 1.39260886e-02 -3.59886262e-04 9.99902963e-01 -4.23665957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.97538475 meters 0.056823460487397434 Centerline is valid? [True, True] Translation: X:31.47, Y:-3.13, Z:-0.43 [[ 9.93478059e-01 1.12893751e-01 -1.60108276e-02 3.14696734e+01] [-1.12873009e-01 9.93606995e-01 2.19617912e-03 -3.13002493e+00] [ 1.61564052e-02 -3.74665474e-04 9.99869407e-01 -4.26590887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03538475 meters 0.057780176583923565 Centerline is valid? [True, True] Translation: X:31.53, Y:-3.15, Z:-0.42 [[ 9.94289348e-01 1.05406326e-01 -1.66792988e-02 3.15285037e+01] [-1.05382820e-01 9.94429104e-01 2.28445695e-03 -3.15302593e+00] [ 1.68271763e-02 -5.13699676e-04 9.99858281e-01 -4.23306982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.09538475 meters 0.06188535215625863 Centerline is valid? [True, True] Translation: X:31.58, Y:-3.18, Z:-0.43 [[ 9.94948984e-01 9.80964575e-02 -2.12979890e-02 3.15846085e+01] [-9.80564879e-02 9.95176580e-01 2.91549043e-03 -3.18133251e+00] [ 2.14812592e-02 -8.12358238e-04 9.99768921e-01 -4.27845989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.15538475 meters 0.0614499644675372 Centerline is valid? [True, True] Translation: X:31.64, Y:-3.20, Z:-0.42 [[ 9.95743035e-01 8.98004393e-02 -2.07771487e-02 3.16436947e+01] [-8.97605740e-02 9.95959308e-01 2.84528873e-03 -3.19843938e+00] [ 2.09487028e-02 -9.68207642e-04 9.99780083e-01 -4.20556492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.21538475 meters 0.06217156554148279 Centerline is valid? [True, True] Translation: X:31.70, Y:-3.21, Z:-0.42 [[ 9.95463114e-01 9.25821640e-02 -2.19483985e-02 3.17034927e+01] [-9.25380938e-02 9.95704573e-01 3.01730729e-03 -3.21347222e+00] [ 2.21334696e-02 -9.72555146e-04 9.99754552e-01 -4.22140105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.27538475 meters 0.05652667811137013 Centerline is valid? [True, True] Translation: X:31.77, Y:-3.21, Z:-0.42 [[ 9.93529842e-01 1.10577495e-01 -2.59050320e-02 3.17654211e+01] [-1.10522339e-01 9.93867279e-01 3.55578906e-03 -3.20514641e+00] [ 2.61393539e-02 -6.69697832e-04 9.99658084e-01 -4.24020841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.33538475 meters 0.05351230988951048 Centerline is valid? [True, True] Translation: X:31.83, Y:-3.20, Z:-0.43 [[ 9.91194301e-01 1.29281808e-01 -2.86368827e-02 3.18280732e+01] [-1.29222125e-01 9.91607874e-01 3.93284566e-03 -3.19840843e+00] [ 2.89050038e-02 -1.97695357e-04 9.99582144e-01 -4.27866846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39538475 meters 0.053168501230820966 Centerline is valid? [True, True] Translation: X:31.89, Y:-3.21, Z:-0.43 [[ 9.89833245e-01 1.39123572e-01 -2.95766506e-02 3.18895263e+01] [-1.39063882e-01 9.90275025e-01 4.07567935e-03 -3.20530187e+00] [ 2.98560415e-02 7.88009508e-05 9.99554206e-01 -4.28789666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.45538475 meters 0.05287424174524079 Centerline is valid? [True, True] Translation: X:31.95, Y:-3.22, Z:-0.43 [[ 9.89395727e-01 1.42275076e-01 -2.92215235e-02 3.19511115e+01] [-1.42217822e-01 9.89827145e-01 4.03900764e-03 -3.22212899e+00] [ 2.94989073e-02 1.59644534e-04 9.99564800e-01 -4.27036205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.51538475 meters 0.05285482542086801 Centerline is valid? [True, True] Translation: X:32.01, Y:-3.24, Z:-0.43 [[ 9.89560284e-01 1.40898083e-01 -3.03014053e-02 3.20108553e+01] [-1.40835582e-01 9.90024099e-01 4.19779824e-03 -3.24481881e+00] [ 3.05905833e-02 1.13541625e-04 9.99531992e-01 -4.27597862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.575384750000005 meters 0.05286993375613217 Centerline is valid? [True, True] Translation: X:32.07, Y:-3.27, Z:-0.43 [[ 9.90248437e-01 1.35975718e-01 -3.03090267e-02 3.20703947e+01] [-1.35910490e-01 9.90712169e-01 4.21155466e-03 -3.27177009e+00] [ 3.06001908e-02 -5.11707301e-05 9.99531703e-01 -4.25359524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.63538475 meters 0.05317177457586118 Centerline is valid? [True, True] Translation: X:32.13, Y:-3.29, Z:-0.43 [[ 9.90390462e-01 1.34573889e-01 -3.18841904e-02 3.21300518e+01] [-1.34500651e-01 9.90903556e-01 4.44055011e-03 -3.29161922e+00] [ 3.21917398e-02 -1.09434091e-04 9.99481706e-01 -4.27203451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.69538475 meters 0.05167489514983898 Centerline is valid? [True, True] Translation: X:32.19, Y:-3.30, Z:-0.41 [[ 9.89646209e-01 1.40788006e-01 -2.79126890e-02 3.21909050e+01] [-1.40734380e-01 9.90039762e-01 3.88636364e-03 -3.30480820e+00] [ 2.81818254e-02 8.21499382e-05 9.99602810e-01 -4.14708640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.755384750000005 meters 0.05178888468117886 Centerline is valid? [True, True] Translation: X:32.25, Y:-3.32, Z:-0.41 [[ 9.88173322e-01 1.51630796e-01 -2.28382868e-02 3.22510335e+01] [-1.51597772e-01 9.88437150e-01 3.18053688e-03 -3.31651906e+00] [ 2.30564785e-02 3.19311704e-04 9.99734113e-01 -4.13671822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.81538475 meters 0.05260521116000417 Centerline is valid? [True, True] Translation: X:32.31, Y:-3.33, Z:-0.42 [[ 9.87044222e-01 1.58850372e-01 -2.25890240e-02 3.23107506e+01] [-1.58819851e-01 9.87302553e-01 3.15025873e-03 -3.33484742e+00] [ 2.28026208e-02 4.78140742e-04 9.99739872e-01 -4.16434662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.87538475 meters 0.052769336148056976 Centerline is valid? [True, True] Translation: X:32.37, Y:-3.36, Z:-0.42 [[ 9.87268815e-01 1.57727815e-01 -2.05480874e-02 3.23692958e+01] [-1.57702309e-01 9.87482540e-01 2.86603889e-03 -3.36276840e+00] [ 2.07429316e-02 4.10930011e-04 9.99784758e-01 -4.16805178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.935384750000004 meters 0.05279680034395528 Centerline is valid? [True, True] Translation: X:32.43, Y:-3.39, Z:-0.42 [[ 9.87936728e-01 1.53492390e-01 -2.05209099e-02 3.24274283e+01] [-1.53465856e-01 9.88149780e-01 2.87105644e-03 -3.39207091e+00] [ 2.07184180e-02 3.12836897e-04 9.99785302e-01 -4.19587017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.99538475 meters 0.052853835280321504 Centerline is valid? [True, True] Translation: X:32.49, Y:-3.42, Z:-0.42 [[ 9.88505080e-01 1.49817420e-01 -2.03087932e-02 3.24870902e+01] [-1.49790539e-01 9.88713654e-01 2.84701544e-03 -3.41507361e+00] [ 2.05061136e-02 2.27775849e-04 9.99789702e-01 -4.23430277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.05538475 meters 0.052631865254508546 Centerline is valid? [True, True] Translation: X:32.54, Y:-3.45, Z:-0.43 [[ 9.89509113e-01 1.43316527e-01 -1.82232922e-02 3.25441648e+01] [-1.43293820e-01 9.89676900e-01 2.55252196e-03 -3.44824837e+00] [ 1.84009899e-02 8.55414145e-05 9.99830684e-01 -4.25823766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.115384750000004 meters 0.05277407056073537 Centerline is valid? [True, True] Translation: X:32.60, Y:-3.47, Z:-0.43 [[ 9.89906257e-01 1.40783758e-01 -1.62952822e-02 3.26032516e+01] [-1.40765132e-01 9.90040369e-01 2.29014428e-03 -3.47351043e+00] [ 1.64554023e-02 2.67793873e-05 9.99864600e-01 -4.27590488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.17538475 meters 0.052909584382912295 Centerline is valid? [True, True] Translation: X:32.66, Y:-3.49, Z:-0.43 [[ 9.89674581e-01 1.42688046e-01 -1.35774105e-02 3.26634444e+01] [-1.42675236e-01 9.89767710e-01 1.91242518e-03 -3.49160498e+00] [ 1.37113627e-02 4.44816609e-05 9.99905994e-01 -4.27603665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.23538475 meters 0.053447538996510974 Centerline is valid? [True, True] Translation: X:32.72, Y:-3.51, Z:-0.43 [[ 9.88936206e-01 1.47885075e-01 -1.16269071e-02 3.27245099e+01] [-1.47875997e-01 9.89004548e-01 1.64141663e-03 -3.50530730e+00] [ 1.17418050e-02 9.60841508e-05 9.99931058e-01 -4.28421750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.295384750000004 meters 0.054219776139384536 Centerline is valid? [True, True] Translation: X:32.78, Y:-3.52, Z:-0.43 [[ 9.88344631e-01 1.51668646e-01 -1.30962492e-02 3.27848887e+01] [-1.51657465e-01 9.88431382e-01 1.84843713e-03 -3.51896175e+00] [ 1.32250936e-02 1.59251035e-04 9.99912532e-01 -4.33355869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.35538475 meters 0.054591269815101776 Centerline is valid? [True, True] Translation: X:32.84, Y:-3.54, Z:-0.44 [[ 9.88295214e-01 1.51809296e-01 -1.50501925e-02 3.28449587e+01] [-1.51794459e-01 9.88409786e-01 2.12994247e-03 -3.53503506e+00] [ 1.51991026e-02 1.79523881e-04 9.99884471e-01 -4.37834462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.41538475 meters 0.054795248025018096 Centerline is valid? [True, True] Translation: X:32.91, Y:-3.55, Z:-0.44 [[ 9.88399201e-01 1.51044112e-01 -1.58964244e-02 3.29060508e+01] [-1.51027375e-01 9.88527009e-01 2.25505785e-03 -3.55239962e+00] [ 1.60546580e-02 1.71897870e-04 9.99871101e-01 -4.40738649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.47538475 meters 0.0550111304667718 Centerline is valid? [True, True] Translation: X:32.97, Y:-3.57, Z:-0.44 [[ 9.88944902e-01 1.47257480e-01 -1.74130907e-02 3.29667505e+01] [-1.47236718e-01 9.89098186e-01 2.47540701e-03 -3.57001216e+00] [ 1.75877786e-02 1.15805182e-04 9.99845316e-01 -4.42636948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53538475 meters 0.05462405153315552 Centerline is valid? [True, True] Translation: X:33.03, Y:-3.59, Z:-0.44 [[ 9.89897298e-01 1.41210422e-01 -1.27653936e-02 3.30267111e+01] [-1.41198782e-01 9.89979604e-01 1.81310683e-03 -3.58878106e+00] [ 1.28935089e-02 7.66847912e-06 9.99916875e-01 -4.40387451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59538475 meters 0.054604159065218864 Centerline is valid? [True, True] Translation: X:33.09, Y:-3.61, Z:-0.44 [[ 9.90773773e-01 1.35378207e-01 -6.33026057e-03 3.30860786e+01] [-1.35375223e-01 9.90793995e-01 8.99501162e-04 -3.60641623e+00] [ 6.39375701e-03 -3.42417247e-05 9.99979559e-01 -4.39678417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.65538475 meters 0.054621642943295606 Centerline is valid? [True, True] Translation: X:33.15, Y:-3.62, Z:-0.44 [[ 9.91488970e-01 1.30188754e-01 -7.14081863e-04 3.31456828e+01] [-1.30188712e-01 9.91489227e-01 1.05068172e-04 -3.62275791e+00] [ 7.21683169e-04 -1.12085350e-05 9.99999740e-01 -4.38733826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71538475 meters 0.054892832410219576 Centerline is valid? [True, True] Translation: X:33.21, Y:-3.64, Z:-0.44 [[ 9.91966233e-01 1.26479919e-01 2.41287790e-03 3.32075227e+01] [-1.26479466e-01 9.91969167e-01 -3.39753143e-04 -3.63711432e+00] [-2.43647243e-03 3.18441370e-05 9.99997031e-01 -4.36879949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.77538475 meters 0.055318787942475786 Centerline is valid? [True, True] Translation: X:33.27, Y:-3.65, Z:-0.44 [[ 9.92296761e-01 1.23870346e-01 1.80989920e-03 3.32686953e+01] [-1.23870087e-01 9.92298411e-01 -2.54758310e-04 -3.64903719e+00] [-1.82751710e-03 2.86034749e-05 9.99998330e-01 -4.37664680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.83538475 meters 0.05592973567407687 Centerline is valid? [True, True] Translation: X:33.33, Y:-3.66, Z:-0.44 [[ 9.92552267e-01 1.21779544e-01 -3.12102888e-03 3.33299778e+01] [-1.21778739e-01 9.92557171e-01 4.47185655e-04 -3.66131029e+00] [ 3.15225766e-03 -6.37801726e-05 9.99995030e-01 -4.42862376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89538475 meters 0.05612269712976259 Centerline is valid? [True, True] Translation: X:33.39, Y:-3.67, Z:-0.45 [[ 9.92537161e-01 1.21815499e-01 -5.56493101e-03 3.33912882e+01] [-1.21812923e-01 9.92552755e-01 8.00659529e-04 -3.67293533e+00] [ 5.62102034e-03 -1.16803822e-04 9.99984195e-01 -4.47383401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.95538475 meters 0.05621317765592317 Centerline is valid? [True, True] Translation: X:33.45, Y:-3.68, Z:-0.45 [[ 9.92434112e-01 1.22696707e-01 -4.47781647e-03 3.34530255e+01] [-1.22695054e-01 9.92444210e-01 6.43013297e-04 -3.68341850e+00] [ 4.52287865e-03 -8.87423971e-05 9.99989768e-01 -4.47837997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.01538475 meters 0.05573745229173653 Centerline is valid? [True, True] Translation: X:33.51, Y:-3.69, Z:-0.45 [[ 9.91579214e-01 1.29467990e-01 -2.94981341e-03 3.35144603e+01] [-1.29467303e-01 9.91583601e-01 4.23375205e-04 -3.68782453e+00] [ 2.97980014e-03 -3.79056667e-05 9.99995560e-01 -4.45337905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07538475 meters 0.0558468189050298 Centerline is valid? [True, True] Translation: X:33.58, Y:-3.69, Z:-0.45 [[ 9.89885130e-01 1.41837853e-01 -3.07448239e-03 3.35771271e+01] [-1.41837154e-01 9.89889905e-01 4.45528169e-04 -3.68550744e+00] [ 3.10659184e-03 -4.94587845e-06 9.99995175e-01 -4.45206364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.13538475 meters 0.056784511993725466 Centerline is valid? [True, True] Translation: X:33.64, Y:-3.69, Z:-0.45 [[ 9.87790798e-01 1.55702120e-01 -5.11756213e-03 3.36390632e+01] [-1.55700375e-01 9.87804052e-01 7.39992987e-04 -3.68580798e+00] [ 5.17036709e-03 6.58480824e-05 9.99986631e-01 -4.47844423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.19538475 meters 0.05818764181930565 Centerline is valid? [True, True] Translation: X:33.70, Y:-3.69, Z:-0.45 [[ 9.86033652e-01 1.66493591e-01 -4.18577291e-03 3.37000330e+01] [-1.66492531e-01 9.86042531e-01 6.02679598e-04 -3.68851648e+00] [ 4.22769241e-03 1.02637563e-04 9.99991058e-01 -4.49742133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.255384750000005 meters 0.058961598945201664 Centerline is valid? [True, True] Translation: X:33.76, Y:-3.70, Z:-0.45 [[ 9.85130163e-01 1.71716686e-01 -5.65171535e-03 3.37599179e+01] [-1.71714839e-01 9.85146360e-01 8.14162194e-04 -3.70274421e+00] [ 5.70757204e-03 1.68427657e-04 9.99983697e-01 -4.50486637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.31538475 meters 0.05963937541944995 Centerline is valid? [True, True] Translation: X:33.82, Y:-3.72, Z:-0.45 [[ 9.84713369e-01 1.74061490e-01 -6.49448066e-03 3.38193674e+01] [-1.74059088e-01 9.84734764e-01 9.37660154e-04 -3.72283314e+00] [ 6.55855140e-03 2.07096889e-04 9.99978471e-01 -4.52071387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.37538475 meters 0.060263422968119935 Centerline is valid? [True, True] Translation: X:33.88, Y:-3.74, Z:-0.45 [[ 9.84075574e-01 1.77677607e-01 -5.09233067e-03 3.38787512e+01] [-1.77676161e-01 9.84088734e-01 7.38611550e-04 -3.74273890e+00] [ 5.14253997e-03 1.77936178e-04 9.99986761e-01 -4.52499494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.435384750000004 meters 0.06157878543442234 Centerline is valid? [True, True] Translation: X:33.94, Y:-3.76, Z:-0.45 [[ 9.82900630e-01 1.84081632e-01 -4.50607015e-03 3.39373333e+01] [-1.84080579e-01 9.82910940e-01 6.50819785e-04 -3.76250837e+00] [ 4.54886962e-03 1.89788828e-04 9.99989636e-01 -4.51683777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.49538475 meters 0.06258976661644174 Centerline is valid? [True, True] Translation: X:34.00, Y:-3.78, Z:-0.45 [[ 9.82307059e-01 1.87255375e-01 -2.87504970e-03 3.39967223e+01] [-1.87254948e-01 9.82311259e-01 4.19273682e-04 -3.78177741e+00] [ 2.90270494e-03 1.26511785e-04 9.99995779e-01 -4.54520765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55538475 meters 0.06174340873472573 Centerline is valid? [True, True] Translation: X:34.05, Y:-3.81, Z:-0.45 [[ 9.82839769e-01 1.84453647e-01 -1.68546995e-03 3.40547951e+01] [-1.84453498e-01 9.82841212e-01 2.44665632e-04 -3.81039835e+00] [ 1.70167880e-03 7.04237157e-05 9.99998550e-01 -4.54105842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.615384750000004 meters 0.05949981466012669 Centerline is valid? [True, True] Translation: X:34.11, Y:-3.84, Z:-0.45 [[ 9.84108248e-01 1.77563891e-01 -1.42178775e-03 3.41116289e+01] [-1.77563778e-01 9.84109274e-01 2.06075285e-04 -3.84117224e+00] [ 1.43578604e-03 4.96576176e-05 9.99998968e-01 -4.52609590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.67538475 meters 0.0577866579435128 Centerline is valid? [True, True] Translation: X:34.17, Y:-3.87, Z:-0.45 [[ 9.85550624e-01 1.69371760e-01 -1.78172998e-03 3.41693114e+01] [-1.69371570e-01 9.85552233e-01 2.58207342e-04 -3.87033333e+00] [ 1.79972099e-03 4.72979961e-05 9.99998379e-01 -4.52884862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.73538475 meters 0.05632700527912354 Centerline is valid? [True, True] Translation: X:34.23, Y:-3.90, Z:-0.46 [[ 9.87432987e-01 1.58006977e-01 -3.14502735e-03 3.42256912e+01] [-1.58006328e-01 9.87437995e-01 4.55322144e-04 -3.89982011e+00] [ 3.17746357e-03 4.73341175e-05 9.99994951e-01 -4.57027311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.795384750000004 meters 0.05544983628158529 Centerline is valid? [True, True] Translation: X:34.28, Y:-3.93, Z:-0.46 [[ 9.88411330e-01 1.51785126e-01 -2.07803634e-03 3.42842645e+01] [-1.51784827e-01 9.88413514e-01 3.01664129e-04 -3.92535201e+00] [ 2.09974733e-03 1.72461433e-05 9.99997795e-01 -4.57438758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85538475 meters 0.05516468340861108 Centerline is valid? [True, True] Translation: X:34.35, Y:-3.94, Z:-0.46 [[ 9.88141975e-01 1.53542725e-01 -2.61014469e-04 3.43450692e+01] [-1.53542720e-01 9.88142010e-01 3.91245478e-05 -3.94254051e+00] [ 2.63926652e-04 1.41626355e-06 9.99999965e-01 -4.56271197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91538475 meters 0.055262360058574454 Centerline is valid? [True, True] Translation: X:34.41, Y:-3.95, Z:-0.46 [[ 9.87918071e-01 1.54975752e-01 -6.33813129e-04 3.44053454e+01] [-1.54975723e-01 9.87918274e-01 9.53249603e-05 -3.95271583e+00] [ 6.40928629e-04 4.05239681e-06 9.99999795e-01 -4.58151503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.97538475 meters 0.05541234865317166 Centerline is valid? [True, True] Translation: X:34.47, Y:-3.97, Z:-0.46 [[ 9.87170778e-01 1.59666923e-01 -5.72487218e-04 3.44659942e+01] [-1.59666900e-01 9.87170944e-01 8.68384308e-05 -3.96689298e+00] [ 5.79007973e-04 5.68289791e-06 9.99999832e-01 -4.59505883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03538475 meters 0.05593107416326719 Centerline is valid? [True, True] Translation: X:34.53, Y:-3.98, Z:-0.46 [[ 9.86451731e-01 1.64051566e-01 -2.55414726e-04 3.45256875e+01] [-1.64051562e-01 9.86451764e-01 3.89463123e-05 -3.97837409e+00] [ 2.58343510e-04 3.48252741e-06 9.99999967e-01 -4.62043592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09538475 meters 0.055845181292738535 Centerline is valid? [True, True] Translation: X:34.59, Y:-4.00, Z:-0.47 [[ 9.86312856e-01 1.64874844e-01 -1.79904619e-03 3.45861539e+01] [-1.64874633e-01 9.86314496e-01 2.65951754e-04 -3.99555817e+00] [ 1.81827409e-03 3.43054468e-05 9.99998346e-01 -4.66656700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.15538475 meters 0.055072692150294665 Centerline is valid? [True, True] Translation: X:34.65, Y:-4.02, Z:-0.47 [[ 9.87097877e-01 1.60090722e-01 -2.95672265e-03 3.46451160e+01] [-1.60090136e-01 9.87102304e-01 4.35480258e-04 -4.01710516e+00] [ 2.98830409e-03 4.34804924e-05 9.99995534e-01 -4.68022068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21538475 meters 0.054349988756028846 Centerline is valid? [True, True] Translation: X:34.70, Y:-4.04, Z:-0.47 [[ 9.87848508e-01 1.55379538e-01 -3.53900095e-03 3.47040745e+01] [-1.55378668e-01 9.87854847e-01 5.21043107e-04 -4.03506155e+00] [ 3.57697868e-03 3.51735993e-05 9.99993602e-01 -4.69885659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27538475 meters 0.05376612033162573 Centerline is valid? [True, True] Translation: X:34.77, Y:-4.05, Z:-0.47 [[ 9.88643111e-01 1.50172694e-01 -5.74109963e-03 3.47652005e+01] [-1.50170314e-01 9.88659780e-01 8.45810676e-04 -4.05446290e+00] [ 5.80301197e-03 2.59378361e-05 9.99983162e-01 -4.70206372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.33538475 meters 0.053001911087215095 Centerline is valid? [True, True] Translation: X:34.83, Y:-4.07, Z:-0.47 [[ 9.89506028e-01 1.44449965e-01 -3.46804354e-03 3.48254426e+01] [-1.44449054e-01 9.89512106e-01 5.13032443e-04 -4.07320590e+00] [ 3.50577858e-03 -6.69308532e-06 9.99993855e-01 -4.67058799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39538475 meters 0.05255519334809428 Centerline is valid? [True, True] Translation: X:34.89, Y:-4.09, Z:-0.46 [[ 9.90400839e-01 1.38223361e-01 6.93021688e-04 3.48850141e+01] [-1.38223326e-01 9.90401082e-01 -9.83511935e-05 -4.09211176e+00] [-6.99963862e-04 1.61534179e-06 9.99999755e-01 -4.63365648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.45538475 meters 0.05273506123296346 Centerline is valid? [True, True] Translation: X:34.94, Y:-4.11, Z:-0.46 [[ 9.91345407e-01 1.31270826e-01 1.50111515e-03 3.49447246e+01] [-1.31270647e-01 9.91346544e-01 -2.17647924e-04 -4.10998567e+00] [-1.51669614e-03 1.87119129e-05 9.99998850e-01 -4.63210111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.51538475 meters 0.053525634191697556 Centerline is valid? [True, True] Translation: X:35.00, Y:-4.13, Z:-0.47 [[ 9.92409038e-01 1.22972620e-01 -1.42671472e-03 3.50039730e+01] [-1.22972445e-01 9.92410063e-01 2.10599485e-04 -4.12761933e+00] [ 1.44178401e-03 -3.35542360e-05 9.99998960e-01 -4.65809588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57538475 meters 0.05481335423780304 Centerline is valid? [True, True] Translation: X:35.06, Y:-4.14, Z:-0.47 [[ 9.93265065e-01 1.15773869e-01 -4.57406182e-03 3.50631628e+01] [-1.15771987e-01 9.93275587e-01 6.74970148e-04 -4.14243648e+00] [ 4.62144784e-03 -1.40876043e-04 9.99989311e-01 -4.69261133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.63538475 meters 0.055541742400992127 Centerline is valid? [True, True] Translation: X:35.12, Y:-4.15, Z:-0.47 [[ 9.93520296e-01 1.13476626e-01 -6.36211258e-03 3.51239211e+01] [-1.13472911e-01 9.93540643e-01 9.43038411e-04 -4.15221002e+00] [ 6.42803024e-03 -2.15000367e-04 9.99979317e-01 -4.72819600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.69538475 meters 0.05513805859600849 Centerline is valid? [True, True] Translation: X:35.18, Y:-4.16, Z:-0.47 [[ 9.92854468e-01 1.19095324e-01 -7.50397694e-03 3.51840943e+01] [-1.19090343e-01 9.92882803e-01 1.10877963e-03 -4.15602172e+00] [ 7.58262012e-03 -2.07205621e-04 9.99971230e-01 -4.74720725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.755384750000005 meters 0.05352167940900135 Centerline is valid? [True, True] Translation: X:35.25, Y:-4.15, Z:-0.47 [[ 9.91500956e-01 1.29886290e-01 -7.44357447e-03 3.52463792e+01] [-1.29881691e-01 9.91528888e-01 1.09998195e-03 -4.15106896e+00] [ 7.52339169e-03 -1.23849118e-04 9.99971691e-01 -4.73909541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.81538475 meters 0.05237523392102966 Centerline is valid? [True, True] Translation: X:35.31, Y:-4.15, Z:-0.47 [[ 9.90162785e-01 1.39839586e-01 -4.74856132e-03 3.53088234e+01] [-1.39837827e-01 9.90174171e-01 7.02199414e-04 -4.14713301e+00] [ 4.80009804e-03 -3.12632320e-05 9.99988479e-01 -4.72072119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.87538475 meters 0.052069721037068625 Centerline is valid? [True, True] Translation: X:35.37, Y:-4.15, Z:-0.47 [[ 9.89516453e-01 1.44392870e-01 -2.80848578e-03 3.53712874e+01] [-1.44392261e-01 9.89520439e-01 4.19417306e-04 -4.15056265e+00] [ 2.83961495e-03 -9.49671339e-06 9.99995968e-01 -4.70445499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.935384750000004 meters 0.05213139306384809 Centerline is valid? [True, True] Translation: X:35.43, Y:-4.16, Z:-0.47 [[ 9.90028663e-01 1.40848398e-01 -2.23048857e-03 3.54318406e+01] [-1.40848004e-01 9.90031176e-01 3.33189724e-04 -4.16365993e+00] [ 2.25518246e-03 -1.57075134e-05 9.99997457e-01 -4.71357493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.99538475 meters 0.05277190906017399 Centerline is valid? [True, True] Translation: X:35.49, Y:-4.18, Z:-0.47 [[ 9.91338277e-01 1.31269077e-01 -4.10498557e-03 3.54908506e+01] [-1.31267681e-01 9.91346774e-01 6.08825748e-04 -4.18173100e+00] [ 4.14938419e-03 -6.47003335e-05 9.99991389e-01 -4.72503357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05538475 meters 0.05424566062825183 Centerline is valid? [True, True] Translation: X:35.55, Y:-4.20, Z:-0.47 [[ 9.92749095e-01 1.20057010e-01 -5.96219882e-03 3.55491376e+01] [-1.20053863e-01 9.92766986e-01 8.84305795e-04 -4.20266526e+00] [ 6.02524126e-03 -1.62108781e-04 9.99981835e-01 -4.73587628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.115384750000004 meters 0.055706187629431525 Centerline is valid? [True, True] Translation: X:35.61, Y:-4.22, Z:-0.48 [[ 9.93666969e-01 1.12132402e-01 -7.23039076e-03 3.56081645e+01] [-1.12127563e-01 9.93693242e-01 1.07245099e-03 -4.21822854e+00] [ 7.30504694e-03 -2.54933026e-04 9.99973285e-01 -4.75976050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17538475 meters 0.056008156958744205 Centerline is valid? [True, True] Translation: X:35.67, Y:-4.22, Z:-0.48 [[ 9.93900149e-01 1.09760461e-01 -1.07300860e-02 3.56690445e+01] [-1.09749660e-01 9.93957986e-01 1.59208386e-03 -4.22460244e+00] [ 1.08400025e-02 -4.04749093e-04 9.99941164e-01 -4.77342877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23538475 meters 0.05672111395315945 Centerline is valid? [True, True] Translation: X:35.73, Y:-4.23, Z:-0.48 [[ 9.94031384e-01 1.08506040e-01 -1.13157953e-02 3.57295278e+01] [-1.08493884e-01 9.94095689e-01 1.68445644e-03 -4.23392984e+00] [ 1.14317570e-02 -4.46707980e-04 9.99934556e-01 -4.78655642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.295384750000004 meters 0.05833341609152695 Centerline is valid? [True, True] Translation: X:35.79, Y:-4.24, Z:-0.48 [[ 9.94443944e-01 1.04652752e-01 -1.13597091e-02 3.57899015e+01] [-1.04640283e-01 9.94508703e-01 1.68815520e-03 -4.23892385e+00] [ 1.14739997e-02 -4.90092530e-04 9.99934051e-01 -4.80599819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35538475 meters 0.057695553690688385 Centerline is valid? [True, True] Translation: X:35.85, Y:-4.24, Z:-0.48 [[ 9.94361184e-01 1.05504475e-01 -1.07070788e-02 3.58528058e+01] [-1.05493381e-01 9.94418722e-01 1.59722096e-03 -4.24005309e+00] [ 1.08158335e-02 -4.58688587e-04 9.99941402e-01 -4.79978768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41538475 meters 0.05715752869374868 Centerline is valid? [True, True] Translation: X:35.92, Y:-4.24, Z:-0.48 [[ 9.94224942e-01 1.06838059e-01 -1.01190102e-02 3.59159061e+01] [-1.06828231e-01 9.94276347e-01 1.50839794e-03 -4.24170689e+00] [ 1.02222468e-02 -4.18690893e-04 9.99947664e-01 -4.79257006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.47538475 meters 0.056650954144837944 Centerline is valid? [True, True] Translation: X:35.98, Y:-4.24, Z:-0.48 [[ 9.93759724e-01 1.11208117e-01 -8.62358241e-03 3.59771692e+01] [-1.11201152e-01 9.93797089e-01 1.28439263e-03 -4.23995461e+00] [ 8.71292598e-03 -3.17425369e-04 9.99961991e-01 -4.80769916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53538475 meters 0.05515824433752907 Centerline is valid? [True, True] Translation: X:36.04, Y:-4.23, Z:-0.48 [[ 9.92998677e-01 1.17971624e-01 -6.02692139e-03 3.60391121e+01] [-1.17968344e-01 9.93016950e-01 8.97963874e-04 -4.23406476e+00] [ 6.09076935e-03 -1.80691002e-04 9.99981435e-01 -4.81187780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59538475 meters 0.055043832559441085 Centerline is valid? [True, True] Translation: X:36.10, Y:-4.24, Z:-0.48 [[ 9.92589070e-01 1.21412001e-01 -5.10535996e-03 3.60999638e+01] [-1.21409690e-01 9.92602190e-01 7.61180387e-04 -4.23880682e+00] [ 5.16000791e-03 -1.35699160e-04 9.99986678e-01 -4.83031550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.65538475 meters 0.054323072291706784 Centerline is valid? [True, True] Translation: X:36.16, Y:-4.24, Z:-0.49 [[ 9.92077054e-01 1.25548473e-01 -4.54961270e-03 3.61616587e+01] [-1.25546680e-01 9.92087481e-01 6.78563922e-04 -4.23954554e+00] [ 4.59880647e-03 -1.01998925e-04 9.99989420e-01 -4.85037673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71538475 meters 0.05506519200661272 Centerline is valid? [True, True] Translation: X:36.22, Y:-4.25, Z:-0.49 [[ 9.92151259e-01 1.24926919e-01 -5.39845783e-03 3.62214702e+01] [-1.24924364e-01 9.92165938e-01 8.09197284e-04 -4.24991477e+00] [ 5.45725650e-03 -1.28447191e-04 9.99985101e-01 -4.88548781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77538475 meters 0.0551481883676972 Centerline is valid? [True, True] Translation: X:36.28, Y:-4.26, Z:-0.49 [[ 9.92203642e-01 1.24582917e-01 -3.32106305e-03 3.62829161e+01] [-1.24581940e-01 9.92209197e-01 5.00129725e-04 -4.25873184e+00] [ 3.35749692e-03 -8.24860565e-05 9.99994360e-01 -4.89694302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.83538475 meters 0.054908721009192835 Centerline is valid? [True, True] Translation: X:36.35, Y:-4.27, Z:-0.49 [[ 9.92184824e-01 1.24746597e-01 -2.74999528e-03 3.63451764e+01] [-1.24745932e-01 9.92188632e-01 4.12768026e-04 -4.26577949e+00] [ 2.78000547e-03 -6.64914470e-05 9.99996134e-01 -4.90184526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89538475 meters 0.05523137667241572 Centerline is valid? [True, True] Translation: X:36.41, Y:-4.27, Z:-0.49 [[ 9.92138507e-01 1.25143859e-01 -4.43317022e-04 3.64056637e+01] [-1.25143840e-01 9.92138606e-01 6.97266920e-05 -4.27221240e+00] [ 4.48557799e-04 -1.37001416e-05 9.99999899e-01 -4.90641316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95538475 meters 0.05535043073316014 Centerline is valid? [True, True] Translation: X:36.47, Y:-4.27, Z:-0.49 [[ 9.92116793e-01 1.25307840e-01 1.48808980e-03 3.64678369e+01] [-1.25307651e-01 9.92117908e-01 -2.19793637e-04 -4.27369226e+00] [-1.50390240e-03 3.15919214e-05 9.99998869e-01 -4.92341401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.01538475 meters 0.05570419442682236 Centerline is valid? [True, True] Translation: X:36.53, Y:-4.28, Z:-0.49 [[ 9.92666385e-01 1.20879501e-01 1.26297116e-03 3.65291488e+01] [-1.20879360e-01 9.92667187e-01 -1.88019131e-04 -4.28131408e+00] [-1.27643769e-03 3.39731253e-05 9.99999185e-01 -4.92200414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07538475 meters 0.05753799631881382 Centerline is valid? [True, True] Translation: X:36.59, Y:-4.30, Z:-0.50 [[ 9.93681732e-01 1.12213722e-01 2.16684338e-03 3.65877595e+01] [-1.12213280e-01 9.93684092e-01 -3.25013812e-04 -4.29605290e+00] [-2.18962881e-03 7.98116844e-05 9.99997600e-01 -4.95410704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.13538475 meters 0.059402618649915875 Centerline is valid? [True, True] Translation: X:36.65, Y:-4.31, Z:-0.50 [[ 9.94606669e-01 1.03669512e-01 3.19475136e-03 3.66476481e+01] [-1.03668504e-01 9.94611789e-01 -4.79879423e-04 -4.30855441e+00] [-3.22728623e-03 1.46096179e-04 9.99994782e-01 -4.95781678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.19538475 meters 0.06007942956615576 Centerline is valid? [True, True] Translation: X:36.71, Y:-4.32, Z:-0.49 [[ 9.95312316e-01 9.65458589e-02 5.68244312e-03 3.67078521e+01] [-9.65425511e-02 9.95328492e-01 -8.54194166e-04 -4.31732582e+00] [-5.73836645e-03 3.01592419e-04 9.99983490e-01 -4.93609341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.255384750000005 meters 0.06310931093288653 Centerline is valid? [True, True] Translation: X:36.77, Y:-4.33, Z:-0.50 [[ 9.96006952e-01 8.91151309e-02 5.35216172e-03 3.67670550e+01] [-8.91120898e-02 9.96021279e-01 -8.04486436e-04 -4.32798273e+00] [-5.40255888e-03 3.24331767e-04 9.99985353e-01 -4.95153417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.31538475 meters 0.06475577933083448 Centerline is valid? [True, True] Translation: X:36.83, Y:-4.33, Z:-0.49 [[ 9.96474978e-01 8.37632024e-02 4.61993582e-03 3.68279380e+01] [-8.37608780e-02 9.96485641e-01 -6.94690400e-04 -4.33451031e+00] [-4.66188920e-03 3.05271721e-04 9.99989087e-01 -4.93226368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.37538475 meters 0.06441989058744281 Centerline is valid? [True, True] Translation: X:36.89, Y:-4.33, Z:-0.50 [[ 9.96879039e-01 7.88379973e-02 4.09282346e-03 3.68901433e+01] [-7.88361315e-02 9.96887399e-01 -6.15455669e-04 -4.33078946e+00] [-4.12860543e-03 2.90872487e-04 9.99991435e-01 -4.95058111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.435384750000004 meters 0.06554974576098246 Centerline is valid? [True, True] Translation: X:36.95, Y:-4.33, Z:-0.49 [[ 9.97469010e-01 7.09068141e-02 5.27229698e-03 3.69522381e+01] [-7.09036056e-02 9.97482857e-01 -7.93227603e-04 -4.32868309e+00] [-5.31527110e-03 4.17395086e-04 9.99985787e-01 -4.94822929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.49538475 meters 0.06630214231106056 Centerline is valid? [True, True] Translation: X:37.01, Y:-4.32, Z:-0.49 [[ 9.97753352e-01 6.68403299e-02 4.54081138e-03 3.70147849e+01] [-6.68379084e-02 9.97763613e-01 -6.83128889e-04 -4.32164432e+00] [-4.57631693e-03 3.78095804e-04 9.99989457e-01 -4.94465041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55538475 meters 0.06533374814379894 Centerline is valid? [True, True] Translation: X:37.08, Y:-4.31, Z:-0.49 [[ 9.97372411e-01 7.21053747e-02 7.00639884e-03 3.70779365e+01] [-7.20997354e-02 9.97396870e-01 -1.05448789e-03 -4.30695618e+00] [-7.06419452e-03 5.46557621e-04 9.99974899e-01 -4.92438093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.615384750000004 meters 0.062186112117883566 Centerline is valid? [True, True] Translation: X:37.14, Y:-4.28, Z:-0.49 [[ 9.96686181e-01 8.09199267e-02 8.28380785e-03 3.71425967e+01] [-8.09123468e-02 9.96720441e-01 -1.24665388e-03 -4.28432579e+00] [-8.35751976e-03 5.72260358e-04 9.99964912e-01 -4.91988489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67538475 meters 0.059987447578061764 Centerline is valid? [True, True] Translation: X:37.21, Y:-4.27, Z:-0.49 [[ 9.96761904e-01 8.01450602e-02 6.51743572e-03 3.72079597e+01] [-8.01403646e-02 9.96783108e-01 -9.78888748e-04 -4.26562995e+00] [-6.57492293e-03 4.53409337e-04 9.99978282e-01 -4.91232245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73538475 meters 0.06190558711738421 Centerline is valid? [True, True] Translation: X:37.27, Y:-4.26, Z:-0.49 [[ 9.97369746e-01 7.24655742e-02 1.52676953e-03 3.72705159e+01] [-7.24653064e-02 9.97370907e-01 -2.30043696e-04 -4.25643492e+00] [-1.53942576e-03 1.18800801e-04 9.99998808e-01 -4.92849942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.795384750000004 meters 0.06531278621549283 Centerline is valid? [True, True] Translation: X:37.33, Y:-4.24, Z:-0.49 [[ 9.97991831e-01 6.32738277e-02 -2.95443114e-03 3.73336636e+01] [-6.32727834e-02 9.97996170e-01 4.45672954e-04 -4.24424427e+00] [ 2.97671040e-03 -2.57842885e-04 9.99995536e-01 -4.89057095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85538475 meters 0.06665087890053109 Centerline is valid? [True, True] Translation: X:37.40, Y:-4.23, Z:-0.48 [[ 9.98246332e-01 5.89060803e-02 -5.85953227e-03 3.73987940e+01] [-5.89018948e-02 9.98263384e-01 8.84477905e-04 -4.22538087e+00] [ 5.90145764e-03 -5.37789272e-04 9.99982442e-01 -4.80652466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91538475 meters 0.0770091234864484 Centerline is valid? [True, True] Translation: X:37.46, Y:-4.23, Z:-0.49 [[ 9.97745036e-01 6.65777036e-02 -8.50013584e-03 3.74601407e+01] [-6.65691787e-02 9.97780988e-01 1.28224451e-03 -4.22579736e+00] [ 8.56664283e-03 -7.13506038e-04 9.99963051e-01 -4.85721393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.97538475 meters 0.07428889609035526 Centerline is valid? [True, True] Translation: X:37.52, Y:-4.21, Z:-0.49 [[ 9.96867949e-01 7.85297024e-02 -9.34757927e-03 3.75226005e+01] [-7.85199202e-02 9.96911548e-01 1.40949202e-03 -4.21064855e+00] [ 9.42939672e-03 -6.71106244e-04 9.99955317e-01 -4.88640870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03538475 meters 0.06144557635378013 Centerline is valid? [True, True] Translation: X:37.59, Y:-4.16, Z:-0.49 [[ 9.94272926e-01 1.06573358e-01 -7.96665562e-03 3.75915298e+01] [-1.06567144e-01 9.94304782e-01 1.20168454e-03 -4.16232828e+00] [ 8.04935134e-03 -3.45818674e-04 9.99967544e-01 -4.87828705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09538475 meters 0.058136029604303176 Centerline is valid? [True, True] Translation: X:37.66, Y:-4.14, Z:-0.49 [[ 9.92784414e-01 1.19580586e-01 -8.92141768e-03 3.76563252e+01] [-1.19573316e-01 9.92824461e-01 1.34571082e-03 -4.14195247e+00] [ 9.01832259e-03 -2.69237230e-04 9.99959298e-01 -4.91455093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.15538475 meters 0.0588302478758923 Centerline is valid? [True, True] Translation: X:37.72, Y:-4.14, Z:-0.49 [[ 9.92895927e-01 1.18408898e-01 -1.17052174e-02 3.77193920e+01] [-1.18396273e-01 9.92964851e-01 1.76812416e-03 -4.14063118e+00] [ 1.18322311e-02 -3.69709165e-04 9.99929928e-01 -4.94970553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21538475 meters 0.06304798162329595 Centerline is valid? [True, True] Translation: X:37.78, Y:-4.15, Z:-0.50 [[ 9.94284239e-01 1.06172074e-01 -1.12402608e-02 3.77787996e+01] [-1.06159661e-01 9.94347649e-01 1.69695094e-03 -4.15298530e+00] [ 1.13568957e-02 -4.93989292e-04 9.99935386e-01 -4.96011158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27538475 meters 0.06685704242970704 Centerline is valid? [True, True] Translation: X:37.84, Y:-4.16, Z:-0.50 [[ 9.95228658e-01 9.66514571e-02 -1.33572005e-02 3.78387254e+01] [-9.66330610e-02 9.95318030e-01 2.01736814e-03 -4.16399268e+00] [ 1.34896440e-02 -7.16995423e-04 9.99908754e-01 -4.96786121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.33538475 meters 0.06667572291482056 Centerline is valid? [True, True] Translation: X:37.90, Y:-4.16, Z:-0.50 [[ 9.94964242e-01 9.93827957e-02 -1.30083274e-02 3.79003049e+01] [-9.93655703e-02 9.95049054e-01 1.96547678e-03 -4.16415273e+00] [ 1.31392585e-02 -6.62999240e-04 9.99913456e-01 -4.98661218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39538475 meters 0.06358963230639558 Centerline is valid? [True, True] Translation: X:37.96, Y:-4.16, Z:-0.50 [[ 9.94153621e-01 1.07046079e-01 -1.41320195e-02 3.79633195e+01] [-1.07026518e-01 9.94253873e-01 2.13548083e-03 -4.15747183e+00] [ 1.42794100e-02 -6.10495157e-04 9.99897858e-01 -4.99917531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45538475 meters 0.06422639713875156 Centerline is valid? [True, True] Translation: X:38.02, Y:-4.16, Z:-0.50 [[ 9.93926874e-01 1.08678655e-01 -1.72719411e-02 3.80246849e+01] [-1.08649522e-01 9.94076668e-01 2.61901714e-03 -4.16264340e+00] [ 1.74542649e-02 -7.26523372e-04 9.99847399e-01 -5.04834380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.51538475 meters 0.06704930169660751 Centerline is valid? [True, True] Translation: X:38.08, Y:-4.17, Z:-0.51 [[ 9.94371205e-01 1.04331985e-01 -1.84592464e-02 3.80845436e+01] [-1.04298031e-01 9.94542160e-01 2.79526791e-03 -4.17172049e+00] [ 1.86501347e-02 -8.54270866e-04 9.99825706e-01 -5.09512423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.57538475 meters 0.07272716864639758 Centerline is valid? [True, True] Translation: X:38.14, Y:-4.19, Z:-0.51 [[ 9.95900432e-01 8.84979051e-02 -1.87203417e-02 3.81433082e+01] [-8.84601924e-02 9.96075679e-01 2.83472705e-03 -4.18987386e+00] [ 1.88977445e-02 -1.16710086e-03 9.99820740e-01 -5.06398563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63538475 meters 0.07472191211781272 Centerline is valid? [True, True] Translation: X:38.20, Y:-4.20, Z:-0.51 [[ 9.96466059e-01 8.17209642e-02 -1.94184735e-02 3.82031647e+01] [-8.16791016e-02 9.96654342e-01 2.94056841e-03 -4.19965323e+00] [ 1.95938120e-02 -1.34409315e-03 9.99807119e-01 -5.05781620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.69538475 meters 0.07753838650591238 Centerline is valid? [True, True] Translation: X:38.26, Y:-4.21, Z:-0.51 [[ 9.96839862e-01 7.72278421e-02 -1.86051106e-02 3.82639589e+01] [-7.71886061e-02 9.97012524e-01 2.81892377e-03 -4.20632438e+00] [ 1.87672277e-02 -1.37391303e-03 9.99822936e-01 -5.06058251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.755384750000005 meters 0.07428623698662862 Centerline is valid? [True, True] Translation: X:38.33, Y:-4.20, Z:-0.51 [[ 9.96546081e-01 8.07588229e-02 -1.93370400e-02 3.83263031e+01] [-8.07170800e-02 9.96732744e-01 2.93082304e-03 -4.20379371e+00] [ 1.95105507e-02 -1.35987081e-03 9.99808726e-01 -5.05763876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.81538475 meters 0.06740342358127203 Centerline is valid? [True, True] Translation: X:38.39, Y:-4.19, Z:-0.51 [[ 9.94918542e-01 9.85638915e-02 -2.05488233e-02 3.83902496e+01] [-9.85205273e-02 9.95130145e-01 3.11454322e-03 -4.18742382e+00] [ 2.07557350e-02 -1.07423590e-03 9.99783999e-01 -5.06059715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.87538475 meters 0.05988557644511804 Centerline is valid? [True, True] Translation: X:38.45, Y:-4.16, Z:-0.51 [[ 9.92276440e-01 1.21830416e-01 -2.33412819e-02 3.84537613e+01] [-1.21780902e-01 9.92550707e-01 3.53646635e-03 -4.16363124e+00] [ 2.35982550e-02 -6.66629879e-04 9.99721300e-01 -5.11201388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.935384750000004 meters 0.05711864588907107 Centerline is valid? [True, True] Translation: X:38.52, Y:-4.15, Z:-0.52 [[ 9.90035232e-01 1.37897726e-01 -2.85386974e-02 3.85180653e+01] [-1.37829930e-01 9.90446408e-01 4.33867655e-03 -4.15455588e+00] [ 2.88643439e-02 -3.61955970e-04 9.99583272e-01 -5.16384838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.99538475 meters 0.056595572370907274 Centerline is valid? [True, True] Translation: X:38.58, Y:-4.16, Z:-0.52 [[ 9.88618700e-01 1.46938301e-01 -3.22831348e-02 3.85803016e+01] [-1.46856012e-01 9.89145652e-01 4.91839431e-03 -4.15832268e+00] [ 3.26554229e-02 -1.21444140e-04 9.99466662e-01 -5.18929974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.05538475 meters 0.056728454384839026 Centerline is valid? [True, True] Translation: X:38.64, Y:-4.17, Z:-0.52 [[ 9.87435859e-01 1.54248572e-01 -3.43191362e-02 3.86411033e+01] [-1.54160073e-01 9.88032065e-01 5.22598376e-03 -4.16764618e+00] [ 3.47145075e-02 1.30316766e-04 9.99397261e-01 -5.21350734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.115384750000004 meters 0.056882502705422014 Centerline is valid? [True, True] Translation: X:38.70, Y:-4.19, Z:-0.52 [[ 9.87076954e-01 1.56663934e-01 -3.36971649e-02 3.87013287e+01] [-1.56579503e-01 9.87651949e-01 5.14646624e-03 -4.18655451e+00] [ 3.40873363e-02 1.96327118e-04 9.99418839e-01 -5.23184253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.17538475 meters 0.05653169358265961 Centerline is valid? [True, True] Translation: X:38.76, Y:-4.21, Z:-0.52 [[ 9.87324066e-01 1.55115928e-01 -3.36190103e-02 3.87596924e+01] [-1.55030598e-01 9.87896266e-01 5.14604170e-03 -4.21390517e+00] [ 3.40103278e-02 1.31164481e-04 9.99421473e-01 -5.20326317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23538475 meters 0.05601642036608331 Centerline is valid? [True, True] Translation: X:38.82, Y:-4.24, Z:-0.52 [[ 9.87237183e-01 1.55994091e-01 -3.20716086e-02 3.88192124e+01] [-1.55916540e-01 9.87757978e-01 4.92030352e-03 -4.23811362e+00] [ 3.24465255e-02 1.42987656e-04 9.99473463e-01 -5.19367006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.295384750000004 meters 0.054773822389098746 Centerline is valid? [True, True] Translation: X:38.88, Y:-4.26, Z:-0.51 [[ 9.86124163e-01 1.62893085e-01 -3.20152861e-02 3.88782339e+01] [-1.62819090e-01 9.86643661e-01 4.92235788e-03 -4.26381455e+00] [ 3.23894971e-02 3.58643711e-04 9.99475258e-01 -5.06614948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35538475 meters 0.055832175998021524 Centerline is valid? [True, True] Translation: X:38.94, Y:-4.28, Z:-0.51 [[ 9.83945464e-01 1.75640773e-01 -3.16487369e-02 3.89370543e+01] [-1.75575125e-01 9.84454023e-01 4.86332140e-03 -4.28485623e+00] [ 3.20109239e-02 7.71487890e-04 9.99487221e-01 -5.07416383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41538475 meters 0.05767658903147805 Centerline is valid? [True, True] Translation: X:39.00, Y:-4.31, Z:-0.51 [[ 9.81323163e-01 1.89407971e-01 -3.36076030e-02 3.89950125e+01] [-1.89341995e-01 9.81897623e-01 5.16403533e-03 -4.30650639e+00] [ 3.39773349e-02 1.29574311e-03 9.99421764e-01 -5.09598632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.47538475 meters 0.05862890406963454 Centerline is valid? [True, True] Translation: X:39.05, Y:-4.33, Z:-0.51 [[ 9.80071467e-01 1.95888721e-01 -3.29777069e-02 3.90533516e+01] [-1.95828822e-01 9.80624998e-01 5.06814092e-03 -4.32920847e+00] [ 3.33315554e-02 1.49084520e-03 9.99443237e-01 -5.09120432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53538475 meters 0.05870958792883984 Centerline is valid? [True, True] Translation: X:39.11, Y:-4.38, Z:-0.51 [[ 9.79942597e-01 1.96985273e-01 -3.01547474e-02 3.91091497e+01] [-1.96935322e-01 9.80405469e-01 4.64698606e-03 -4.37632618e+00] [ 3.04792671e-02 1.38475528e-03 9.99534440e-01 -5.07266973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59538475 meters 0.05869548707848212 Centerline is valid? [True, True] Translation: X:39.17, Y:-4.40, Z:-0.51 [[ 9.80474325e-01 1.94549521e-01 -2.86458036e-02 3.91672266e+01] [-1.94503404e-01 9.80891909e-01 4.41452121e-03 -4.40496050e+00] [ 2.89572799e-02 1.24338160e-03 9.99579877e-01 -5.09867797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.65538475 meters 0.0584270863952778 Centerline is valid? [True, True] Translation: X:39.22, Y:-4.45, Z:-0.52 [[ 9.81703865e-01 1.88446675e-01 -2.73014944e-02 3.92205749e+01] [-1.88402467e-01 9.82082899e-01 4.20586563e-03 -4.45247284e+00] [ 2.76049122e-02 1.01475436e-03 9.99618397e-01 -5.16009149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71538475 meters 0.057443396064821885 Centerline is valid? [True, True] Translation: X:39.28, Y:-4.49, Z:-0.52 [[ 9.82747956e-01 1.83566012e-01 -2.25826124e-02 3.92769851e+01] [-1.83534468e-01 9.83007118e-01 3.47934244e-03 -4.48726136e+00] [ 2.28375577e-02 7.25371076e-04 9.99738926e-01 -5.16422851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77538475 meters 0.056969521285643664 Centerline is valid? [True, True] Translation: X:39.34, Y:-4.51, Z:-0.52 [[ 9.83239913e-01 1.81181036e-01 -2.03151760e-02 3.93357161e+01] [-1.81154960e-01 9.83449577e-01 3.13194404e-03 -4.51227408e+00] [ 2.05464001e-02 6.00742523e-04 9.99788720e-01 -5.17257185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.83538475 meters 0.05625079882656667 Centerline is valid? [True, True] Translation: X:39.39, Y:-4.55, Z:-0.52 [[ 9.84363941e-01 1.75057674e-01 -1.95561556e-02 3.93911833e+01] [-1.75032302e-01 9.84558075e-01 3.01493658e-03 -4.55193423e+00] [ 1.97819587e-02 4.55164072e-04 9.99804214e-01 -5.20607592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89538475 meters 0.05497969359568756 Centerline is valid? [True, True] Translation: X:39.45, Y:-4.59, Z:-0.52 [[ 9.86285916e-01 1.64176435e-01 -1.69171517e-02 3.94471971e+01] [-1.64155841e-01 9.86430969e-01 2.60835500e-03 -4.58618847e+00] [ 1.71158327e-02 2.04465467e-04 9.99853492e-01 -5.21594693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95538475 meters 0.05445401903831341 Centerline is valid? [True, True] Translation: X:39.50, Y:-4.63, Z:-0.52 [[ 9.89394711e-01 1.44728189e-01 -1.23230338e-02 3.95026820e+01] [-1.44715739e-01 9.89471446e-01 1.90082255e-03 -4.62603858e+00] [ 1.24683927e-02 -9.73268271e-05 9.99922262e-01 -5.19583386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.01538475 meters 0.05504789382639293 Centerline is valid? [True, True] Translation: X:39.56, Y:-4.65, Z:-0.52 [[ 9.91173362e-01 1.32297853e-01 -8.52321779e-03 3.95613329e+01] [-1.32291425e-01 9.91209991e-01 1.31606650e-03 -4.65431375e+00] [ 8.62241140e-03 -1.76901432e-04 9.99962811e-01 -5.17347041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.07538475 meters 0.05604249074639161 Centerline is valid? [True, True] Translation: X:39.62, Y:-4.68, Z:-0.51 [[ 9.92747588e-01 1.20184514e-01 -2.81217489e-03 3.96189472e+01] [-1.20183765e-01 9.92751567e-01 4.34199897e-04 -4.67834730e+00] [ 2.84397513e-03 -9.30731335e-05 9.99995952e-01 -5.14256047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13538475 meters 0.05754232209574285 Centerline is valid? [True, True] Translation: X:39.68, Y:-4.69, Z:-0.52 [[ 9.93188942e-01 1.16514308e-01 -3.75538444e-04 3.96783036e+01] [-1.16514294e-01 9.93189013e-01 5.84903534e-05 -4.69177980e+00] [ 3.79795620e-04 -1.43363754e-05 9.99999928e-01 -5.15023361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.19538475 meters 0.056467197377854175 Centerline is valid? [True, True] Translation: X:39.74, Y:-4.69, Z:-0.51 [[ 9.93512049e-01 1.13726644e-01 2.41172296e-04 3.97408880e+01] [-1.13726638e-01 9.93512079e-01 -3.61421122e-05 -4.69462951e+00] [-2.43717910e-04 8.47990952e-06 9.99999970e-01 -5.13525416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25538475 meters 0.05742954416695724 Centerline is valid? [True, True] Translation: X:39.80, Y:-4.70, Z:-0.52 [[ 9.93336282e-01 1.15251860e-01 -1.98333842e-04 3.98021762e+01] [-1.15251856e-01 9.93336302e-01 3.44542589e-05 -4.70046011e+00] [ 2.00983123e-04 -1.13663220e-05 9.99999980e-01 -5.17599659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.31538475 meters 0.0564703411315396 Centerline is valid? [True, True] Translation: X:39.87, Y:-4.70, Z:-0.52 [[ 9.92769804e-01 1.20033794e-01 -7.15464211e-05 3.98651315e+01] [-1.20033793e-01 9.92769806e-01 1.18706482e-05 -4.69857256e+00] [ 7.24540056e-05 -3.19683280e-06 9.99999997e-01 -5.20513800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.37538475 meters 0.05585843325426298 Centerline is valid? [True, True] Translation: X:39.93, Y:-4.70, Z:-0.52 [[ 9.91982040e-01 1.26346412e-01 -2.86628995e-03 3.99271096e+01] [-1.26345655e-01 9.91986178e-01 4.44242749e-04 -4.69968451e+00] [ 2.89944849e-03 -7.85375462e-05 9.99995794e-01 -5.23142624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.435384750000004 meters 0.05527543879175539 Centerline is valid? [True, True] Translation: X:39.99, Y:-4.70, Z:-0.52 [[ 9.91150462e-01 1.32689111e-01 -3.78972175e-03 3.99895760e+01] [-1.32687833e-01 9.91157704e-01 5.87701663e-04 -4.70030342e+00] [ 3.83419351e-03 -7.96508085e-05 9.99992646e-01 -5.24009650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.49538475 meters 0.05516247217327402 Centerline is valid? [True, True] Translation: X:40.05, Y:-4.70, Z:-0.53 [[ 9.90559308e-01 1.37073361e-01 -1.77497929e-03 4.00507881e+01] [-1.37073087e-01 9.90560898e-01 2.75485375e-04 -4.70171655e+00] [ 1.79598679e-03 -2.95827112e-05 9.99998387e-01 -5.27199404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55538475 meters 0.055406513598363134 Centerline is valid? [True, True] Translation: X:40.11, Y:-4.71, Z:-0.53 [[ 9.90498091e-01 1.37511647e-01 -2.01937248e-03 4.01138002e+01] [-1.37511285e-01 9.90500149e-01 3.17753992e-04 -4.70637631e+00] [ 2.04388362e-03 -3.70482177e-05 9.99997911e-01 -5.27505757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.615384750000004 meters 0.05553491126801277 Centerline is valid? [True, True] Translation: X:40.17, Y:-4.72, Z:-0.53 [[ 9.90570653e-01 1.36982092e-01 -2.38504679e-03 4.01748744e+01] [-1.36981587e-01 9.90573523e-01 3.74589627e-04 -4.71641200e+00] [ 2.41387627e-03 -4.43499977e-05 9.99997086e-01 -5.28773363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.67538475 meters 0.05612094403126989 Centerline is valid? [True, True] Translation: X:40.24, Y:-4.73, Z:-0.53 [[ 9.91412710e-01 1.30762755e-01 -1.39299965e-03 4.02363154e+01] [-1.30762578e-01 9.91413688e-01 2.17800170e-04 -4.72635095e+00] [ 1.40951908e-03 -3.37776309e-05 9.99999006e-01 -5.30707013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73538475 meters 0.05620938546062567 Centerline is valid? [True, True] Translation: X:40.30, Y:-4.73, Z:-0.53 [[ 9.91486012e-01 1.30177116e-01 3.06704613e-03 4.02977885e+01] [-1.30176271e-01 9.91490753e-01 -4.74260694e-04 -4.73323411e+00] [-3.10268576e-03 7.09662155e-05 9.99995184e-01 -5.29846388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.795384750000004 meters 0.05600830961984758 Centerline is valid? [True, True] Translation: X:40.36, Y:-4.74, Z:-0.53 [[ 9.91524480e-01 1.29712778e-01 7.33493543e-03 4.03592219e+01] [-1.29707882e-01 9.91551594e-01 -1.14135517e-03 -4.73965669e+00] [-7.42101526e-03 1.80282651e-04 9.99972448e-01 -5.29655971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85538475 meters 0.05614957934398775 Centerline is valid? [True, True] Translation: X:40.42, Y:-4.75, Z:-0.53 [[ 9.91870209e-01 1.26691645e-01 1.19464004e-02 4.04202766e+01] [-1.26678367e-01 9.91942092e-01 -1.86470825e-03 -4.75045617e+00] [-1.20863804e-02 3.36198057e-04 9.99926901e-01 -5.29303361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91538475 meters 0.057080142941760635 Centerline is valid? [True, True] Translation: X:40.48, Y:-4.76, Z:-0.53 [[ 9.92389102e-01 1.22658890e-01 1.08934719e-02 4.04802890e+01] [-1.22647576e-01 9.92448826e-01 -1.70317372e-03 -4.76106072e+00] [-1.10201228e-02 3.54153107e-04 9.99939214e-01 -5.33531059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.97538475 meters 0.057752255288674274 Centerline is valid? [True, True] Translation: X:40.54, Y:-4.77, Z:-0.54 [[ 9.92815347e-01 1.19350844e-01 8.54765497e-03 4.05418932e+01] [-1.19343736e-01 9.92852094e-01 -1.33876019e-03 -4.76747670e+00] [-8.64633929e-03 3.09032590e-04 9.99962572e-01 -5.35955316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03538475 meters 0.05864550480526108 Centerline is valid? [True, True] Translation: X:40.60, Y:-4.77, Z:-0.54 [[ 9.93052008e-01 1.17496287e-01 6.50625067e-03 4.06031979e+01] [-1.17492129e-01 9.93073291e-01 -1.01891146e-03 -4.77447637e+00] [-6.58090207e-03 2.47398829e-04 9.99978315e-01 -5.38395604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09538475 meters 0.057836026081808545 Centerline is valid? [True, True] Translation: X:40.67, Y:-4.77, Z:-0.54 [[ 9.92929072e-01 1.18674994e-01 2.84656469e-03 4.06668926e+01] [-1.18674204e-01 9.92933147e-01 -4.45438651e-04 -4.77238401e+00] [-2.87931087e-03 1.04475187e-04 9.99995849e-01 -5.40068044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.15538475 meters 0.05769412188028109 Centerline is valid? [True, True] Translation: X:40.73, Y:-4.77, Z:-0.54 [[ 9.92167790e-01 1.24911503e-01 4.38472572e-04 4.07273984e+01] [-1.24911484e-01 9.92167887e-01 -6.88182711e-05 -4.77417257e+00] [-4.43634599e-04 1.35090121e-05 9.99999902e-01 -5.42118255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21538475 meters 0.057219817948416456 Centerline is valid? [True, True] Translation: X:40.79, Y:-4.77, Z:-0.54 [[ 9.90686983e-01 1.36156119e-01 -9.02042079e-04 4.07884888e+01] [-1.36156047e-01 9.90687393e-01 1.41605878e-04 -4.77362833e+00] [ 9.12922223e-04 -1.74686165e-05 9.99999583e-01 -5.44110218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27538475 meters 0.05659440940678435 Centerline is valid? [True, True] Translation: X:40.85, Y:-4.77, Z:-0.55 [[ 9.88383043e-01 1.51851802e-01 -6.32386512e-03 4.08525298e+01] [-1.51848523e-01 9.88403273e-01 9.98284784e-04 -4.76714494e+00] [ 6.40212033e-03 -2.64181755e-05 9.99979506e-01 -5.47566357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.33538475 meters 0.05696440103195372 Centerline is valid? [True, True] Translation: X:40.91, Y:-4.77, Z:-0.55 [[ 9.86178839e-01 1.65480655e-01 -8.21287152e-03 4.09143509e+01] [-1.65475588e-01 9.86213033e-01 1.29738309e-03 -4.76984762e+00] [ 8.31433273e-03 7.95779918e-05 9.99965432e-01 -5.48009793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39538475 meters 0.057597894970471415 Centerline is valid? [True, True] Translation: X:40.97, Y:-4.78, Z:-0.55 [[ 9.84791173e-01 1.73595291e-01 -7.14283334e-03 4.09745082e+01] [-1.73591688e-01 9.84817068e-01 1.12605621e-03 -4.77828239e+00] [ 7.22986225e-03 1.31006286e-04 9.99973856e-01 -5.48558226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45538475 meters 0.057769902312263366 Centerline is valid? [True, True] Translation: X:41.03, Y:-4.80, Z:-0.55 [[ 9.83800047e-01 1.79231580e-01 -3.67526344e-03 4.10343437e+01] [-1.79230648e-01 9.83806909e-01 5.84100767e-04 -4.79516491e+00] [ 3.72043886e-03 8.40814862e-05 9.99993076e-01 -5.45092901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.51538475 meters 0.05827192337942603 Centerline is valid? [True, True] Translation: X:41.09, Y:-4.81, Z:-0.54 [[ 9.82771058e-01 1.84804298e-01 2.90151630e-03 4.10940029e+01] [-1.84803759e-01 9.82775337e-01 -4.54993796e-04 -4.81295770e+00] [-2.93562347e-03 -8.90563834e-05 9.99995687e-01 -5.43129700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57538475 meters 0.059892423787007494 Centerline is valid? [True, True] Translation: X:41.15, Y:-4.83, Z:-0.54 [[ 9.81275177e-01 1.92557864e-01 4.52730053e-03 4.11532123e+01] [-1.92556608e-01 9.81285606e-01 -7.15785337e-04 -4.82910741e+00] [-4.58040494e-03 -1.69379248e-04 9.99989496e-01 -5.44734543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63538475 meters 0.06280033349611766 Centerline is valid? [True, True] Translation: X:41.21, Y:-4.85, Z:-0.55 [[ 9.80004680e-01 1.98972922e-01 7.76419332e-04 4.12106871e+01] [-1.98972888e-01 9.80004987e-01 -1.22119600e-04 -4.84795078e+00] [-7.85193312e-04 -3.48086171e-05 9.99999691e-01 -5.49359260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69538475 meters 0.06362509765426916 Centerline is valid? [True, True] Translation: X:41.27, Y:-4.87, Z:-0.56 [[ 9.78958867e-01 2.04016694e-01 -4.08961091e-03 4.12679814e+01] [-2.04015765e-01 9.78967389e-01 6.47470499e-04 -4.87295437e+00] [ 4.13569051e-03 2.00498113e-04 9.99991428e-01 -5.55338445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75538475 meters 0.06506830017363648 Centerline is valid? [True, True] Translation: X:41.33, Y:-4.90, Z:-0.56 [[ 9.78050663e-01 2.08063267e-01 -1.12506446e-02 4.13257478e+01] [-2.08056506e-01 9.78115187e-01 1.78106180e-03 -4.89947502e+00] [ 1.13749998e-02 5.98801119e-04 9.99935123e-01 -5.60417379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81538475 meters 0.06720534700543206 Centerline is valid? [True, True] Translation: X:41.38, Y:-4.92, Z:-0.57 [[ 9.77711806e-01 2.09623614e-01 -1.17288377e-02 4.13842585e+01] [-2.09616305e-01 9.77781946e-01 1.86280090e-03 -4.92023614e+00] [ 1.18587328e-02 6.37273191e-04 9.99929480e-01 -5.66087743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87538475 meters 0.06477670023355034 Centerline is valid? [True, True] Translation: X:41.44, Y:-4.95, Z:-0.56 [[ 9.78565364e-01 2.05747940e-01 -8.80985712e-03 4.14407053e+01] [-2.05743678e-01 9.78604919e-01 1.39714232e-03 -4.95276897e+00] [ 8.90882866e-03 4.45377327e-04 9.99960216e-01 -5.60139960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.935384750000004 meters 0.06408620678964277 Centerline is valid? [True, True] Translation: X:41.50, Y:-4.98, Z:-0.56 [[ 9.79335159e-01 2.02139305e-01 -6.50745245e-03 4.14976006e+01] [-2.02136901e-01 9.79356732e-01 1.03189664e-03 -4.97687493e+00] [ 6.58170424e-03 3.04823614e-04 9.99978294e-01 -5.58417209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99538475 meters 0.06288418085401366 Centerline is valid? [True, True] Translation: X:41.56, Y:-5.00, Z:-0.56 [[ 9.80294417e-01 1.97483669e-01 -4.80180599e-03 4.15552895e+01] [-1.97482302e-01 9.80306156e-01 7.61823429e-04 -5.00084010e+00] [ 4.85768766e-03 2.01460448e-04 9.99988181e-01 -5.58948073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.05538475 meters 0.06140210509859718 Centerline is valid? [True, True] Translation: X:41.61, Y:-5.03, Z:-0.56 [[ 9.81347028e-01 1.92175978e-01 -5.13857881e-03 4.16127687e+01] [-1.92174341e-01 9.81360463e-01 8.15133915e-04 -5.02607913e+00] [ 5.19944724e-03 1.87573751e-04 9.99986465e-01 -5.59597965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.115384750000004 meters 0.060000756545811294 Centerline is valid? [True, True] Translation: X:41.67, Y:-5.05, Z:-0.56 [[ 9.83068723e-01 1.83112464e-01 -6.76102490e-03 4.16704179e+01] [-1.83109413e-01 9.83091955e-01 1.07287944e-03 -5.05147103e+00] [ 6.84316679e-03 1.83293075e-04 9.99976568e-01 -5.59983091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17538475 meters 0.0594882138913657 Centerline is valid? [True, True] Translation: X:41.73, Y:-5.07, Z:-0.56 [[ 9.84346256e-01 1.76095615e-01 -7.26523208e-03 4.17280740e+01] [-1.76091900e-01 9.84373056e-01 1.15285909e-03 -5.07404994e+00] [ 7.35471214e-03 1.44535992e-04 9.99972943e-01 -5.61043469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.23538475 meters 0.05890106726354367 Centerline is valid? [True, True] Translation: X:41.79, Y:-5.10, Z:-0.56 [[ 9.85609998e-01 1.68904251e-01 -6.65475750e-03 4.17865840e+01] [-1.68900967e-01 9.85632460e-01 1.05651017e-03 -5.09670783e+00] [ 6.73759407e-03 8.26879936e-05 9.99977299e-01 -5.62741466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.295384750000004 meters 0.058113375162242464 Centerline is valid? [True, True] Translation: X:41.85, Y:-5.12, Z:-0.56 [[ 9.87668452e-01 1.56468022e-01 -5.36531783e-03 4.18450085e+01] [-1.56465698e-01 9.87683025e-01 8.52791318e-04 -5.12322053e+00] [ 5.43266791e-03 -2.78688215e-06 9.99985243e-01 -5.61898930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35538475 meters 0.05903486672208083 Centerline is valid? [True, True] Translation: X:41.90, Y:-5.15, Z:-0.56 [[ 9.90198733e-01 1.39551328e-01 -5.64763704e-03 4.19023873e+01] [-1.39548479e-01 9.90214834e-01 8.97306355e-04 -5.15359100e+00] [ 5.71759426e-03 -1.00392456e-04 9.99983649e-01 -5.63261213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41538475 meters 0.060762962496933005 Centerline is valid? [True, True] Translation: X:41.96, Y:-5.18, Z:-0.56 [[ 9.92414047e-01 1.22871417e-01 -4.11988250e-03 4.19606385e+01] [-1.22869756e-01 9.92422589e-01 6.54857104e-04 -5.17642321e+00] [ 4.16912768e-03 -1.43680430e-04 9.99991299e-01 -5.62927912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.47538475 meters 0.06266575435516529 Centerline is valid? [True, True] Translation: X:42.02, Y:-5.19, Z:-0.56 [[ 9.93600183e-01 1.12900413e-01 -3.48897548e-03 4.20194662e+01] [-1.12899161e-01 9.93606296e-01 5.54355076e-04 -5.19306002e+00] [ 3.52925492e-03 -1.56904899e-04 9.99993760e-01 -5.63447377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53538475 meters 0.06402744799674799 Centerline is valid? [True, True] Translation: X:42.08, Y:-5.21, Z:-0.57 [[ 9.93728351e-01 1.11735272e-01 -4.38102630e-03 4.20796067e+01] [-1.11733277e-01 9.93737987e-01 6.98190520e-04 -5.20520769e+00] [ 4.43160476e-03 -2.04305288e-04 9.99990160e-01 -5.66093374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59538475 meters 0.060879474225296264 Centerline is valid? [True, True] Translation: X:42.14, Y:-5.19, Z:-0.57 [[ 9.92760613e-01 1.19846155e-01 -7.95390059e-03 4.21431585e+01] [-1.19839863e-01 9.92792429e-01 1.26478950e-03 -5.19371487e+00] [ 8.04815245e-03 -3.02438843e-04 9.99967567e-01 -5.66165785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.65538475 meters 0.059304611547673414 Centerline is valid? [True, True] Translation: X:42.21, Y:-5.19, Z:-0.57 [[ 9.91590589e-01 1.29074807e-01 -9.37008873e-03 4.22054388e+01] [-1.29066484e-01 9.91634823e-01 1.49009923e-03 -5.19085086e+00] [ 9.48404055e-03 -2.68203963e-04 9.99954990e-01 -5.67954272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71538475 meters 0.05869515725550175 Centerline is valid? [True, True] Translation: X:42.27, Y:-5.19, Z:-0.57 [[ 9.90313633e-01 1.38295993e-01 -1.23744026e-02 4.22669556e+01] [-1.38282193e-01 9.90390914e-01 1.96805646e-03 -5.18605172e+00] [ 1.25276702e-02 -2.37833609e-04 9.99921497e-01 -5.74073917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77538475 meters 0.05833068922231211 Centerline is valid? [True, True] Translation: X:42.33, Y:-5.19, Z:-0.57 [[ 9.90002573e-01 1.40641363e-01 -1.07196889e-02 4.23285919e+01] [-1.40631080e-01 9.90060590e-01 1.71091576e-03 -5.19174485e+00] [ 1.08537670e-02 -1.86289586e-04 9.99941079e-01 -5.72268193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.83538475 meters 0.058036017607449246 Centerline is valid? [True, True] Translation: X:42.39, Y:-5.20, Z:-0.57 [[ 9.90160890e-01 1.39645090e-01 -8.98117977e-03 4.23897884e+01] [-1.39637804e-01 9.90201606e-01 1.43640483e-03 -5.20047275e+00] [ 9.09376552e-03 -1.68159662e-04 9.99958637e-01 -5.69704926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89538475 meters 0.05800266397313237 Centerline is valid? [True, True] Translation: X:42.45, Y:-5.20, Z:-0.57 [[ 9.89783665e-01 1.42159150e-01 -1.09119908e-02 4.24526984e+01] [-1.42148513e-01 9.89843798e-01 1.74827709e-03 -5.20368105e+00] [ 1.10497000e-02 -1.79292840e-04 9.99938934e-01 -5.71882387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95538475 meters 0.057840562420667326 Centerline is valid? [True, True] Translation: X:42.51, Y:-5.21, Z:-0.57 [[ 9.88851383e-01 1.48502922e-01 -1.09463996e-02 4.25143317e+01] [-1.48492581e-01 9.88911963e-01 1.75603302e-03 -5.20716420e+00] [ 1.10858015e-02 -1.10996561e-04 9.99938544e-01 -5.74072599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.01538475 meters 0.05743382212635985 Centerline is valid? [True, True] Translation: X:42.58, Y:-5.21, Z:-0.57 [[ 9.87595963e-01 1.56598287e-01 -1.14538441e-02 4.25765762e+01] [-1.56587473e-01 9.87662380e-01 1.84045052e-03 -5.20835746e+00] [ 1.16007424e-02 -2.40929913e-05 9.99932709e-01 -5.72749509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07538475 meters 0.05782677761880658 Centerline is valid? [True, True] Translation: X:42.64, Y:-5.21, Z:-0.58 [[ 9.85419513e-01 1.69731776e-01 -1.18113544e-02 4.26396212e+01] [-1.69721183e-01 9.85490288e-01 1.90085895e-03 -5.20681044e+00] [ 1.19626112e-02 1.31493529e-04 9.99928437e-01 -5.75941333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13538475 meters 0.058663528651069045 Centerline is valid? [True, True] Translation: X:42.70, Y:-5.21, Z:-0.57 [[ 9.83571526e-01 1.80195487e-01 -1.08000225e-02 4.27009848e+01] [-1.80187285e-01 9.83630789e-01 1.73575570e-03 -5.21096939e+00] [ 1.09360100e-02 2.38786845e-04 9.99940172e-01 -5.73919631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.19538475 meters 0.059857115754328796 Centerline is valid? [True, True] Translation: X:42.76, Y:-5.22, Z:-0.58 [[ 9.82389132e-01 1.86699414e-01 -7.41095960e-03 4.27613923e+01] [-1.86695701e-01 9.82417063e-01 1.19586900e-03 -5.21826882e+00] [ 7.50392121e-03 2.08785583e-04 9.99971823e-01 -5.75535738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25538475 meters 0.06035175931163762 Centerline is valid? [True, True] Translation: X:42.82, Y:-5.23, Z:-0.58 [[ 9.81585419e-01 1.90937641e-01 -5.73425074e-03 4.28213806e+01] [-1.90935477e-01 9.81602151e-01 9.27547397e-04 -5.23252889e+00] [ 5.80585657e-03 1.84404900e-04 9.99983129e-01 -5.76297085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.31538475 meters 0.060428709834852976 Centerline is valid? [True, True] Translation: X:42.88, Y:-5.25, Z:-0.57 [[ 9.81491354e-01 1.91468995e-01 -3.78766429e-03 4.28808265e+01] [-1.91468045e-01 9.81498655e-01 6.15126374e-04 -5.25340770e+00] [ 3.83536504e-03 1.21475461e-04 9.99992638e-01 -5.74576834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37538475 meters 0.06067669179798401 Centerline is valid? [True, True] Translation: X:42.94, Y:-5.27, Z:-0.58 [[ 9.81412631e-01 1.91881167e-01 -3.29640817e-03 4.29412041e+01] [-1.91880444e-01 9.81418161e-01 5.37336551e-04 -5.27254678e+00] [ 3.33825960e-03 1.05167384e-04 9.99994422e-01 -5.75831884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.435384750000004 meters 0.061022893220672544 Centerline is valid? [True, True] Translation: X:43.00, Y:-5.29, Z:-0.58 [[ 9.81070347e-01 1.93640597e-01 -2.07213284e-03 4.30011044e+01] [-1.93640312e-01 9.81072533e-01 3.39371499e-04 -5.28919449e+00] [ 2.09862871e-03 6.83011347e-05 9.99997796e-01 -5.75310761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49538475 meters 0.061954750786609475 Centerline is valid? [True, True] Translation: X:43.06, Y:-5.30, Z:-0.58 [[ 9.80400038e-01 1.97005167e-01 -2.17493930e-03 4.30612668e+01] [-1.97004867e-01 9.80402447e-01 3.53353910e-04 -5.30345516e+00] [ 2.20192836e-03 8.20454406e-05 9.99997572e-01 -5.76498108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.55538475 meters 0.06274662303265892 Centerline is valid? [True, True] Translation: X:43.12, Y:-5.32, Z:-0.58 [[ 9.79839938e-01 1.99783557e-01 -4.75276695e-04 4.31215318e+01] [-1.99783543e-01 9.79840053e-01 7.81134352e-05 -5.31889750e+00] [ 4.81300922e-04 1.84137983e-05 9.99999884e-01 -5.77388552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.615384750000004 meters 0.06363985276436154 Centerline is valid? [True, True] Translation: X:43.18, Y:-5.34, Z:-0.58 [[ 9.80091772e-01 1.98542293e-01 -1.03778564e-03 4.31803755e+01] [-1.98542223e-01 9.80092320e-01 1.71906830e-04 -5.33707207e+00] [ 1.05125651e-03 3.75597981e-05 9.99999447e-01 -5.81234104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67538475 meters 0.06336583260202128 Centerline is valid? [True, True] Translation: X:43.24, Y:-5.36, Z:-0.58 [[ 9.80420314e-01 1.96872117e-01 -4.16853655e-03 4.32393713e+01] [-1.96870996e-01 9.80429164e-01 6.81638276e-04 -5.36040624e+00] [ 4.22115038e-03 1.52371928e-04 9.99991079e-01 -5.83808014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73538475 meters 0.06118469905076019 Centerline is valid? [True, True] Translation: X:43.30, Y:-5.39, Z:-0.58 [[ 9.82175586e-01 1.87945123e-01 -2.78355893e-03 4.32969886e+01] [-1.87944593e-01 9.82179528e-01 4.53280924e-04 -5.38914663e+00] [ 2.81914653e-03 7.79533910e-05 9.99996023e-01 -5.83462232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.795384750000004 meters 0.059648933205391795 Centerline is valid? [True, True] Translation: X:43.35, Y:-5.41, Z:-0.59 [[ 9.83653169e-01 1.80044113e-01 -3.24975046e-03 4.33549020e+01] [-1.80043347e-01 9.83658535e-01 5.29174798e-04 -5.41367354e+00] [ 3.29191958e-03 6.45714819e-05 9.99994580e-01 -5.85802875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85538475 meters 0.05932473920011251 Centerline is valid? [True, True] Translation: X:43.41, Y:-5.43, Z:-0.58 [[ 9.84277001e-01 1.76628000e-01 1.15509977e-03 4.34139196e+01] [-1.76627902e-01 9.84277679e-01 -1.87483486e-04 -5.43106509e+00] [-1.17005376e-03 -1.94871659e-05 9.99999315e-01 -5.84493805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91538475 meters 0.05874037305509346 Centerline is valid? [True, True] Translation: X:43.47, Y:-5.45, Z:-0.58 [[ 9.85260854e-01 1.70967167e-01 5.59255481e-03 4.34731826e+01] [-1.70964758e-01 9.85276725e-01 -9.09568241e-04 -5.45287167e+00] [-5.66572040e-03 -5.99677984e-05 9.99983948e-01 -5.79204262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.97538475 meters 0.05855208480531364 Centerline is valid? [True, True] Translation: X:43.53, Y:-5.48, Z:-0.58 [[ 9.87134390e-01 1.59671574e-01 8.40740725e-03 4.35315756e+01] [-1.59665717e-01 9.87170192e-01 -1.36770065e-03 -5.47678171e+00] [-8.51792474e-03 7.72964261e-06 9.99963722e-01 -5.78396940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03538475 meters 0.059568100674050654 Centerline is valid? [True, True] Translation: X:43.59, Y:-5.50, Z:-0.58 [[ 9.88954602e-01 1.47894830e-01 9.79363600e-03 4.35910429e+01] [-1.47886264e-01 9.89003085e-01 -1.59713760e-03 -5.49756841e+00] [-9.92214461e-03 1.31152340e-04 9.99950766e-01 -5.77728272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09538475 meters 0.06027737229149387 Centerline is valid? [True, True] Translation: X:43.65, Y:-5.52, Z:-0.58 [[ 9.89977551e-01 1.40844397e-01 1.03588262e-02 4.36497350e+01] [-1.40834424e-01 9.90031722e-01 -1.68963364e-03 -5.51622673e+00] [-1.04935420e-02 2.13820053e-04 9.99944918e-01 -5.77698488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.15538475 meters 0.061043403783013345 Centerline is valid? [True, True] Translation: X:43.71, Y:-5.53, Z:-0.58 [[ 9.90449597e-01 1.37561667e-01 9.29429074e-03 4.37112443e+01] [-1.37553469e-01 9.90493179e-01 -1.51866521e-03 -5.52671593e+00] [-9.41484169e-03 2.25699409e-04 9.99955654e-01 -5.81086235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21538475 meters 0.06118770795027476 Centerline is valid? [True, True] Translation: X:43.77, Y:-5.53, Z:-0.58 [[ 9.90237896e-01 1.39240707e-01 6.39806331e-03 4.37730810e+01] [-1.39236865e-01 9.90258555e-01 -1.04422862e-03 -5.53398014e+00] [-6.48113605e-03 1.43188473e-04 9.99978987e-01 -5.84968610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27538475 meters 0.06088060447546149 Centerline is valid? [True, True] Translation: X:43.83, Y:-5.54, Z:-0.59 [[ 9.89634362e-01 1.43422350e-01 7.33891396e-03 4.38334941e+01] [-1.43417381e-01 9.89661564e-01 -1.20169736e-03 -5.54051427e+00] [-7.43539133e-03 1.36713176e-04 9.99972348e-01 -5.86789947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.33538475 meters 0.0602080353589083 Centerline is valid? [True, True] Translation: X:43.90, Y:-5.54, Z:-0.59 [[ 9.88751748e-01 1.49466790e-01 5.44600122e-03 4.38958447e+01] [-1.49464154e-01 9.88766744e-01 -8.90024041e-04 -5.54183728e+00] [-5.51785393e-03 6.60308582e-05 9.99984774e-01 -5.89997240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39538475 meters 0.06012192326263346 Centerline is valid? [True, True] Translation: X:43.96, Y:-5.55, Z:-0.59 [[ 9.87985598e-01 1.54404955e-01 6.60065613e-03 4.39566245e+01] [-1.54401173e-01 9.88007645e-01 -1.08195543e-03 -5.54627301e+00] [-6.68855800e-03 4.98073347e-05 9.99977630e-01 -5.91440382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45538475 meters 0.05974994628785378 Centerline is valid? [True, True] Translation: X:44.02, Y:-5.55, Z:-0.59 [[ 9.86468275e-01 1.63804172e-01 6.96673210e-03 4.40196348e+01] [-1.63800189e-01 9.86492875e-01 -1.14235352e-03 -5.54673720e+00] [-7.05975385e-03 -1.42565240e-05 9.99975080e-01 -5.91720839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51538475 meters 0.060292694060916155 Centerline is valid? [True, True] Translation: X:44.08, Y:-5.55, Z:-0.60 [[ 9.84862246e-01 1.73256384e-01 5.34614464e-03 4.40813238e+01] [-1.73254174e-01 9.84876754e-01 -8.77356667e-04 -5.54549114e+00] [-5.41730123e-03 -6.21664143e-05 9.99985324e-01 -5.95536281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57538475 meters 0.06007833359556931 Centerline is valid? [True, True] Translation: X:44.14, Y:-5.56, Z:-0.60 [[ 9.84686832e-01 1.74173941e-01 7.43518724e-03 4.41432630e+01] [-1.74169673e-01 9.84714898e-01 -1.22275897e-03 -5.55728755e+00] [-7.53451239e-03 -9.09494714e-05 9.99971611e-01 -5.95464750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63538475 meters 0.06013525168964253 Centerline is valid? [True, True] Translation: X:44.20, Y:-5.57, Z:-0.59 [[ 9.84687004e-01 1.74126322e-01 8.45744378e-03 4.42029170e+01] [-1.74120767e-01 9.84723319e-01 -1.39442617e-03 -5.56866988e+00] [-8.57104841e-03 -9.95432726e-05 9.99963263e-01 -5.94786647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69538475 meters 0.059114482302670926 Centerline is valid? [True, True] Translation: X:44.26, Y:-5.59, Z:-0.59 [[ 9.85823345e-01 1.67392485e-01 1.14929917e-02 4.42611818e+01] [-1.67381721e-01 9.85890335e-01 -1.89900077e-03 -5.58899108e+00] [-1.16487079e-02 -5.16374427e-05 9.99932150e-01 -5.91328509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75538475 meters 0.059402582955704074 Centerline is valid? [True, True] Translation: X:44.32, Y:-5.60, Z:-0.59 [[ 9.86036571e-01 1.66162544e-01 1.10403641e-02 4.43227567e+01] [-1.66152507e-01 9.86098376e-01 -1.82658661e-03 -5.60115983e+00] [-1.11903954e-02 -3.33029874e-05 9.99937385e-01 -5.94681679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81538475 meters 0.059391975980109014 Centerline is valid? [True, True] Translation: X:44.38, Y:-5.61, Z:-0.59 [[ 9.85742404e-01 1.67897804e-01 1.10562007e-02 4.43838421e+01] [-1.67887806e-01 9.85804405e-01 -1.83292313e-03 -5.61140447e+00] [-1.12069951e-02 -4.94112157e-05 9.99937198e-01 -5.93358623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87538475 meters 0.0596420474100656 Centerline is valid? [True, True] Translation: X:44.45, Y:-5.62, Z:-0.60 [[ 9.85696821e-01 1.68402221e-01 6.51682419e-03 4.44451834e+01] [-1.68398760e-01 9.85718363e-01 -1.08004081e-03 -5.61922981e+00] [-6.60563454e-03 -3.28323259e-05 9.99978182e-01 -5.98896362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.935384750000004 meters 0.05964821487771435 Centerline is valid? [True, True] Translation: X:44.51, Y:-5.63, Z:-0.60 [[ 9.86091542e-01 1.66065395e-01 6.76433613e-03 4.45066085e+01] [-1.66061599e-01 9.86114742e-01 -1.12297694e-03 -5.63053536e+00] [-6.85689918e-03 -1.59384118e-05 9.99976491e-01 -6.00885367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99538475 meters 0.059479967160473796 Centerline is valid? [True, True] Translation: X:44.57, Y:-5.64, Z:-0.60 [[ 9.86331556e-01 1.64653424e-01 6.26995872e-03 4.45679373e+01] [-1.64650128e-01 9.86351484e-01 -1.04184908e-03 -5.64235554e+00] [-6.35592710e-03 -4.74087934e-06 9.99979801e-01 -6.00164158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05538475 meters 0.05960890006360659 Centerline is valid? [True, True] Translation: X:44.63, Y:-5.65, Z:-0.60 [[ 9.86417943e-01 1.64093720e-01 7.27279054e-03 4.46287982e+01] [-1.64089240e-01 9.86444753e-01 -1.21255162e-03 -5.65054097e+00] [-7.37317817e-03 2.69599974e-06 9.99972818e-01 -5.99649538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.115384750000004 meters 0.05925848466047565 Centerline is valid? [True, True] Translation: X:44.69, Y:-5.66, Z:-0.60 [[ 9.86850118e-01 1.61354923e-01 9.56211697e-03 4.46905169e+01] [-1.61347035e-01 9.86896442e-01 -1.59577511e-03 -5.66438173e+00] [-9.69430539e-03 3.19716382e-05 9.99953009e-01 -5.97266538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17538475 meters 0.05909450710382225 Centerline is valid? [True, True] Translation: X:44.75, Y:-5.68, Z:-0.60 [[ 9.87454570e-01 1.57537902e-01 1.07369350e-02 4.47512022e+01] [-1.57527688e-01 9.87512938e-01 -1.79574245e-03 -5.67769929e+00] [-1.08857597e-02 8.18495498e-05 9.99940745e-01 -5.96388375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23538475 meters 0.05975390152080426 Centerline is valid? [True, True] Translation: X:44.81, Y:-5.69, Z:-0.60 [[ 9.88569177e-01 1.50363674e-01 1.10339789e-02 4.48110499e+01] [-1.50352406e-01 9.88630738e-01 -1.84847759e-03 -5.69224238e+00] [-1.11864746e-02 1.68362699e-04 9.99937415e-01 -5.98025750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.295384750000004 meters 0.06043122947000815 Centerline is valid? [True, True] Translation: X:44.87, Y:-5.71, Z:-0.60 [[ 9.89563871e-01 1.43769346e-01 9.68096807e-03 4.48707301e+01] [-1.43760329e-01 9.89611201e-01 -1.62457150e-03 -5.70776973e+00] [-9.81395802e-03 2.15878102e-04 9.99951819e-01 -5.98850617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35538475 meters 0.06073088174906977 Centerline is valid? [True, True] Translation: X:44.93, Y:-5.72, Z:-0.60 [[ 9.89768703e-01 1.42336868e-01 9.90610438e-03 4.49314152e+01] [-1.42327355e-01 9.89818246e-01 -1.66234597e-03 -5.71815993e+00] [-1.00418560e-02 2.35428374e-04 9.99949552e-01 -6.01095021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41538475 meters 0.06032631541796736 Centerline is valid? [True, True] Translation: X:44.99, Y:-5.73, Z:-0.61 [[ 9.89396185e-01 1.45111235e-01 6.15776639e-03 4.49933915e+01] [-1.45107618e-01 9.89415339e-01 -1.03261769e-03 -5.72545575e+00] [-6.24243295e-03 1.28129195e-04 9.99980508e-01 -6.05539587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.47538475 meters 0.05949717479796936 Centerline is valid? [True, True] Translation: X:45.06, Y:-5.73, Z:-0.61 [[ 9.88240937e-01 1.52770291e-01 6.41011828e-03 4.50554653e+01] [-1.52766510e-01 9.88261722e-01 -1.07830244e-03 -5.72591521e+00] [-6.49960710e-03 8.63712191e-05 9.99978874e-01 -6.07638766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53538475 meters 0.05885885482189504 Centerline is valid? [True, True] Translation: X:45.12, Y:-5.73, Z:-0.61 [[ 9.87291474e-01 1.58826133e-01 5.45938935e-03 4.51179088e+01] [-1.58823492e-01 9.87306567e-01 -9.16711446e-04 -5.72886901e+00] [-5.53568870e-03 3.79821143e-05 9.99984677e-01 -6.08514070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59538475 meters 0.058530301882632925 Centerline is valid? [True, True] Translation: X:45.18, Y:-5.73, Z:-0.61 [[ 9.85553311e-01 1.69314337e-01 4.16243076e-03 4.51812921e+01] [-1.69312894e-01 9.85562101e-01 -6.99198582e-04 -5.72693313e+00] [-4.22071835e-03 -1.56557209e-05 9.99991093e-01 -6.10855787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.65538475 meters 0.05884172556690366 Centerline is valid? [True, True] Translation: X:45.24, Y:-5.73, Z:-0.61 [[ 9.84807701e-01 1.73618930e-01 3.20306437e-03 4.52435277e+01] [-1.73618099e-01 9.84812909e-01 -5.38096300e-04 -5.73239483e+00] [-3.24784285e-03 -2.61885658e-05 9.99994725e-01 -6.13341516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71538475 meters 0.058722017519251025 Centerline is valid? [True, True] Translation: X:45.31, Y:-5.74, Z:-0.61 [[ 9.84734833e-01 1.74035856e-01 2.97155355e-03 4.53050214e+01] [-1.74035142e-01 9.84739316e-01 -4.99214649e-04 -5.74427424e+00] [-3.01308686e-03 -2.55606907e-05 9.99995460e-01 -6.13954145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77538475 meters 0.05814590492281074 Centerline is valid? [True, True] Translation: X:45.36, Y:-5.76, Z:-0.61 [[ 9.85406183e-01 1.70199860e-01 2.58123974e-03 4.53648209e+01] [-1.70199306e-01 9.85409563e-01 -4.34248818e-04 -5.76098183e+00] [-2.61748742e-03 -1.14137430e-05 9.99996574e-01 -6.13868253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.83538475 meters 0.05795732062021561 Centerline is valid? [True, True] Translation: X:45.42, Y:-5.78, Z:-0.61 [[ 9.85371992e-01 1.70378108e-01 3.65217808e-03 4.54249346e+01] [-1.70376992e-01 9.85378760e-01 -6.16868739e-04 -5.77527075e+00] [-3.70387964e-03 -1.44019390e-05 9.99993141e-01 -6.12693356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89538475 meters 0.05737148179992785 Centerline is valid? [True, True] Translation: X:45.48, Y:-5.80, Z:-0.61 [[ 9.86376292e-01 1.64405250e-01 5.72051952e-03 4.54832356e+01] [-1.64402389e-01 9.86392880e-01 -9.69905957e-04 -5.79583099e+00] [-5.80213735e-03 1.62251640e-05 9.99983167e-01 -6.11373547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95538475 meters 0.057407111154531294 Centerline is valid? [True, True] Translation: X:45.54, Y:-5.81, Z:-0.61 [[ 9.87110528e-01 1.59939864e-01 5.66078471e-03 4.55435544e+01] [-1.59936983e-01 9.87126759e-01 -9.60896986e-04 -5.81283369e+00] [-5.74159780e-03 4.31427021e-05 9.99983516e-01 -6.12732341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01538475 meters 0.05760889676740119 Centerline is valid? [True, True] Translation: X:45.60, Y:-5.83, Z:-0.62 [[ 9.87288855e-01 1.58890921e-01 3.79380823e-03 4.56027148e+01] [-1.58889615e-01 9.87296143e-01 -6.45130175e-04 -5.82638675e+00] [-3.84811756e-03 3.41331048e-05 9.99992595e-01 -6.16387759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07538475 meters 0.05775932145385204 Centerline is valid? [True, True] Translation: X:45.66, Y:-5.84, Z:-0.62 [[ 9.87185972e-01 1.59568435e-01 1.33103334e-03 4.56643074e+01] [-1.59568278e-01 9.87186869e-01 -2.23768103e-04 -5.83522803e+00] [-1.34968496e-03 8.51003328e-06 9.99999089e-01 -6.20285487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13538475 meters 0.05780038633877824 Centerline is valid? [True, True] Translation: X:45.73, Y:-5.84, Z:-0.62 [[ 9.86842877e-01 1.61672770e-01 -1.74668427e-03 4.57264330e+01] [-1.61672488e-01 9.86844423e-01 3.02249300e-04 -5.83713081e+00] [ 1.77257111e-03 -1.58817763e-05 9.99998429e-01 -6.24971647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19538475 meters 0.05804125821861615 Centerline is valid? [True, True] Translation: X:45.79, Y:-5.83, Z:-0.63 [[ 9.86550066e-01 1.63442257e-01 -2.36534968e-03 4.57895847e+01] [-1.63441750e-01 9.86552902e-01 4.07450103e-04 -5.83498524e+00] [ 2.40013715e-03 -1.53730352e-05 9.99997120e-01 -6.25072407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25538475 meters 0.058176897485087614 Centerline is valid? [True, True] Translation: X:45.85, Y:-5.83, Z:-0.63 [[ 9.85632968e-01 1.68745508e-01 -7.25296460e-03 4.58541626e+01] [-1.68740898e-01 9.85659654e-01 1.24723185e-03 -5.82644073e+00] [ 7.35941935e-03 -5.44107245e-06 9.99972919e-01 -6.28871699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31538475 meters 0.0582373764884884 Centerline is valid? [True, True] Translation: X:45.92, Y:-5.83, Z:-0.63 [[ 9.85286033e-01 1.70797142e-01 -6.30638211e-03 4.59154347e+01] [-1.70793700e-01 9.85306214e-01 1.08436012e-03 -5.83235677e+00] [ 6.39892309e-03 8.68545590e-06 9.99979527e-01 -6.30681166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.37538475 meters 0.05801163673396192 Centerline is valid? [True, True] Translation: X:45.98, Y:-5.83, Z:-0.63 [[ 9.84490530e-01 1.75430383e-01 -1.60517256e-03 4.59788572e+01] [-1.75430161e-01 9.84491839e-01 2.79381300e-04 -5.83088722e+00] [ 1.62929125e-03 6.54743616e-06 9.99998673e-01 -6.29297732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.435384750000004 meters 0.05750919489970591 Centerline is valid? [True, True] Translation: X:46.04, Y:-5.84, Z:-0.63 [[ 9.84535489e-01 1.75133414e-01 4.26130373e-03 4.60408802e+01] [-1.75131895e-01 9.84544710e-01 -7.30080548e-04 -5.83661734e+00] [-4.32330554e-03 -2.74999875e-05 9.99990654e-01 -6.25174470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49538475 meters 0.057369183460103126 Centerline is valid? [True, True] Translation: X:46.10, Y:-5.85, Z:-0.63 [[ 9.84672287e-01 1.74376648e-01 3.64307109e-03 4.61026660e+01] [-1.74375532e-01 9.84679026e-01 -6.24165617e-04 -5.84715040e+00] [-3.69609560e-03 -2.06638742e-05 9.99993169e-01 -6.25408459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55538475 meters 0.05736371610230659 Centerline is valid? [True, True] Translation: X:46.16, Y:-5.85, Z:-0.63 [[ 9.84432675e-01 1.75731309e-01 3.28874613e-03 4.61648624e+01] [-1.75730406e-01 9.84438168e-01 -5.63943210e-04 -5.85465841e+00] [-3.33666969e-03 -2.27685692e-05 9.99994433e-01 -6.28354190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.615384750000004 meters 0.05773713120369635 Centerline is valid? [True, True] Translation: X:46.22, Y:-5.86, Z:-0.63 [[ 9.83819070e-01 1.79163964e-01 5.57328413e-04 4.62248417e+01] [-1.79163940e-01 9.83819228e-01 -9.30847193e-05 -5.86347296e+00] [-5.64987837e-04 -8.27463258e-06 9.99999840e-01 -6.32970800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67538475 meters 0.0577997087883634 Centerline is valid? [True, True] Translation: X:46.29, Y:-5.88, Z:-0.63 [[ 9.83554682e-01 1.80610131e-01 -4.11167292e-04 4.62852425e+01] [-1.80610115e-01 9.83554768e-01 7.45474930e-05 -5.87555490e+00] [ 4.17869583e-04 9.39436259e-07 9.99999913e-01 -6.34287150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73538475 meters 0.05807224865491809 Centerline is valid? [True, True] Translation: X:46.35, Y:-5.89, Z:-0.64 [[ 9.82922714e-01 1.84015676e-01 -1.08121014e-03 4.63457306e+01] [-1.84015577e-01 9.82923309e-01 1.90880210e-04 -5.88693651e+00] [ 1.09787160e-03 1.13390140e-05 9.99999397e-01 -6.35641779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.795384750000004 meters 0.058488792749842596 Centerline is valid? [True, True] Translation: X:46.41, Y:-5.90, Z:-0.64 [[ 9.82151203e-01 1.88092919e-01 -2.59735145e-04 4.64071015e+01] [-1.88092913e-01 9.82151238e-01 4.87679049e-05 -5.89636828e+00] [ 2.64272091e-04 9.56883349e-07 9.99999965e-01 -6.35931178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85538475 meters 0.05817991801286198 Centerline is valid? [True, True] Translation: X:46.47, Y:-5.91, Z:-0.64 [[ 9.82556500e-01 1.85963358e-01 5.95766632e-04 4.64671729e+01] [-1.85963331e-01 9.82556680e-01 -1.00067638e-04 -5.91370321e+00] [-6.03983398e-04 -1.24686391e-05 9.99999818e-01 -6.37902910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.91538475 meters 0.05813101809448282 Centerline is valid? [True, True] Translation: X:46.53, Y:-5.93, Z:-0.64 [[ 9.82755730e-01 1.84907258e-01 -6.93327984e-04 4.65277121e+01] [-1.84907216e-01 9.82755975e-01 1.25096060e-04 -5.92945503e+00] [ 7.04503388e-04 5.26247718e-06 9.99999752e-01 -6.38130171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.97538475 meters 0.05868780518375526 Centerline is valid? [True, True] Translation: X:46.59, Y:-5.94, Z:-0.64 [[ 9.82362516e-01 1.86961549e-01 -3.04417677e-03 4.65886647e+01] [-1.86960788e-01 9.82367231e-01 5.35146174e-04 -5.94190021e+00] [ 3.09055126e-03 4.34341455e-05 9.99995223e-01 -6.40884233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03538475 meters 0.0589305620311156 Centerline is valid? [True, True] Translation: X:46.65, Y:-5.95, Z:-0.64 [[ 9.82074915e-01 1.88457844e-01 -3.53585198e-03 4.66492931e+01] [-1.88456825e-01 9.82081279e-01 6.21997457e-04 -5.95394260e+00] [ 3.58971433e-03 5.55073398e-05 9.99993555e-01 -6.41408598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09538475 meters 0.05876575812252655 Centerline is valid? [True, True] Translation: X:46.71, Y:-5.97, Z:-0.64 [[ 9.82427133e-01 1.86591707e-01 -4.52364057e-03 4.67087566e+01] [-1.86590030e-01 9.82437545e-01 7.93783402e-04 -5.96568334e+00] [ 4.59230774e-03 6.42318769e-05 9.99989453e-01 -6.42804528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.15538475 meters 0.05954252729336481 Centerline is valid? [True, True] Translation: X:46.77, Y:-5.97, Z:-0.65 [[ 9.81881677e-01 1.89247268e-01 -9.68731008e-03 4.67699262e+01] [-1.89239740e-01 9.81929449e-01 1.69635024e-03 -5.97283730e+00] [ 9.83328471e-03 1.67608818e-04 9.99951638e-01 -6.45781555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21538475 meters 0.059345925224461665 Centerline is valid? [True, True] Translation: X:46.83, Y:-5.98, Z:-0.64 [[ 9.81924251e-01 1.89000523e-01 -1.01767740e-02 4.68316280e+01] [-1.88992130e-01 9.81976972e-01 1.78896358e-03 -5.98361308e+00] [ 1.03314728e-02 1.66703470e-04 9.99946615e-01 -6.44498179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27538475 meters 0.06010850538761041 Centerline is valid? [True, True] Translation: X:46.89, Y:-5.99, Z:-0.65 [[ 9.81420041e-01 1.91508219e-01 -1.18027465e-02 4.68922760e+01] [-1.91497158e-01 9.81490983e-01 2.07083842e-03 -5.98819358e+00] [ 1.19808719e-02 2.27830083e-04 9.99928201e-01 -6.48734915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33538475 meters 0.06015960630027898 Centerline is valid? [True, True] Translation: X:46.95, Y:-6.00, Z:-0.65 [[ 9.81069426e-01 1.93324792e-01 -1.13272796e-02 4.69533549e+01] [-1.93314653e-01 9.81134787e-01 1.99364400e-03 -5.99758038e+00] [ 1.14990089e-02 2.33825954e-04 9.99933857e-01 -6.48082150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39538475 meters 0.06014538745588035 Centerline is valid? [True, True] Translation: X:47.01, Y:-6.01, Z:-0.65 [[ 9.80564214e-01 1.95891773e-01 -1.09652229e-02 4.70142171e+01] [-1.95882398e-01 9.80625489e-01 1.93303498e-03 -6.00765332e+00] [ 1.11314428e-02 2.52429233e-04 9.99938012e-01 -6.46733777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45538475 meters 0.06042325764416486 Centerline is valid? [True, True] Translation: X:47.08, Y:-6.02, Z:-0.65 [[ 9.80363423e-01 1.96906515e-01 -1.07416678e-02 4.70754573e+01] [-1.96897542e-01 9.80422235e-01 1.89703609e-03 -6.01674188e+00] [ 1.09049087e-02 2.55223189e-04 9.99940507e-01 -6.49311500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51538475 meters 0.0613427251347254 Centerline is valid? [True, True] Translation: X:47.14, Y:-6.03, Z:-0.65 [[ 9.79683387e-01 2.00081315e-01 -1.37087024e-02 4.71358164e+01] [-2.00067066e-01 9.79779224e-01 2.41705866e-03 -6.02703595e+00] [ 1.39151101e-02 3.74707670e-04 9.99903110e-01 -6.52412841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57538475 meters 0.06135987351223068 Centerline is valid? [True, True] Translation: X:47.20, Y:-6.04, Z:-0.65 [[ 9.78943768e-01 2.03687863e-01 -1.34295905e-02 4.71968417e+01] [-2.03674504e-01 9.79035792e-01 2.36950554e-03 -6.03969977e+00] [ 1.36306892e-02 4.15652496e-04 9.99907011e-01 -6.51449810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63538475 meters 0.06267169608553648 Centerline is valid? [True, True] Translation: X:47.26, Y:-6.05, Z:-0.66 [[ 9.78554101e-01 2.05542972e-01 -1.35631197e-02 4.72577550e+01] [-2.05529444e-01 9.78647992e-01 2.39888994e-03 -6.04608417e+00] [ 1.37665949e-02 4.40176871e-04 9.99905139e-01 -6.55576070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69538475 meters 0.06331791028415559 Centerline is valid? [True, True] Translation: X:47.32, Y:-6.06, Z:-0.66 [[ 9.78316159e-01 2.06592893e-01 -1.47264895e-02 4.73181798e+01] [-2.06577016e-01 9.78426868e-01 2.60783636e-03 -6.05502324e+00] [ 1.49475535e-02 4.90865817e-04 9.99888159e-01 -6.58392326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75538475 meters 0.0608951429052498 Centerline is valid? [True, True] Translation: X:47.38, Y:-6.08, Z:-0.66 [[ 9.79727934e-01 1.99840977e-01 -1.40271223e-02 4.73767696e+01] [-1.99825911e-01 9.79828274e-01 2.48179540e-03 -6.07539051e+00] [ 1.42401354e-02 3.71498207e-04 9.99898535e-01 -6.55353042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.81538475 meters 0.05956119032810505 Centerline is valid? [True, True] Translation: X:47.44, Y:-6.09, Z:-0.65 [[ 9.80500957e-01 1.95961429e-01 -1.47306087e-02 4.74370705e+01] [-1.95944268e-01 9.80611551e-01 2.61353499e-03 -6.09111476e+00] [ 1.49571571e-02 3.23804775e-04 9.99888083e-01 -6.53995786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87538475 meters 0.06037492317563288 Centerline is valid? [True, True] Translation: X:47.50, Y:-6.10, Z:-0.66 [[ 9.80566058e-01 1.95692116e-01 -1.39570998e-02 4.74983010e+01] [-1.95676636e-01 9.80665338e-01 2.47961363e-03 -6.09522559e+00] [ 1.41724849e-02 2.99653379e-04 9.99899520e-01 -6.60883035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.935384750000004 meters 0.05978970867566561 Centerline is valid? [True, True] Translation: X:47.56, Y:-6.11, Z:-0.66 [[ 9.80227989e-01 1.97455847e-01 -1.28171051e-02 4.75602416e+01] [-1.97442876e-01 9.80311737e-01 2.28223358e-03 -6.10861405e+00] [ 1.30153989e-02 2.93536850e-04 9.99915253e-01 -6.55181513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99538475 meters 0.0601000443541015 Centerline is valid? [True, True] Translation: X:47.62, Y:-6.12, Z:-0.66 [[ 9.79900006e-01 1.99128431e-01 -1.19935585e-02 4.76220358e+01] [-1.99117157e-01 9.79973358e-01 2.13894883e-03 -6.11698655e+00] [ 1.21792933e-02 2.92167297e-04 9.99925787e-01 -6.56482820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05538475 meters 0.06056909522779388 Centerline is valid? [True, True] Translation: X:47.68, Y:-6.12, Z:-0.66 [[ 9.79516065e-01 2.01023678e-01 -1.17370761e-02 4.76838803e+01] [-2.01012982e-01 9.79586335e-01 2.09612910e-03 -6.12351036e+00] [ 1.19188509e-02 3.06112542e-04 9.99928921e-01 -6.59704948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.115384750000004 meters 0.060261674766489956 Centerline is valid? [True, True] Translation: X:47.74, Y:-6.14, Z:-0.66 [[ 9.79400349e-01 2.01554680e-01 -1.22746999e-02 4.77448072e+01] [-2.01542984e-01 9.79477211e-01 2.19533573e-03 -6.13602570e+00] [ 1.24652690e-02 3.23767057e-04 9.99922253e-01 -6.59999321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17538475 meters 0.060206176369686164 Centerline is valid? [True, True] Translation: X:47.81, Y:-6.15, Z:-0.66 [[ 9.79165599e-01 2.02709151e-01 -1.19887340e-02 4.78050626e+01] [-2.02698046e-01 9.79238935e-01 2.14692037e-03 -6.14529308e+00] [ 1.21750356e-02 3.27902403e-04 9.99925828e-01 -6.62306086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23538475 meters 0.05932715332857882 Centerline is valid? [True, True] Translation: X:47.87, Y:-6.16, Z:-0.66 [[ 9.79122735e-01 2.02977192e-01 -1.09054574e-02 4.78652810e+01] [-2.02967979e-01 9.79183421e-01 1.95665421e-03 -6.15889782e+00] [ 1.10755992e-02 2.97654024e-04 9.99938619e-01 -6.59919298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.295384750000004 meters 0.0593629702858418 Centerline is valid? [True, True] Translation: X:47.93, Y:-6.17, Z:-0.66 [[ 9.78811933e-01 2.04566728e-01 -8.92494094e-03 4.79270068e+01] [-2.04560596e-01 9.78852588e-01 1.60437191e-03 -6.16776890e+00] [ 9.06440265e-03 2.55312869e-04 9.99958885e-01 -6.60643619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35538475 meters 0.058671982714299666 Centerline is valid? [True, True] Translation: X:47.99, Y:-6.19, Z:-0.66 [[ 9.79149564e-01 2.02913651e-01 -9.60111223e-03 4.79869195e+01] [-2.02906452e-01 9.79196602e-01 1.72825812e-03 -6.18519979e+00] [ 9.75206364e-03 2.55904432e-04 9.99952415e-01 -6.59063162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41538475 meters 0.05754393840016955 Centerline is valid? [True, True] Translation: X:48.05, Y:-6.20, Z:-0.66 [[ 9.80299216e-01 1.97298613e-01 -9.31156239e-03 4.80468161e+01] [-1.97291610e-01 9.80343419e-01 1.67388344e-03 -6.20166450e+00] [ 9.45878379e-03 1.96186509e-04 9.99955245e-01 -6.61473254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.47538475 meters 0.057465247377458284 Centerline is valid? [True, True] Translation: X:48.11, Y:-6.21, Z:-0.66 [[ 9.80100627e-01 1.98214965e-01 -1.06578004e-02 4.81075992e+01] [-1.98205783e-01 9.80158546e-01 1.92158796e-03 -6.21335247e+00] [ 1.08272216e-02 2.29088108e-04 9.99941358e-01 -6.61124899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53538475 meters 0.05781021632844675 Centerline is valid? [True, True] Translation: X:48.17, Y:-6.22, Z:-0.66 [[ 9.79523167e-01 2.01126313e-01 -9.08694957e-03 4.81690911e+01] [-2.01119736e-01 9.79565290e-01 1.64128340e-03 -6.22396681e+00] [ 9.23136567e-03 2.19889788e-04 9.99957366e-01 -6.61231615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59538475 meters 0.057457184471656604 Centerline is valid? [True, True] Translation: X:48.23, Y:-6.24, Z:-0.66 [[ 9.79881217e-01 1.99372269e-01 -9.13776532e-03 4.82286691e+01] [-1.99365524e-01 9.79923802e-01 1.65241925e-03 -6.23657822e+00] [ 9.28376030e-03 2.02580787e-04 9.99956884e-01 -6.61903355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.65538475 meters 0.058618101743251085 Centerline is valid? [True, True] Translation: X:48.29, Y:-6.24, Z:-0.66 [[ 9.79137854e-01 2.02963195e-01 -9.74701754e-03 4.82903824e+01] [-2.02955717e-01 9.79186334e-01 1.76075808e-03 -6.24418211e+00] [ 9.90151546e-03 2.54188048e-04 9.99950946e-01 -6.64959208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71538475 meters 0.058322722732561255 Centerline is valid? [True, True] Translation: X:48.35, Y:-6.26, Z:-0.66 [[ 9.79255125e-01 2.02464383e-01 -8.22034749e-03 4.83510305e+01] [-2.02459006e-01 9.79289606e-01 1.48974985e-03 -6.25672141e+00] [ 8.35172214e-03 2.05438208e-04 9.99965103e-01 -6.62746165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77538475 meters 0.05841158399716641 Centerline is valid? [True, True] Translation: X:48.41, Y:-6.27, Z:-0.66 [[ 9.79006392e-01 2.03573269e-01 -1.02180266e-02 4.84125151e+01] [-2.03565001e-01 9.79059678e-01 1.85376374e-03 -6.26697980e+00] [ 1.03814346e-02 2.65186033e-04 9.99946076e-01 -6.64754257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83538475 meters 0.0586883545042481 Centerline is valid? [True, True] Translation: X:48.47, Y:-6.28, Z:-0.67 [[ 9.78644195e-01 2.05340135e-01 -9.53774641e-03 4.84734653e+01] [-2.05332987e-01 9.78690636e-01 1.73323365e-03 -6.27637827e+00] [ 9.69040552e-03 2.62194916e-04 9.99953013e-01 -6.66555666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89538475 meters 0.058129283608768435 Centerline is valid? [True, True] Translation: X:48.53, Y:-6.29, Z:-0.67 [[ 9.78679158e-01 2.05183518e-01 -9.31818872e-03 4.85337410e+01] [-2.05176662e-01 9.78723485e-01 1.69614162e-03 -6.28982836e+00] [ 9.46795044e-03 2.51896409e-04 9.99955146e-01 -6.66106171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95538475 meters 0.05920083602775736 Centerline is valid? [True, True] Translation: X:48.59, Y:-6.30, Z:-0.67 [[ 9.78253224e-01 2.07196687e-01 -9.49535226e-03 4.85944852e+01] [-2.07189643e-01 9.78299268e-01 1.73043005e-03 -6.29719745e+00] [ 9.64783554e-03 2.74539868e-04 9.99953421e-01 -6.70387558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01538475 meters 0.05831033057177184 Centerline is valid? [True, True] Translation: X:48.66, Y:-6.31, Z:-0.67 [[ 9.77815530e-01 2.09308420e-01 -8.17163633e-03 4.86552302e+01] [-2.09303250e-01 9.77849642e-01 1.49233728e-03 -6.30788608e+00] [ 8.30299042e-03 2.51119475e-04 9.99965498e-01 -6.66230775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07538475 meters 0.05733893199300309 Centerline is valid? [True, True] Translation: X:48.71, Y:-6.32, Z:-0.67 [[ 9.78910087e-01 2.04174475e-01 -6.91562631e-03 4.87144827e+01] [-2.04170662e-01 9.78934498e-01 1.26050246e-03 -6.31991232e+00] [ 7.02730760e-03 1.78049427e-04 9.99975292e-01 -6.65231085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13538475 meters 0.057476350326394685 Centerline is valid? [True, True] Translation: X:48.78, Y:-6.33, Z:-0.67 [[ 9.78940032e-01 2.03959294e-01 -8.77612762e-03 4.87760070e+01] [-2.03953096e-01 9.78979345e-01 1.60499464e-03 -6.32892319e+00] [ 8.91900124e-03 2.18724902e-04 9.99960201e-01 -6.69352141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19538475 meters 0.05764175172233103 Centerline is valid? [True, True] Translation: X:48.84, Y:-6.34, Z:-0.67 [[ 9.78808627e-01 2.04553563e-01 -9.56616704e-03 4.88370518e+01] [-2.04546205e-01 9.78855342e-01 1.75171191e-03 -6.33887534e+00] [ 9.72221262e-03 2.42132438e-04 9.99952709e-01 -6.72154888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25538475 meters 0.057443662737367 Centerline is valid? [True, True] Translation: X:48.90, Y:-6.35, Z:-0.67 [[ 9.78694314e-01 2.05209550e-01 -6.81763499e-03 4.88983914e+01] [-2.05205808e-01 9.78718044e-01 1.25140376e-03 -6.34950468e+00] [ 6.92934238e-03 1.74276558e-04 9.99975977e-01 -6.70493898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31538475 meters 0.05758062891284137 Centerline is valid? [True, True] Translation: X:48.96, Y:-6.36, Z:-0.67 [[ 9.78450053e-01 2.06462606e-01 -2.94723588e-03 4.89592520e+01] [-2.06461909e-01 9.78454489e-01 5.41930321e-04 -6.35824363e+00] [ 2.99562452e-03 7.82401973e-05 9.99995510e-01 -6.68404776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37538475 meters 0.05745294055902856 Centerline is valid? [True, True] Translation: X:49.02, Y:-6.37, Z:-0.67 [[ 9.78563858e-01 2.05941281e-01 -9.82595209e-04 4.90197201e+01] [-2.05941200e-01 9.78564351e-01 1.83921174e-04 -6.37132878e+00] [ 9.99409604e-04 2.23782233e-05 9.99999500e-01 -6.67487092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43538475 meters 0.05736835753338783 Centerline is valid? [True, True] Translation: X:49.08, Y:-6.38, Z:-0.67 [[ 9.78796521e-01 2.04834980e-01 2.72594377e-05 4.90798736e+01] [-2.04834980e-01 9.78796522e-01 -1.31106285e-06 -6.38492191e+00] [-2.69499944e-05 -4.30042262e-06 1.00000000e+00 -6.69567931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49538475 meters 0.06403325210718395 Centerline is valid? [True, True] Translation: X:49.14, Y:-6.38, Z:-0.69 [[ 9.78486907e-01 2.06286400e-01 -3.04859805e-03 4.91425540e+01] [-2.06285649e-01 9.78491653e-01 5.62199635e-04 -6.38004086e+00] [ 3.09900188e-03 7.87770446e-05 9.99995195e-01 -6.85118273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.55538475 meters 0.057439743762836004 Centerline is valid? [True, True] Translation: X:49.20, Y:-6.41, Z:-0.67 [[ 9.78822185e-01 2.04706346e-01 1.56290251e-03 4.91990223e+01] [-2.04706148e-01 9.78823432e-01 -2.86857112e-04 -6.41153332e+00] [-1.58852707e-03 -3.91536481e-05 9.99998738e-01 -6.72959196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.615384750000004 meters 0.057745682867303263 Centerline is valid? [True, True] Translation: X:49.26, Y:-6.42, Z:-0.67 [[ 9.78469950e-01 2.06363971e-01 3.23543231e-03 4.92603546e+01] [-2.06363140e-01 9.78475295e-01 -5.92191276e-04 -6.42208349e+00] [-3.28799753e-03 -8.82326016e-05 9.99994591e-01 -6.73596813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67538475 meters 0.057781374622422235 Centerline is valid? [True, True] Translation: X:49.32, Y:-6.43, Z:-0.68 [[ 9.78243373e-01 2.07443219e-01 2.68585949e-03 4.93212381e+01] [-2.07442651e-01 9.78247057e-01 -4.91624462e-04 -6.43484103e+00] [-2.72941831e-03 -7.62334400e-05 9.99996272e-01 -6.75093063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73538475 meters 0.0576433118195582 Centerline is valid? [True, True] Translation: X:49.38, Y:-6.45, Z:-0.68 [[ 9.78451969e-01 2.06468328e-01 1.60408080e-03 4.93811933e+01] [-2.06468125e-01 9.78453283e-01 -2.92598670e-04 -6.44963029e+00] [-1.62993048e-03 -4.48978098e-05 9.99998671e-01 -6.76125743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.795384750000004 meters 0.0572917444641686 Centerline is valid? [True, True] Translation: X:49.44, Y:-6.46, Z:-0.68 [[ 9.78846006e-01 2.04598337e-01 1.27103776e-04 4.94413588e+01] [-2.04598336e-01 9.78846015e-01 -1.98278945e-05 -6.46404934e+00] [-1.28471779e-04 -6.59676583e-06 9.99999992e-01 -6.77191015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85538475 meters 0.05638299086145991 Centerline is valid? [True, True] Translation: X:49.50, Y:-6.48, Z:-0.67 [[ 9.79295631e-01 2.02408742e-01 3.28156730e-03 4.95012822e+01] [-2.02407846e-01 9.79301126e-01 -6.06346090e-04 -6.47940768e+00] [-3.33637230e-03 -7.04228907e-05 9.99994432e-01 -6.74100104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91538475 meters 0.056224695757251385 Centerline is valid? [True, True] Translation: X:49.56, Y:-6.49, Z:-0.67 [[ 9.79083191e-01 2.03375080e-01 5.88908004e-03 4.95623989e+01] [-2.03372217e-01 9.79100893e-01 -1.08719734e-03 -6.49206720e+00] [-5.98711237e-03 -1.33218628e-04 9.99982068e-01 -6.71111224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.97538475 meters 0.056298792955151555 Centerline is valid? [True, True] Translation: X:49.62, Y:-6.50, Z:-0.67 [[ 9.78951492e-01 2.04079344e-01 2.36589815e-03 4.96223176e+01] [-2.04078887e-01 9.78954349e-01 -4.35705302e-04 -6.50264471e+00] [-2.40502474e-03 -5.62955056e-05 9.99997106e-01 -6.73266170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03538475 meters 0.05582622399581217 Centerline is valid? [True, True] Translation: X:49.68, Y:-6.52, Z:-0.68 [[ 9.79587397e-01 2.01012636e-01 -1.56562441e-03 4.96824948e+01] [-2.01012422e-01 9.79588648e-01 2.94497538e-04 -6.51900718e+00] [ 1.59286562e-03 2.62238775e-05 9.99998731e-01 -6.76363716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09538475 meters 0.05501565669551701 Centerline is valid? [True, True] Translation: X:49.74, Y:-6.54, Z:-0.68 [[ 9.80515326e-01 1.96428138e-01 -2.38382437e-03 4.97413845e+01] [-1.96427632e-01 9.80518223e-01 4.46833365e-04 -6.53584685e+00] [ 2.42515389e-03 3.01220138e-05 9.99997059e-01 -6.78626312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.15538475 meters 0.054753462275647174 Centerline is valid? [True, True] Translation: X:49.80, Y:-6.55, Z:-0.68 [[ 9.80713935e-01 1.95434475e-01 -2.35463936e-03 4.98012789e+01] [-1.95433976e-01 9.80716761e-01 4.42317482e-04 -6.55075510e+00] [ 2.39567837e-03 2.63896145e-05 9.99997130e-01 -6.79328270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21538475 meters 0.05464668054202001 Centerline is valid? [True, True] Translation: X:49.86, Y:-6.56, Z:-0.68 [[ 9.80649321e-01 1.95748082e-01 -3.09811215e-03 4.98608271e+01] [-1.95747223e-01 9.80654214e-01 5.81282549e-04 -6.56358040e+00] [ 3.15196168e-03 3.64125119e-05 9.99995032e-01 -6.79158610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27538475 meters 0.05490606170929949 Centerline is valid? [True, True] Translation: X:49.92, Y:-6.57, Z:-0.68 [[ 9.79744308e-01 2.00163507e-01 -5.97169693e-03 4.99215452e+01] [-2.00160404e-01 9.79762502e-01 1.11894960e-03 -6.57425076e+00] [ 6.07481760e-03 9.90127702e-05 9.99981543e-01 -6.79358776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.33538475 meters 0.05458895327553452 Centerline is valid? [True, True] Translation: X:49.98, Y:-6.59, Z:-0.68 [[ 9.79673186e-01 2.00527857e-01 -5.38763615e-03 4.99818893e+01] [-2.00525326e-01 9.79687997e-01 1.01148191e-03 -6.58653989e+00] [ 5.48103277e-03 8.94357882e-05 9.99984975e-01 -6.78866351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39538475 meters 0.05384229125129034 Centerline is valid? [True, True] Translation: X:50.04, Y:-6.60, Z:-0.68 [[ 9.80384609e-01 1.96997006e-01 -6.18051524e-03 5.00413077e+01] [-1.96993601e-01 9.80404087e-01 1.16098157e-03 -6.60090978e+00] [ 6.28811229e-03 7.93134904e-05 9.99980226e-01 -6.80905951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45538475 meters 0.05366498102571858 Centerline is valid? [True, True] Translation: X:50.10, Y:-6.61, Z:-0.68 [[ 9.80473708e-01 1.96425175e-01 -9.40527414e-03 5.01018424e+01] [-1.96417252e-01 9.80518811e-01 1.76782503e-03 -6.61324932e+00] [ 9.56929355e-03 1.14052145e-04 9.99954207e-01 -6.82279364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.51538475 meters 0.05391011299207179 Centerline is valid? [True, True] Translation: X:50.16, Y:-6.62, Z:-0.68 [[ 9.79770424e-01 1.99892470e-01 -9.63931958e-03 5.01634990e+01] [-1.99884293e-01 9.79817829e-01 1.81417875e-03 -6.62151386e+00] [ 9.80741785e-03 1.49269890e-04 9.99951895e-01 -6.83981618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57538475 meters 0.05346654760946254 Centerline is valid? [True, True] Translation: X:50.22, Y:-6.64, Z:-0.68 [[ 9.79965265e-01 1.98870921e-01 -1.08828502e-02 5.02244369e+01] [-1.98860398e-01 9.80025680e-01 2.05158363e-03 -6.63528444e+00] [ 1.10734730e-02 1.53687230e-04 9.99938675e-01 -6.80885954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63538475 meters 0.05367633127437643 Centerline is valid? [True, True] Translation: X:50.29, Y:-6.65, Z:-0.68 [[ 9.79946792e-01 1.98931827e-01 -1.14198797e-02 5.02858833e+01] [-1.98920212e-01 9.80013318e-01 2.15547537e-03 -6.64556837e+00] [ 1.16204269e-02 1.59393734e-04 9.99932468e-01 -6.83350136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69538475 meters 0.052662159259256706 Centerline is valid? [True, True] Translation: X:50.35, Y:-6.66, Z:-0.68 [[ 9.80623771e-01 1.95654032e-01 -9.82442934e-03 5.03452337e+01] [-1.95645242e-01 9.80672978e-01 1.85731712e-03 -6.66383007e+00] [ 9.99794396e-03 1.00773542e-04 9.99950014e-01 -6.80778297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75538475 meters 0.052078388266353956 Centerline is valid? [True, True] Translation: X:50.40, Y:-6.68, Z:-0.68 [[ 9.81477406e-01 1.91346557e-01 -9.41260190e-03 5.04048157e+01] [-1.91338266e-01 9.81522538e-01 1.78205658e-03 -6.68127426e+00] [ 9.57967130e-03 5.19426596e-05 9.99954113e-01 -6.82206165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81538475 meters 0.05196531804275285 Centerline is valid? [True, True] Translation: X:50.46, Y:-6.69, Z:-0.68 [[ 9.81401448e-01 1.91804712e-01 -7.88354249e-03 5.04643805e+01] [-1.91798893e-01 9.81433111e-01 1.49474941e-03 -6.69258580e+00] [ 8.02386961e-03 4.51054847e-05 9.99967807e-01 -6.84153059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.87538475 meters 0.0514989824737354 Centerline is valid? [True, True] Translation: X:50.53, Y:-6.71, Z:-0.68 [[ 9.81837719e-01 1.89674579e-01 -4.27180285e-03 5.05254102e+01] [-1.89672850e-01 9.81847011e-01 8.09925198e-04 -6.70758936e+00] [ 4.34787908e-03 1.50299119e-05 9.99990548e-01 -6.81382569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93538475 meters 0.0519983844784935 Centerline is valid? [True, True] Translation: X:50.59, Y:-6.72, Z:-0.69 [[ 9.81984950e-01 1.88851596e-01 -6.37443318e-03 5.05852447e+01] [-1.88847710e-01 9.82005639e-01 1.21157239e-03 -6.71915924e+00] [ 6.48853671e-03 1.40512589e-05 9.99978949e-01 -6.88533647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99538475 meters 0.05215814052881534 Centerline is valid? [True, True] Translation: X:50.65, Y:-6.73, Z:-0.69 [[ 9.81747701e-01 1.90089598e-01 -6.11529567e-03 5.06469950e+01] [-1.90086028e-01 9.81766746e-01 1.16527619e-03 -6.73089904e+00] [ 6.22530082e-03 1.84250383e-05 9.99980622e-01 -6.86574230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05538475 meters 0.052187893926847875 Centerline is valid? [True, True] Translation: X:50.71, Y:-6.74, Z:-0.69 [[ 9.81388539e-01 1.91947622e-01 -5.71358205e-03 5.07090191e+01] [-1.91944525e-01 9.81405171e-01 1.09074357e-03 -6.74053903e+00] [ 5.81670460e-03 2.62475565e-05 9.99983082e-01 -6.86646663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.115384750000004 meters 0.052223278495000795 Centerline is valid? [True, True] Translation: X:50.77, Y:-6.75, Z:-0.69 [[ 9.81257076e-01 1.92686271e-01 -2.55958738e-03 5.07698458e+01] [-1.92685650e-01 9.81260414e-01 4.89220135e-04 -6.74856419e+00] [ 2.60588777e-03 1.31450387e-05 9.99996605e-01 -6.86727523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17538475 meters 0.0524694517391504 Centerline is valid? [True, True] Translation: X:50.83, Y:-6.76, Z:-0.69 [[ 9.81048435e-01 1.93756703e-01 -1.51897317e-03 5.08308688e+01] [-1.93756481e-01 9.81049611e-01 2.93250080e-04 -6.75737971e+00] [ 1.54700721e-03 6.61836559e-06 9.99998803e-01 -6.85300992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23538475 meters 0.052798288110991506 Centerline is valid? [True, True] Translation: X:50.89, Y:-6.77, Z:-0.69 [[ 9.80709111e-01 1.95462630e-01 -2.00004290e-03 5.08923385e+01] [-1.95462251e-01 9.80711150e-01 3.85382890e-04 -6.76615996e+00] [ 2.03679232e-03 1.29843745e-05 9.99997926e-01 -6.88163776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.295384750000004 meters 0.052734767983891394 Centerline is valid? [True, True] Translation: X:50.95, Y:-6.78, Z:-0.69 [[ 9.80748399e-01 1.95274393e-01 -7.00021489e-04 5.09532693e+01] [-1.95274345e-01 9.80748648e-01 1.37412903e-04 -6.77802707e+00] [ 7.13378350e-04 1.92875335e-06 9.99999746e-01 -6.87759835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35538475 meters 0.05341280111718437 Centerline is valid? [True, True] Translation: X:51.01, Y:-6.79, Z:-0.69 [[ 9.80653162e-01 1.95714353e-01 -3.90727797e-03 5.10142220e+01] [-1.95712912e-01 9.80660946e-01 7.51643253e-04 -6.78955898e+00] [ 3.97882228e-03 2.76034157e-05 9.99992084e-01 -6.92097105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41538475 meters 0.053650552341100895 Centerline is valid? [True, True] Translation: X:51.07, Y:-6.80, Z:-0.69 [[ 9.80948169e-01 1.94189791e-01 -5.56906307e-03 5.10736822e+01] [-1.94186841e-01 9.80963977e-01 1.07079155e-03 -6.80297338e+00] [ 5.67098704e-03 3.10477528e-05 9.99983919e-01 -6.94949042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.47538475 meters 0.05432255181892048 Centerline is valid? [True, True] Translation: X:51.13, Y:-6.81, Z:-0.70 [[ 9.80600193e-01 1.95927481e-01 -5.97361055e-03 5.11347769e+01] [-1.95924111e-01 9.80618387e-01 1.14994868e-03 -6.81295781e+00] [ 6.08313889e-03 4.27344362e-05 9.99981497e-01 -6.95863169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53538475 meters 0.05411381039691904 Centerline is valid? [True, True] Translation: X:51.20, Y:-6.83, Z:-0.69 [[ 9.80552456e-01 1.96245822e-01 -2.11152045e-03 5.11952543e+01] [-1.96245395e-01 9.80554729e-01 4.09548401e-04 -6.82653883e+00] [ 2.15083353e-03 1.27924747e-05 9.99997687e-01 -6.91290433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59538475 meters 0.05424211887393586 Centerline is valid? [True, True] Translation: X:51.26, Y:-6.84, Z:-0.69 [[ 9.80700065e-01 1.95516885e-01 7.28584034e-04 5.12552170e+01] [-1.95516837e-01 9.80700335e-01 -1.36813748e-04 -6.83978201e+00] [-7.41272004e-04 -8.27719459e-06 9.99999725e-01 -6.91818248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.65538475 meters 0.054581277043891464 Centerline is valid? [True, True] Translation: X:51.32, Y:-6.85, Z:-0.69 [[ 9.80528996e-01 1.96355706e-01 2.70656123e-03 5.13156159e+01] [-1.96355024e-01 9.80532731e-01 -5.17966709e-04 -6.85307490e+00] [-2.75557760e-03 -2.35655198e-05 9.99996203e-01 -6.92052888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71538475 meters 0.054580873770809744 Centerline is valid? [True, True] Translation: X:51.37, Y:-6.87, Z:-0.69 [[ 9.81850241e-01 1.89596598e-01 4.82017236e-03 5.13749084e+01] [-1.89594334e-01 9.81862073e-01 -9.26521044e-04 -6.87393224e+00] [-4.90840966e-03 -4.17245690e-06 9.99987954e-01 -6.89690209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77538475 meters 0.055443637324162465 Centerline is valid? [True, True] Translation: X:51.44, Y:-6.89, Z:-0.70 [[ 9.82575149e-01 1.85761163e-01 6.23431746e-03 5.14352654e+01] [-1.85757281e-01 9.82594927e-01 -1.20105761e-03 -6.88913180e+00] [-6.34891857e-03 2.20594949e-05 9.99979845e-01 -6.95037552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.83538475 meters 0.05564077096168761 Centerline is valid? [True, True] Translation: X:51.50, Y:-6.90, Z:-0.70 [[ 9.82540915e-01 1.85854837e-01 8.44573028e-03 5.14961457e+01] [-1.85847683e-01 9.82577212e-01 -1.63107224e-03 -6.90225748e+00] [-8.60172478e-03 3.29758082e-05 9.99963004e-01 -6.95059450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89538475 meters 0.05574667598359314 Centerline is valid? [True, True] Translation: X:51.56, Y:-6.91, Z:-0.69 [[ 9.82303274e-01 1.86896461e-01 1.22470606e-02 5.15570316e+01] [-1.86881436e-01 9.82379617e-01 -2.37015547e-03 -6.91429825e+00] [-1.24742363e-02 3.94632195e-05 9.99922193e-01 -6.93385482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95538475 meters 0.055944802973808924 Centerline is valid? [True, True] Translation: X:51.62, Y:-6.92, Z:-0.70 [[ 9.81409328e-01 1.91467764e-01 1.32599320e-02 5.16193103e+01] [-1.91450516e-01 9.81498902e-01 -2.56997382e-03 -6.92059787e+00] [-1.35066759e-02 -1.64245601e-05 9.99908781e-01 -6.98049366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.01538475 meters 0.05614009590024686 Centerline is valid? [True, True] Translation: X:51.68, Y:-6.93, Z:-0.70 [[ 9.81264161e-01 1.92200166e-01 1.34067912e-02 5.16809139e+01] [-1.92182545e-01 9.81355744e-01 -2.60261360e-03 -6.93288935e+00] [-1.36570543e-02 -2.26998015e-05 9.99906738e-01 -6.99391966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07538475 meters 0.05640373384589134 Centerline is valid? [True, True] Translation: X:51.74, Y:-6.95, Z:-0.70 [[ 9.81176937e-01 1.92711868e-01 1.24078469e-02 5.17428756e+01] [-1.92696771e-01 9.81255388e-01 -2.41223435e-03 -6.94527544e+00] [-1.26401328e-02 -2.41233210e-05 9.99920110e-01 -7.01229811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13538475 meters 0.05646534360288789 Centerline is valid? [True, True] Translation: X:51.80, Y:-6.96, Z:-0.70 [[ 9.80965195e-01 1.93707581e-01 1.35889324e-02 5.18038814e+01] [-1.93689506e-01 9.81059311e-01 -2.64642167e-03 -6.95632794e+00] [-1.38441806e-02 -3.59860475e-05 9.99904164e-01 -7.01168998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.19538475 meters 0.05681986341197247 Centerline is valid? [True, True] Translation: X:51.87, Y:-6.97, Z:-0.70 [[ 9.81066660e-01 1.93006655e-01 1.60199773e-02 5.18661032e+01] [-1.92981354e-01 9.81197447e-01 -3.12514335e-03 -6.96723664e+00] [-1.63219343e-02 -2.55829514e-05 9.99866788e-01 -7.01845830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25538475 meters 0.05686325562517712 Centerline is valid? [True, True] Translation: X:51.93, Y:-6.98, Z:-0.70 [[ 9.80780900e-01 1.94639903e-01 1.35696410e-02 5.19278009e+01] [-1.94621860e-01 9.80874766e-01 -2.65056104e-03 -6.97699758e+00] [-1.38260233e-02 -4.13291193e-05 9.99904415e-01 -7.04144246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.31538475 meters 0.05718808897970201 Centerline is valid? [True, True] Translation: X:51.99, Y:-6.98, Z:-0.71 [[ 9.79630740e-01 2.00335117e-01 1.37642357e-02 5.19903928e+01] [-2.00317053e-01 9.79727425e-01 -2.69286202e-03 -6.98215570e+00] [-1.40246740e-02 -1.19200706e-04 9.99901642e-01 -7.05480938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37538475 meters 0.057342766971286666 Centerline is valid? [True, True] Translation: X:52.05, Y:-6.99, Z:-0.71 [[ 9.78960762e-01 2.03727604e-01 1.14407554e-02 5.20518320e+01] [-2.03715326e-01 9.79027602e-01 -2.24081469e-03 -6.99130387e+00] [-1.16573311e-02 -1.36987552e-04 9.99932042e-01 -7.07828310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43538475 meters 0.057412836607484384 Centerline is valid? [True, True] Translation: X:52.11, Y:-7.00, Z:-0.71 [[ 9.79135545e-01 2.02988077e-01 9.45643845e-03 5.21137880e+01] [-2.02979637e-01 9.79181204e-01 -1.85394819e-03 -7.00390949e+00] [-9.63589616e-03 -1.04197870e-04 9.99953568e-01 -7.12003297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49538475 meters 0.05753277153040445 Centerline is valid? [True, True] Translation: X:52.17, Y:-7.02, Z:-0.72 [[ 9.79219173e-01 2.02660784e-01 7.64317825e-03 5.21744375e+01] [-2.02655248e-01 9.79248998e-01 -1.50016463e-03 -7.01664878e+00] [-7.78859918e-03 -7.99402096e-05 9.99969665e-01 -7.16431948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55538475 meters 0.05753431302950332 Centerline is valid? [True, True] Translation: X:52.24, Y:-7.03, Z:-0.72 [[ 9.79286260e-01 2.02423934e-01 4.79291788e-03 5.22351173e+01] [-2.02421753e-01 9.79297988e-01 -9.40826663e-04 -7.03080579e+00] [-4.88414067e-03 -4.88522158e-05 9.99988071e-01 -7.18849801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.615384750000004 meters 0.05758321437793964 Centerline is valid? [True, True] Translation: X:52.30, Y:-7.04, Z:-0.72 [[ 9.79275503e-01 2.02476970e-01 4.75031580e-03 5.22972055e+01] [-2.02474825e-01 9.79287023e-01 -9.33328022e-04 -7.04271453e+00] [-4.84090005e-03 -4.78340898e-05 9.99988282e-01 -7.18694714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67538475 meters 0.05832461600619204 Centerline is valid? [True, True] Translation: X:52.36, Y:-7.04, Z:-0.72 [[ 9.77944267e-01 2.08839392e-01 3.33443716e-03 5.23602209e+01] [-2.08838365e-01 9.77949950e-01 -6.57319636e-04 -7.04412263e+00] [-3.39818689e-03 -5.35364344e-05 9.99994225e-01 -7.21364535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73538475 meters 0.05882057984368237 Centerline is valid? [True, True] Translation: X:52.42, Y:-7.05, Z:-0.72 [[ 9.77342537e-01 2.11640057e-01 3.17029521e-03 5.24208591e+01] [-2.11639148e-01 9.77347677e-01 -6.23401279e-04 -7.05015570e+00] [-3.23041734e-03 -6.16819872e-05 9.99994780e-01 -7.22674757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.795384750000004 meters 0.05876323760643528 Centerline is valid? [True, True] Translation: X:52.48, Y:-7.06, Z:-0.72 [[ 9.77086752e-01 2.12819729e-01 3.04022577e-03 5.24817360e+01] [-2.12818898e-01 9.77091479e-01 -5.98127926e-04 -7.06191753e+00] [-3.09787212e-03 -6.25946249e-05 9.99995200e-01 -7.22546956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85538475 meters 0.05896554565734492 Centerline is valid? [True, True] Translation: X:52.54, Y:-7.07, Z:-0.72 [[ 9.76925517e-01 2.13534129e-01 4.43962251e-03 5.25433394e+01] [-2.13532351e-01 9.76935600e-01 -8.76254604e-04 -7.07031335e+00] [-4.52433555e-03 -9.19675516e-05 9.99989761e-01 -7.24437172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91538475 meters 0.05877972151639959 Centerline is valid? [True, True] Translation: X:52.60, Y:-7.08, Z:-0.73 [[ 9.77063642e-01 2.12870796e-01 5.71517818e-03 5.26044161e+01] [-2.12867821e-01 9.77080351e-01 -1.13104984e-03 -7.08211301e+00] [-5.82495578e-03 -1.11469852e-04 9.99983029e-01 -7.25073870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.97538475 meters 0.057911010385682575 Centerline is valid? [True, True] Translation: X:52.66, Y:-7.10, Z:-0.73 [[ 9.77973538e-01 2.08699132e-01 3.52590041e-03 5.26645171e+01] [-2.08697973e-01 9.77979892e-01 -6.97325619e-04 -7.09822299e+00] [-3.59379095e-03 -5.38822684e-05 9.99993541e-01 -7.26878282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03538475 meters 0.05824679768308312 Centerline is valid? [True, True] Translation: X:52.73, Y:-7.11, Z:-0.73 [[ 9.77597174e-01 2.10483187e-01 7.70316278e-04 5.27255058e+01] [-2.10483134e-01 9.77597477e-01 -1.49591624e-04 -7.10834560e+00] [-7.84545772e-04 -1.58982358e-05 9.99999692e-01 -7.30148918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09538475 meters 0.05904913938476847 Centerline is valid? [True, True] Translation: X:52.79, Y:-7.12, Z:-0.73 [[ 9.76438988e-01 2.15788201e-01 -1.53470811e-03 5.27870304e+01] [-2.15787986e-01 9.76440193e-01 3.06390378e-04 -7.11533741e+00] [ 1.56466611e-03 3.20000615e-05 9.99998775e-01 -7.32478816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.15538475 meters 0.058072181798328695 Centerline is valid? [True, True] Translation: X:52.85, Y:-7.13, Z:-0.73 [[ 9.77628202e-01 2.10337737e-01 -1.06570060e-03 5.28458335e+01] [-2.10337630e-01 9.77628782e-01 2.12796179e-04 -7.13292728e+00] [ 1.08661864e-03 1.61213926e-05 9.99999409e-01 -7.30177394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21538475 meters 0.058638710450694034 Centerline is valid? [True, True] Translation: X:52.91, Y:-7.14, Z:-0.74 [[ 9.77129888e-01 2.12607868e-01 -3.88289683e-03 5.29074171e+01] [-2.12606455e-01 9.77137600e-01 7.78088579e-04 -7.14136931e+00] [ 3.95955225e-03 6.52353232e-05 9.99992159e-01 -7.35702365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27538475 meters 0.05827493865666811 Centerline is valid? [True, True] Translation: X:52.97, Y:-7.16, Z:-0.73 [[ 9.77078379e-01 2.12854267e-01 -3.30174058e-03 5.29683987e+01] [-2.12853249e-01 9.77083956e-01 6.61026969e-04 -7.15580040e+00] [ 3.36678016e-03 5.69110484e-05 9.99994331e-01 -7.33356888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.33538475 meters 0.05775565227773242 Centerline is valid? [True, True] Translation: X:53.03, Y:-7.17, Z:-0.73 [[ 9.77460674e-01 2.11114293e-01 -1.17737208e-03 5.30287749e+01] [-2.11114159e-01 9.77461383e-01 2.38992261e-04 -7.16853569e+00] [ 1.20129042e-03 1.49543788e-05 9.99999278e-01 -7.31733701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39538475 meters 0.05807436388081721 Centerline is valid? [True, True] Translation: X:53.09, Y:-7.18, Z:-0.73 [[ 9.77371396e-01 2.11530209e-01 3.53507390e-04 5.30905253e+01] [-2.11530199e-01 9.77371460e-01 -6.70738489e-05 -7.17736222e+00] [-3.59696179e-04 -9.22142712e-06 9.99999935e-01 -7.33465401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45538475 meters 0.05774965875261278 Centerline is valid? [True, True] Translation: X:53.15, Y:-7.19, Z:-0.73 [[ 9.77415757e-01 2.11288687e-01 3.94056248e-03 5.31518795e+01] [-2.11287234e-01 9.77423699e-01 -7.86087173e-04 -7.18649184e+00] [-4.01769048e-03 -6.42565598e-05 9.99991927e-01 -7.27010339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.51538475 meters 0.05780004623222761 Centerline is valid? [True, True] Translation: X:53.21, Y:-7.20, Z:-0.73 [[ 9.77836019e-01 2.09371683e-01 -4.67865884e-04 5.32131734e+01] [-2.09371660e-01 9.77836131e-01 9.75536820e-05 -7.19586683e+00] [ 4.77921144e-04 2.56635308e-06 9.99999886e-01 -7.31968038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57538475 meters 0.05855974569514536 Centerline is valid? [True, True] Translation: X:53.27, Y:-7.20, Z:-0.74 [[ 9.77616920e-01 2.10373138e-01 -2.88120239e-03 5.32741148e+01] [-2.10372341e-01 9.77621164e-01 5.80479132e-04 -7.20113360e+00] [ 2.93884165e-03 3.86390705e-05 9.99995681e-01 -7.39507880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63538475 meters 0.05853904136362297 Centerline is valid? [True, True] Translation: X:53.34, Y:-7.21, Z:-0.73 [[ 9.76376944e-01 2.16074174e-01 -1.22061213e-04 5.33355355e+01] [-2.16074172e-01 9.76376951e-01 2.82247899e-05 -7.21187085e+00] [ 1.25276403e-04 -1.18375858e-06 9.99999992e-01 -7.33085106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.69538475 meters 0.0599393635329745 Centerline is valid? [True, True] Translation: X:53.40, Y:-7.21, Z:-0.74 [[ 9.74859424e-01 2.22820703e-01 1.95710020e-04 5.33979192e+01] [-2.22820699e-01 9.74859443e-01 -3.88421107e-05 -7.21333134e+00] [-1.99444588e-04 -5.74264585e-06 9.99999980e-01 -7.36072711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75538475 meters 0.06067582005250038 Centerline is valid? [True, True] Translation: X:53.46, Y:-7.22, Z:-0.74 [[ 9.74345701e-01 2.25055001e-01 -8.37357788e-04 5.34590097e+01] [-2.25054937e-01 9.74346061e-01 1.70362959e-04 -7.22173595e+00] [ 8.54217298e-04 2.24590875e-05 9.99999635e-01 -7.37174022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81538475 meters 0.06069894448515448 Centerline is valid? [True, True] Translation: X:53.52, Y:-7.23, Z:-0.74 [[ 9.74149478e-01 2.25904197e-01 -2.95693415e-04 5.35199992e+01] [-2.25904188e-01 9.74149523e-01 6.35298810e-05 -7.23474408e+00] [ 3.02401266e-04 4.91078043e-06 9.99999954e-01 -7.36611989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87538475 meters 0.059264484334617264 Centerline is valid? [True, True] Translation: X:53.58, Y:-7.25, Z:-0.74 [[ 9.75993494e-01 2.17789588e-01 2.09645886e-03 5.35780470e+01] [-2.17789183e-01 9.75995744e-01 -4.22325895e-04 -7.25070053e+00] [-2.13811311e-03 -4.43987388e-05 9.99997713e-01 -7.35643425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93538475 meters 0.058880171375641034 Centerline is valid? [True, True] Translation: X:53.64, Y:-7.26, Z:-0.74 [[ 9.76491284e-01 2.15550526e-01 1.65607837e-03 5.36387346e+01] [-2.15550275e-01 9.76492688e-01 -3.30641051e-04 -7.26473627e+00] [-1.68841827e-03 -3.41000444e-05 9.99998574e-01 -7.36982145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99538475 meters 0.05904298951600666 Centerline is valid? [True, True] Translation: X:53.70, Y:-7.28, Z:-0.74 [[ 9.77202034e-01 2.12308549e-01 -1.12475639e-03 5.36993771e+01] [-2.12308424e-01 9.77202681e-01 2.31027691e-04 -7.27871803e+00] [ 1.14816412e-03 1.30345269e-05 9.99999341e-01 -7.42156175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.05538475 meters 0.05913614100367127 Centerline is valid? [True, True] Translation: X:53.76, Y:-7.29, Z:-0.74 [[ 9.77616508e-01 2.10392052e-01 -1.07159965e-03 5.37595047e+01] [-2.10391937e-01 9.77617095e-01 2.20216397e-04 -7.29125162e+00] [ 1.09394592e-03 1.01687413e-05 9.99999402e-01 -7.43327167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.115384750000004 meters 0.05930676870491181 Centerline is valid? [True, True] Translation: X:53.82, Y:-7.30, Z:-0.74 [[ 9.77586983e-01 2.10517006e-01 -2.50624613e-03 5.38190036e+01] [-2.10516392e-01 9.77590195e-01 5.09422652e-04 -7.30395713e+00] [ 2.55732377e-03 2.96009390e-05 9.99996730e-01 -7.43856600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17538475 meters 0.05930346648108663 Centerline is valid? [True, True] Translation: X:53.88, Y:-7.32, Z:-0.74 [[ 9.77946924e-01 2.08853246e-01 -3.69158889e-04 5.38794184e+01] [-2.08853231e-01 9.77946993e-01 7.82654903e-05 -7.31628725e+00] [ 3.77363827e-04 5.60531298e-07 9.99999929e-01 -7.43857366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23538475 meters 0.05890853574184458 Centerline is valid? [True, True] Translation: X:53.94, Y:-7.34, Z:-0.74 [[ 9.79760032e-01 2.00174099e-01 7.81220021e-04 5.39387078e+01] [-2.00174040e-01 9.79760343e-01 -1.54970014e-04 -7.33794238e+00] [-7.96429379e-04 -4.54654107e-06 9.99999683e-01 -7.40532793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.295384750000004 meters 0.05914814281255737 Centerline is valid? [True, True] Translation: X:54.00, Y:-7.36, Z:-0.74 [[ 9.81954648e-01 1.89077281e-01 3.85360892e-03 5.39976845e+01] [-1.89075677e-01 9.81962209e-01 -7.79858717e-04 -7.35967040e+00] [-3.93155189e-03 3.71621780e-05 9.99992271e-01 -7.39316614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35538475 meters 0.059901732245228746 Centerline is valid? [True, True] Translation: X:54.06, Y:-7.38, Z:-0.74 [[ 9.83681629e-01 1.79856866e-01 4.68627931e-03 5.40558882e+01] [-1.79854375e-01 9.83692787e-01 -9.51140452e-04 -7.37841365e+00] [-4.78092829e-03 9.27715537e-05 9.99988567e-01 -7.40868415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.41538475 meters 0.0611964881878086 Centerline is valid? [True, True] Translation: X:54.12, Y:-7.39, Z:-0.75 [[ 9.84597177e-01 1.74720713e-01 6.40862562e-03 5.41150310e+01] [-1.74715936e-01 9.84618020e-01 -1.30225374e-03 -7.39230921e+00] [-6.53757897e-03 1.62506333e-04 9.99978617e-01 -7.45893908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.47538475 meters 0.06056914145773474 Centerline is valid? [True, True] Translation: X:54.18, Y:-7.40, Z:-0.75 [[ 9.84388971e-01 1.75944957e-01 4.66117807e-03 5.41786697e+01] [-1.75942445e-01 9.84400000e-01 -9.46860175e-04 -7.39602392e+00] [-4.75505896e-03 1.11979649e-04 9.99988688e-01 -7.46558046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53538475 meters 0.06070407198528469 Centerline is valid? [True, True] Translation: X:54.24, Y:-7.40, Z:-0.75 [[ 9.83718408e-01 1.79669946e-01 4.09923605e-03 5.42400794e+01] [-1.79668030e-01 9.83726946e-01 -8.34043077e-04 -7.39996570e+00] [-4.18238144e-03 8.39618630e-05 9.99991250e-01 -7.49223040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59538475 meters 0.05986902192152736 Centerline is valid? [True, True] Translation: X:54.30, Y:-7.40, Z:-0.75 [[ 9.83329465e-01 1.81802883e-01 3.29776311e-03 5.43037309e+01] [-1.81801655e-01 9.83334993e-01 -6.70886480e-04 -7.39845675e+00] [-3.36477496e-03 6.01636541e-05 9.99994337e-01 -7.50293734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.65538475 meters 0.059963234563965316 Centerline is valid? [True, True] Translation: X:54.37, Y:-7.41, Z:-0.75 [[ 9.83659583e-01 1.79994661e-01 3.96811748e-03 5.43650769e+01] [-1.79992861e-01 9.83667584e-01 -8.09027816e-04 -7.40848131e+00] [-4.04892922e-03 8.15751441e-05 9.99991800e-01 -7.49489542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71538475 meters 0.06097992534410897 Centerline is valid? [True, True] Translation: X:54.42, Y:-7.42, Z:-0.75 [[ 9.84909754e-01 1.72989335e-01 5.24083599e-03 5.44238243e+01] [-1.72986072e-01 9.84923686e-01 -1.07317648e-03 -7.42206583e+00] [-5.34747159e-03 1.50390350e-04 9.99985691e-01 -7.49078545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77538475 meters 0.0609737639243594 Centerline is valid? [True, True] Translation: X:54.49, Y:-7.43, Z:-0.75 [[ 9.85607672e-01 1.68969486e-01 5.17973108e-03 5.44852482e+01] [-1.68966252e-01 9.85621268e-01 -1.05883029e-03 -7.42868715e+00] [-5.28416313e-03 1.68391506e-04 9.99986025e-01 -7.47513063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.83538475 meters 0.0612027284365084 Centerline is valid? [True, True] Translation: X:54.55, Y:-7.43, Z:-0.75 [[ 9.85721377e-01 1.68336480e-01 4.02446779e-03 5.45480570e+01] [-1.68334522e-01 9.85729583e-01 -8.22748209e-04 -7.43243198e+00] [-4.10553549e-03 1.33543636e-04 9.99991563e-01 -7.49208848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89538475 meters 0.06157082811871523 Centerline is valid? [True, True] Translation: X:54.61, Y:-7.44, Z:-0.75 [[ 9.85598430e-01 1.69049403e-01 4.24674305e-03 5.46094447e+01] [-1.69047223e-01 9.85607569e-01 -8.69757020e-04 -7.43668693e+00] [-4.33265400e-03 1.39331032e-04 9.99990604e-01 -7.50929922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95538475 meters 0.061330811112252075 Centerline is valid? [True, True] Translation: X:54.67, Y:-7.44, Z:-0.75 [[ 9.85287071e-01 1.70877315e-01 3.21433687e-03 5.46721725e+01] [-1.70876076e-01 9.85292309e-01 -6.58124859e-04 -7.44019349e+00] [-3.27952001e-03 9.91886424e-05 9.99994617e-01 -7.51715884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.01538475 meters 0.060884698196562705 Centerline is valid? [True, True] Translation: X:54.73, Y:-7.44, Z:-0.76 [[ 9.84569879e-01 1.74988313e-01 1.11472195e-03 5.47342553e+01] [-1.74988166e-01 9.84570510e-01 -2.29003365e-04 -7.44297531e+00] [-1.13759527e-03 3.04066660e-05 9.99999352e-01 -7.55404241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07538475 meters 0.05978713762028389 Centerline is valid? [True, True] Translation: X:54.80, Y:-7.44, Z:-0.76 [[ 9.82994438e-01 1.83634903e-01 3.97417241e-04 5.47972535e+01] [-1.83634885e-01 9.82994518e-01 -8.11683845e-05 -7.44191179e+00] [-4.05564317e-04 6.80840108e-06 9.99999918e-01 -7.56435141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13538475 meters 0.059491285009717974 Centerline is valid? [True, True] Translation: X:54.86, Y:-7.44, Z:-0.76 [[ 9.80782623e-01 1.95090593e-01 -2.25960720e-03 5.48585762e+01] [-1.95090038e-01 9.80785226e-01 4.65659551e-04 -7.44267871e+00] [ 2.30703516e-03 -1.58839400e-05 9.99997339e-01 -7.61543915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19538475 meters 0.05939787755241157 Centerline is valid? [True, True] Translation: X:54.92, Y:-7.45, Z:-0.76 [[ 9.78505191e-01 2.06166346e-01 -4.79888156e-03 5.49205063e+01] [-2.06163956e-01 9.78516958e-01 9.92849259e-04 -7.44547269e+00] [ 4.90047909e-03 1.78482549e-05 9.99987992e-01 -7.64371889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25538475 meters 0.05954293215457695 Centerline is valid? [True, True] Translation: X:54.98, Y:-7.45, Z:-0.76 [[ 9.76611251e-01 2.14984566e-01 -3.47872924e-03 5.49830862e+01] [-2.14983358e-01 9.76617445e-01 7.22010637e-04 -7.45092336e+00] [ 3.55260880e-03 4.27451805e-05 9.99993689e-01 -7.63623010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.31538475 meters 0.05975733592065765 Centerline is valid? [True, True] Translation: X:55.04, Y:-7.46, Z:-0.76 [[ 9.76103107e-01 2.17292753e-01 -2.56601432e-03 5.50431429e+01] [-2.17292100e-01 9.76106479e-01 5.33884491e-04 -7.46326363e+00] [ 2.62071243e-03 3.64483292e-05 9.99996565e-01 -7.64183205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37538475 meters 0.058863255860443386 Centerline is valid? [True, True] Translation: X:55.10, Y:-7.48, Z:-0.76 [[ 9.76723468e-01 2.14501407e-01 6.43204786e-04 5.51027075e+01] [-2.14501367e-01 9.76723680e-01 -1.31708525e-04 -7.48451429e+00] [-6.56485009e-04 -9.32549905e-06 9.99999784e-01 -7.60179120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43538475 meters 0.05835633704591105 Centerline is valid? [True, True] Translation: X:55.16, Y:-7.51, Z:-0.76 [[ 9.77925098e-01 2.08936662e-01 2.82384044e-03 5.51606165e+01] [-2.08935855e-01 9.77929175e-01 -5.81160896e-04 -7.50804576e+00] [-2.88294177e-03 -2.16696895e-05 9.99995844e-01 -7.60200322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49538475 meters 0.05838551764518641 Centerline is valid? [True, True] Translation: X:55.22, Y:-7.53, Z:-0.76 [[ 9.78240721e-01 2.07442856e-01 3.54306084e-03 5.52193421e+01] [-2.07441569e-01 9.78247137e-01 -7.31120938e-04 -7.53060291e+00] [-3.61765494e-03 -1.97658256e-05 9.99993456e-01 -7.61654283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55538475 meters 0.05900360858408602 Centerline is valid? [True, True] Translation: X:55.28, Y:-7.55, Z:-0.77 [[ 9.77104080e-01 2.12761875e-01 -3.73923293e-05 5.52791589e+01] [-2.12761875e-01 9.77104081e-01 1.11303088e-05 -7.54561856e+00] [ 3.89043029e-05 -2.91980809e-06 9.99999999e-01 -7.67307630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61538475 meters 0.060436915015342596 Centerline is valid? [True, True] Translation: X:55.34, Y:-7.56, Z:-0.77 [[ 9.75162311e-01 2.21400556e-01 -6.34508653e-03 5.53372427e+01] [-2.21396669e-01 9.75182947e-01 1.31743972e-03 -7.55838408e+00] [ 6.47930206e-03 1.20063456e-04 9.99979002e-01 -7.73248179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67538475 meters 0.062100663556427 Centerline is valid? [True, True] Translation: X:55.40, Y:-7.57, Z:-0.78 [[ 9.73279121e-01 2.29366850e-01 -1.08903772e-02 5.53964713e+01] [-2.29355885e-01 9.73340003e-01 2.26222871e-03 -7.57121449e+00] [ 1.11189200e-02 2.95992122e-04 9.99938139e-01 -7.78668667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73538475 meters 0.0622709208973266 Centerline is valid? [True, True] Translation: X:55.46, Y:-7.59, Z:-0.78 [[ 9.72292243e-01 2.33712660e-01 -5.11730762e-03 5.54566453e+01] [-2.33710271e-01 9.72305697e-01 1.06850530e-03 -7.59129661e+00] [ 5.22531057e-03 1.57067938e-04 9.99986336e-01 -7.75238744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.795384750000004 meters 0.0630519125701135 Centerline is valid? [True, True] Translation: X:55.51, Y:-7.61, Z:-0.78 [[ 9.71965399e-01 2.35112611e-01 -2.30699095e-03 5.55147353e+01] [-2.35112125e-01 9.71968135e-01 4.83736120e-04 -7.61023150e+00] [ 2.35605415e-03 7.22267723e-05 9.99997222e-01 -7.75235450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85538475 meters 0.0625737872745228 Centerline is valid? [True, True] Translation: X:55.57, Y:-7.63, Z:-0.77 [[ 9.72116555e-01 2.34494321e-01 -1.34789763e-03 5.55744672e+01] [-2.34494152e-01 9.72117489e-01 2.84646148e-04 -7.62771386e+00] [ 1.37706277e-03 3.93648790e-05 9.99999051e-01 -7.74782239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91538475 meters 0.06088844088724177 Centerline is valid? [True, True] Translation: X:55.63, Y:-7.66, Z:-0.77 [[ 9.73704194e-01 2.27813389e-01 -1.09685113e-03 5.56306694e+01] [-2.27813275e-01 9.73704811e-01 2.29651107e-04 -7.65886447e+00] [ 1.12032682e-03 2.62650023e-05 9.99999372e-01 -7.74658250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97538475 meters 0.06037130836056253 Centerline is valid? [True, True] Translation: X:55.69, Y:-7.68, Z:-0.78 [[ 9.75034676e-01 2.22031345e-01 -3.07610845e-03 5.56879624e+01] [-2.22030423e-01 9.75039527e-01 6.42204053e-04 -7.68129588e+00] [ 3.14191676e-03 5.68184397e-05 9.99995063e-01 -7.77860458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03538475 meters 0.05919465345980775 Centerline is valid? [True, True] Translation: X:55.74, Y:-7.72, Z:-0.78 [[ 9.78030912e-01 2.08423760e-01 -3.88219624e-03 5.57433741e+01] [-2.08422184e-01 9.78038617e-01 8.10840795e-04 -7.71711053e+00] [ 3.96593633e-03 1.61084563e-05 9.99992136e-01 -7.76354545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09538475 meters 0.05932482481465441 Centerline is valid? [True, True] Translation: X:55.80, Y:-7.75, Z:-0.78 [[ 9.80376053e-01 1.97068868e-01 -5.16288060e-03 5.58000563e+01] [-1.97065901e-01 9.80389647e-01 1.08223223e-03 -7.74999129e+00] [ 5.27490897e-03 -4.35668414e-05 9.99986087e-01 -7.76204425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.15538475 meters 0.059996655114232224 Centerline is valid? [True, True] Translation: X:55.86, Y:-7.77, Z:-0.78 [[ 9.81702058e-01 1.90273814e-01 -7.54614996e-03 5.58572120e+01] [-1.90267281e-01 9.81731054e-01 1.58096655e-03 -7.77437325e+00] [ 7.70910629e-03 -1.16252681e-04 9.99970278e-01 -7.78984319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21538475 meters 0.06022640849548891 Centerline is valid? [True, True] Translation: X:55.92, Y:-7.79, Z:-0.78 [[ 9.82299697e-01 1.87234135e-01 -5.53924755e-03 5.59167532e+01] [-1.87230550e-01 9.82315310e-01 1.16353092e-03 -7.79326351e+00] [ 5.65914038e-03 -1.05819707e-04 9.99983981e-01 -7.77417358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27538475 meters 0.06012965107302858 Centerline is valid? [True, True] Translation: X:55.98, Y:-7.81, Z:-0.78 [[ 9.82182962e-01 1.87891598e-01 -3.65744709e-03 5.59780019e+01] [-1.87890043e-01 9.82189769e-01 7.67512749e-04 -7.80653153e+00] [ 3.73651631e-03 -6.66400559e-05 9.99993017e-01 -7.75820002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.33538475 meters 0.05971564363509973 Centerline is valid? [True, True] Translation: X:56.04, Y:-7.81, Z:-0.78 [[ 9.81356773e-01 1.92183610e-01 -2.08429328e-03 5.60396738e+01] [-1.92183114e-01 9.81358986e-01 4.37252643e-04 -7.81227367e+00] [ 2.12947273e-03 -2.85348688e-05 9.99997732e-01 -7.75103234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39538475 meters 0.059362759814057066 Centerline is valid? [True, True] Translation: X:56.10, Y:-7.81, Z:-0.78 [[ 9.79743075e-01 2.00253696e-01 -1.40123712e-03 5.61026536e+01] [-2.00253475e-01 9.79744077e-01 2.97563885e-04 -7.81390095e+00] [ 1.43244203e-03 -1.09335528e-05 9.99998974e-01 -7.75513518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45538475 meters 0.05966188631166977 Centerline is valid? [True, True] Translation: X:56.16, Y:-7.82, Z:-0.78 [[ 9.79178077e-01 2.02998122e-01 -1.43418008e-03 5.61649989e+01] [-2.02997893e-01 9.79179127e-01 3.04861605e-04 -7.81928586e+00] [ 1.46620554e-03 -7.37826528e-06 9.99998925e-01 -7.76558475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51538475 meters 0.060171612407299305 Centerline is valid? [True, True] Translation: X:56.22, Y:-7.83, Z:-0.78 [[ 9.80653370e-01 1.95710644e-01 -4.03891409e-03 5.62249501e+01] [-1.95708791e-01 9.80661686e-01 8.52832318e-04 -7.83390531e+00] [ 4.12771666e-03 -4.58818932e-05 9.99991480e-01 -7.77571985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57538475 meters 0.06148034790354154 Centerline is valid? [True, True] Translation: X:56.28, Y:-7.85, Z:-0.78 [[ 9.82801327e-01 1.84612398e-01 -4.45127887e-03 5.62839808e+01] [-1.84610047e-01 9.82811402e-01 9.36913276e-04 -7.85158218e+00] [ 4.54773343e-03 -9.90488105e-05 9.99989654e-01 -7.79415628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63538475 meters 0.06390936564075697 Centerline is valid? [True, True] Translation: X:56.34, Y:-7.87, Z:-0.78 [[ 9.84384133e-01 1.75947954e-01 -5.49506497e-03 5.63411354e+01] [-1.75944232e-01 9.84399455e-01 1.15739007e-03 -7.87035324e+00] [ 5.61297938e-03 -1.72491430e-04 9.99984232e-01 -7.83118048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.69538475 meters 0.06300396155423285 Centerline is valid? [True, True] Translation: X:56.40, Y:-7.87, Z:-0.78 [[ 9.84800759e-01 1.73669887e-01 -2.49725217e-03 5.64039553e+01] [-1.73669101e-01 9.84803921e-01 5.29856534e-04 -7.87410415e+00] [ 2.55132385e-03 -8.81075758e-05 9.99996741e-01 -7.80372601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75538475 meters 0.062189181915050754 Centerline is valid? [True, True] Translation: X:56.47, Y:-7.88, Z:-0.78 [[ 9.83803438e-01 1.79250369e-01 -3.16568584e-04 5.64664337e+01] [-1.79250357e-01 9.83803489e-01 6.70802659e-05 -7.87563496e+00] [ 3.23465439e-04 -9.24876463e-06 9.99999948e-01 -7.81219552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81538475 meters 0.060918632189918644 Centerline is valid? [True, True] Translation: X:56.53, Y:-7.87, Z:-0.78 [[ 9.81524136e-01 1.91334389e-01 1.23356263e-03 5.65299430e+01] [-1.91334214e-01 9.81524911e-01 -2.59633300e-04 -7.86995606e+00] [-1.26044923e-03 1.88136137e-05 9.99999205e-01 -7.81082143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.87538475 meters 0.06016418447968376 Centerline is valid? [True, True] Translation: X:56.59, Y:-7.86, Z:-0.78 [[ 9.79014372e-01 2.03790749e-01 4.36454981e-04 5.65936829e+01] [-2.03790729e-01 9.79014469e-01 -9.14693483e-05 -7.86412692e+00] [-4.45936349e-04 6.04327754e-07 9.99999901e-01 -7.81445783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93538475 meters 0.0603385407051499 Centerline is valid? [True, True] Translation: X:56.66, Y:-7.87, Z:-0.78 [[ 9.77622759e-01 2.10365677e-01 -1.53710727e-04 5.66559299e+01] [-2.10365674e-01 9.77622771e-01 3.63795570e-05 -7.86669038e+00] [ 1.57924117e-04 -3.23002226e-06 9.99999988e-01 -7.83426816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99538475 meters 0.0602254679239951 Centerline is valid? [True, True] Translation: X:56.72, Y:-7.87, Z:-0.78 [[ 9.77217623e-01 2.12238448e-01 -7.46847272e-04 5.67178738e+01] [-2.12238387e-01 9.77217909e-01 1.61441368e-04 -7.87459346e+00] [ 7.64096594e-04 7.46310503e-07 9.99999708e-01 -7.82866153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.05538475 meters 0.06012885813197634 Centerline is valid? [True, True] Translation: X:56.78, Y:-7.89, Z:-0.78 [[ 9.77779822e-01 2.09634050e-01 -4.30949743e-04 5.67785648e+01] [-2.09634028e-01 9.77779917e-01 9.48003994e-05 -7.88753335e+00] [ 4.41247395e-04 -2.35218706e-06 9.99999903e-01 -7.83288936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11538475 meters 0.05993153925282866 Centerline is valid? [True, True] Translation: X:56.84, Y:-7.91, Z:-0.78 [[ 9.78920142e-01 2.04241547e-01 8.63517123e-04 5.68383933e+01] [-2.04241468e-01 9.78920523e-01 -1.79283050e-04 -7.90503858e+00] [-8.81931682e-04 -8.62216021e-07 9.99999611e-01 -7.81879760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17538475 meters 0.059851551688804405 Centerline is valid? [True, True] Translation: X:56.90, Y:-7.92, Z:-0.78 [[ 9.80029034e-01 1.98832798e-01 2.93433207e-03 5.68991401e+01] [-1.98831838e-01 9.80033427e-01 -6.18533956e-04 -7.92140300e+00] [-2.99872835e-03 2.27425981e-05 9.99995504e-01 -7.82340731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23538475 meters 0.060616773260926654 Centerline is valid? [True, True] Translation: X:56.96, Y:-7.94, Z:-0.79 [[ 9.81561197e-01 1.91145517e-01 1.00411175e-03 5.69572772e+01] [-1.91145402e-01 9.81561710e-01 -2.10021160e-04 -7.94265996e+00] [-1.02574225e-03 1.42172774e-05 9.99999474e-01 -7.85956601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.295384750000004 meters 0.06070582151648752 Centerline is valid? [True, True] Translation: X:57.02, Y:-7.96, Z:-0.79 [[ 9.82183140e-01 1.87912804e-01 -2.24871974e-03 5.70178634e+01] [-1.87912200e-01 9.82185714e-01 4.78993922e-04 -7.95705941e+00] [ 2.29866949e-03 -4.78978824e-05 9.99997357e-01 -7.88453453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35538475 meters 0.0603619502893843 Centerline is valid? [True, True] Translation: X:57.08, Y:-7.97, Z:-0.79 [[ 9.81515728e-01 1.91365412e-01 -2.48104635e-03 5.70783593e+01] [-1.91364680e-01 9.81518862e-01 5.31307823e-04 -7.96759049e+00] [ 2.53686773e-03 -4.67023433e-05 9.99996781e-01 -7.91524075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41538475 meters 0.05934414936451763 Centerline is valid? [True, True] Translation: X:57.14, Y:-7.97, Z:-0.79 [[ 9.80312289e-01 1.97450649e-01 -1.02862032e-03 5.71402168e+01] [-1.97450527e-01 9.80312828e-01 2.19434485e-04 -7.97081437e+00] [ 1.05169718e-03 -1.20126975e-05 9.99999447e-01 -7.90296402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.47538475 meters 0.058786518438270936 Centerline is valid? [True, True] Translation: X:57.20, Y:-7.97, Z:-0.79 [[ 9.79302016e-01 2.02400114e-01 1.32507245e-03 5.72022291e+01] [-2.02399922e-01 9.79302912e-01 -2.78811658e-04 -7.97445724e+00] [-1.35407882e-03 4.84625834e-06 9.99999083e-01 -7.91676826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53538475 meters 0.05812287775074854 Centerline is valid? [True, True] Translation: X:57.26, Y:-7.98, Z:-0.79 [[ 9.79086581e-01 2.03442437e-01 8.00909045e-04 5.72646354e+01] [-2.03442368e-01 9.79086909e-01 -1.66741253e-04 -7.98317644e+00] [-8.18081808e-04 3.15290156e-07 9.99999665e-01 -7.90247268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59538475 meters 0.057992001449611516 Centerline is valid? [True, True] Translation: X:57.33, Y:-8.00, Z:-0.79 [[ 9.79329842e-01 2.02268356e-01 7.56519686e-04 5.73254569e+01] [-2.02268294e-01 9.79330134e-01 -1.57810029e-04 -7.99662267e+00] [-7.72802500e-04 1.52812409e-06 9.99999701e-01 -7.91977484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.65538475 meters 0.05783542964498905 Centerline is valid? [True, True] Translation: X:57.39, Y:-8.01, Z:-0.79 [[ 9.80535913e-01 1.96339783e-01 -1.14710173e-04 5.73852807e+01] [-1.96339781e-01 9.80535920e-01 2.82916343e-05 -8.01241533e+00] [ 1.18032218e-04 -5.21879315e-06 9.99999993e-01 -7.91136726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71538475 meters 0.059088798535416785 Centerline is valid? [True, True] Translation: X:57.44, Y:-8.03, Z:-0.80 [[ 9.82425979e-01 1.86637281e-01 -2.39190530e-03 5.74423408e+01] [-1.86636586e-01 9.82428889e-01 5.12619173e-04 -8.03381028e+00] [ 2.44555072e-03 -5.71933537e-05 9.99997008e-01 -7.95306271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77538475 meters 0.059121764444290834 Centerline is valid? [True, True] Translation: X:57.50, Y:-8.05, Z:-0.80 [[ 9.83146344e-01 1.82805801e-01 -2.30312739e-03 5.75022128e+01] [-1.82805143e-01 9.83149040e-01 4.94991702e-04 -8.04858551e+00] [ 2.35480483e-03 -6.56257517e-05 9.99997225e-01 -7.95175193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83538475 meters 0.06118326360537691 Centerline is valid? [True, True] Translation: X:57.56, Y:-8.07, Z:-0.79 [[ 9.85306933e-01 1.70791196e-01 -7.85015718e-04 5.75584721e+01] [-1.70791116e-01 9.85307245e-01 1.68050318e-04 -8.07211584e+00] [ 8.02183189e-04 -3.15074328e-05 9.99999678e-01 -7.93003434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89538475 meters 0.061478547152969264 Centerline is valid? [True, True] Translation: X:57.62, Y:-8.08, Z:-0.79 [[ 9.86500637e-01 1.63757176e-01 -2.83565683e-04 5.76185504e+01] [-1.63757166e-01 9.86500678e-01 6.11012382e-05 -8.08199833e+00] [ 2.89743505e-04 -1.38404979e-05 9.99999958e-01 -7.91566146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95538475 meters 0.06292651539704622 Centerline is valid? [True, True] Translation: X:57.68, Y:-8.09, Z:-0.79 [[ 9.87252580e-01 1.59160776e-01 -4.36074536e-04 5.76781727e+01] [-1.59160750e-01 9.87252676e-01 9.33947877e-05 -8.09076276e+00] [ 4.45380540e-04 -2.27982949e-05 9.99999901e-01 -7.91174612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01538475 meters 0.06297106765278719 Centerline is valid? [True, True] Translation: X:57.74, Y:-8.09, Z:-0.79 [[ 9.87061704e-01 1.60335441e-01 -1.31857249e-03 5.77416147e+01] [-1.60335201e-01 9.87062582e-01 2.86378529e-04 -8.09227264e+00] [ 1.34743019e-03 -7.12596952e-05 9.99999090e-01 -7.92946649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07538475 meters 0.06202915964113916 Centerline is valid? [True, True] Translation: X:57.80, Y:-8.09, Z:-0.79 [[ 9.86843367e-01 1.61654238e-01 -2.84200311e-03 5.78043427e+01] [-1.61653138e-01 9.86847448e-01 6.13929481e-04 -8.09381208e+00] [ 2.90386782e-03 -1.46433514e-04 9.99995773e-01 -7.91974440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13538475 meters 0.06345116455327243 Centerline is valid? [True, True] Translation: X:57.87, Y:-8.09, Z:-0.79 [[ 9.87096021e-01 1.60105826e-01 -2.75125309e-03 5.78666738e+01] [-1.60104788e-01 9.87099845e-01 5.94817881e-04 -8.09342008e+00] [ 2.81099531e-03 -1.46653571e-04 9.99996038e-01 -7.90998884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19538475 meters 0.06487162916118207 Centerline is valid? [True, True] Translation: X:57.93, Y:-8.10, Z:-0.79 [[ 9.87550329e-01 1.57258046e-01 -3.77546325e-03 5.79289438e+01] [-1.57256086e-01 9.87557524e-01 8.12252720e-04 -8.09540271e+00] [ 3.85622041e-03 -2.08425867e-04 9.99992543e-01 -7.92622673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25538475 meters 0.06692737204731218 Centerline is valid? [True, True] Translation: X:57.99, Y:-8.10, Z:-0.79 [[ 9.88117994e-01 1.53621812e-01 -4.81345052e-03 5.79904298e+01] [-1.53618584e-01 9.88129677e-01 1.03556059e-03 -8.09955438e+00] [ 4.91539800e-03 -2.83820599e-04 9.99987879e-01 -7.93754839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.31538475 meters 0.06479078118159351 Centerline is valid? [True, True] Translation: X:58.06, Y:-8.09, Z:-0.79 [[ 9.88260351e-01 1.52763736e-01 -2.17256852e-03 5.80553846e+01] [-1.52763067e-01 9.88262730e-01 4.71473447e-04 -8.09346737e+00] [ 2.21909254e-03 -1.34050284e-04 9.99997529e-01 -7.91645846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.37538475 meters 0.06321426898993644 Centerline is valid? [True, True] Translation: X:58.12, Y:-8.09, Z:-0.79 [[ 9.88005107e-01 1.54415273e-01 -1.35345413e-03 5.81207105e+01] [-1.54415012e-01 9.88006031e-01 2.95586427e-04 -8.08629507e+00] [ 1.38286391e-03 -8.30472627e-05 9.99999040e-01 -7.90586290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43538475 meters 0.06332107324080412 Centerline is valid? [True, True] Translation: X:58.19, Y:-8.08, Z:-0.79 [[ 9.87602725e-01 1.56919525e-01 -4.13757630e-03 5.81850635e+01] [-1.56917156e-01 9.87611365e-01 8.93106960e-04 -8.08144458e+00] [ 4.22646330e-03 -2.32778161e-04 9.99991041e-01 -7.93204687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49538475 meters 0.06355205586062991 Centerline is valid? [True, True] Translation: X:58.25, Y:-8.08, Z:-0.80 [[ 9.87468340e-01 1.57685988e-01 -6.43482710e-03 5.82490850e+01] [-1.57680249e-01 9.87489240e-01 1.39288779e-03 -8.07658381e+00] [ 6.57396141e-03 -3.60787451e-04 9.99978326e-01 -7.95610721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.55538475 meters 0.06301778325513345 Centerline is valid? [True, True] Translation: X:58.32, Y:-8.07, Z:-0.80 [[ 9.87101125e-01 1.59748838e-01 -1.05677418e-02 5.83151668e+01] [-1.59733453e-01 9.87157526e-01 2.28960856e-03 -8.07038903e+00] [ 1.07977882e-02 -5.72053285e-04 9.99941539e-01 -7.98122499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61538475 meters 0.06174794831435365 Centerline is valid? [True, True] Translation: X:58.38, Y:-8.06, Z:-0.80 [[ 9.86165852e-01 1.65472502e-01 -9.78583877e-03 5.83794399e+01] [-1.65459627e-01 9.86214293e-01 2.11657437e-03 -8.06308475e+00] [ 1.00011689e-02 -4.68132137e-04 9.99949877e-01 -7.96292379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67538475 meters 0.06147286154434307 Centerline is valid? [True, True] Translation: X:58.44, Y:-8.06, Z:-0.79 [[ 9.85589759e-01 1.68918947e-01 -8.90034872e-03 5.84426824e+01] [-1.68908426e-01 9.85629866e-01 1.92616589e-03 -8.06374255e+00] [ 9.09781543e-03 -3.95065480e-04 9.99958536e-01 -7.94770904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.73538475 meters 0.060904982703708546 Centerline is valid? [True, True] Translation: X:58.51, Y:-8.05, Z:-0.79 [[ 9.85088718e-01 1.71446237e-01 -1.43667938e-02 5.85087067e+01] [-1.71418991e-01 9.85193290e-01 3.11612057e-03 -8.05320102e+00] [ 1.46883160e-02 -6.06913922e-04 9.99891937e-01 -7.90696836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.795384750000004 meters 0.06108381021343084 Centerline is valid? [True, True] Translation: X:58.57, Y:-8.06, Z:-0.79 [[ 9.85110763e-01 1.71143713e-01 -1.63283454e-02 5.85710096e+01] [-1.71108405e-01 9.85245828e-01 3.54582584e-03 -8.05971079e+00] [ 1.66942800e-02 -6.99114050e-04 9.99860396e-01 -7.89438822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85538475 meters 0.06076128309163467 Centerline is valid? [True, True] Translation: X:58.64, Y:-8.06, Z:-0.79 [[ 9.84537956e-01 1.74225254e-01 -1.81816799e-02 5.86354758e+01] [-1.74182020e-01 9.84705562e-01 3.94720799e-03 -8.05753840e+00] [ 1.85913046e-02 -7.19254349e-04 9.99826908e-01 -7.90193040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.91538475 meters 0.060849269201429544 Centerline is valid? [True, True] Translation: X:58.70, Y:-8.06, Z:-0.79 [[ 9.84255210e-01 1.75626186e-01 -1.99279710e-02 5.86973124e+01] [-1.75574367e-01 9.84456629e-01 4.33448836e-03 -8.06445791e+00] [ 2.03794729e-02 -7.67401845e-04 9.99792022e-01 -7.93585538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.97538475 meters 0.061071890582251806 Centerline is valid? [True, True] Translation: X:58.76, Y:-8.07, Z:-0.80 [[ 9.83990247e-01 1.76516418e-01 -2.45997518e-02 5.87584270e+01] [-1.76437828e-01 9.84297265e-01 5.34659887e-03 -8.06895224e+00] [ 2.51572309e-02 -9.20674368e-04 9.99683083e-01 -7.95340545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03538475 meters 0.060733161712820005 Centerline is valid? [True, True] Translation: X:58.82, Y:-8.07, Z:-0.79 [[ 9.84298130e-01 1.75223758e-01 -2.13032090e-02 5.88214366e+01] [-1.75164447e-01 9.84528287e-01 4.63351514e-03 -8.07450143e+00] [ 2.17855138e-02 -8.29195475e-04 9.99762324e-01 -7.94297423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09538475 meters 0.06668296935022658 Centerline is valid? [True, True] Translation: X:58.88, Y:-8.09, Z:-0.81 [[ 9.84819246e-01 1.72224891e-01 -2.16711913e-02 5.88789205e+01] [-1.72162782e-01 9.85057235e-01 4.71380357e-03 -8.09410800e+00] [ 2.21591980e-02 -9.11271894e-04 9.99754040e-01 -8.06621776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15538475 meters 0.06698984185473719 Centerline is valid? [True, True] Translation: X:58.94, Y:-8.10, Z:-0.80 [[ 9.85657935e-01 1.67544361e-01 -2.01822075e-02 5.89400762e+01] [-1.67489303e-01 9.85864074e-01 4.40020123e-03 -8.10256557e+00] [ 2.06341422e-02 -9.56789384e-04 9.99786636e-01 -8.03897483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21538475 meters 0.06871368073444574 Centerline is valid? [True, True] Translation: X:59.00, Y:-8.11, Z:-0.81 [[ 9.86050905e-01 1.65171453e-01 -2.05427102e-02 5.90018896e+01] [-1.65113919e-01 9.86264338e-01 4.47775588e-03 -8.10989675e+00] [ 2.10001399e-02 -1.02340786e-03 9.99778949e-01 -8.08246238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27538475 meters 0.06863694134371974 Centerline is valid? [True, True] Translation: X:59.06, Y:-8.12, Z:-0.80 [[ 9.86604756e-01 1.61934421e-01 -1.97052836e-02 5.90641769e+01] [-1.61880795e-01 9.86800963e-01 4.29734590e-03 -8.11565593e+00] [ 2.01410810e-02 -1.04987494e-03 9.99796597e-01 -8.04590365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.33538475 meters 0.07110405035459313 Centerline is valid? [True, True] Translation: X:59.12, Y:-8.13, Z:-0.81 [[ 9.86590505e-01 1.62166337e-01 -1.84731023e-02 5.91243496e+01] [-1.62119076e-01 9.86762941e-01 4.03775000e-03 -8.12810134e+00] [ 1.88833599e-02 -9.88763516e-04 9.99821205e-01 -8.08447346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39538475 meters 0.06732307663373877 Centerline is valid? [True, True] Translation: X:59.19, Y:-8.13, Z:-0.80 [[ 9.86060263e-01 1.65851482e-01 -1.33582592e-02 5.91864533e+01] [-1.65827146e-01 9.86150520e-01 2.91700969e-03 -8.12933942e+00] [ 1.36570447e-02 -6.61185345e-04 9.99906520e-01 -8.03628576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45538475 meters 0.06577356111839136 Centerline is valid? [True, True] Translation: X:59.25, Y:-8.13, Z:-0.81 [[ 9.84689961e-01 1.73872239e-01 -1.24147543e-02 5.92473482e+01] [-1.73851863e-01 9.84768086e-01 2.71031830e-03 -8.13152321e+00] [ 1.26969029e-02 -5.10495066e-04 9.99919261e-01 -8.07540428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.51538475 meters 0.06142970089454229 Centerline is valid? [True, True] Translation: X:59.31, Y:-8.13, Z:-0.81 [[ 9.82131782e-01 1.87594427e-01 -1.50164800e-02 5.93103998e+01] [-1.87566207e-01 9.82246490e-01 3.27873045e-03 -8.12500777e+00] [ 1.53649564e-02 -4.03561181e-04 9.99881871e-01 -8.11947810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57538475 meters 0.05855258900102809 Centerline is valid? [True, True] Translation: X:59.37, Y:-8.12, Z:-0.81 [[ 9.79024099e-01 2.03218627e-01 -1.46288429e-02 5.93736967e+01] [-2.03193574e-01 9.79133375e-01 3.19467590e-03 -8.11986254e+00] [ 1.49728060e-02 -1.55177816e-04 9.99887889e-01 -8.13734555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63538475 meters 0.0580269549053627 Centerline is valid? [True, True] Translation: X:59.44, Y:-8.12, Z:-0.82 [[ 9.76568835e-01 2.14663616e-01 -1.52591973e-02 5.94367011e+01] [-2.14637612e-01 9.76688042e-01 3.34125389e-03 -8.12155229e+00] [ 1.56207212e-02 1.22332362e-05 9.99877989e-01 -8.17603599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.69538475 meters 0.05757455527890643 Centerline is valid? [True, True] Translation: X:59.50, Y:-8.13, Z:-0.81 [[ 9.73537347e-01 2.27931815e-01 -1.64961048e-02 5.94984355e+01] [-2.27903234e-01 9.73677067e-01 3.61731700e-03 -8.12778922e+00] [ 1.68863805e-02 2.37922423e-04 9.99857387e-01 -8.09440882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75538475 meters 0.05768191479507728 Centerline is valid? [True, True] Translation: X:59.56, Y:-8.15, Z:-0.81 [[ 9.72792999e-01 2.31254673e-01 -1.39662752e-02 5.95560434e+01] [-2.31234473e-01 9.72893219e-01 3.06641397e-03 -8.14925247e+00] [ 1.42968170e-02 2.46498240e-04 9.99897765e-01 -8.09850538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81538475 meters 0.05770763822242238 Centerline is valid? [True, True] Translation: X:59.61, Y:-8.17, Z:-0.81 [[ 9.72715196e-01 2.31755943e-01 -1.06925689e-02 5.96136718e+01] [-2.31744093e-01 9.72773944e-01 2.35132515e-03 -8.17203822e+00] [ 1.09463860e-02 1.90769972e-04 9.99940068e-01 -8.10835050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.87538475 meters 0.058081848819610135 Centerline is valid? [True, True] Translation: X:59.67, Y:-8.20, Z:-0.81 [[ 9.71810813e-01 2.35617779e-01 -8.24652592e-03 5.96717570e+01] [-2.35610841e-01 9.71845785e-01 1.81682102e-03 -8.19548505e+00] [ 8.44242680e-03 1.77364596e-04 9.99964346e-01 -8.10608616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93538475 meters 0.05891989829153261 Centerline is valid? [True, True] Translation: X:59.73, Y:-8.22, Z:-0.81 [[ 9.70230975e-01 2.41964969e-01 -1.02375864e-02 5.97294664e+01] [-2.41954668e-01 9.70284942e-01 2.25169171e-03 -8.21950978e+00] [ 1.04782065e-02 2.92370782e-04 9.99945059e-01 -8.10690535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99538475 meters 0.06009826641354438 Centerline is valid? [True, True] Translation: X:59.79, Y:-8.24, Z:-0.81 [[ 9.68129937e-01 2.50115186e-01 -1.29158693e-02 5.97859602e+01] [-2.50099517e-01 9.68215969e-01 2.84050186e-03 -8.24423933e+00] [ 1.32158036e-02 4.80277793e-04 9.99912552e-01 -8.11911661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.05538475 meters 0.06311541144419987 Centerline is valid? [True, True] Translation: X:59.84, Y:-8.27, Z:-0.82 [[ 9.66578936e-01 2.55811968e-01 -1.68937167e-02 5.98404097e+01] [-2.55786032e-01 9.66726282e-01 3.71508839e-03 -8.27407475e+00] [ 1.72819640e-02 7.30250580e-04 9.99850389e-01 -8.21818579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11538475 meters 0.06334259454506051 Centerline is valid? [True, True] Translation: X:59.90, Y:-8.30, Z:-0.82 [[ 9.65918942e-01 2.58369905e-01 -1.56713099e-02 5.98972719e+01] [-2.58347797e-01 9.66045799e-01 3.45412914e-03 -8.30254954e+00] [ 1.60316461e-02 7.12239630e-04 9.99871231e-01 -8.24239047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17538475 meters 0.06386530556268631 Centerline is valid? [True, True] Translation: X:59.95, Y:-8.34, Z:-0.82 [[ 9.65690594e-01 2.59553199e-01 -8.59155196e-03 5.99524006e+01] [-2.59546610e-01 9.65728728e-01 1.89258484e-03 -8.33590132e+00] [ 8.78833499e-03 4.02256811e-04 9.99961301e-01 -8.23644651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.23538475 meters 0.06307317136691024 Centerline is valid? [True, True] Translation: X:60.01, Y:-8.37, Z:-0.82 [[ 9.66342504e-01 2.57227949e-01 -3.99351026e-03 6.00070947e+01] [-2.57226505e-01 9.66350739e-01 8.79804270e-04 -8.37083913e+00] [ 4.08544184e-03 1.77044426e-04 9.99991639e-01 -8.21959729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.295384750000004 meters 0.061254744096960745 Centerline is valid? [True, True] Translation: X:60.06, Y:-8.41, Z:-0.82 [[ 9.67709272e-01 2.52065853e-01 -1.25331254e-03 6.00608401e+01] [-2.52065706e-01 9.67710082e-01 2.76369875e-04 -8.40934480e+00] [ 1.28250659e-03 4.84714213e-05 9.99999176e-01 -8.21044759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35538475 meters 0.06024555593432635 Centerline is valid? [True, True] Translation: X:60.12, Y:-8.44, Z:-0.82 [[ 9.69322028e-01 2.45791923e-01 1.06590483e-03 6.01150578e+01] [-2.45791814e-01 9.69322614e-01 -2.34723485e-04 -8.44338739e+00] [-1.09089879e-03 -3.44680354e-05 9.99999404e-01 -8.22389346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.41538475 meters 0.05914086014668054 Centerline is valid? [True, True] Translation: X:60.17, Y:-8.48, Z:-0.82 [[ 9.71195265e-01 2.38278727e-01 -1.73349737e-03 6.01695852e+01] [-2.38278424e-01 9.71196811e-01 3.82401593e-04 -8.47943981e+00] [ 1.77468529e-03 4.16684050e-05 9.99998424e-01 -8.24771077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.47538475 meters 0.05830882691284812 Centerline is valid? [True, True] Translation: X:60.23, Y:-8.51, Z:-0.83 [[ 9.72851211e-01 2.31429931e-01 -8.41695729e-04 6.02255669e+01] [-2.31429857e-01 9.72851575e-01 1.86283413e-04 -8.51284890e+00] [ 8.61956573e-04 1.35674780e-05 9.99999628e-01 -8.25794048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53538475 meters 0.05760197292889896 Centerline is valid? [True, True] Translation: X:60.28, Y:-8.54, Z:-0.83 [[ 9.74145591e-01 2.25920716e-01 -4.44341843e-04 6.02827742e+01] [-2.25920694e-01 9.74145692e-01 1.00011353e-04 -8.54417937e+00] [ 4.55448328e-04 2.96039911e-06 9.99999896e-01 -8.25032296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59538475 meters 0.057499921133439096 Centerline is valid? [True, True] Translation: X:60.34, Y:-8.57, Z:-0.83 [[ 9.74592957e-01 2.23966361e-01 -2.76367378e-03 6.03401092e+01] [-2.23965521e-01 9.74596875e-01 6.14040572e-04 -8.57010466e+00] [ 2.83099226e-03 2.05280199e-05 9.99995993e-01 -8.26251378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.65538475 meters 0.057377076560695926 Centerline is valid? [True, True] Translation: X:60.40, Y:-8.59, Z:-0.83 [[ 9.74528928e-01 2.24232580e-01 -3.62207718e-03 6.03993770e+01] [-2.24231138e-01 9.74535658e-01 8.04541531e-04 -8.58941903e+00] [ 3.71024779e-03 2.81334924e-05 9.99993117e-01 -8.28517439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71538475 meters 0.057381456784666024 Centerline is valid? [True, True] Translation: X:60.46, Y:-8.61, Z:-0.83 [[ 9.74814312e-01 2.22937965e-01 -5.97660055e-03 6.04574291e+01] [-2.22934024e-01 9.74832633e-01 1.32628638e-03 -8.60944448e+00] [ 6.12186484e-03 3.95046644e-05 9.99981260e-01 -8.30733366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77538475 meters 0.057293076783723494 Centerline is valid? [True, True] Translation: X:60.52, Y:-8.63, Z:-0.83 [[ 9.75880131e-01 2.18227193e-01 -5.90435194e-03 6.05166392e+01] [-2.18223248e-01 9.75897993e-01 1.31217154e-03 -8.63107067e+00] [ 6.04839672e-03 7.94472142e-06 9.99981708e-01 -8.30493294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.83538475 meters 0.05708495239749858 Centerline is valid? [True, True] Translation: X:60.58, Y:-8.65, Z:-0.83 [[ 9.76753597e-01 2.14316020e-01 -4.58842341e-03 6.05758093e+01] [-2.14313584e-01 9.76764375e-01 1.02188761e-03 -8.65003948e+00] [ 4.70081541e-03 -1.47709357e-05 9.99988951e-01 -8.27640505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89538475 meters 0.05676786828555087 Centerline is valid? [True, True] Translation: X:60.64, Y:-8.67, Z:-0.82 [[ 9.77245743e-01 2.12069926e-01 -4.13559851e-03 6.06359107e+01] [-2.12067918e-01 9.77254494e-01 9.23200299e-04 -8.66915997e+00] [ 4.23731525e-03 -2.51657957e-05 9.99991022e-01 -8.24610532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95538475 meters 0.05659030756968341 Centerline is valid? [True, True] Translation: X:60.70, Y:-8.68, Z:-0.82 [[ 9.77064798e-01 2.12922232e-01 -2.91618927e-03 6.06964466e+01] [-2.12921233e-01 9.77069149e-01 6.52479020e-04 -8.68309275e+00] [ 2.98824586e-03 -1.65956664e-05 9.99995535e-01 -8.24012195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.01538475 meters 0.05682141433472282 Centerline is valid? [True, True] Translation: X:60.76, Y:-8.70, Z:-0.83 [[ 9.77213705e-01 2.12235236e-01 -3.09508811e-03 6.07568285e+01] [-2.12234104e-01 9.77218606e-01 6.93382029e-04 -8.69826219e+00] [ 3.17173779e-03 -2.06991679e-05 9.99994970e-01 -8.27118100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07538475 meters 0.05750951303922401 Centerline is valid? [True, True] Translation: X:60.81, Y:-8.72, Z:-0.83 [[ 9.78912658e-01 2.04186699e-01 -6.14814658e-03 6.08137961e+01] [-2.04182121e-01 9.78931961e-01 1.37000080e-03 -8.72127478e+00] [ 6.29835313e-03 -8.57695199e-05 9.99980161e-01 -8.31158969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13538475 meters 0.058741490018385634 Centerline is valid? [True, True] Translation: X:60.87, Y:-8.74, Z:-0.83 [[ 9.80924334e-01 1.94284030e-01 -6.41614904e-03 6.08715809e+01] [-1.94278827e-01 9.80945305e-01 1.43037433e-03 -8.74131478e+00] [ 6.57179017e-03 -1.56567077e-04 9.99978393e-01 -8.32142685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.19538475 meters 0.058632238367760665 Centerline is valid? [True, True] Translation: X:60.93, Y:-8.75, Z:-0.83 [[ 9.81179584e-01 1.92994460e-01 -6.30581715e-03 6.09324228e+01] [-1.92989377e-01 9.81199832e-01 1.41065837e-03 -8.75387993e+00] [ 6.45951598e-03 -1.67153471e-04 9.99979123e-01 -8.33014102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25538475 meters 0.05812909542769557 Centerline is valid? [True, True] Translation: X:60.99, Y:-8.76, Z:-0.83 [[ 9.80275755e-01 1.97610755e-01 -3.07159222e-03 6.09933369e+01] [-1.97609575e-01 9.80280565e-01 6.85941999e-04 -8.75896552e+00] [ 3.14657167e-03 -6.54362785e-05 9.99995047e-01 -8.32821552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.31538475 meters 0.05756638687570872 Centerline is valid? [True, True] Translation: X:61.06, Y:-8.76, Z:-0.83 [[ 9.78917885e-01 2.04249187e-01 -1.42964325e-03 6.10558500e+01] [-2.04248937e-01 9.78918929e-01 3.19905535e-04 -8.76151998e+00] [ 1.46484529e-03 -2.11581351e-05 9.99998927e-01 -8.31437579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.37538475 meters 0.056981857226203796 Centerline is valid? [True, True] Translation: X:61.12, Y:-8.76, Z:-0.83 [[ 9.77159916e-01 2.12504785e-01 4.62694041e-04 6.11175144e+01] [-2.12504760e-01 9.77160026e-01 -1.03024779e-04 -8.76329187e+00] [-4.74019379e-04 2.34699782e-06 9.99999888e-01 -8.30877568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43538475 meters 0.05717104632270215 Centerline is valid? [True, True] Translation: X:61.18, Y:-8.77, Z:-0.83 [[ 9.75881960e-01 2.18287001e-01 2.27713421e-03 6.11793682e+01] [-2.18286416e-01 9.75884617e-01 -5.05573631e-04 -8.76767970e+00] [-2.33258039e-03 -3.68727824e-06 9.99997280e-01 -8.32445093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49538475 meters 0.05756878259703326 Centerline is valid? [True, True] Translation: X:61.24, Y:-8.78, Z:-0.83 [[ 9.76162944e-01 2.17034309e-01 1.41940897e-03 6.12405018e+01] [-2.17034083e-01 9.76163976e-01 -3.13410602e-04 -8.78240991e+00] [-1.45359676e-03 -2.12030783e-06 9.99998944e-01 -8.33865265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.55538475 meters 0.058041599119033054 Centerline is valid? [True, True] Translation: X:61.30, Y:-8.80, Z:-0.84 [[ 9.77192947e-01 2.12352909e-01 -4.32165682e-04 6.12998354e+01] [-2.12352885e-01 9.77193042e-01 1.00522691e-04 -8.80083771e+00] [ 4.43655583e-04 -6.45843508e-06 9.99999902e-01 -8.36646363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61538475 meters 0.058006251867265914 Centerline is valid? [True, True] Translation: X:61.36, Y:-8.82, Z:-0.84 [[ 9.77554211e-01 2.10684037e-01 3.70216134e-05 6.13609819e+01] [-2.10684037e-01 9.77554212e-01 -3.92905635e-06 -8.81680234e+00] [-3.70184237e-05 -3.95899739e-06 9.99999999e-01 -8.36263240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67538475 meters 0.058279163980470707 Centerline is valid? [True, True] Translation: X:61.42, Y:-8.83, Z:-0.84 [[ 9.78090976e-01 2.08177774e-01 -2.39421266e-04 6.14208302e+01] [-2.08177766e-01 9.78091005e-01 5.75789422e-05 -8.83328160e+00] [ 2.46162443e-04 -6.47525949e-06 9.99999970e-01 -8.39426813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73538475 meters 0.05846396510849314 Centerline is valid? [True, True] Translation: X:61.48, Y:-8.85, Z:-0.84 [[ 9.78152498e-01 2.07879652e-01 1.93426137e-03 6.14808890e+01] [-2.07879206e-01 9.78154410e-01 -4.31353214e-04 -8.84917625e+00] [-1.98167585e-03 1.98365057e-05 9.99998036e-01 -8.40182673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.795384750000004 meters 0.058165174853740106 Centerline is valid? [True, True] Translation: X:61.54, Y:-8.86, Z:-0.84 [[ 9.77652659e-01 2.10212706e-01 2.42829827e-03 6.15413289e+01] [-2.10212002e-01 9.77655674e-01 -5.44520715e-04 -8.86082684e+00] [-2.48850476e-03 2.18946830e-05 9.99996903e-01 -8.40834552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85538475 meters 0.058169209974728256 Centerline is valid? [True, True] Translation: X:61.60, Y:-8.87, Z:-0.84 [[ 9.77078879e-01 2.12871157e-01 1.65389309e-03 6.16025093e+01] [-2.12870837e-01 9.77080278e-01 -3.69117353e-04 -8.87271568e+00] [-1.69456076e-03 8.59116165e-06 9.99998564e-01 -8.41061595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91538475 meters 0.05838537711526369 Centerline is valid? [True, True] Translation: X:61.66, Y:-8.88, Z:-0.84 [[ 9.76245578e-01 2.16662855e-01 1.33366934e-03 6.16639467e+01] [-2.16662651e-01 9.76246489e-01 -2.97306740e-04 -8.88147339e+00] [-1.36640533e-03 1.28805642e-06 9.99999066e-01 -8.42989915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.97538475 meters 0.05852031822060812 Centerline is valid? [True, True] Translation: X:61.73, Y:-8.89, Z:-0.84 [[ 9.75247019e-01 2.21118186e-01 2.76877979e-05 6.17253490e+01] [-2.21118186e-01 9.75247019e-01 -1.94845366e-06 -8.89381715e+00] [-2.74332809e-05 -4.22205201e-06 1.00000000e+00 -8.42000479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03538474999999 meters 0.05873118209945539 Centerline is valid? [True, True] Translation: X:61.78, Y:-8.91, Z:-0.85 [[ 9.76334470e-01 2.16262463e-01 -1.24481084e-03 6.17839803e+01] [-2.16262277e-01 9.76335264e-01 2.83507169e-04 -8.91247354e+00] [ 1.27666468e-03 -7.59219444e-06 9.99999185e-01 -8.45741611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09538475 meters 0.05944565132684471 Centerline is valid? [True, True] Translation: X:61.84, Y:-8.94, Z:-0.85 [[ 9.78436313e-01 2.06546792e-01 -8.96190858e-04 6.18421640e+01] [-2.06546692e-01 9.78436724e-01 2.03802352e-04 -8.93629553e+00] [ 9.18960769e-04 -1.43023642e-05 9.99999578e-01 -8.47031853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.15538475 meters 0.06087465276341007 Centerline is valid? [True, True] Translation: X:61.90, Y:-8.96, Z:-0.85 [[ 9.80514829e-01 1.96435956e-01 1.89338399e-03 6.18982532e+01] [-1.96435495e-01 9.80516656e-01 -4.28304999e-04 -8.96087476e+00] [-1.94062904e-03 4.80315821e-05 9.99998116e-01 -8.47760929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.21538475 meters 0.061631698658238455 Centerline is valid? [True, True] Translation: X:61.96, Y:-8.98, Z:-0.85 [[ 9.82185833e-01 1.87897625e-01 2.33914867e-03 6.19575546e+01] [-1.87896898e-01 9.82188615e-01 -5.28692403e-04 -8.97706764e+00] [-2.39682524e-03 7.97554092e-05 9.99997124e-01 -8.49864370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27538474999999 meters 0.06396619177180035 Centerline is valid? [True, True] Translation: X:62.02, Y:-9.00, Z:-0.85 [[ 9.84459216e-01 1.75571627e-01 3.82824362e-03 6.20153132e+01] [-1.75569584e-01 9.84466643e-01 -8.65964609e-04 -8.99766138e+00] [-3.92081696e-03 1.80383700e-04 9.99992297e-01 -8.50193546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33538474999999 meters 0.06617969610531851 Centerline is valid? [True, True] Translation: X:62.07, Y:-9.01, Z:-0.85 [[ 9.86767905e-01 1.62031721e-01 5.90107149e-03 6.20748040e+01] [-1.62026624e-01 9.86785484e-01 -1.33498553e-03 -9.01113561e+00] [-6.03940168e-03 3.61190182e-04 9.99981697e-01 -8.50577546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39538474999999 meters 0.06765181591180537 Centerline is valid? [True, True] Translation: X:62.14, Y:-9.02, Z:-0.85 [[ 9.87951007e-01 1.54706001e-01 4.34290662e-03 6.21351418e+01] [-1.54703170e-01 9.87960507e-01 -9.82446193e-04 -9.01861640e+00] [-4.44261055e-03 2.98747282e-04 9.99990087e-01 -8.49659289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45538475 meters 0.06885936950538815 Centerline is valid? [True, True] Translation: X:62.20, Y:-9.02, Z:-0.85 [[ 9.88362934e-01 1.52109262e-01 1.21763291e-03 6.21972974e+01] [-1.52109038e-01 9.88363680e-01 -2.75363489e-04 -9.01826259e+00] [-1.24534948e-03 8.69460948e-05 9.99999221e-01 -8.51022000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.51538475 meters 0.06807056554921952 Centerline is valid? [True, True] Translation: X:62.26, Y:-9.02, Z:-0.85 [[ 9.88586311e-01 1.50647256e-01 -1.58397198e-03 6.22597589e+01] [-1.50646873e-01 9.88587574e-01 3.59423752e-04 -9.01729585e+00] [ 1.62004122e-03 -1.16700976e-04 9.99998681e-01 -8.49894248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57538475 meters 0.06919067214314659 Centerline is valid? [True, True] Translation: X:62.32, Y:-9.01, Z:-0.85 [[ 9.89265321e-01 1.45700759e-01 -1.11988134e-02 6.23247126e+01] [-1.45681328e-01 9.89328317e-01 2.53610486e-03 -9.00663194e+00] [ 1.14488156e-02 -8.77422587e-04 9.99934075e-01 -8.48586854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63538475 meters 0.07025888006894374 Centerline is valid? [True, True] Translation: X:62.39, Y:-9.00, Z:-0.85 [[ 9.89328669e-01 1.44706164e-01 -1.69973881e-02 6.23888828e+01] [-1.44661248e-01 9.89473751e-01 3.84949976e-03 -8.99954539e+00] [ 1.73755158e-02 -1.34955710e-03 9.99848124e-01 -8.48217077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69538474999999 meters 0.06844160492575611 Centerline is valid? [True, True] Translation: X:62.46, Y:-8.99, Z:-0.85 [[ 9.88238074e-01 1.50732012e-01 -2.57947771e-02 6.24554280e+01] [-1.50630538e-01 9.88572855e-01 5.84391415e-03 -8.98514882e+00] [ 2.63808814e-02 -1.88969731e-03 9.99650178e-01 -8.46180352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75538474999999 meters 0.06702109206863942 Centerline is valid? [True, True] Translation: X:62.52, Y:-8.97, Z:-0.84 [[ 9.85956846e-01 1.63677898e-01 -3.31457949e-02 6.25220430e+01] [-1.63517592e-01 9.86511840e-01 7.50909864e-03 -8.96653968e+00] [ 3.39277926e-02 -1.98372663e-03 9.99422318e-01 -8.43575542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81538474999999 meters 0.06268602963465311 Centerline is valid? [True, True] Translation: X:62.59, Y:-8.94, Z:-0.84 [[ 9.82752217e-01 1.81447429e-01 -3.57059029e-02 6.25901068e+01] [-1.81273024e-01 9.83399536e-01 8.08973606e-03 -8.94225494e+00] [ 3.65810301e-02 -1.47768906e-03 9.99329598e-01 -8.41336480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.87538475 meters 0.06034342851412099 Centerline is valid? [True, True] Translation: X:62.66, Y:-8.93, Z:-0.85 [[ 9.79389911e-01 1.97312014e-01 -4.31667890e-02 6.26576304e+01] [-1.97071661e-01 9.80340138e-01 9.79666701e-03 -8.92536118e+00] [ 4.42511360e-02 -1.08780603e-03 9.99019846e-01 -8.45000532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.93538475 meters 0.06004850397464234 Centerline is valid? [True, True] Translation: X:62.72, Y:-8.92, Z:-0.85 [[ 9.76882352e-01 2.08769250e-01 -4.60029366e-02 6.27216471e+01] [-2.08508291e-01 9.77964732e-01 1.04535476e-02 -8.92093614e+00] [ 4.71716288e-02 -6.19892511e-04 9.98886607e-01 -8.52308857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99538475 meters 0.05907458544972953 Centerline is valid? [True, True] Translation: X:62.78, Y:-8.92, Z:-0.86 [[ 9.74391284e-01 2.20442177e-01 -4.43494416e-02 6.27843528e+01] [-2.20211822e-01 9.75400043e-01 1.00751768e-02 -8.91910844e+00] [ 4.54794412e-02 -5.08930621e-05 9.98965274e-01 -8.55205179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05538474999999 meters 0.05866089791784081 Centerline is valid? [True, True] Translation: X:62.85, Y:-8.93, Z:-0.85 [[ 9.72047698e-01 2.30075326e-01 -4.67826525e-02 6.28454032e+01] [-2.29830002e-01 9.73172733e-01 1.06302083e-02 -8.92832501e+00] [ 4.79733505e-02 4.18987598e-04 9.98848528e-01 -8.52043741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11538474999999 meters 0.05869587296127107 Centerline is valid? [True, True] Translation: X:62.90, Y:-8.95, Z:-0.85 [[ 9.71277877e-01 2.33425694e-01 -4.61706735e-02 6.29046003e+01] [-2.33189965e-01 9.72374478e-01 1.05030598e-02 -8.94585364e+00] [ 4.73468686e-02 5.65148167e-04 9.98878348e-01 -8.54503197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17538474999999 meters 0.058568956675017776 Centerline is valid? [True, True] Translation: X:62.96, Y:-8.97, Z:-0.85 [[ 9.70489357e-01 2.37157884e-01 -4.36640196e-02 6.29628208e+01] [-2.36950800e-01 9.71470864e-01 9.93370115e-03 -8.96892451e+00] [ 4.47741784e-02 7.05673127e-04 9.98996884e-01 -8.53282295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23538475 meters 0.058550181093010314 Centerline is valid? [True, True] Translation: X:63.02, Y:-8.99, Z:-0.85 [[ 9.69390279e-01 2.42261620e-01 -3.98972870e-02 6.30209830e+01] [-2.42092884e-01 9.70210583e-01 9.08080171e-03 -8.99265710e+00] [ 4.09086998e-02 8.56008353e-04 9.99162522e-01 -8.52353371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.29538475 meters 0.05971394524245754 Centerline is valid? [True, True] Translation: X:63.08, Y:-9.02, Z:-0.85 [[ 9.67397355e-01 2.50813580e-01 -3.51412225e-02 6.30790783e+01] [-2.50687839e-01 9.68034827e-01 8.01133520e-03 -9.01593846e+00] [ 3.60272789e-02 1.05933263e-03 9.99350245e-01 -8.52722490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35538475 meters 0.06079406004729419 Centerline is valid? [True, True] Translation: X:63.14, Y:-9.05, Z:-0.85 [[ 9.65754297e-01 2.57646730e-01 -3.06072106e-02 6.31374116e+01] [-2.57554414e-01 9.66238520e-01 6.98896666e-03 -9.04504901e+00] [ 3.13745503e-02 1.13339761e-03 9.99507055e-01 -8.54437986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41538474999999 meters 0.062346520992686866 Centerline is valid? [True, True] Translation: X:63.19, Y:-9.08, Z:-0.86 [[ 9.64760957e-01 2.61582208e-01 -2.84788345e-02 6.31933166e+01] [-2.61503791e-01 9.65180495e-01 6.50999544e-03 -9.07672883e+00] [ 2.91901146e-02 1.16673375e-03 9.99573197e-01 -8.58690086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47538474999999 meters 0.06256453570918587 Centerline is valid? [True, True] Translation: X:63.25, Y:-9.10, Z:-0.86 [[ 9.64675176e-01 2.62047603e-01 -2.70713563e-02 6.32505191e+01] [-2.61976704e-01 9.65054305e-01 6.19638366e-03 -9.10335471e+00] [ 2.77490764e-02 1.11456719e-03 9.99614299e-01 -8.61555447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53538474999999 meters 0.06174049817598217 Centerline is valid? [True, True] Translation: X:63.30, Y:-9.14, Z:-0.86 [[ 9.65845117e-01 2.57752864e-01 -2.65832751e-02 6.33039635e+01] [-2.57682960e-01 9.66210385e-01 6.08146629e-03 -9.14213415e+00] [ 2.72525518e-02 9.76302484e-04 9.99628103e-01 -8.63735463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59538475 meters 0.0597328700399717 Centerline is valid? [True, True] Translation: X:63.36, Y:-9.19, Z:-0.86 [[ 9.68099271e-01 2.49256794e-01 -2.55900606e-02 6.33566313e+01] [-2.49189025e-01 9.68437168e-01 5.85502696e-03 -9.18570965e+00] [ 2.62417711e-02 7.08514917e-04 9.99655374e-01 -8.62693209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.65538475 meters 0.05821128332673871 Centerline is valid? [True, True] Translation: X:63.41, Y:-9.23, Z:-0.86 [[ 9.70817450e-01 2.38796503e-01 -2.21293559e-02 6.34087368e+01] [-2.38743106e-01 9.71069562e-01 5.06307626e-03 -9.22628155e+00] [ 2.26981889e-02 3.67908364e-04 9.99742295e-01 -8.62386028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.71538475 meters 0.05744749225682994 Centerline is valid? [True, True] Translation: X:63.46, Y:-9.26, Z:-0.86 [[ 9.72225582e-01 2.33267262e-01 -1.90735964e-02 6.34631865e+01] [-2.33226496e-01 9.72412640e-01 4.36563781e-03 -9.26214299e+00] [ 1.95657666e-02 2.04083275e-04 9.99808551e-01 -8.61775534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77538474999999 meters 0.05731249436379648 Centerline is valid? [True, True] Translation: X:63.52, Y:-9.29, Z:-0.86 [[ 9.72622760e-01 2.31908110e-01 -1.49531124e-02 6.35189553e+01] [-2.31882887e-01 9.72737688e-01 3.42307206e-03 -9.29046709e+00] [ 1.53392942e-02 1.38013077e-04 9.99882337e-01 -8.60261494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83538474999999 meters 0.05742336562592185 Centerline is valid? [True, True] Translation: X:63.58, Y:-9.31, Z:-0.86 [[ 9.72256980e-01 2.33459026e-01 -1.46030427e-02 6.35780173e+01] [-2.33435024e-01 9.72366629e-01 3.35101275e-03 -9.31206618e+00] [ 1.49818355e-02 1.50816068e-04 9.99887755e-01 -8.62751097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89538474999999 meters 0.05765127287441515 Centerline is valid? [True, True] Translation: X:63.64, Y:-9.33, Z:-0.86 [[ 9.71689385e-01 2.35906660e-01 -1.29532615e-02 6.36364748e+01] [-2.35887948e-01 9.71775705e-01 2.97574828e-03 -9.33367186e+00] [ 1.32896636e-02 1.64015255e-04 9.99911675e-01 -8.62438988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95538475 meters 0.05770887098089895 Centerline is valid? [True, True] Translation: X:63.70, Y:-9.36, Z:-0.86 [[ 9.71122349e-01 2.38230346e-01 -1.29493852e-02 6.36952734e+01] [-2.38211799e-01 9.71208662e-01 2.97878554e-03 -9.35619049e+00] [ 1.32861922e-02 1.91931135e-04 9.99911716e-01 -8.60286022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01538475 meters 0.058337266523633156 Centerline is valid? [True, True] Translation: X:63.75, Y:-9.37, Z:-0.86 [[ 9.69831280e-01 2.43478081e-01 -1.20711602e-02 6.37540503e+01] [-2.43462369e-01 9.69906368e-01 2.77687604e-03 -9.37205780e+00] [ 1.23840036e-02 2.45772014e-04 9.99923285e-01 -8.63072686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.07538475 meters 0.059045928881374256 Centerline is valid? [True, True] Translation: X:63.81, Y:-9.39, Z:-0.86 [[ 9.68438789e-01 2.48998465e-01 -1.12284011e-02 6.38140595e+01] [-2.48985239e-01 9.68503835e-01 2.58319466e-03 -9.38880473e+00] [ 1.15179611e-02 2.94040236e-04 9.99933623e-01 -8.63346293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13538475 meters 0.06008308358115855 Centerline is valid? [True, True] Translation: X:63.87, Y:-9.40, Z:-0.87 [[ 9.67125104e-01 2.54092695e-01 -1.02924522e-02 6.38743588e+01] [-2.54081860e-01 9.67179816e-01 2.36877557e-03 -9.40488271e+00] [ 1.05565406e-02 3.24223078e-04 9.99944226e-01 -8.66950511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19538474999999 meters 0.060672963355429425 Centerline is valid? [True, True] Translation: X:63.93, Y:-9.43, Z:-0.87 [[ 9.66377856e-01 2.56847351e-01 -1.19698308e-02 6.39330613e+01] [-2.56832907e-01 9.66451897e-01 2.75489407e-03 -9.42512156e+00] [ 1.22758530e-02 4.11977829e-04 9.99924564e-01 -8.68994116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25538474999999 meters 0.0611663811333696 Centerline is valid? [True, True] Translation: X:63.99, Y:-9.44, Z:-0.87 [[ 9.66006044e-01 2.58372437e-01 -8.71813763e-03 6.39912868e+01] [-2.58364791e-01 9.66045334e-01 2.01166818e-03 -9.44355362e+00] [ 8.94187579e-03 3.09176182e-04 9.99959973e-01 -8.70564641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31538474999999 meters 0.06135278891218905 Centerline is valid? [True, True] Translation: X:64.05, Y:-9.46, Z:-0.87 [[ 9.66084861e-01 2.58138088e-01 -6.69096175e-03 6.40498557e+01] [-2.58133559e-01 9.66108003e-01 1.54670397e-03 -9.46498552e+00] [ 6.86345490e-03 2.32914477e-04 9.99976419e-01 -8.71006614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.37538475 meters 0.060797633534575186 Centerline is valid? [True, True] Translation: X:64.11, Y:-9.49, Z:-0.87 [[ 9.66352092e-01 2.57203735e-01 -3.14223091e-03 6.41080033e+01] [-2.57202734e-01 9.66357194e-01 7.25648708e-04 -9.48767846e+00] [ 3.22315700e-03 1.06958233e-04 9.99994800e-01 -8.70510460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.43538475 meters 0.06052212586492636 Centerline is valid? [True, True] Translation: X:64.17, Y:-9.51, Z:-0.87 [[ 9.66523851e-01 2.56576227e-01 5.34591772e-04 6.41664827e+01] [-2.56576200e-01 9.66523998e-01 -1.19765414e-04 -9.51092433e+00] [-5.47424735e-04 -2.14073965e-05 9.99999850e-01 -8.69060211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49538475 meters 0.0606418991287859 Centerline is valid? [True, True] Translation: X:64.23, Y:-9.53, Z:-0.87 [[ 9.66397211e-01 2.57032742e-01 3.25584404e-03 6.42250091e+01] [-2.57031675e-01 9.66402689e-01 -7.49193209e-04 -9.53258732e+00] [-3.33902362e-03 -1.12836818e-04 9.99994419e-01 -8.70652133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55538474999999 meters 0.060263601368073065 Centerline is valid? [True, True] Translation: X:64.28, Y:-9.56, Z:-0.87 [[ 9.67045576e-01 2.54518046e-01 6.58928037e-03 6.42825697e+01] [-2.54513569e-01 9.67068003e-01 -1.52337101e-03 -9.55537622e+00] [-6.76000763e-03 -2.03892071e-04 9.99977130e-01 -8.72606573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61538474999999 meters 0.05994560907181672 Centerline is valid? [True, True] Translation: X:64.34, Y:-9.58, Z:-0.88 [[ 9.68413687e-01 2.49292171e-01 5.32393794e-03 6.43382881e+01] [-2.49289168e-01 9.68428312e-01 -1.23094928e-03 -9.58410067e+00] [-5.46271826e-03 -1.35131928e-04 9.99985070e-01 -8.76846356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67538474999999 meters 0.05964221270985688 Centerline is valid? [True, True] Translation: X:64.40, Y:-9.61, Z:-0.88 [[ 9.68783047e-01 2.47833525e-01 6.16056021e-03 6.43967486e+01] [-2.47829483e-01 9.68802623e-01 -1.42301865e-03 -9.60525364e+00] [-6.32103861e-03 -1.48172110e-04 9.99980011e-01 -8.77681510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73538475 meters 0.05973153807239295 Centerline is valid? [True, True] Translation: X:64.46, Y:-9.63, Z:-0.88 [[ 9.68926277e-01 2.47166850e-01 9.50887070e-03 6.44559015e+01] [-2.47157146e-01 9.68972910e-01 -2.20098281e-03 -9.62633678e+00] [-9.75784810e-03 -2.17595257e-04 9.99952367e-01 -8.79808151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79538475 meters 0.05974381487991292 Centerline is valid? [True, True] Translation: X:64.51, Y:-9.65, Z:-0.88 [[ 9.69238439e-01 2.45950146e-01 9.23984453e-03 6.45144286e+01] [-2.45940906e-01 9.69282460e-01 -2.14109502e-03 -9.64905622e+00] [-9.48262187e-03 -1.97224136e-04 9.99955019e-01 -8.81863826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85538475 meters 0.05983309043277623 Centerline is valid? [True, True] Translation: X:64.57, Y:-9.67, Z:-0.88 [[ 9.69174654e-01 2.46218814e-01 8.76270771e-03 6.45732209e+01] [-2.46210497e-01 9.69214249e-01 -2.03251363e-03 -9.67370875e+00] [-8.99338427e-03 -1.87609922e-04 9.99959541e-01 -8.84975116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91538474999999 meters 0.06047923556692257 Centerline is valid? [True, True] Translation: X:64.63, Y:-9.69, Z:-0.89 [[ 9.68351651e-01 2.49336106e-01 1.12510707e-02 6.46325263e+01] [-2.49322548e-01 9.68416972e-01 -2.61448699e-03 -9.69265890e+00] [-1.15476138e-02 -2.73402805e-04 9.99933287e-01 -8.85716838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97538474999999 meters 0.059550195878812245 Centerline is valid? [True, True] Translation: X:64.69, Y:-9.72, Z:-0.88 [[ 9.69813682e-01 2.43384464e-01 1.50141635e-02 6.46889170e+01] [-2.43359528e-01 9.69929859e-01 -3.49395638e-03 -9.72174280e+00] [-1.54130602e-02 -2.65353034e-04 9.99881177e-01 -8.83481636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03538474999999 meters 0.05888288560915594 Centerline is valid? [True, True] Translation: X:64.75, Y:-9.75, Z:-0.88 [[ 9.72123859e-01 2.33947810e-01 1.56084848e-02 6.47455698e+01] [-2.33919629e-01 9.72249149e-01 -3.63307284e-03 -9.74884275e+00] [-1.60252855e-02 -1.19334182e-04 9.99871580e-01 -8.83602352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09538475 meters 0.059486419069783865 Centerline is valid? [True, True] Translation: X:64.81, Y:-9.76, Z:-0.89 [[ 9.72190501e-01 2.33815874e-01 1.32577372e-02 6.48054382e+01] [-2.33795522e-01 9.72280889e-01 -3.08656536e-03 -9.76362482e+00] [-1.36119325e-02 -9.88700596e-05 9.99907348e-01 -8.91296082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.15538475 meters 0.05955174889366985 Centerline is valid? [True, True] Translation: X:64.87, Y:-9.78, Z:-0.89 [[ 9.72465135e-01 2.32865129e-01 9.24080367e-03 6.48654725e+01] [-2.32855193e-01 9.72509038e-01 -2.15191954e-03 -9.78140433e+00] [-9.48787211e-03 -5.91024041e-05 9.99954987e-01 -8.94145056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.21538475 meters 0.05959027019637758 Centerline is valid? [True, True] Translation: X:64.93, Y:-9.80, Z:-0.89 [[ 9.72256845e-01 2.33740508e-01 9.05550613e-03 6.49269431e+01] [-2.33730978e-01 9.72299013e-01 -2.11155206e-03 -9.79610248e+00] [-9.29821492e-03 -6.35813590e-05 9.99956769e-01 -8.94569622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27538474999999 meters 0.05965051478893406 Centerline is valid? [True, True] Translation: X:64.99, Y:-9.81, Z:-0.90 [[ 9.73695875e-01 2.27646062e-01 9.67540221e-03 6.49868307e+01] [-2.27634848e-01 9.73743945e-01 -2.25954790e-03 -9.81397334e+00] [-9.93574150e-03 -2.34624643e-06 9.99950639e-01 -8.95042656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33538474999999 meters 0.059992547673962074 Centerline is valid? [True, True] Translation: X:65.05, Y:-9.82, Z:-0.90 [[ 9.73720382e-01 2.27622258e-01 7.53158306e-03 6.50474864e+01] [-2.27615453e-01 9.73749510e-01 -1.76007518e-03 -9.82456364e+00] [-7.73450760e-03 -4.83618906e-07 9.99970088e-01 -8.97689433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39538474999999 meters 0.059910849349129366 Centerline is valid? [True, True] Translation: X:65.11, Y:-9.84, Z:-0.90 [[ 9.73533516e-01 2.28408155e-01 7.88726860e-03 6.51084786e+01] [-2.28400698e-01 9.73565465e-01 -1.84555710e-03 -9.83886000e+00] [-8.10031261e-03 -4.74596784e-06 9.99967192e-01 -8.97835378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45538475 meters 0.05967358851166734 Centerline is valid? [True, True] Translation: X:65.17, Y:-9.86, Z:-0.90 [[ 9.74054961e-01 2.26156844e-01 8.36751479e-03 6.51692868e+01] [-2.26148345e-01 9.74090900e-01 -1.96071855e-03 -9.85602815e+00] [-8.59414994e-03 1.75480128e-05 9.99963069e-01 -8.96243305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51538475 meters 0.0599340748180865 Centerline is valid? [True, True] Translation: X:65.23, Y:-9.88, Z:-0.89 [[ 9.76680316e-01 2.14470177e-01 9.90470254e-03 6.52267017e+01] [-2.14457625e-01 9.76730527e-01 -2.32497001e-03 -9.87869255e+00] [-1.01728621e-02 1.46613464e-04 9.99948244e-01 -8.94432243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.57538475 meters 0.0604032083393414 Centerline is valid? [True, True] Translation: X:65.29, Y:-9.89, Z:-0.89 [[ 9.78090262e-01 2.07852675e-01 1.16920907e-02 6.52867203e+01] [-2.07834665e-01 9.78160109e-01 -2.74833861e-03 -9.89499531e+00] [-1.20079863e-02 2.58101481e-04 9.99927868e-01 -8.93443661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63538475 meters 0.06091991082784499 Centerline is valid? [True, True] Translation: X:65.35, Y:-9.91, Z:-0.89 [[ 9.79383576e-01 2.01612581e-01 1.26561744e-02 6.53459761e+01] [-2.01590942e-01 9.79465280e-01 -2.97605869e-03 -9.91210731e+00] [-1.29962943e-02 3.63332872e-04 9.99915479e-01 -8.91886779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69538474999999 meters 0.0600837741741401 Centerline is valid? [True, True] Translation: X:65.41, Y:-9.92, Z:-0.89 [[ 9.79048175e-01 2.03379321e-01 1.00758831e-02 6.54087099e+01] [-2.03365703e-01 9.79099984e-01 -2.36898445e-03 -9.91701214e+00] [-1.03470994e-02 2.70260854e-04 9.99946431e-01 -8.94139468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75538474999999 meters 0.05930359161840211 Centerline is valid? [True, True] Translation: X:65.47, Y:-9.92, Z:-0.90 [[ 9.78226951e-01 2.07450345e-01 6.03214004e-03 6.54719397e+01] [-2.07445533e-01 9.78245539e-01 -1.41967308e-03 -9.92171539e+00] [-6.19542575e-03 1.37421962e-04 9.99980799e-01 -8.98205063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81538474999999 meters 0.0589715563044326 Centerline is valid? [True, True] Translation: X:65.53, Y:-9.93, Z:-0.90 [[ 9.77515955e-01 2.10837330e-01 3.19020916e-03 6.55335649e+01] [-2.10836008e-01 9.77521159e-01 -7.48751645e-04 -9.93110603e+00] [-3.27636175e-03 5.93057148e-05 9.99994631e-01 -9.00343865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.87538475 meters 0.058487070965248585 Centerline is valid? [True, True] Translation: X:65.60, Y:-9.94, Z:-0.90 [[ 9.75963419e-01 2.17927758e-01 -1.70201220e-03 6.55950953e+01] [-2.17927383e-01 9.75964903e-01 4.05150808e-04 -9.93504394e+00] [ 1.74939778e-03 -2.44973031e-05 9.99998470e-01 -9.04947585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.93538475 meters 0.05789729372175284 Centerline is valid? [True, True] Translation: X:65.66, Y:-9.93, Z:-0.91 [[ 9.72686448e-01 2.32056818e-01 -5.54139649e-03 6.56606466e+01] [-2.32053098e-01 9.72702233e-01 1.31402101e-03 -9.92987378e+00] [ 5.69505627e-03 7.76779079e-06 9.99983783e-01 -9.08788261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99538475 meters 0.05737284029002409 Centerline is valid? [True, True] Translation: X:65.72, Y:-9.94, Z:-0.90 [[ 9.70866132e-01 2.39610398e-01 -2.41038083e-03 6.57234387e+01] [-2.39609712e-01 9.70869124e-01 5.73925267e-04 -9.93527491e+00] [ 2.47768279e-03 2.03460519e-05 9.99996930e-01 -9.03904380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05538474999999 meters 0.05768475749693462 Centerline is valid? [True, True] Translation: X:65.79, Y:-9.94, Z:-0.90 [[ 9.69364569e-01 2.45625536e-01 -6.54115895e-04 6.57856499e+01] [-2.45625485e-01 9.69364790e-01 1.58416716e-04 -9.94209540e+00] [ 6.72988108e-04 7.10398234e-06 9.99999774e-01 -9.01762550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11538474999999 meters 0.05728931185686436 Centerline is valid? [True, True] Translation: X:65.85, Y:-9.96, Z:-0.90 [[ 9.69529014e-01 2.44976491e-01 -9.50958600e-05 6.58450388e+01] [-2.44976489e-01 9.69529019e-01 2.61931259e-05 -9.96014606e+00] [ 9.86148959e-05 -2.09874559e-06 9.99999995e-01 -8.98747548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17538474999999 meters 0.05679433106864356 Centerline is valid? [True, True] Translation: X:65.90, Y:-9.98, Z:-0.90 [[ 9.71021968e-01 2.38989729e-01 -4.97275267e-04 6.59039874e+01] [-2.38989699e-01 9.71022095e-01 1.19300949e-04 -9.98239555e+00] [ 5.11376973e-04 2.99982458e-06 9.99999869e-01 -8.99180829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23538475 meters 0.05644618758723245 Centerline is valid? [True, True] Translation: X:65.96, Y:-10.00, Z:-0.90 [[ 9.72275293e-01 2.33828850e-01 -2.19632402e-03 6.59627386e+01] [-2.33828263e-01 9.72277773e-01 5.24149038e-04 -1.00040290e+01] [ 2.25799819e-03 3.94547052e-06 9.99997451e-01 -9.03457925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29538475 meters 0.05670071494282822 Centerline is valid? [True, True] Translation: X:66.02, Y:-10.02, Z:-0.90 [[ 9.72877815e-01 2.31270053e-01 -4.78734367e-03 6.60219517e+01] [-2.31267234e-01 9.72889594e-01 1.14181720e-03 -1.00242500e+01] [ 4.92162496e-03 -3.69289684e-06 9.99987889e-01 -9.04777940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35538475 meters 0.05658628124648206 Centerline is valid? [True, True] Translation: X:66.08, Y:-10.04, Z:-0.91 [[ 9.73124104e-01 2.30180018e-01 -6.82912979e-03 6.60817405e+01] [-2.30174254e-01 9.73148066e-01 1.62903722e-03 -1.00426523e+01] [ 7.02072627e-03 -1.33655361e-05 9.99975354e-01 -9.06361445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41538474999999 meters 0.05663527248306367 Centerline is valid? [True, True] Translation: X:66.14, Y:-10.06, Z:-0.91 [[ 9.72843830e-01 2.31341954e-01 -7.46885361e-03 6.61417673e+01] [-2.31335080e-01 9.72872500e-01 1.78331344e-03 -1.00573728e+01] [ 7.67879749e-03 -7.07762374e-06 9.99970518e-01 -9.07349882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47538474999999 meters 0.056398343757340715 Centerline is valid? [True, True] Translation: X:66.20, Y:-10.07, Z:-0.91 [[ 9.71311958e-01 2.37735430e-01 -5.91141774e-03 6.62023731e+01] [-2.37731228e-01 9.71329946e-01 1.41384866e-03 -1.00698243e+01] [ 6.07805899e-03 3.20404869e-05 9.99981528e-01 -9.06904551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53538474999999 meters 0.056225045351991354 Centerline is valid? [True, True] Translation: X:66.26, Y:-10.08, Z:-0.90 [[ 9.70243955e-01 2.42099758e-01 -3.79153290e-03 6.62637706e+01] [-2.42098051e-01 9.70251362e-01 9.09831522e-04 -1.00826821e+01] [ 3.89900995e-03 3.51641911e-05 9.99992398e-01 -9.04883004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59538475 meters 0.05596755599488149 Centerline is valid? [True, True] Translation: X:66.32, Y:-10.10, Z:-0.90 [[ 9.70013104e-01 2.43051272e-01 -8.10225552e-04 6.63230186e+01] [-2.43051193e-01 9.70013443e-01 1.95716168e-04 -1.00957210e+01] [ 8.33498740e-04 7.07903926e-06 9.99999653e-01 -9.04907761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65538475 meters 0.056096656643892566 Centerline is valid? [True, True] Translation: X:66.38, Y:-10.11, Z:-0.91 [[ 9.69825636e-01 2.43794940e-01 -1.50449922e-03 6.63822890e+01] [-2.43794670e-01 9.69826803e-01 3.63243706e-04 -1.01094160e+01] [ 1.54766065e-03 1.45058317e-05 9.99998802e-01 -9.08182673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71538475 meters 0.05631322389624404 Centerline is valid? [True, True] Translation: X:66.44, Y:-10.13, Z:-0.91 [[ 9.69969896e-01 2.43180380e-01 -4.65862896e-03 6.64417971e+01] [-2.43177809e-01 9.69981082e-01 1.11936377e-03 -1.01259572e+01] [ 4.79098927e-03 4.71260195e-05 9.99988522e-01 -9.12238581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77538474999999 meters 0.05637843932453571 Centerline is valid? [True, True] Translation: X:66.50, Y:-10.14, Z:-0.92 [[ 9.70154594e-01 2.42381552e-01 -7.15865898e-03 6.65018446e+01] [-2.42375459e-01 9.70181003e-01 1.71998518e-03 -1.01430901e+01] [ 7.36208763e-03 6.64317291e-05 9.99972897e-01 -9.16427023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83538474999999 meters 0.05645375541209018 Centerline is valid? [True, True] Translation: X:66.56, Y:-10.16, Z:-0.92 [[ 9.70002504e-01 2.43012132e-01 -6.34394906e-03 6.65617189e+01] [-2.43007348e-01 9.70023247e-01 1.52617938e-03 -1.01590401e+01] [ 6.52465817e-03 6.12284162e-05 9.99978712e-01 -9.18161282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89538474999999 meters 0.05679496268591272 Centerline is valid? [True, True] Translation: X:66.62, Y:-10.17, Z:-0.92 [[ 9.68838404e-01 2.47687760e-01 -1.70886561e-03 6.66218134e+01] [-2.47687416e-01 9.68839911e-01 4.13686686e-04 -1.01698919e+01] [ 1.75808234e-03 2.24689591e-05 9.99998454e-01 -9.15206589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95538475 meters 0.05700145175819132 Centerline is valid? [True, True] Translation: X:66.68, Y:-10.18, Z:-0.91 [[ 9.67096583e-01 2.54406424e-01 1.25359751e-03 6.66823284e+01] [-2.54406251e-01 9.67097395e-01 -2.98158976e-04 -1.01814966e+01] [-1.28820444e-03 -3.05745160e-05 9.99999170e-01 -9.11446735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01538475 meters 0.057326139963850525 Centerline is valid? [True, True] Translation: X:66.74, Y:-10.19, Z:-0.92 [[ 9.66413177e-01 2.56993015e-01 4.01603662e-04 6.67428709e+01] [-2.56992999e-01 9.66413260e-01 -9.30488884e-05 -1.01946318e+01] [-4.12028019e-04 -1.32856575e-05 9.99999915e-01 -9.15709045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07538475 meters 0.05658361657417874 Centerline is valid? [True, True] Translation: X:66.80, Y:-10.22, Z:-0.92 [[ 9.67457311e-01 2.53030864e-01 1.31680289e-03 6.68008101e+01] [-2.53030670e-01 9.67458206e-01 -3.14592420e-04 -1.02154411e+01] [-1.35355336e-03 -2.88367815e-05 9.99999084e-01 -9.15432648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13538475 meters 0.0564497930714861 Centerline is valid? [True, True] Translation: X:66.86, Y:-10.23, Z:-0.92 [[ 9.67753253e-01 2.51895517e-01 1.51295711e-03 6.68600898e+01] [-2.51895260e-01 9.67754436e-01 -3.61576391e-04 -1.02297152e+01] [-1.55525042e-03 -3.11899946e-05 9.99998790e-01 -9.17650517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19538474999999 meters 0.05679323913477499 Centerline is valid? [True, True] Translation: X:66.92, Y:-10.24, Z:-0.92 [[ 9.66595252e-01 2.56307312e-01 4.23860948e-04 6.69211454e+01] [-2.56307292e-01 9.66595345e-01 -1.01240824e-04 -1.02405847e+01] [-4.35650783e-04 -1.07797521e-05 9.99999905e-01 -9.19309412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25538474999999 meters 0.05669317616149777 Centerline is valid? [True, True] Translation: X:66.98, Y:-10.25, Z:-0.92 [[ 9.66394688e-01 2.57059002e-01 1.40603285e-03 6.69825126e+01] [-2.57058786e-01 9.66395710e-01 -3.35554423e-04 -1.02548887e+01] [-1.44504140e-03 -3.71550849e-05 9.99998955e-01 -9.19419139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31538474999999 meters 0.05629469583273354 Centerline is valid? [True, True] Translation: X:67.04, Y:-10.27, Z:-0.92 [[ 9.66540327e-01 2.56505045e-01 2.22662819e-03 6.70427102e+01] [-2.56504493e-01 9.66542890e-01 -5.35011116e-04 -1.02685760e+01] [-2.28936470e-03 -5.40303156e-05 9.99997378e-01 -9.19619639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.37538475 meters 0.05611216365661443 Centerline is valid? [True, True] Translation: X:67.10, Y:-10.28, Z:-0.92 [[ 9.66579131e-01 2.56358287e-01 2.28321092e-03 6.71024444e+01] [-2.56357704e-01 9.66581826e-01 -5.49286458e-04 -1.02839097e+01] [-2.34772432e-03 -5.43898820e-05 9.99997243e-01 -9.21528728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43538475 meters 0.05596237753549566 Centerline is valid? [True, True] Translation: X:67.16, Y:-10.30, Z:-0.92 [[ 9.67066662e-01 2.54507068e-01 2.86761131e-03 6.71621292e+01] [-2.54506135e-01 9.67070912e-01 -6.91634089e-04 -1.02999859e+01] [-2.94920925e-03 -6.09684013e-05 9.99995649e-01 -9.24614382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49538475 meters 0.055117779687109535 Centerline is valid? [True, True] Translation: X:67.22, Y:-10.32, Z:-0.92 [[ 9.68373552e-01 2.49457676e-01 4.85088086e-03 6.72193174e+01] [-2.49454916e-01 9.68385699e-01 -1.17568668e-03 -1.03199094e+01] [-4.99080772e-03 -7.15721868e-05 9.99987543e-01 -9.22548949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55538474999999 meters 0.055237134687860755 Centerline is valid? [True, True] Translation: X:67.28, Y:-10.33, Z:-0.92 [[ 9.67864406e-01 2.51446532e-01 3.62399909e-03 6.72801574e+01] [-2.51445013e-01 9.67871188e-01 -8.76216038e-04 -1.03327711e+01] [-3.72788579e-03 -6.31781849e-05 9.99993049e-01 -9.24298058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61538474999999 meters 0.05644091220526487 Centerline is valid? [True, True] Translation: X:67.34, Y:-10.34, Z:-0.93 [[ 9.66259566e-01 2.57478724e-01 6.86722929e-03 6.73425921e+01] [-2.57473375e-01 9.66283955e-01 -1.66700221e-03 -1.03377523e+01] [-7.06491108e-03 -1.57371876e-04 9.99975031e-01 -9.25324334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67538474999999 meters 0.05763365259241292 Centerline is valid? [True, True] Translation: X:67.40, Y:-10.34, Z:-0.92 [[ 9.65008988e-01 2.62086457e-01 8.26691118e-03 6.74035473e+01] [-2.62078868e-01 9.65044370e-01 -2.00751739e-03 -1.03438387e+01] [-8.50407921e-03 -2.29310398e-04 9.99963813e-01 -9.24945875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73538475 meters 0.05795897074647638 Centerline is valid? [True, True] Translation: X:67.47, Y:-10.35, Z:-0.92 [[ 9.64371847e-01 2.64379037e-01 9.52186066e-03 6.74650491e+01] [-2.64369076e-01 9.64418811e-01 -2.31281381e-03 -1.03538541e+01] [-9.79452102e-03 -2.86872983e-04 9.99951991e-01 -9.24623862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79538475 meters 0.058482889266753504 Centerline is valid? [True, True] Translation: X:67.53, Y:-10.37, Z:-0.93 [[ 9.63998261e-01 2.65721229e-01 9.97900408e-03 6.75261304e+01] [-2.65710331e-01 9.64049859e-01 -2.42677856e-03 -1.03651097e+01] [-1.02651041e-02 -3.12114163e-04 9.99947264e-01 -9.27506773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85538475 meters 0.05952208206043055 Centerline is valid? [True, True] Translation: X:67.59, Y:-10.38, Z:-0.93 [[ 9.63020178e-01 2.69320148e-01 7.66770888e-03 6.75877822e+01] [-2.69313808e-01 9.63050667e-01 -1.86713252e-03 -1.03751073e+01] [-7.88724856e-03 -2.66933584e-04 9.99968860e-01 -9.31505371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91538474999999 meters 0.06044546781227319 Centerline is valid? [True, True] Translation: X:67.65, Y:-10.39, Z:-0.93 [[ 9.62475827e-01 2.71274988e-01 7.08261844e-03 6.76477363e+01] [-2.71269636e-01 9.62501851e-01 -1.72395278e-03 -1.03864418e+01] [-7.28469862e-03 -2.62036456e-04 9.99973432e-01 -9.30874155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97538474999999 meters 0.058851064891967675 Centerline is valid? [True, True] Translation: X:67.71, Y:-10.41, Z:-0.93 [[ 9.62721769e-01 2.70391261e-01 7.44056314e-03 6.77065236e+01] [-2.70385314e-01 9.62750484e-01 -1.81303278e-03 -1.04073742e+01] [-7.65363399e-03 -2.66372873e-04 9.99970675e-01 -9.29054577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03538474999999 meters 0.05860261384829188 Centerline is valid? [True, True] Translation: X:67.77, Y:-10.42, Z:-0.93 [[ 9.63322755e-01 2.68302505e-01 4.79948563e-03 6.77653357e+01] [-2.68300004e-01 9.63334698e-01 -1.16973357e-03 -1.04225476e+01] [-4.93735348e-03 -1.60871047e-04 9.99987798e-01 -9.33357244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09538475 meters 0.05819263485688857 Centerline is valid? [True, True] Translation: X:67.82, Y:-10.44, Z:-0.93 [[ 9.63743041e-01 2.66803254e-01 3.92106476e-03 6.78248551e+01] [-2.66801571e-01 9.63751009e-01 -9.55880127e-04 -1.04407772e+01] [-4.03396204e-03 -1.24923417e-04 9.99991856e-01 -9.33263214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.15538475 meters 0.05824033333797974 Centerline is valid? [True, True] Translation: X:67.88, Y:-10.46, Z:-0.93 [[ 9.63540867e-01 2.67474013e-01 6.83008389e-03 6.78848978e+01] [-2.67468890e-01 9.63565050e-01 -1.66968370e-03 -1.04571807e+01] [-7.02782712e-03 -2.18026475e-04 9.99975281e-01 -9.31283292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.21538475 meters 0.0581282716491587 Centerline is valid? [True, True] Translation: X:67.94, Y:-10.47, Z:-0.93 [[ 9.63228189e-01 2.68630681e-01 5.38639058e-03 6.79442915e+01] [-2.68627509e-01 9.63243233e-01 -1.31739955e-03 -1.04738837e+01] [-5.54229821e-03 -1.77976304e-04 9.99984626e-01 -9.33334598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27538474999999 meters 0.058952625725865876 Centerline is valid? [True, True] Translation: X:68.00, Y:-10.49, Z:-0.94 [[ 9.63153033e-01 2.68945666e-01 2.11282077e-03 6.80030121e+01] [-2.68945181e-01 9.63155348e-01 -5.15769062e-04 -1.04882228e+01] [-2.17368847e-03 -7.14684272e-05 9.99997635e-01 -9.37857297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33538474999999 meters 0.05893351076315573 Centerline is valid? [True, True] Translation: X:68.06, Y:-10.50, Z:-0.94 [[ 9.62881608e-01 2.69923585e-01 5.16806569e-04 6.80623618e+01] [-2.69923558e-01 9.62881746e-01 -1.23319983e-04 -1.05049731e+01] [-5.30910584e-04 -2.07557247e-05 9.99999859e-01 -9.39628641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39538474999999 meters 0.05943512112391083 Centerline is valid? [True, True] Translation: X:68.12, Y:-10.52, Z:-0.94 [[ 9.62704543e-01 2.70548855e-01 -1.81090266e-03 6.81216029e+01] [-2.70548489e-01 9.62706245e-01 4.48907548e-04 -1.05213334e+01] [ 1.86481872e-03 5.77716404e-05 9.99998260e-01 -9.43530175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45538475 meters 0.05951535720436143 Centerline is valid? [True, True] Translation: X:68.18, Y:-10.54, Z:-0.94 [[ 9.62802114e-01 2.70200046e-01 -2.00611295e-03 6.81818232e+01] [-2.70199595e-01 9.62804202e-01 4.97746867e-04 -1.05380165e+01] [ 2.06598521e-03 6.28191723e-05 9.99997864e-01 -9.44609560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51538475 meters 0.058950660657458194 Centerline is valid? [True, True] Translation: X:68.24, Y:-10.55, Z:-0.94 [[ 9.63518153e-01 2.67637604e-01 -1.69724878e-03 6.82403514e+01] [-2.67637277e-01 9.63519647e-01 4.21197669e-04 -1.05540713e+01] [ 1.74806088e-03 4.84154429e-05 9.99998471e-01 -9.44927665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.57538475 meters 0.06010236735497488 Centerline is valid? [True, True] Translation: X:68.30, Y:-10.56, Z:-0.95 [[ 9.62770303e-01 2.70310784e-01 -2.32889726e-03 6.83017877e+01] [-2.70310182e-01 9.62773117e-01 5.75272491e-04 -1.05643374e+01] [ 2.39770203e-03 7.56693727e-05 9.99997123e-01 -9.47238432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63538474999999 meters 0.0584417566513541 Centerline is valid? [True, True] Translation: X:68.36, Y:-10.58, Z:-0.94 [[ 9.64146942e-01 2.65368092e-01 6.70429116e-04 6.83612284e+01] [-2.65368042e-01 9.64147175e-01 -1.64385260e-04 -1.05807313e+01] [-6.90014941e-04 -1.94189159e-05 9.99999762e-01 -9.44536112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69538474999999 meters 0.05732975152605774 Centerline is valid? [True, True] Translation: X:68.42, Y:-10.59, Z:-0.94 [[ 9.65510022e-01 2.60364360e-01 -8.92916094e-04 6.84215683e+01] [-2.60364267e-01 9.65510435e-01 2.21067190e-04 -1.05947363e+01] [ 9.19677824e-04 1.90408569e-05 9.99999577e-01 -9.44202127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75538474999999 meters 0.057407461438544055 Centerline is valid? [True, True] Translation: X:68.48, Y:-10.61, Z:-0.95 [[ 9.65180773e-01 2.61580518e-01 -1.30673379e-03 6.84825662e+01] [-2.61580315e-01 9.65181658e-01 3.26401723e-04 -1.06052973e+01] [ 1.34661581e-03 2.67791685e-05 9.99999093e-01 -9.45106799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81538474999999 meters 0.05887131066635923 Centerline is valid? [True, True] Translation: X:68.54, Y:-10.61, Z:-0.95 [[ 9.63892297e-01 2.66234569e-01 -5.54924328e-03 6.85444761e+01] [-2.66231079e-01 9.63908258e-01 1.37188043e-03 -1.06095948e+01] [ 5.71420342e-03 1.55036046e-04 9.99983662e-01 -9.50019045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.87538475 meters 0.0598389273022099 Centerline is valid? [True, True] Translation: X:68.61, Y:-10.61, Z:-0.95 [[ 9.62424370e-01 2.71497077e-01 -5.35442542e-03 6.86069023e+01] [-2.71493909e-01 9.62439247e-01 1.32382982e-03 -1.06136637e+01] [ 5.51272510e-03 1.79607812e-04 9.99984789e-01 -9.50471441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.93538475 meters 0.05901695900303645 Centerline is valid? [True, True] Translation: X:68.67, Y:-10.62, Z:-0.95 [[ 9.61776811e-01 2.73818192e-01 -2.99372684e-03 6.86682987e+01] [-2.73817200e-01 9.61781465e-01 7.44428782e-04 -1.06243788e+01] [ 3.08314913e-03 1.03759562e-04 9.99995242e-01 -9.47180791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99538475 meters 0.0591709572800358 Centerline is valid? [True, True] Translation: X:68.73, Y:-10.63, Z:-0.95 [[ 9.61770013e-01 2.73848150e-01 -2.37318414e-03 6.87293410e+01] [-2.73847524e-01 9.61772938e-01 5.91175531e-04 -1.06335477e+01] [ 2.44435661e-03 8.13157036e-05 9.99997009e-01 -9.47884018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05538474999999 meters 0.05874956887097804 Centerline is valid? [True, True] Translation: X:68.79, Y:-10.64, Z:-0.95 [[ 9.62198357e-01 2.72345711e-01 -1.46116936e-03 6.87893813e+01] [-2.72345470e-01 9.62199465e-01 3.65606035e-04 -1.06448279e+01] [ 1.50550762e-03 4.61573307e-05 9.99998866e-01 -9.48033403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11538474999999 meters 0.05774089508605669 Centerline is valid? [True, True] Translation: X:68.85, Y:-10.66, Z:-0.95 [[ 9.62457361e-01 2.71423851e-01 -2.21828937e-03 6.88499744e+01] [-2.71423293e-01 9.62459915e-01 5.54344073e-04 -1.06570434e+01] [ 2.28547680e-03 6.85628711e-05 9.99997386e-01 -9.48472123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17538474999999 meters 0.05770964764705094 Centerline is valid? [True, True] Translation: X:68.91, Y:-10.67, Z:-0.95 [[ 9.62603738e-01 2.70906482e-01 -1.92917955e-03 6.89101559e+01] [-2.70906057e-01 9.62605669e-01 4.83092799e-04 -1.06708843e+01] [ 1.98791214e-03 5.75994907e-05 9.99998022e-01 -9.49553229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23538475 meters 0.057636662492861444 Centerline is valid? [True, True] Translation: X:68.97, Y:-10.68, Z:-0.95 [[ 9.63015763e-01 2.69429066e-01 -2.93587552e-03 6.89703065e+01] [-2.69428080e-01 9.63020234e-01 7.33649195e-04 -1.06821298e+01] [ 3.02497395e-03 8.44915659e-05 9.99995421e-01 -9.50853793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29538475 meters 0.05744275338821555 Centerline is valid? [True, True] Translation: X:69.03, Y:-10.69, Z:-0.95 [[ 9.63017514e-01 2.69376838e-01 -5.77816550e-03 6.90316124e+01] [-2.69373028e-01 9.63034834e-01 1.44253449e-03 -1.06921364e+01] [ 5.95316003e-03 1.67295954e-04 9.99982266e-01 -9.54231054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35538475 meters 0.05783315144885031 Centerline is valid? [True, True] Translation: X:69.09, Y:-10.70, Z:-0.96 [[ 9.62414056e-01 2.71478612e-01 -7.65167265e-03 6.90917710e+01] [-2.71472013e-01 9.62444443e-01 1.90820840e-03 -1.07014503e+01] [ 7.88234759e-03 2.40728391e-04 9.99968905e-01 -9.56135301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41538474999999 meters 0.05891288852007807 Centerline is valid? [True, True] Translation: X:69.15, Y:-10.71, Z:-0.96 [[ 9.61348837e-01 2.75199638e-01 -8.57749030e-03 6.91528997e+01] [-2.75191467e-01 9.61387055e-01 2.14190167e-03 -1.07098377e+01] [ 8.83573870e-03 3.01337460e-04 9.99960919e-01 -9.57989615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47538474999999 meters 0.060054553232369814 Centerline is valid? [True, True] Translation: X:69.21, Y:-10.72, Z:-0.96 [[ 9.60045737e-01 2.79711028e-01 -8.59794915e-03 6.92135580e+01] [-2.79702995e-01 9.60084175e-01 2.14742612e-03 -1.07175950e+01] [ 8.85541368e-03 3.43244830e-04 9.99960731e-01 -9.56467023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53538474999999 meters 0.06067898773062919 Centerline is valid? [True, True] Translation: X:69.28, Y:-10.73, Z:-0.96 [[ 9.58651084e-01 2.84436904e-01 -9.15131762e-03 6.92753410e+01] [-2.84428028e-01 9.58694674e-01 2.28464714e-03 -1.07250291e+01] [ 9.42315742e-03 4.12711758e-04 9.99955516e-01 -9.56530056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59538475 meters 0.06213986462318154 Centerline is valid? [True, True] Translation: X:69.34, Y:-10.73, Z:-0.96 [[ 9.57497555e-01 2.88228199e-01 -1.10877122e-02 6.93364718e+01] [-2.88215418e-01 9.57561595e-01 2.76850236e-03 -1.07314175e+01] [ 1.14151278e-02 5.44815349e-04 9.99934697e-01 -9.59189606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.65538475 meters 0.06070005464950007 Centerline is valid? [True, True] Translation: X:69.40, Y:-10.75, Z:-0.96 [[ 9.58094998e-01 2.86136540e-01 -1.34109810e-02 6.93962022e+01] [-2.86117544e-01 9.58188652e-01 3.35528601e-03 -1.07491020e+01] [ 1.38103197e-02 6.22434200e-04 9.99904439e-01 -9.57797519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.71538475 meters 0.06044297251582272 Centerline is valid? [True, True] Translation: X:69.45, Y:-10.76, Z:-0.96 [[ 9.59280670e-01 2.82184620e-01 -1.23465421e-02 6.94548046e+01] [-2.82168229e-01 9.59359977e-01 3.08613623e-03 -1.07625639e+01] [ 1.27156385e-02 5.23331088e-04 9.99919016e-01 -9.60376431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77538474999999 meters 0.05984504539231892 Centerline is valid? [True, True] Translation: X:69.52, Y:-10.78, Z:-0.96 [[ 9.59560003e-01 2.81248175e-01 -1.20027040e-02 6.95150752e+01] [-2.81232584e-01 9.59634941e-01 3.00239340e-03 -1.07796344e+01] [ 1.23626318e-02 4.94574845e-04 9.99923457e-01 -9.59089065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83538474999999 meters 0.06071323206124203 Centerline is valid? [True, True] Translation: X:69.58, Y:-10.79, Z:-0.96 [[ 9.59166921e-01 2.82566688e-01 -1.24452755e-02 6.95756331e+01] [-2.82549970e-01 9.59247513e-01 3.11826352e-03 -1.07912970e+01] [ 1.28192170e-02 5.25476999e-04 9.99917692e-01 -9.63399546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89538474999999 meters 0.06082370531557725 Centerline is valid? [True, True] Translation: X:69.64, Y:-10.81, Z:-0.96 [[ 9.59299883e-01 2.82244492e-01 -9.04331107e-03 6.96352425e+01] [-2.82235661e-01 9.59342432e-01 2.26471224e-03 -1.08083691e+01] [ 9.31483459e-03 3.79806693e-04 9.99956544e-01 -9.62119627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95538475 meters 0.05953021379374339 Centerline is valid? [True, True] Translation: X:69.69, Y:-10.83, Z:-0.96 [[ 9.59260911e-01 2.82493223e-01 -4.01054534e-03 6.96942301e+01] [-2.82491487e-01 9.59269279e-01 1.00472268e-03 -1.08265105e+01] [ 4.13102029e-03 1.69153725e-04 9.99991453e-01 -9.59463051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01538475 meters 0.059464991375273564 Centerline is valid? [True, True] Translation: X:69.75, Y:-10.85, Z:-0.96 [[ 9.59701633e-01 2.80992219e-01 -4.01843592e-03 6.97538115e+01] [-2.80990445e-01 9.59710033e-01 1.01100017e-03 -1.08452047e+01] [ 4.14061646e-03 1.58883584e-04 9.99991415e-01 -9.60497594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07538475 meters 0.05946908344262133 Centerline is valid? [True, True] Translation: X:69.81, Y:-10.86, Z:-0.96 [[ 9.60400384e-01 2.78614226e-01 -2.28395328e-03 6.98121739e+01] [-2.78613650e-01 9.60403095e-01 5.72815145e-04 -1.08608576e+01] [ 2.35311025e-03 8.62086764e-05 9.99997228e-01 -9.62224722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13538474999999 meters 0.058936754404004796 Centerline is valid? [True, True] Translation: X:69.87, Y:-10.88, Z:-0.96 [[ 9.61238265e-01 2.75716801e-01 -1.11524210e-03 6.98714736e+01] [-2.75716661e-01 9.61238911e-01 2.80778250e-04 -1.08780571e+01] [ 1.14942938e-03 3.75960302e-05 9.99999339e-01 -9.63701407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19538474999999 meters 0.058203609369983 Centerline is valid? [True, True] Translation: X:69.93, Y:-10.90, Z:-0.97 [[ 9.61920481e-01 2.73319274e-01 -2.35844833e-03 6.99305632e+01] [-2.73318634e-01 9.61923370e-01 5.95776401e-04 -1.08976390e+01] [ 2.43148374e-03 7.15183536e-05 9.99997041e-01 -9.65371737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25538474999999 meters 0.058000524760011676 Centerline is valid? [True, True] Translation: X:69.99, Y:-10.92, Z:-0.97 [[ 9.62666832e-01 2.70685634e-01 -1.36311416e-03 6.99894909e+01] [-2.70685420e-01 9.62667796e-01 3.42784710e-04 -1.09157010e+01] [ 1.40501300e-03 3.89876584e-05 9.99999012e-01 -9.67451746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31538474999999 meters 0.05748464147946089 Centerline is valid? [True, True] Translation: X:70.05, Y:-10.94, Z:-0.97 [[ 9.63324031e-01 2.68338525e-01 1.11691192e-03 7.00473304e+01] [-2.68338380e-01 9.63324678e-01 -2.79944295e-04 -1.09361881e+01] [-1.15106866e-03 -3.00332693e-05 9.99999337e-01 -9.65555183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37538475 meters 0.057982880262201414 Centerline is valid? [True, True] Translation: X:70.11, Y:-10.95, Z:-0.97 [[ 9.63037252e-01 2.69350090e-01 3.12745721e-03 7.01085138e+01] [-2.69348969e-01 9.63042326e-01 -7.82134394e-04 -1.09518753e+01] [-3.22254163e-03 -8.91528169e-05 9.99994804e-01 -9.66307431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43538475 meters 0.05874984646928286 Centerline is valid? [True, True] Translation: X:70.17, Y:-10.97, Z:-0.97 [[ 9.62131865e-01 2.72564593e-01 3.28903186e-03 7.01690346e+01] [-2.72563360e-01 9.62137481e-01 -8.26209024e-04 -1.09659351e+01] [-3.38969615e-03 -1.01547546e-04 9.99994250e-01 -9.66467665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49538475 meters 0.05960703923160194 Centerline is valid? [True, True] Translation: X:70.23, Y:-10.98, Z:-0.97 [[ 9.61228825e-01 2.75736644e-01 2.90680836e-03 7.02301695e+01] [-2.75735695e-01 9.61233215e-01 -7.30280098e-04 -1.09783140e+01] [-2.99548573e-03 -9.95445441e-05 9.99995509e-01 -9.70758582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55538474999999 meters 0.0604094761387433 Centerline is valid? [True, True] Translation: X:70.29, Y:-10.99, Z:-0.97 [[ 9.60910624e-01 2.76853434e-01 1.71730672e-03 7.02901089e+01] [-2.76853109e-01 9.60912156e-01 -4.29081702e-04 -1.09923171e+01] [-1.76897365e-03 -6.31325384e-05 9.99998433e-01 -9.72770320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61538474999999 meters 0.061142936999750014 Centerline is valid? [True, True] Translation: X:70.35, Y:-11.01, Z:-0.97 [[ 9.60760463e-01 2.77353404e-01 3.79762614e-03 7.03493926e+01] [-2.77351797e-01 9.60767959e-01 -9.54047532e-04 -1.10060860e+01] [-3.91324584e-03 -1.36667286e-04 9.99992334e-01 -9.72979068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67538474999999 meters 0.06153189334899507 Centerline is valid? [True, True] Translation: X:70.41, Y:-11.02, Z:-0.97 [[ 9.60195049e-01 2.79300673e-01 4.07448311e-03 7.04092416e+01] [-2.79298835e-01 9.60203682e-01 -1.02487641e-03 -1.10208959e+01] [-4.19858235e-03 -1.53917131e-04 9.99991174e-01 -9.73637144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73538475 meters 0.06263198764549857 Centerline is valid? [True, True] Translation: X:70.47, Y:-11.03, Z:-0.97 [[ 9.59758163e-01 2.80791398e-01 4.52332225e-03 7.04689774e+01] [-2.80789142e-01 9.59768805e-01 -1.13933681e-03 -1.10343150e+01] [-4.66125957e-03 -1.76611972e-04 9.99989121e-01 -9.74408881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.79538475 meters 0.06326756865191867 Centerline is valid? [True, True] Translation: X:70.53, Y:-11.05, Z:-0.98 [[ 9.59614871e-01 2.81290492e-01 3.86758095e-03 7.05286994e+01] [-2.81288845e-01 9.59622653e-01 -9.74515569e-04 -1.10505314e+01] [-3.98554026e-03 -1.52747748e-04 9.99992046e-01 -9.77140415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85538475 meters 0.06318949365084833 Centerline is valid? [True, True] Translation: X:70.59, Y:-11.07, Z:-0.98 [[ 9.59285611e-01 2.82428229e-01 -2.32658767e-03 7.05874200e+01] [-2.82427622e-01 9.59288428e-01 5.92331059e-04 -1.10691593e+01] [ 2.39915964e-03 8.88779621e-05 9.99997118e-01 -9.81989971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91538474999999 meters 0.06419810912857561 Centerline is valid? [True, True] Translation: X:70.65, Y:-11.08, Z:-0.98 [[ 9.58195324e-01 2.86083495e-01 -4.23742975e-03 7.06470883e+01] [-2.86081539e-01 9.58204676e-01 1.07358539e-03 -1.10847052e+01] [ 4.36746006e-03 1.83545925e-04 9.99990446e-01 -9.83757695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97538474999999 meters 0.06403027891499738 Centerline is valid? [True, True] Translation: X:70.71, Y:-11.10, Z:-0.98 [[ 9.57836853e-01 2.87294375e-01 -3.24106709e-03 7.07070999e+01] [-2.87293224e-01 9.57842326e-01 8.25217248e-04 -1.11016929e+01] [ 3.34151151e-03 1.40713121e-04 9.99994407e-01 -9.82968728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03538474999999 meters 0.06484571371960873 Centerline is valid? [True, True] Translation: X:70.77, Y:-11.12, Z:-0.98 [[ 9.57329949e-01 2.88989721e-01 -2.07596551e-03 7.07674476e+01] [-2.88989249e-01 9.57332196e-01 5.30461888e-04 -1.11166687e+01] [ 2.14068665e-03 9.21046609e-05 9.99997704e-01 -9.82749077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09538475 meters 0.0651912993222935 Centerline is valid? [True, True] Translation: X:70.83, Y:-11.13, Z:-0.98 [[ 9.56994330e-01 2.90106500e-01 -2.66591902e-04 7.08283069e+01] [-2.90106491e-01 9.56994367e-01 7.19009263e-05 -1.11333503e+01] [ 2.75985875e-04 8.53126258e-06 9.99999962e-01 -9.81475834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.15538475 meters 0.06492343971484532 Centerline is valid? [True, True] Translation: X:70.89, Y:-11.15, Z:-0.98 [[ 9.56809152e-01 2.90716364e-01 -4.91407075e-04 7.08887772e+01] [-2.90716337e-01 9.56809278e-01 1.28694815e-04 -1.11488938e+01] [ 5.07596538e-04 1.97236883e-05 9.99999871e-01 -9.81900547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.21538475 meters 0.06467972596780548 Centerline is valid? [True, True] Translation: X:70.95, Y:-11.16, Z:-0.98 [[ 9.57114925e-01 2.89707101e-01 -9.02976729e-04 7.09486482e+01] [-2.89707009e-01 9.57115351e-01 2.33634972e-04 -1.11649561e+01] [ 9.31938599e-04 3.79831686e-05 9.99999565e-01 -9.83874962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27538474999999 meters 0.06411967625822976 Centerline is valid? [True, True] Translation: X:71.01, Y:-11.18, Z:-0.99 [[ 9.58234376e-01 2.85983560e-01 -5.32720810e-04 7.10073105e+01] [-2.85983529e-01 9.58234524e-01 1.36138336e-04 -1.11828049e+01] [ 5.49404797e-04 2.18969440e-05 9.99999849e-01 -9.87112481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33538474999999 meters 0.06305199620496676 Centerline is valid? [True, True] Translation: X:71.07, Y:-11.20, Z:-0.99 [[ 9.59898100e-01 2.80345866e-01 -1.35363573e-03 7.10652810e+01] [-2.80345657e-01 9.59899054e-01 3.45367548e-04 -1.12038326e+01] [ 1.39617602e-03 4.79682459e-05 9.99999024e-01 -9.88247419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39538474999999 meters 0.06234424363422072 Centerline is valid? [True, True] Translation: X:71.12, Y:-11.22, Z:-0.99 [[ 9.60350868e-01 2.78789382e-01 1.64009441e-03 7.11239663e+01] [-2.78789076e-01 9.60352267e-01 -4.16759005e-04 -1.12231336e+01] [-1.69125637e-03 -5.70055330e-05 9.99998568e-01 -9.87218253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45538475 meters 0.06382062727187479 Centerline is valid? [True, True] Translation: X:71.18, Y:-11.23, Z:-0.99 [[ 9.59052972e-01 2.83192860e-01 4.38180581e-03 7.11849346e+01] [-2.83190721e-01 9.59062967e-01 -1.11407751e-03 -1.12320835e+01] [-4.51792648e-03 -1.72427405e-04 9.99989779e-01 -9.87557870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.51538475 meters 0.06560284457621546 Centerline is valid? [True, True] Translation: X:71.25, Y:-11.24, Z:-0.99 [[ 9.57514739e-01 2.88183139e-01 1.07704197e-02 7.12464884e+01] [-2.88170439e-01 9.57575195e-01 -2.74664554e-03 -1.12380999e+01] [-1.11050237e-02 -4.73763000e-04 9.99938225e-01 -9.89254512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.57538475 meters 0.06579343875257339 Centerline is valid? [True, True] Translation: X:71.31, Y:-11.25, Z:-0.99 [[ 9.56881520e-01 2.89883119e-01 1.85885329e-02 7.13074887e+01] [-2.89845548e-01 9.57061679e-01 -4.74356203e-03 -1.12489870e+01] [-1.91654510e-02 -8.48776645e-04 9.99815966e-01 -9.89691969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63538474999999 meters 0.0655595817500616 Centerline is valid? [True, True] Translation: X:71.37, Y:-11.26, Z:-0.99 [[ 9.57453752e-01 2.87592120e-01 2.39391895e-02 7.13676887e+01] [-2.87528896e-01 9.57752431e-01 -6.11681871e-03 -1.12631269e+01] [-2.46869657e-02 -1.02663768e-03 9.99694703e-01 -9.93381193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69538474999999 meters 0.06586863869330963 Centerline is valid? [True, True] Translation: X:71.43, Y:-11.28, Z:-1.00 [[ 9.57884634e-01 2.85765575e-01 2.81968847e-02 7.14279504e+01] [-2.85676819e-01 9.58298870e-01 -7.21330609e-03 -1.12780998e+01] [-2.90823573e-02 -1.14568126e-03 9.99576362e-01 -9.96758290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75538474999999 meters 0.06572279267459653 Centerline is valid? [True, True] Translation: X:71.49, Y:-11.29, Z:-1.00 [[ 9.57372185e-01 2.87258252e-01 3.03512160e-02 7.14883599e+01] [-2.87155992e-01 9.57852320e-01 -7.76982242e-03 -1.12911708e+01] [-3.13039282e-02 -1.27692167e-03 9.99509096e-01 -1.00204855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81538474999999 meters 0.06635018110815592 Centerline is valid? [True, True] Translation: X:71.55, Y:-11.30, Z:-1.00 [[ 9.56860748e-01 2.88929878e-01 3.06110313e-02 7.15494606e+01] [-2.88826522e-01 9.57349329e-01 -7.84236561e-03 -1.13028442e+01] [-3.15713440e-02 -1.33722589e-03 9.99500606e-01 -1.00433663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.87538475 meters 0.06520140953776356 Centerline is valid? [True, True] Translation: X:71.61, Y:-11.32, Z:-1.00 [[ 9.57054560e-01 2.87659191e-01 3.60382941e-02 7.16090062e+01] [-2.87514616e-01 9.57731641e-01 -9.24390068e-03 -1.13202954e+01] [-3.71741075e-02 -1.51461899e-03 9.99307656e-01 -1.00333979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.93538475 meters 0.06474266038780586 Centerline is valid? [True, True] Translation: X:71.67, Y:-11.34, Z:-1.00 [[ 9.57815055e-01 2.84567949e-01 4.01422896e-02 7.16680213e+01] [-2.84385351e-01 9.58654632e-01 -1.03086386e-02 -1.13396312e+01] [-4.14161000e-02 -1.54210987e-03 9.99140795e-01 -9.99320717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99538475 meters 0.06402407798752534 Centerline is valid? [True, True] Translation: X:71.73, Y:-11.36, Z:-1.00 [[ 9.58614049e-01 2.81494406e-01 4.26615169e-02 7.17265815e+01] [-2.81284570e-01 9.59561719e-01 -1.09680992e-02 -1.13602976e+01] [-4.40238171e-02 -1.48585241e-03 9.99029377e-01 -9.97840285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05538474999999 meters 0.06431208371353822 Centerline is valid? [True, True] Translation: X:71.79, Y:-11.38, Z:-1.00 [[ 9.58338788e-01 2.82729345e-01 4.06310871e-02 7.17868434e+01] [-2.82539640e-01 9.59198620e-01 -1.04575289e-02 -1.13765634e+01] [-4.19299330e-02 -1.45803718e-03 9.99119490e-01 -1.00071331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11538474999999 meters 0.06408129616159892 Centerline is valid? [True, True] Translation: X:71.85, Y:-11.40, Z:-1.00 [[ 9.58353181e-01 2.83158317e-01 3.71557181e-02 7.18462704e+01] [-2.82999779e-01 9.59072239e-01 -9.56896466e-03 -1.13961749e+01] [-3.83445497e-02 -1.34461230e-03 9.99263673e-01 -1.00401572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17538474999999 meters 0.06429100813726162 Centerline is valid? [True, True] Translation: X:71.91, Y:-11.41, Z:-1.01 [[ 9.58062749e-01 2.84648508e-01 3.30302307e-02 7.19065917e+01] [-2.84523881e-01 9.58631152e-01 -8.51328112e-03 -1.14118140e+01] [-3.40871008e-02 -1.24163192e-03 9.99418095e-01 -1.00855178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23538475 meters 0.06429183354582843 Centerline is valid? [True, True] Translation: X:71.97, Y:-11.43, Z:-1.01 [[ 9.57961267e-01 2.85065802e-01 3.23681870e-02 7.19666764e+01] [-2.84946031e-01 9.58507170e-01 -8.35246449e-03 -1.14299245e+01] [-3.34061413e-02 -1.22184895e-03 9.99441112e-01 -1.00977626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.29538475 meters 0.06424197483786498 Centerline is valid? [True, True] Translation: X:72.03, Y:-11.45, Z:-1.01 [[ 9.57888288e-01 2.85292371e-01 3.25313688e-02 7.20255801e+01] [-2.85171183e-01 9.58439752e-01 -8.40459412e-03 -1.14480171e+01] [-3.35771236e-02 -1.22634665e-03 9.99435377e-01 -1.00876529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.35538475 meters 0.06412799802954165 Centerline is valid? [True, True] Translation: X:72.09, Y:-11.47, Z:-1.01 [[ 9.57417650e-01 2.86547751e-01 3.52396096e-02 7.20850838e+01] [-2.86406169e-01 9.58064981e-01 -9.11032458e-03 -1.14670235e+01] [-3.63723789e-02 -1.37045603e-03 9.99337366e-01 -1.00839032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41538474999999 meters 0.06361887200254546 Centerline is valid? [True, True] Translation: X:72.14, Y:-11.49, Z:-1.01 [[ 9.57209510e-01 2.87450024e-01 3.35027936e-02 7.21439681e+01] [-2.87322377e-01 9.57794716e-01 -8.66800294e-03 -1.14868856e+01] [-3.45804164e-02 -1.32900747e-03 9.99401035e-01 -1.00995504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47538474999999 meters 0.06296115981853803 Centerline is valid? [True, True] Translation: X:72.20, Y:-11.51, Z:-1.01 [[ 9.57977256e-01 2.85184489e-01 3.08120640e-02 7.22014373e+01] [-2.85075197e-01 9.58471962e-01 -7.97680672e-03 -1.15083900e+01] [-3.18073610e-02 -1.14215579e-03 9.99493365e-01 -1.01283079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53538474999999 meters 0.06256478359538643 Centerline is valid? [True, True] Translation: X:72.26, Y:-11.53, Z:-1.01 [[ 9.58531257e-01 2.83519700e-01 2.88861329e-02 7.22597650e+01] [-2.83422831e-01 9.58965873e-01 -7.48020782e-03 -1.15288188e+01] [-2.98216019e-02 -1.01697654e-03 9.99554720e-01 -1.01484154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59538475 meters 0.062187414009849604 Centerline is valid? [True, True] Translation: X:72.32, Y:-11.55, Z:-1.02 [[ 9.58766823e-01 2.83187616e-01 2.38946120e-02 7.23190813e+01] [-2.83121192e-01 9.59064171e-01 -6.18929680e-03 -1.15489508e+01] [-2.46691984e-02 -8.30978585e-04 9.99695324e-01 -1.01867451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.65538475 meters 0.061420551835787526 Centerline is valid? [True, True] Translation: X:72.38, Y:-11.57, Z:-1.02 [[ 9.59030697e-01 2.82339712e-01 2.33325623e-02 7.23777956e+01] [-2.82276028e-01 9.59314166e-01 -6.04773157e-03 -1.15707248e+01] [-2.40907723e-02 -7.86262779e-04 9.99709466e-01 -1.01758908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.71538475 meters 0.0618817970959303 Centerline is valid? [True, True] Translation: X:72.44, Y:-11.59, Z:-1.02 [[ 9.58678362e-01 2.83777531e-01 2.01521966e-02 7.24374883e+01] [-2.83730236e-01 9.58889887e-01 -5.22855533e-03 -1.15867715e+01] [-2.08074841e-02 -7.05284639e-04 9.99783252e-01 -1.01897449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77538474999999 meters 0.06137538972497293 Centerline is valid? [True, True] Translation: X:72.50, Y:-11.61, Z:-1.02 [[ 9.57923344e-01 2.86521429e-01 1.69805348e-02 7.24970398e+01] [-2.86488205e-01 9.58073620e-01 -4.40994984e-03 -1.16056579e+01] [-1.75321476e-02 -6.40329035e-04 9.99846095e-01 -1.02192794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83538474999999 meters 0.06166933616036761 Centerline is valid? [True, True] Translation: X:72.56, Y:-11.62, Z:-1.02 [[ 9.57355352e-01 2.88500194e-01 1.54391673e-02 7.25563046e+01] [-2.88472922e-01 9.57479642e-01 -4.01357958e-03 -1.16220448e+01] [-1.59406068e-02 -6.11359806e-04 9.99872754e-01 -1.02277026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89538474999999 meters 0.06261961238950946 Centerline is valid? [True, True] Translation: X:72.62, Y:-11.64, Z:-1.02 [[ 9.56607143e-01 2.91108083e-01 1.26038906e-02 7.26150077e+01] [-2.91090100e-01 9.56690023e-01 -3.27920435e-03 -1.16373694e+01] [-1.30126192e-02 -5.31957458e-04 9.99915191e-01 -1.02412915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95538475 meters 0.06322527538139383 Centerline is valid? [True, True] Translation: X:72.67, Y:-11.65, Z:-1.03 [[ 9.56018865e-01 2.93089503e-01 1.12460116e-02 7.26738784e+01] [-2.93075307e-01 9.56084879e-01 -2.92722458e-03 -1.16527785e+01] [-1.16100805e-02 -4.97446396e-04 9.99932477e-01 -1.02627232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.01538475 meters 0.0630994930102537 Centerline is valid? [True, True] Translation: X:72.73, Y:-11.67, Z:-1.03 [[ 9.56167479e-01 2.92666717e-01 9.48391133e-03 7.27340218e+01] [-2.92656576e-01 9.56214423e-01 -2.47100254e-03 -1.16701659e+01] [-9.79183300e-03 -4.12836751e-04 9.99951974e-01 -1.02834548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.07538475 meters 0.06237972185114136 Centerline is valid? [True, True] Translation: X:72.79, Y:-11.69, Z:-1.03 [[ 9.57191817e-01 2.89361395e-01 7.33542751e-03 7.27900520e+01] [-2.89355226e-01 9.57219879e-01 -1.91200711e-03 -1.16933440e+01] [-7.57487808e-03 -2.92386725e-04 9.99971267e-01 -1.03017966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13538474999999 meters 0.0613286557459591 Centerline is valid? [True, True] Translation: X:72.85, Y:-11.72, Z:-1.03 [[ 9.57459535e-01 2.88491651e-01 6.61859171e-03 7.28485232e+01] [-2.88486609e-01 9.57482376e-01 -1.72491501e-03 -1.17172618e+01] [-6.83480850e-03 -2.57838750e-04 9.99976609e-01 -1.03232736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19538474999999 meters 0.06168993206115759 Centerline is valid? [True, True] Translation: X:72.91, Y:-11.74, Z:-1.03 [[ 9.57154986e-01 2.89551196e-01 3.79962279e-03 7.29071991e+01] [-2.89549550e-01 9.57162515e-01 -9.88608109e-04 -1.17361142e+01] [-3.92310917e-03 -1.53927887e-04 9.99992293e-01 -1.03426158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25538474999999 meters 0.0616835482081125 Centerline is valid? [True, True] Translation: X:72.96, Y:-11.76, Z:-1.03 [[ 9.57314340e-01 2.89031457e-01 3.17338486e-03 7.29648790e+01] [-2.89030305e-01 9.57319592e-01 -8.25965539e-04 -1.17578706e+01] [-3.27667352e-03 -1.26495737e-04 9.99994624e-01 -1.03361112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31538474999999 meters 0.05954778605425924 Centerline is valid? [True, True] Translation: X:73.02, Y:-11.78, Z:-1.04 [[ 9.58344834e-01 2.85611784e-01 1.04328112e-03 7.30215623e+01] [-2.85611660e-01 9.58345401e-01 -2.69948229e-04 -1.17837000e+01] [-1.07692406e-03 -3.92697629e-05 9.99999419e-01 -1.03616540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37538475 meters 0.060523361117037384 Centerline is valid? [True, True] Translation: X:73.08, Y:-11.80, Z:-1.04 [[ 9.58070506e-01 2.86501935e-01 -4.18895854e-03 7.30802660e+01] [-2.86499869e-01 9.58079652e-01 1.09810475e-03 -1.17981474e+01] [ 4.32796508e-03 1.48074300e-04 9.99990623e-01 -1.04054351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.43538475 meters 0.05902562874016683 Centerline is valid? [True, True] Translation: X:73.14, Y:-11.82, Z:-1.04 [[ 9.59290480e-01 2.82410099e-01 -2.51205572e-03 7.31385102e+01] [-2.82409343e-01 9.59293766e-01 6.58184827e-04 -1.18184963e+01] [ 2.59567743e-03 7.80375666e-05 9.99996628e-01 -1.03604466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49538475 meters 0.058009489894484775 Centerline is valid? [True, True] Translation: X:73.20, Y:-11.83, Z:-1.04 [[ 9.60708271e-01 2.77536072e-01 -3.65340344e-03 7.31977813e+01] [-2.77534437e-01 9.60715213e-01 9.57196757e-04 -1.18342501e+01] [ 3.77553689e-03 9.43584264e-05 9.99992868e-01 -1.03925795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55538474999999 meters 0.05791854022348208 Centerline is valid? [True, True] Translation: X:73.26, Y:-11.85, Z:-1.04 [[ 9.60133755e-01 2.79514655e-01 -3.83799591e-03 7.32577602e+01] [-2.79512853e-01 9.60141420e-01 1.00908829e-03 -1.18480196e+01] [ 3.96707381e-03 1.03909456e-04 9.99992126e-01 -1.03933551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61538474999999 meters 0.05894205873934101 Centerline is valid? [True, True] Translation: X:73.32, Y:-11.86, Z:-1.04 [[ 9.59207863e-01 2.82664391e-01 -4.59531227e-03 7.33186759e+01] [-2.82661857e-01 9.59218860e-01 1.20552601e-03 -1.18614074e+01] [ 4.74866947e-03 1.42569466e-04 9.99988715e-01 -1.03788555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67538474999999 meters 0.057496554670505955 Centerline is valid? [True, True] Translation: X:73.38, Y:-11.88, Z:-1.04 [[ 9.60916600e-01 2.76805305e-01 -4.25573364e-03 7.33774378e+01] [-2.76803074e-01 9.60926018e-01 1.11641716e-03 -1.18810532e+01] [ 4.39847538e-03 1.05216368e-04 9.99990321e-01 -1.03685598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73538475 meters 0.056711315440521645 Centerline is valid? [True, True] Translation: X:73.44, Y:-11.90, Z:-1.04 [[ 9.61966717e-01 2.73061462e-01 -7.58107089e-03 7.34383946e+01] [-2.73054259e-01 9.61996577e-01 1.98951465e-03 -1.18951510e+01] [ 7.83622402e-03 1.56196820e-04 9.99969284e-01 -1.04223688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.79538475 meters 0.057007979833687224 Centerline is valid? [True, True] Translation: X:73.50, Y:-11.90, Z:-1.05 [[ 9.61208022e-01 2.75616378e-01 -1.07121971e-02 7.34997196e+01] [-2.75602158e-01 9.61267678e-01 2.81085122e-03 -1.19049243e+01] [ 1.10720055e-02 2.50491909e-04 9.99938672e-01 -1.04616125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85538475 meters 0.057428274730857966 Centerline is valid? [True, True] Translation: X:73.56, Y:-11.92, Z:-1.04 [[ 9.59792737e-01 2.80578351e-01 -8.58435528e-03 7.35612112e+01] [-2.80569370e-01 9.59831095e-01 2.25789567e-03 -1.19158240e+01] [ 8.87304778e-03 2.41395282e-04 9.99960605e-01 -1.04167701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91538474999999 meters 0.05746254381841435 Centerline is valid? [True, True] Translation: X:73.62, Y:-11.92, Z:-1.04 [[ 9.59105313e-01 2.82992845e-01 -5.66109899e-03 7.36239881e+01] [-2.82988960e-01 9.59122005e-01 1.49258884e-03 -1.19247754e+01] [ 5.85207657e-03 1.70478632e-04 9.99982862e-01 -1.03847673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97538474999999 meters 0.05880391803186473 Centerline is valid? [True, True] Translation: X:73.69, Y:-11.93, Z:-1.04 [[ 9.57791235e-01 2.87404872e-01 -5.86429337e-03 7.36853979e+01] [-2.87400785e-01 9.57809166e-01 1.54637747e-03 -1.19320807e+01] [ 6.06131036e-03 2.04295731e-04 9.99981609e-01 -1.04006566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03538474999999 meters 0.05921692742511098 Centerline is valid? [True, True] Translation: X:73.75, Y:-11.95, Z:-1.04 [[ 9.57450503e-01 2.88544175e-01 -5.54911488e-03 7.37461326e+01] [-2.88540522e-01 9.57466563e-01 1.46536294e-03 -1.19457254e+01] [ 5.73591389e-03 1.98132023e-04 9.99983530e-01 -1.03987649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09538475 meters 0.05924754763847094 Centerline is valid? [True, True] Translation: X:73.81, Y:-11.96, Z:-1.04 [[ 9.57343655e-01 2.88875929e-01 -6.61996176e-03 7.38068599e+01] [-2.88870731e-01 9.57366513e-01 1.74920338e-03 -1.19584872e+01] [ 6.84303246e-03 2.37724434e-04 9.99976558e-01 -1.04224666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15538475 meters 0.05931783843767154 Centerline is valid? [True, True] Translation: X:73.87, Y:-11.97, Z:-1.05 [[ 9.57601389e-01 2.87992196e-01 -7.75077214e-03 7.38659076e+01] [-2.87985050e-01 9.57632717e-01 2.04697718e-03 -1.19730045e+01] [ 8.01190644e-03 2.71918313e-04 9.99967867e-01 -1.04545907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21538475 meters 0.05965028710529974 Centerline is valid? [True, True] Translation: X:73.93, Y:-11.99, Z:-1.05 [[ 9.57702725e-01 2.87588157e-01 -9.92681869e-03 7.39255741e+01] [-2.87576377e-01 9.57754110e-01 2.62515248e-03 -1.19903296e+01] [ 1.02624142e-02 3.40602868e-04 9.99947282e-01 -1.04857690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27538474999999 meters 0.060529590018042485 Centerline is valid? [True, True] Translation: X:73.99, Y:-12.01, Z:-1.05 [[ 9.57081099e-01 2.89604455e-01 -1.11816412e-02 7.39859804e+01] [-2.89589670e-01 9.57146327e-01 2.95490328e-03 -1.20050005e+01] [ 1.15582200e-02 4.10005715e-04 9.99933117e-01 -1.05046020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33538474999999 meters 0.061440840431032734 Centerline is valid? [True, True] Translation: X:74.05, Y:-12.02, Z:-1.05 [[ 9.56493869e-01 2.91523717e-01 -1.15499398e-02 7.40463770e+01] [-2.91508072e-01 9.56563497e-01 3.05303513e-03 -1.20184973e+01] [ 1.19382830e-02 4.46691299e-04 9.99928636e-01 -1.05244222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39538474999999 meters 0.063304393613555 Centerline is valid? [True, True] Translation: X:74.11, Y:-12.03, Z:-1.05 [[ 9.55378480e-01 2.95191066e-01 -1.06862164e-02 7.41066925e+01] [-2.95177854e-01 9.55438135e-01 2.82914387e-03 -1.20284026e+01] [ 1.10451566e-02 4.51431245e-04 9.99938898e-01 -1.05119142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45538475 meters 0.06460634227232724 Centerline is valid? [True, True] Translation: X:74.17, Y:-12.04, Z:-1.05 [[ 9.54567931e-01 2.97795117e-01 -1.08689052e-02 7.41679600e+01] [-2.97781635e-01 9.54629680e-01 2.87592033e-03 -1.20388449e+01] [ 1.12322146e-02 4.91299052e-04 9.99936796e-01 -1.05242880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51538475 meters 0.0654416488113664 Centerline is valid? [True, True] Translation: X:74.23, Y:-12.05, Z:-1.06 [[ 9.54427266e-01 2.98209773e-01 -1.18120369e-02 7.42275072e+01] [-2.98193821e-01 9.54500207e-01 3.13040676e-03 -1.20524811e+01] [ 1.22081095e-02 5.34530847e-04 9.99925335e-01 -1.05595800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57538475 meters 0.06409810653173159 Centerline is valid? [True, True] Translation: X:74.29, Y:-12.07, Z:-1.05 [[ 9.55433966e-01 2.95008174e-01 -1.07756637e-02 7.42851527e+01] [-2.94994719e-01 9.55494622e-01 2.85355222e-03 -1.20726480e+01] [ 1.11379099e-02 4.52383158e-04 9.99937869e-01 -1.05452943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63538474999999 meters 0.06260478124601355 Centerline is valid? [True, True] Translation: X:74.34, Y:-12.09, Z:-1.05 [[ 9.56614499e-01 2.91221233e-01 -8.88223443e-03 7.43415680e+01] [-2.91211924e-01 9.56655675e-01 2.35263611e-03 -1.20942321e+01] [ 9.18237756e-03 3.36046767e-04 9.99957785e-01 -1.05331855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69538474999999 meters 0.06028898199560429 Centerline is valid? [True, True] Translation: X:74.40, Y:-12.12, Z:-1.05 [[ 9.58236995e-01 2.85887827e-01 -7.07184795e-03 7.43988271e+01] [-2.85881754e-01 9.58263064e-01 1.87689107e-03 -1.21182783e+01] [ 7.31327100e-03 2.23205835e-04 9.99973233e-01 -1.05173091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75538474999999 meters 0.0588985080871193 Centerline is valid? [True, True] Translation: X:74.46, Y:-12.14, Z:-1.05 [[ 9.59391746e-01 2.81987275e-01 -7.11715430e-03 7.44555149e+01] [-2.81981031e-01 9.59418125e-01 1.88688211e-03 -1.21417389e+01] [ 7.36040357e-03 1.96643382e-04 9.99972893e-01 -1.05319747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81538474999999 meters 0.05770722683379973 Centerline is valid? [True, True] Translation: X:74.51, Y:-12.17, Z:-1.05 [[ 9.59619241e-01 2.81120402e-01 -1.01109269e-02 7.45133092e+01] [-2.81107697e-01 9.59672470e-01 2.68576605e-03 -1.21673319e+01] [ 1.04582018e-02 2.64946589e-04 9.99945276e-01 -1.05326852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87538475 meters 0.05760903398905085 Centerline is valid? [True, True] Translation: X:74.57, Y:-12.19, Z:-1.06 [[ 9.59734592e-01 2.80695104e-01 -1.09439845e-02 7.45732638e+01] [-2.80680154e-01 9.59796948e-01 2.91040946e-03 -1.21859622e+01] [ 1.13209406e-02 2.78538624e-04 9.99935877e-01 -1.05529500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93538475 meters 0.05634225791241677 Centerline is valid? [True, True] Translation: X:74.63, Y:-12.21, Z:-1.05 [[ 9.59897259e-01 2.80155391e-01 -1.04980467e-02 7.46312007e+01] [-2.80141572e-01 9.59954629e-01 2.79458299e-03 -1.22088976e+01] [ 1.08605660e-02 2.58426749e-04 9.99940989e-01 -1.05114565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99538475 meters 0.056603652732138555 Centerline is valid? [True, True] Translation: X:74.69, Y:-12.23, Z:-1.05 [[ 9.59743208e-01 2.80698874e-01 -1.00556300e-02 7.46917855e+01] [-2.80686187e-01 9.59795853e-01 2.68051351e-03 -1.22255854e+01] [ 1.04037691e-02 2.49871814e-04 9.99945848e-01 -1.05358882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05538474999999 meters 0.058542406988378135 Centerline is valid? [True, True] Translation: X:74.75, Y:-12.24, Z:-1.06 [[ 9.59353166e-01 2.81998530e-01 -1.08780872e-02 7.47516611e+01] [-2.81983748e-01 9.59414795e-01 2.90129374e-03 -1.22377164e+01] [ 1.12547584e-02 2.84078459e-04 9.99936623e-01 -1.05923232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11538474999999 meters 0.056352599888656284 Centerline is valid? [True, True] Translation: X:74.81, Y:-12.26, Z:-1.05 [[ 9.59676190e-01 2.80894586e-01 -1.09472505e-02 7.48092678e+01] [-2.80879507e-01 9.59738589e-01 2.92300146e-03 -1.22617210e+01] [ 1.13275540e-02 2.69723426e-04 9.99935805e-01 -1.05450923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17538474999999 meters 0.05671684859017202 Centerline is valid? [True, True] Translation: X:74.87, Y:-12.28, Z:-1.06 [[ 9.59451949e-01 2.81662670e-01 -1.08673218e-02 7.48687280e+01] [-2.81647822e-01 9.59513453e-01 2.90497929e-03 -1.22778717e+01] [ 1.12455657e-02 2.73569480e-04 9.99936729e-01 -1.05772126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23538475 meters 0.05570068431197803 Centerline is valid? [True, True] Translation: X:74.93, Y:-12.30, Z:-1.06 [[ 9.60777239e-01 2.77262571e-01 -5.70648565e-03 7.49257459e+01] [-2.77258395e-01 9.60794178e-01 1.52616295e-03 -1.23002092e+01] [ 5.90590606e-03 1.15868434e-04 9.99982553e-01 -1.05523657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29538475 meters 0.05428061786987214 Centerline is valid? [True, True] Translation: X:74.98, Y:-12.33, Z:-1.05 [[ 9.62927951e-01 2.69753421e-01 -1.68879478e-03 7.49815933e+01] [-2.69753042e-01 9.62929432e-01 4.52983374e-04 -1.23250683e+01] [ 1.74838401e-03 1.93671769e-05 9.99998471e-01 -1.05206955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35538475 meters 0.05377740721093143 Centerline is valid? [True, True] Translation: X:75.04, Y:-12.35, Z:-1.05 [[ 9.64548710e-01 2.63894814e-01 -2.30513814e-03 7.50392341e+01] [-2.63894085e-01 9.64551464e-01 6.20194319e-04 -1.23503980e+01] [ 2.38709043e-03 1.01046904e-05 9.99997151e-01 -1.05190719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41538474999999 meters 0.054267913673124904 Centerline is valid? [True, True] Translation: X:75.10, Y:-12.37, Z:-1.06 [[ 9.63954693e-01 2.66021772e-01 -4.87510713e-03 7.50993622e+01] [-2.66018554e-01 9.63967020e-01 1.30904393e-03 -1.23665030e+01] [ 5.04767668e-03 3.50099132e-05 9.99987260e-01 -1.05693266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47538474999999 meters 0.05425230764615656 Centerline is valid? [True, True] Translation: X:75.16, Y:-12.38, Z:-1.06 [[ 9.63783466e-01 2.66633325e-01 -5.30101508e-03 7.51600849e+01] [-2.66629519e-01 9.63798043e-01 1.42523458e-03 -1.23831144e+01] [ 5.48912300e-03 3.97895850e-05 9.99984934e-01 -1.05967063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53538474999999 meters 0.054576576100414206 Centerline is valid? [True, True] Translation: X:75.22, Y:-12.40, Z:-1.06 [[ 9.63431259e-01 2.67871446e-01 -6.71550224e-03 7.52189481e+01] [-2.67865374e-01 9.63454662e-01 1.80455537e-03 -1.23972287e+01] [ 6.95347079e-03 6.02854643e-05 9.99975823e-01 -1.06452199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59538475 meters 0.05482990631093632 Centerline is valid? [True, True] Translation: X:75.28, Y:-12.41, Z:-1.06 [[ 9.62627076e-01 2.70760357e-01 -6.15971958e-03 7.52793723e+01] [-2.70755291e-01 9.62646781e-01 1.65776799e-03 -1.24109744e+01] [ 6.37849208e-03 7.19643120e-05 9.99979655e-01 -1.06337405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65538475 meters 0.05510603658854859 Centerline is valid? [True, True] Translation: X:75.34, Y:-12.42, Z:-1.06 [[ 9.61767314e-01 2.73810129e-01 -5.62559989e-03 7.53399583e+01] [-2.73805945e-01 9.61783763e-01 1.51580508e-03 -1.24231782e+01] [ 5.82565342e-03 8.24709119e-05 9.99983027e-01 -1.06332172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71538475 meters 0.05565284158281821 Centerline is valid? [True, True] Translation: X:75.40, Y:-12.43, Z:-1.06 [[ 9.60436602e-01 2.78455926e-01 -4.88165709e-03 7.54013407e+01] [-2.78452827e-01 9.60449004e-01 1.31717614e-03 -1.24327022e+01] [ 5.05535819e-03 9.42470426e-05 9.99987217e-01 -1.06310364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77538474999999 meters 0.05484548410100892 Centerline is valid? [True, True] Translation: X:75.46, Y:-12.45, Z:-1.06 [[ 9.61073713e-01 2.76284737e-01 -2.01550340e-03 7.54603854e+01] [-2.76284205e-01 9.61075826e-01 5.43335488e-04 -1.24514836e+01] [ 2.08716689e-03 3.46662987e-05 9.99997821e-01 -1.05832928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83538474999999 meters 0.05522841638780599 Centerline is valid? [True, True] Translation: X:75.52, Y:-12.46, Z:-1.06 [[ 9.61490417e-01 2.74823300e-01 -2.88643797e-03 7.55200128e+01] [-2.74822193e-01 9.61494749e-01 7.81082364e-04 -1.24642816e+01] [ 2.98995458e-03 4.22540037e-05 9.99995529e-01 -1.06292082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89538474999999 meters 0.05520974906353625 Centerline is valid? [True, True] Translation: X:75.58, Y:-12.48, Z:-1.06 [[ 9.61602686e-01 2.74438038e-01 -2.00917181e-03 7.55803584e+01] [-2.74437498e-01 9.61604785e-01 5.45274310e-04 -1.24793261e+01] [ 2.08167323e-03 2.70548413e-05 9.99997833e-01 -1.06491018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95538475 meters 0.05511216861148645 Centerline is valid? [True, True] Translation: X:75.64, Y:-12.50, Z:-1.06 [[ 9.60965375e-01 2.76667806e-01 -6.88166538e-04 7.56409748e+01] [-2.76667741e-01 9.60965621e-01 1.89890233e-04 -1.24962701e+01] [ 7.13840899e-04 7.91554223e-06 9.99999745e-01 -1.06336038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01538475 meters 0.05472193711173966 Centerline is valid? [True, True] Translation: X:75.70, Y:-12.52, Z:-1.06 [[ 9.62146310e-01 2.72533445e-01 -5.97985569e-06 7.56988277e+01] [-2.72533445e-01 9.62146310e-01 5.18024522e-06 -1.25187244e+01] [ 7.16528608e-06 -3.35444315e-06 1.00000000e+00 -1.06303476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07538475 meters 0.05522944882106907 Centerline is valid? [True, True] Translation: X:75.76, Y:-12.53, Z:-1.07 [[ 9.62012549e-01 2.72959822e-01 -4.97900518e-03 7.57584192e+01] [-2.72956490e-01 9.62025432e-01 1.35003667e-03 -1.25337746e+01] [ 5.15843538e-03 6.02995609e-05 9.99986693e-01 -1.07270136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13538474999999 meters 0.055360936878421904 Centerline is valid? [True, True] Translation: X:75.82, Y:-12.55, Z:-1.08 [[ 9.62490870e-01 2.71241032e-01 -6.29513880e-03 7.58167632e+01] [-2.71235672e-01 9.62511454e-01 1.70644803e-03 -1.25539148e+01] [ 6.52200192e-03 6.50255480e-05 9.99978729e-01 -1.07506631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19538474999999 meters 0.05518020289093784 Centerline is valid? [True, True] Translation: X:75.88, Y:-12.57, Z:-1.07 [[ 9.62527422e-01 2.71155975e-01 -3.92428892e-03 7.58766469e+01] [-2.71153880e-01 9.62535421e-01 1.06665670e-03 -1.25714097e+01] [ 4.06649742e-03 3.73998394e-05 9.99991731e-01 -1.07289815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25538474999999 meters 0.05513712812181905 Centerline is valid? [True, True] Translation: X:75.94, Y:-12.59, Z:-1.07 [[ 9.62370287e-01 2.71730545e-01 -2.43739632e-03 7.59361443e+01] [-2.71729739e-01 9.62373374e-01 6.62663063e-04 -1.25866394e+01] [ 2.52575111e-03 2.45858215e-05 9.99996810e-01 -1.07338644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31538474999999 meters 0.054966775226816325 Centerline is valid? [True, True] Translation: X:76.00, Y:-12.60, Z:-1.07 [[ 9.62510998e-01 2.71241627e-01 7.46868231e-04 7.59950482e+01] [-2.71241553e-01 9.62511288e-01 -2.00681635e-04 -1.26027925e+01] [-7.73302316e-04 -9.42341747e-06 9.99999701e-01 -1.06917171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37538475 meters 0.05544772363821269 Centerline is valid? [True, True] Translation: X:76.06, Y:-12.61, Z:-1.07 [[ 9.61756913e-01 2.73900476e-01 -1.47311151e-03 7.60565054e+01] [-2.73900179e-01 9.61758041e-01 4.03374631e-04 -1.26131527e+01] [ 1.52726135e-03 1.55371673e-05 9.99998834e-01 -1.07466129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43538475 meters 0.055535874198561014 Centerline is valid? [True, True] Translation: X:76.12, Y:-12.63, Z:-1.08 [[ 9.61784728e-01 2.73798399e-01 -2.13874238e-03 7.61169778e+01] [-2.73797774e-01 9.61787105e-01 5.85331198e-04 -1.26297128e+01] [ 2.21727759e-03 2.26202968e-05 9.99997542e-01 -1.07684156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49538475 meters 0.05614468318781464 Centerline is valid? [True, True] Translation: X:76.18, Y:-12.64, Z:-1.08 [[ 9.60578682e-01 2.77977782e-01 -4.11688069e-03 7.61767135e+01] [-2.77975521e-01 9.60587502e-01 1.12326665e-03 -1.26449165e+01] [ 4.26686730e-03 6.54060576e-05 9.99990895e-01 -1.07589289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55538474999999 meters 0.056563621161381285 Centerline is valid? [True, True] Translation: X:76.24, Y:-12.66, Z:-1.08 [[ 9.59882842e-01 2.80382148e-01 -3.28334595e-03 7.62359557e+01] [-2.80380721e-01 9.59888456e-01 8.96659669e-04 -1.26577679e+01] [ 3.40305324e-03 5.98986742e-05 9.99994208e-01 -1.07695566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61538474999999 meters 0.056206576081846975 Centerline is valid? [True, True] Translation: X:76.30, Y:-12.68, Z:-1.07 [[ 9.59895620e-01 2.80356362e-01 -8.41937329e-04 7.62954803e+01] [-2.80356265e-01 9.59895989e-01 2.33081131e-04 -1.26755939e+01] [ 8.73518043e-04 1.23088483e-05 9.99999618e-01 -1.07483446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67538474999999 meters 0.056105041142683935 Centerline is valid? [True, True] Translation: X:76.35, Y:-12.70, Z:-1.08 [[ 9.60122439e-01 2.79578135e-01 -9.83907326e-04 7.63546251e+01] [-2.79578003e-01 9.60122943e-01 2.71994187e-04 -1.26951615e+01] [ 1.02071563e-03 1.39311232e-05 9.99999479e-01 -1.07551542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73538475 meters 0.05638257425175925 Centerline is valid? [True, True] Translation: X:76.41, Y:-12.71, Z:-1.08 [[ 9.59993421e-01 2.80012444e-01 -2.37973325e-03 7.64130976e+01] [-2.80011689e-01 9.59996370e-01 6.51447903e-04 -1.27120612e+01] [ 2.46694880e-03 4.09674246e-05 9.99996956e-01 -1.07950344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79538475 meters 0.056377268268665647 Centerline is valid? [True, True] Translation: X:76.47, Y:-12.73, Z:-1.08 [[ 9.60100055e-01 2.79649595e-01 -1.99713380e-03 7.64726628e+01] [-2.79649058e-01 9.60102131e-01 5.49095431e-04 -1.27293011e+01] [ 2.07100673e-03 3.13100325e-05 9.99997855e-01 -1.08044707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85538475 meters 0.056405859331985116 Centerline is valid? [True, True] Translation: X:76.53, Y:-12.75, Z:-1.08 [[ 9.59909845e-01 2.80299878e-01 -2.25133625e-03 7.65327341e+01] [-2.80299195e-01 9.59912484e-01 6.19770317e-04 -1.27483127e+01] [ 2.33480732e-03 3.61241096e-05 9.99997274e-01 -1.08162186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91538474999999 meters 0.056511573442989585 Centerline is valid? [True, True] Translation: X:76.59, Y:-12.77, Z:-1.09 [[ 9.59982051e-01 2.80041659e-01 -3.33645548e-03 7.65931430e+01] [-2.80040161e-01 9.59987847e-01 9.17583160e-04 -1.27662237e+01] [ 3.45991822e-03 5.34781641e-05 9.99994013e-01 -1.08528176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97538474999999 meters 0.056895925060637426 Centerline is valid? [True, True] Translation: X:76.65, Y:-12.78, Z:-1.09 [[ 9.59823494e-01 2.80584655e-01 -3.33349790e-03 7.66530848e+01] [-2.80583161e-01 9.59829281e-01 9.17405864e-04 -1.27832642e+01] [ 3.45699890e-03 5.47756770e-05 9.99994023e-01 -1.08747202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03538474999999 meters 0.05640232786027599 Centerline is valid? [True, True] Translation: X:76.71, Y:-12.80, Z:-1.09 [[ 9.59853340e-01 2.80480119e-01 -3.53102533e-03 7.67122141e+01] [-2.80478438e-01 9.59859833e-01 9.72891754e-04 -1.28046157e+01] [ 3.66216618e-03 5.65430685e-05 9.99993293e-01 -1.08664227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09538475 meters 0.05637482988483682 Centerline is valid? [True, True] Translation: X:76.77, Y:-12.82, Z:-1.09 [[ 9.60238366e-01 2.79147836e-01 -4.33198250e-03 7.67708845e+01] [-2.79145293e-01 9.60248135e-01 1.19333083e-03 -1.28242313e+01] [ 4.49289384e-03 6.33704823e-05 9.99989905e-01 -1.08914783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15538475 meters 0.05659662516460897 Centerline is valid? [True, True] Translation: X:76.83, Y:-12.84, Z:-1.09 [[ 9.60013837e-01 2.79914760e-01 -4.59995326e-03 7.68299193e+01] [-2.79911898e-01 9.60024855e-01 1.26770684e-03 -1.28404518e+01] [ 4.77091932e-03 7.05655384e-05 9.99988617e-01 -1.09119350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21538475 meters 0.05606021593092535 Centerline is valid? [True, True] Translation: X:76.89, Y:-12.86, Z:-1.09 [[ 9.60805640e-01 2.77199675e-01 -3.58657942e-03 7.68891564e+01] [-2.77197919e-01 9.60812333e-01 9.87507273e-04 -1.28613119e+01] [ 3.71976644e-03 4.53897967e-05 9.99993081e-01 -1.08974893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27538474999999 meters 0.05561248999473122 Centerline is valid? [True, True] Translation: X:76.95, Y:-12.88, Z:-1.09 [[ 9.62178445e-01 2.72380201e-01 -4.65477016e-03 7.69478278e+01] [-2.72377173e-01 9.62189703e-01 1.28468783e-03 -1.28823825e+01] [ 4.82869545e-03 3.17541994e-05 9.99988341e-01 -1.09106127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33538474999999 meters 0.05594511851500637 Centerline is valid? [True, True] Translation: X:77.01, Y:-12.90, Z:-1.09 [[ 9.61567483e-01 2.74518883e-01 -5.23044044e-03 7.70082819e+01] [-2.74515086e-01 9.61581708e-01 1.44464783e-03 -1.28971301e+01] [ 5.42607895e-03 4.67084313e-05 9.99985278e-01 -1.09176348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39538474999999 meters 0.055913922737354405 Centerline is valid? [True, True] Translation: X:77.07, Y:-12.91, Z:-1.09 [[ 9.60977983e-01 2.76571396e-01 -5.43871432e-03 7.70686726e+01] [-2.76567316e-01 9.60993371e-01 1.50355757e-03 -1.29127475e+01] [ 5.64240943e-03 5.92849066e-05 9.99984080e-01 -1.09182189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45538475 meters 0.05603051688250293 Centerline is valid? [True, True] Translation: X:77.13, Y:-12.93, Z:-1.09 [[ 9.60648777e-01 2.77739479e-01 -3.83524352e-03 7.71294795e+01] [-2.77737451e-01 9.60656432e-01 1.06231803e-03 -1.29270086e+01] [ 3.97939901e-03 4.46762449e-05 9.99992081e-01 -1.09117757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51538475 meters 0.05621645989921118 Centerline is valid? [True, True] Translation: X:77.19, Y:-12.94, Z:-1.09 [[ 9.60347720e-01 2.78767627e-01 -4.56803385e-03 7.71892026e+01] [-2.78764761e-01 9.60358582e-01 1.26545510e-03 -1.29407121e+01] [ 4.73971843e-03 5.81299432e-05 9.99988766e-01 -1.09391340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57538475 meters 0.05577971504312401 Centerline is valid? [True, True] Translation: X:77.25, Y:-12.96, Z:-1.09 [[ 9.61113137e-01 2.76144453e-01 -2.40399159e-03 7.72488586e+01] [-2.76143645e-01 9.61116143e-01 6.68306021e-04 -1.29582681e+01] [ 2.49506412e-03 2.15293038e-05 9.99996887e-01 -1.09403706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63538474999999 meters 0.05616553940614268 Centerline is valid? [True, True] Translation: X:77.31, Y:-12.97, Z:-1.09 [[ 9.60666236e-01 2.77692609e-01 -2.68280872e-03 7.73088487e+01] [-2.77691608e-01 9.60669982e-01 7.46124184e-04 -1.29732812e+01] [ 2.78448698e-03 2.82171555e-05 9.99996123e-01 -1.09448656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69538474999999 meters 0.056264067893617264 Centerline is valid? [True, True] Translation: X:77.37, Y:-12.99, Z:-1.09 [[ 9.60260058e-01 2.79097816e-01 -2.24256950e-03 7.73683766e+01] [-2.79097117e-01 9.60262677e-01 6.25057890e-04 -1.29890666e+01] [ 2.32790808e-03 2.56765559e-05 9.99997290e-01 -1.09450180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75538474999999 meters 0.05669484345936705 Centerline is valid? [True, True] Translation: X:77.43, Y:-13.00, Z:-1.10 [[ 9.59893546e-01 2.80346755e-01 -3.17462875e-03 7.74275469e+01] [-2.80345371e-01 9.59898794e-01 8.81766889e-04 -1.30025648e+01] [ 3.29452280e-03 4.35901305e-05 9.99994572e-01 -1.09681492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81538474999999 meters 0.0570364896094492 Centerline is valid? [True, True] Translation: X:77.49, Y:-13.02, Z:-1.10 [[ 9.59161497e-01 2.82825089e-01 -4.38084241e-03 7.74879824e+01] [-2.82822471e-01 9.59171499e-01 1.21907306e-03 -1.30157115e+01] [ 4.54676362e-03 6.97127327e-05 9.99989661e-01 -1.09930452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87538475 meters 0.05678620230882479 Centerline is valid? [True, True] Translation: X:77.55, Y:-13.03, Z:-1.10 [[ 9.58977715e-01 2.83469825e-01 -2.56926231e-03 7.75470831e+01] [-2.83468921e-01 9.58981155e-01 7.17211551e-04 -1.30338008e+01] [ 2.66718197e-03 4.05161202e-05 9.99996442e-01 -1.09706524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93538475 meters 0.05652076202464224 Centerline is valid? [True, True] Translation: X:77.61, Y:-13.05, Z:-1.10 [[ 9.59142071e-01 2.82924878e-01 -2.30232211e-05 7.76066261e+01] [-2.82924878e-01 9.59142072e-01 7.69907740e-06 -1.30531593e+01] [ 2.42608004e-05 -8.70667034e-07 1.00000000e+00 -1.09622287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99538475 meters 0.0563761533970076 Centerline is valid? [True, True] Translation: X:77.67, Y:-13.07, Z:-1.10 [[ 9.59516818e-01 2.81645990e-01 1.73579620e-03 7.76657074e+01] [-2.81645584e-01 9.59518387e-01 -4.79120430e-04 -1.30729688e+01] [-1.80047072e-03 -2.91552243e-05 9.99998379e-01 -1.09620959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05538474999999 meters 0.05625294362973117 Centerline is valid? [True, True] Translation: X:77.72, Y:-13.09, Z:-1.10 [[ 9.60264647e-01 2.79085646e-01 -1.73476426e-03 7.77250000e+01] [-2.79085222e-01 9.60266214e-01 4.86880228e-04 -1.30921901e+01] [ 1.80171679e-03 1.66131981e-05 9.99998377e-01 -1.10113846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11538474999999 meters 0.05643805946127086 Centerline is valid? [True, True] Translation: X:77.78, Y:-13.11, Z:-1.11 [[ 9.60510047e-01 2.78224333e-01 -3.41611451e-03 7.77842160e+01] [-2.78222701e-01 9.60516121e-01 9.53580380e-04 -1.31076273e+01] [ 3.54654232e-03 3.45170713e-05 9.99993710e-01 -1.10554990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17538474999999 meters 0.05621745671817472 Centerline is valid? [True, True] Translation: X:77.84, Y:-13.13, Z:-1.10 [[ 9.60462865e-01 2.78405342e-01 -1.24507379e-03 7.78435043e+01] [-2.78405121e-01 9.60463672e-01 3.50696357e-04 -1.31256443e+01] [ 1.29348389e-03 9.80409259e-06 9.99999163e-01 -1.10221407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23538475 meters 0.056038664967193896 Centerline is valid? [True, True] Translation: X:77.90, Y:-13.14, Z:-1.10 [[ 9.60986191e-01 2.76593367e-01 1.28464186e-03 7.79017498e+01] [-2.76593140e-01 9.60987049e-01 -3.55313664e-04 -1.31432375e+01] [-1.33280159e-03 -1.38716010e-05 9.99999112e-01 -1.10082750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29538475 meters 0.0560289303354937 Centerline is valid? [True, True] Translation: X:77.96, Y:-13.16, Z:-1.10 [[ 9.61177601e-01 2.75924125e-01 1.86992639e-03 7.79613681e+01] [-2.75923637e-01 9.61179420e-01 -5.18925599e-04 -1.31596272e+01] [-1.94051886e-03 -1.71772297e-05 9.99998117e-01 -1.10067316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35538475 meters 0.056298493592429256 Centerline is valid? [True, True] Translation: X:78.02, Y:-13.17, Z:-1.11 [[ 9.61675325e-01 2.74189726e-01 -7.50526857e-04 7.80221306e+01] [-2.74189643e-01 9.61675618e-01 2.13237216e-04 -1.31730459e+01] [ 7.80230832e-04 7.21722087e-07 9.99999696e-01 -1.10516430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41538474999999 meters 0.05658286362400183 Centerline is valid? [True, True] Translation: X:78.08, Y:-13.18, Z:-1.11 [[ 9.60872378e-01 2.76981404e-01 -2.36113109e-03 7.80833520e+01] [-2.76980608e-01 9.60875279e-01 6.64120222e-04 -1.31825233e+01] [ 2.45270145e-03 1.58527487e-05 9.99996992e-01 -1.10772349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47538474999999 meters 0.0574049778152979 Centerline is valid? [True, True] Translation: X:78.14, Y:-13.19, Z:-1.11 [[ 9.59139283e-01 2.82917564e-01 -3.08038260e-03 7.81448053e+01] [-2.82916241e-01 9.59144228e-01 8.66118019e-04 -1.31904805e+01] [ 3.19957119e-03 4.07624485e-05 9.99994881e-01 -1.11124208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53538474999999 meters 0.057446690816306656 Centerline is valid? [True, True] Translation: X:78.21, Y:-13.20, Z:-1.11 [[ 9.57892805e-01 2.87124342e-01 -9.93648597e-04 7.82053111e+01] [-2.87124204e-01 9.57893320e-01 2.81844257e-04 -1.32027505e+01] [ 1.03273370e-03 1.53239772e-05 9.99999467e-01 -1.10788521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59538475 meters 0.058568965733048935 Centerline is valid? [True, True] Translation: X:78.27, Y:-13.21, Z:-1.11 [[ 9.56605365e-01 2.91381402e-01 -1.74764112e-03 7.82674699e+01] [-2.91380991e-01 9.56606961e-01 4.91071054e-04 -1.32112091e+01] [ 1.81489463e-03 3.94681943e-05 9.99998352e-01 -1.10931557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65538475 meters 0.05974474680368207 Centerline is valid? [True, True] Translation: X:78.33, Y:-13.22, Z:-1.11 [[ 9.55199588e-01 2.95959258e-01 -1.36539942e-03 7.83293878e+01] [-2.95959011e-01 9.55200563e-01 3.83973877e-04 -1.32203651e+01] [ 1.41787091e-03 3.73305719e-05 9.99998994e-01 -1.11247536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71538475 meters 0.060121944645315235 Centerline is valid? [True, True] Translation: X:78.39, Y:-13.24, Z:-1.11 [[ 9.54661972e-01 2.97679137e-01 -2.76601067e-03 7.83895993e+01] [-2.97678125e-01 9.54665976e-01 7.80042723e-04 -1.32354541e+01] [ 2.87281872e-03 7.87037473e-05 9.99995870e-01 -1.11443991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77538474999999 meters 0.06022400712243839 Centerline is valid? [True, True] Translation: X:78.45, Y:-13.25, Z:-1.11 [[ 9.54916009e-01 2.96874312e-01 -1.02905182e-03 7.84478516e+01] [-2.96874169e-01 9.54916563e-01 2.92341423e-04 -1.32535585e+01] [ 1.06944729e-03 2.63373994e-05 9.99999428e-01 -1.11439423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83538474999999 meters 0.059787878567929886 Centerline is valid? [True, True] Translation: X:78.51, Y:-13.27, Z:-1.11 [[ 9.54623038e-01 2.97815979e-01 -7.05117432e-04 7.85068563e+01] [-2.97815911e-01 9.54623299e-01 2.01886741e-04 -1.32740588e+01] [ 7.33246626e-04 1.72694565e-05 9.99999731e-01 -1.11368459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89538474999999 meters 0.058995708959942925 Centerline is valid? [True, True] Translation: X:78.57, Y:-13.30, Z:-1.12 [[ 9.55261338e-01 2.95758706e-01 -1.60116138e-03 7.85654528e+01] [-2.95758360e-01 9.55262679e-01 4.54475898e-04 -1.32961337e+01] [ 1.66394491e-03 3.94136084e-05 9.99998615e-01 -1.11512473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95538475 meters 0.05922169970660024 Centerline is valid? [True, True] Translation: X:78.62, Y:-13.31, Z:-1.12 [[ 9.55171275e-01 2.96019604e-01 -4.49775365e-03 7.86249468e+01] [-2.96016898e-01 9.55181857e-01 1.27120116e-03 -1.33148980e+01] [ 4.67247315e-03 1.17196250e-04 9.99989077e-01 -1.11725924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01538475 meters 0.05916529794206116 Centerline is valid? [True, True] Translation: X:78.68, Y:-13.33, Z:-1.12 [[ 9.55384424e-01 2.95319405e-01 -5.20111458e-03 7.86839034e+01] [-2.95315772e-01 9.55398572e-01 1.47076736e-03 -1.33335472e+01] [ 5.40348359e-03 1.30822941e-04 9.99985393e-01 -1.11968060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07538475 meters 0.0591596809939854 Centerline is valid? [True, True] Translation: X:78.74, Y:-13.35, Z:-1.12 [[ 9.55668993e-01 2.94372664e-01 -6.44286347e-03 7.87433452e+01] [-2.94367059e-01 9.55690698e-01 1.82309978e-03 -1.33516932e+01] [ 6.69405543e-03 1.54286841e-04 9.99977583e-01 -1.12302163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13538474999999 meters 0.05896393835120512 Centerline is valid? [True, True] Translation: X:78.80, Y:-13.37, Z:-1.12 [[ 9.56141128e-01 2.92874535e-01 -4.31863333e-03 7.88024138e+01] [-2.92871992e-01 9.56150876e-01 1.22404863e-03 -1.33708774e+01] [ 4.48775772e-03 9.44435134e-05 9.99989926e-01 -1.12349684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19538474999999 meters 0.059485415139818275 Centerline is valid? [True, True] Translation: X:78.86, Y:-13.39, Z:-1.12 [[ 9.55308108e-01 2.95602019e-01 -2.42195390e-03 7.88629621e+01] [-2.95601222e-01 9.55311176e-01 6.88610715e-04 -1.33857447e+01] [ 2.51727435e-03 5.80971348e-05 9.99996830e-01 -1.12135189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25538474999999 meters 0.0606472555324526 Centerline is valid? [True, True] Translation: X:78.92, Y:-13.40, Z:-1.12 [[ 9.54339961e-01 2.98711560e-01 -2.57743968e-03 7.89235556e+01] [-2.98710669e-01 9.54343439e-01 7.32936414e-04 -1.33970507e+01] [ 2.67869922e-03 7.04382223e-05 9.99996410e-01 -1.12362721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31538474999999 meters 0.05979058686124628 Centerline is valid? [True, True] Translation: X:78.98, Y:-13.42, Z:-1.12 [[ 9.55058643e-01 2.96415490e-01 -9.19722651e-04 7.89817367e+01] [-2.96415374e-01 9.55059086e-01 2.63050427e-04 -1.34168703e+01] [ 9.56361695e-04 2.13913497e-05 9.99999542e-01 -1.12225289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37538475 meters 0.05886405921683015 Centerline is valid? [True, True] Translation: X:79.04, Y:-13.44, Z:-1.12 [[ 9.56352720e-01 2.92201713e-01 -2.76280968e-03 7.90390957e+01] [-2.92200660e-01 9.56356710e-01 7.86497942e-04 -1.34375381e+01] [ 2.87204762e-03 5.51253651e-05 9.99995874e-01 -1.12393618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43538475 meters 0.06285230262843562 Centerline is valid? [True, True] Translation: X:79.10, Y:-13.44, Z:-1.14 [[ 9.55729731e-01 2.94222731e-01 -3.69661066e-03 7.91016225e+01] [-2.94220862e-01 9.55736877e-01 1.05205046e-03 -1.34410849e+01] [ 3.84252429e-03 8.21440706e-05 9.99992614e-01 -1.13907681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49538475 meters 0.05940850651539609 Centerline is valid? [True, True] Translation: X:79.16, Y:-13.47, Z:-1.13 [[ 9.56224630e-01 2.92612816e-01 -3.49225696e-03 7.91576114e+01] [-2.92611133e-01 9.56231005e-01 9.95045479e-04 -1.34728985e+01] [ 3.63056744e-03 7.03862693e-05 9.99993407e-01 -1.12906888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55538474999999 meters 0.0579587716472474 Centerline is valid? [True, True] Translation: X:79.21, Y:-13.50, Z:-1.12 [[ 9.56384600e-01 2.92097015e-01 -2.79848728e-03 7.92146526e+01] [-2.92095926e-01 9.56388693e-01 7.99161847e-04 -1.34993091e+01] [ 2.90987438e-03 5.31206500e-05 9.99995765e-01 -1.12404225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61538474999999 meters 0.05775378635331782 Centerline is valid? [True, True] Translation: X:79.27, Y:-13.52, Z:-1.13 [[ 9.57067608e-01 2.89849050e-01 -3.02019997e-03 7.92728836e+01] [-2.89847769e-01 9.57072372e-01 8.63021672e-04 -1.35226004e+01] [ 3.14069596e-03 4.94281370e-05 9.99995067e-01 -1.12556723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67538474999999 meters 0.05672805384730822 Centerline is valid? [True, True] Translation: X:79.33, Y:-13.55, Z:-1.13 [[ 9.59603267e-01 2.81342222e-01 -2.85030948e-03 7.93288423e+01] [-2.81341051e-01 9.59607500e-01 8.12018047e-04 -1.35508675e+01] [ 2.96363332e-03 2.26938957e-05 9.99995608e-01 -1.12744462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73538475 meters 0.056927288225595375 Centerline is valid? [True, True] Translation: X:79.39, Y:-13.57, Z:-1.13 [[ 9.59377314e-01 2.82091000e-01 -4.45398983e-03 7.93886747e+01] [-2.82088132e-01 9.59387652e-01 1.27249789e-03 -1.35683185e+01] [ 4.63206304e-03 3.56120642e-05 9.99989271e-01 -1.12937278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79538475 meters 0.05714254867474736 Centerline is valid? [True, True] Translation: X:79.45, Y:-13.58, Z:-1.13 [[ 9.58174991e-01 2.86135984e-01 -5.18510227e-03 7.94491012e+01] [-2.86132165e-01 9.58189018e-01 1.47984110e-03 -1.35811523e+01] [ 5.39174384e-03 6.56778084e-05 9.99985462e-01 -1.12955843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85538475 meters 0.05795159644298358 Centerline is valid? [True, True] Translation: X:79.51, Y:-13.59, Z:-1.13 [[ 9.56170244e-01 2.92779211e-01 -4.33558754e-03 7.95101806e+01] [-2.92776606e-01 9.56180070e-01 1.23811856e-03 -1.35895374e+01] [ 4.50809778e-03 8.55064810e-05 9.99989835e-01 -1.13144863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91538474999999 meters 0.05904185666927004 Centerline is valid? [True, True] Translation: X:79.57, Y:-13.60, Z:-1.13 [[ 9.54509696e-01 2.98142404e-01 -4.72734018e-03 7.95721148e+01] [-2.98139376e-01 9.54521394e-01 1.34927592e-03 -1.35984418e+01] [ 4.91462370e-03 1.21509306e-04 9.99987916e-01 -1.13367145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97538474999999 meters 0.06009329053750954 Centerline is valid? [True, True] Translation: X:79.63, Y:-13.61, Z:-1.14 [[ 9.53654079e-01 3.00839950e-01 -6.26267969e-03 7.96333452e+01] [-3.00834691e-01 9.53674626e-01 1.78781077e-03 -1.36096976e+01] [ 6.51040362e-03 1.79078277e-04 9.99978791e-01 -1.13721572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03538474999999 meters 0.059963154973413715 Centerline is valid? [True, True] Translation: X:79.69, Y:-13.63, Z:-1.14 [[ 9.54045338e-01 2.99610321e-01 -5.58113871e-03 7.96918910e+01] [-2.99606102e-01 9.54061651e-01 1.59693078e-03 -1.36270958e+01] [ 5.80320735e-03 1.48598847e-04 9.99983150e-01 -1.13804108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09538475 meters 0.05983585734628123 Centerline is valid? [True, True] Translation: X:79.75, Y:-13.64, Z:-1.14 [[ 9.54202557e-01 2.99095909e-01 -6.25435103e-03 7.97522248e+01] [-2.99090586e-01 9.54223041e-01 1.79165178e-03 -1.36440403e+01] [ 6.50392158e-03 1.61018804e-04 9.99978836e-01 -1.13917092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15538475 meters 0.05909918846685867 Centerline is valid? [True, True] Translation: X:79.81, Y:-13.67, Z:-1.14 [[ 9.55475183e-01 2.94980997e-01 -7.30657050e-03 7.98110049e+01] [-2.94973607e-01 9.55503107e-01 2.09377199e-03 -1.36651139e+01] [ 7.59907377e-03 1.54698282e-04 9.99971115e-01 -1.14050116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21538475 meters 0.05881699007958248 Centerline is valid? [True, True] Translation: X:79.87, Y:-13.68, Z:-1.14 [[ 9.55938691e-01 2.93465474e-01 -7.69643680e-03 7.98710227e+01] [-2.93457211e-01 9.55969661e-01 2.20720416e-03 -1.36808689e+01] [ 8.00529830e-03 1.48623027e-04 9.99967946e-01 -1.14278549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27538474999999 meters 0.05849428326464276 Centerline is valid? [True, True] Translation: X:79.93, Y:-13.70, Z:-1.14 [[ 9.55797754e-01 2.93965589e-01 -5.90648272e-03 7.99315820e+01] [-2.93960719e-01 9.55815996e-01 1.69614853e-03 -1.36956551e+01] [ 6.14411997e-03 1.15098950e-04 9.99981118e-01 -1.14039965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33538474999999 meters 0.05967671230034698 Centerline is valid? [True, True] Translation: X:79.99, Y:-13.70, Z:-1.14 [[ 9.54183195e-01 2.99142313e-01 -6.95037208e-03 7.99932694e+01] [-2.99135702e-01 9.54208492e-01 1.99643053e-03 -1.37024972e+01] [ 7.22932091e-03 1.74143970e-04 9.99973853e-01 -1.14280579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39538474999999 meters 0.06265951639380117 Centerline is valid? [True, True] Translation: X:80.06, Y:-13.71, Z:-1.15 [[ 9.51926967e-01 3.06208998e-01 -8.43200182e-03 8.00551342e+01] [-3.06199558e-01 9.51964270e-01 2.42037746e-03 -1.37054858e+01] [ 8.76810581e-03 2.77852660e-04 9.99961521e-01 -1.14773652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45538475 meters 0.06502741859462294 Centerline is valid? [True, True] Translation: X:80.12, Y:-13.71, Z:-1.15 [[ 9.50707244e-01 3.09951523e-01 -9.26223652e-03 8.01156282e+01] [-3.09940279e-01 9.50752301e-01 2.66196020e-03 -1.37147991e+01] [ 9.63117130e-03 3.39995326e-04 9.99953561e-01 -1.14929208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51538475 meters 0.06581233267890352 Centerline is valid? [True, True] Translation: X:80.18, Y:-13.73, Z:-1.15 [[ 9.50324274e-01 3.11162383e-01 -7.85778777e-03 8.01772955e+01] [-3.11154304e-01 9.50356714e-01 2.26170014e-03 -1.37290079e+01] [ 8.17145737e-03 2.95635938e-04 9.99966569e-01 -1.14923841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57538475 meters 0.06137173779969324 Centerline is valid? [True, True] Translation: X:80.23, Y:-13.76, Z:-1.14 [[ 9.50597488e-01 3.10351398e-01 -6.81355516e-03 8.02348198e+01] [-3.10345311e-01 9.50621874e-01 1.96002106e-03 -1.37559463e+01] [ 7.08540985e-03 2.51363796e-04 9.99974867e-01 -1.14284630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63538474999999 meters 0.06111801564022122 Centerline is valid? [True, True] Translation: X:80.29, Y:-13.77, Z:-1.14 [[ 9.50965940e-01 3.09223160e-01 -6.69465943e-03 8.02944261e+01] [-3.09217226e-01 9.50989475e-01 1.92993295e-03 -1.37735101e+01] [ 6.96333063e-03 2.34803515e-04 9.99975728e-01 -1.14329292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69538474999999 meters 0.05885805215930475 Centerline is valid? [True, True] Translation: X:80.35, Y:-13.80, Z:-1.14 [[ 9.53426535e-01 3.01583551e-01 -5.02030271e-03 8.03511730e+01] [-3.01580100e-01 9.53439743e-01 1.44890511e-03 -1.37985368e+01] [ 5.22352207e-03 1.32598806e-04 9.99986349e-01 -1.14000159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75538474999999 meters 0.0606217881803683 Centerline is valid? [True, True] Translation: X:80.41, Y:-13.81, Z:-1.15 [[ 9.54500815e-01 2.98128656e-01 -6.89197015e-03 8.04118983e+01] [-2.98122057e-01 9.54525683e-01 1.98969406e-03 -1.38082418e+01] [ 7.17174733e-03 1.55483717e-04 9.99974271e-01 -1.15243588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81538474999999 meters 0.058772516652731595 Centerline is valid? [True, True] Translation: X:80.47, Y:-13.83, Z:-1.15 [[ 9.54103799e-01 2.99383653e-01 -7.44104991e-03 8.04703344e+01] [-2.99375983e-01 9.54132799e-01 2.15016062e-03 -1.38313958e+01] [ 7.74347271e-03 1.76195213e-04 9.99970003e-01 -1.14606194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87538475 meters 0.05871850436260653 Centerline is valid? [True, True] Translation: X:80.53, Y:-13.85, Z:-1.14 [[ 9.52966472e-01 3.02980824e-01 -7.58442956e-03 8.05304363e+01] [-3.02972985e-01 9.52996629e-01 2.18969564e-03 -1.38469457e+01] [ 7.89137160e-03 2.11170729e-04 9.99968840e-01 -1.14492099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93538475 meters 0.0617461277590412 Centerline is valid? [True, True] Translation: X:80.59, Y:-13.85, Z:-1.15 [[ 9.51778310e-01 3.06601855e-01 -1.06466862e-02 8.05912863e+01] [-3.06586618e-01 9.51837796e-01 3.07518633e-03 -1.38526035e+01] [ 1.10767762e-02 3.37235876e-04 9.99938594e-01 -1.15486702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99538475 meters 0.062400436887023916 Centerline is valid? [True, True] Translation: X:80.65, Y:-13.87, Z:-1.16 [[ 9.51304830e-01 3.08064014e-01 -1.07556439e-02 8.06513829e+01] [-3.08048514e-01 9.51365565e-01 3.11047010e-03 -1.38663323e+01] [ 1.11907732e-02 3.54254902e-04 9.99937319e-01 -1.15695115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05538474999999 meters 0.059988961211652946 Centerline is valid? [True, True] Translation: X:80.71, Y:-13.89, Z:-1.15 [[ 9.51689683e-01 3.06945923e-01 -8.42309655e-03 8.07083295e+01] [-3.06936383e-01 9.51726919e-01 2.43480954e-03 -1.38917509e+01] [ 8.76384259e-03 2.68171674e-04 9.99961561e-01 -1.14936116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11538474999999 meters 0.05835829745530938 Centerline is valid? [True, True] Translation: X:80.77, Y:-13.92, Z:-1.15 [[ 9.53080716e-01 3.02645935e-01 -6.52590996e-03 8.07659690e+01] [-3.02640105e-01 9.53103041e-01 1.88690025e-03 -1.39153497e+01] [ 6.79092732e-03 1.76633831e-04 9.99976926e-01 -1.14872942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17538474999999 meters 0.05874155146806934 Centerline is valid? [True, True] Translation: X:80.82, Y:-13.93, Z:-1.15 [[ 9.53681255e-01 3.00733854e-01 -7.15626404e-03 8.08236552e+01] [-3.00726757e-01 9.53708089e-01 2.07345842e-03 -1.39348014e+01] [ 7.44854605e-03 1.74661643e-04 9.99972244e-01 -1.15229902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23538475 meters 0.05931091389871861 Centerline is valid? [True, True] Translation: X:80.88, Y:-13.95, Z:-1.15 [[ 9.53274829e-01 3.01990962e-01 -8.28002891e-03 8.08813470e+01] [-3.01981498e-01 9.53310765e-01 2.40027698e-03 -1.39540048e+01] [ 8.61830265e-03 2.12291902e-04 9.99962839e-01 -1.15467021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29538475 meters 0.05945553318543913 Centerline is valid? [True, True] Translation: X:80.94, Y:-13.97, Z:-1.16 [[ 9.52627311e-01 3.03985082e-01 -9.70957550e-03 8.09400489e+01] [-3.03972190e-01 9.52676753e-01 2.81276885e-03 -1.39747319e+01] [ 1.01051266e-02 2.71920505e-04 9.99948905e-01 -1.15713908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35538475 meters 0.061100077628435744 Centerline is valid? [True, True] Translation: X:81.00, Y:-13.99, Z:-1.16 [[ 9.51209811e-01 3.08364031e-01 -1.05603000e-02 8.09984669e+01] [-3.08349002e-01 9.51268368e-01 3.06359829e-03 -1.39921454e+01] [ 1.09903829e-02 3.42133219e-04 9.99939545e-01 -1.16167257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41538474999999 meters 0.05936355332070622 Centerline is valid? [True, True] Translation: X:81.05, Y:-14.02, Z:-1.16 [[ 9.53052631e-01 3.02728934e-01 -6.77304931e-03 8.10532061e+01] [-3.02722601e-01 9.53076682e-01 1.96609155e-03 -1.40219162e+01] [ 7.05042816e-03 1.76566386e-04 9.99975130e-01 -1.15624368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47538474999999 meters 0.0573621677756586 Centerline is valid? [True, True] Translation: X:81.11, Y:-14.05, Z:-1.15 [[ 9.55895756e-01 2.93689122e-01 -3.16277514e-03 8.11073339e+01] [-2.93687683e-01 9.55900987e-01 9.20778249e-04 -1.40540189e+01] [ 3.29372243e-03 4.87000813e-05 9.99994574e-01 -1.15421691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53538474999999 meters 0.05672720898809106 Centerline is valid? [True, True] Translation: X:81.16, Y:-14.08, Z:-1.16 [[ 9.57409472e-01 2.88720055e-01 -2.79884211e-03 8.11633268e+01] [-2.88718904e-01 9.57413562e-01 8.15913929e-04 -1.40806478e+01] [ 2.91522011e-03 2.69149021e-05 9.99995750e-01 -1.15548415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59538475 meters 0.05646506699804341 Centerline is valid? [True, True] Translation: X:81.22, Y:-14.11, Z:-1.15 [[ 9.58738525e-01 2.84264548e-01 -3.75601438e-03 8.12191382e+01] [-2.84262439e-01 9.58745882e-01 1.09538388e-03 -1.41112789e+01] [ 3.91244212e-03 1.75070784e-05 9.99992346e-01 -1.15267637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65538475 meters 0.05637331089493349 Centerline is valid? [True, True] Translation: X:81.28, Y:-14.13, Z:-1.16 [[ 9.59283331e-01 2.82433085e-01 -2.65380154e-03 8.12766736e+01] [-2.82432025e-01 9.59287002e-01 7.73839231e-04 -1.41313381e+01] [ 2.76431513e-03 7.18746809e-06 9.99996179e-01 -1.15597418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71538475 meters 0.056489067735089805 Centerline is valid? [True, True] Translation: X:81.33, Y:-14.15, Z:-1.16 [[ 9.60400024e-01 2.78593447e-01 -4.18140235e-03 8.13341488e+01] [-2.78590775e-01 9.60409127e-01 1.22034015e-03 -1.41538510e+01] [ 4.35583575e-03 -7.11459145e-06 9.99990513e-01 -1.15822569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77538474999999 meters 0.05652916225512771 Centerline is valid? [True, True] Translation: X:81.39, Y:-14.17, Z:-1.16 [[ 9.60342473e-01 2.78738827e-01 -6.85577626e-03 8.13940261e+01] [-2.78731646e-01 9.60366944e-01 2.00076204e-03 -1.41712758e+01] [ 7.14175095e-03 -1.04949655e-05 9.99974497e-01 -1.16226285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83538474999999 meters 0.05633523106589387 Centerline is valid? [True, True] Translation: X:81.45, Y:-14.19, Z:-1.16 [[ 9.59847786e-01 2.80454212e-01 -6.13697377e-03 8.14546807e+01] [-2.80448479e-01 9.59867405e-01 1.79321052e-03 -1.41863513e+01] [ 6.39359453e-03 -1.04186819e-07 9.99979561e-01 -1.15902327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89538474999999 meters 0.05650119650498022 Centerline is valid? [True, True] Translation: X:81.52, Y:-14.20, Z:-1.16 [[ 9.59290330e-01 2.82346525e-01 -6.51940634e-03 8.15160483e+01] [-2.82340084e-01 9.59312483e-01 1.90716399e-03 -1.42010481e+01] [ 6.79262901e-03 1.11657552e-05 9.99976930e-01 -1.16049250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95538475 meters 0.05664214883873273 Centerline is valid? [True, True] Translation: X:81.58, Y:-14.21, Z:-1.16 [[ 9.58419416e-01 2.85309776e-01 -5.52756091e-03 8.15776185e+01] [-2.85305186e-01 9.58435356e-01 1.61855602e-03 -1.42123394e+01] [ 5.75959966e-03 2.57862812e-05 9.99983413e-01 -1.16196596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01538475 meters 0.056984204394277156 Centerline is valid? [True, True] Translation: X:81.64, Y:-14.23, Z:-1.16 [[ 9.57653436e-01 2.87883730e-01 -4.78067686e-03 8.16378861e+01] [-2.87880318e-01 9.57665368e-01 1.40188412e-03 -1.42256555e+01] [ 4.98186829e-03 3.37436320e-05 9.99987590e-01 -1.16451216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07538475 meters 0.05725521991261117 Centerline is valid? [True, True] Translation: X:81.70, Y:-14.24, Z:-1.16 [[ 9.56311140e-01 2.92315332e-01 -4.55534867e-03 8.16991462e+01] [-2.92312281e-01 9.56321988e-01 1.33651762e-03 -1.42355226e+01] [ 4.74706469e-03 5.34576723e-05 9.99988731e-01 -1.16380208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13538474999999 meters 0.057364198551552635 Centerline is valid? [True, True] Translation: X:81.76, Y:-14.25, Z:-1.17 [[ 9.56212148e-01 2.92632497e-01 -4.95471734e-03 8.17605914e+01] [-2.92628883e-01 9.56224983e-01 1.45552150e-03 -1.42498749e+01] [ 5.16375739e-03 5.81060635e-05 9.99986666e-01 -1.16594028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19538474999999 meters 0.05810486066840202 Centerline is valid? [True, True] Translation: X:81.82, Y:-14.26, Z:-1.17 [[ 9.55096083e-01 2.96229645e-01 -6.28253515e-03 8.18219500e+01] [-2.96223935e-01 9.55116740e-01 1.84213957e-03 -1.42614171e+01] [ 6.54625085e-03 1.01616993e-04 9.99978568e-01 -1.16900198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25538474999999 meters 0.05783590178018069 Centerline is valid? [True, True] Translation: X:81.88, Y:-14.28, Z:-1.17 [[ 9.55247663e-01 2.95757130e-01 -5.44263284e-03 8.18811107e+01] [-2.95752815e-01 9.55263165e-01 1.59969030e-03 -1.42789554e+01] [ 5.67226648e-03 8.15735665e-05 9.99983909e-01 -1.16917729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31538474999999 meters 0.058422826514355465 Centerline is valid? [True, True] Translation: X:81.94, Y:-14.29, Z:-1.17 [[ 9.54406521e-01 2.98484113e-01 -3.92768489e-03 8.19414491e+01] [-2.98481881e-01 9.54414601e-01 1.15626670e-03 -1.42920563e+01] [ 4.09376704e-03 6.87942972e-05 9.99991618e-01 -1.17056876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37538475 meters 0.0580544239085156 Centerline is valid? [True, True] Translation: X:82.00, Y:-14.31, Z:-1.17 [[ 9.54113796e-01 2.99433319e-01 -2.55962933e-03 8.20014904e+01] [-2.99432370e-01 9.54117228e-01 7.55440119e-04 -1.43083120e+01] [ 2.66839038e-03 4.56600358e-05 9.99996439e-01 -1.16840301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43538475 meters 0.0570948553234531 Centerline is valid? [True, True] Translation: X:82.06, Y:-14.33, Z:-1.17 [[ 9.55603753e-01 2.94644267e-01 -2.49475696e-03 8.20595337e+01] [-2.94643347e-01 9.55607008e-01 7.36982974e-04 -1.43301066e+01] [ 2.60115505e-03 3.07998464e-05 9.99996617e-01 -1.16994280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49538474999999 meters 0.05754875824352154 Centerline is valid? [True, True] Translation: X:82.12, Y:-14.34, Z:-1.17 [[ 9.54883949e-01 2.96944718e-01 -4.52531661e-03 8.21194855e+01] [-2.96941723e-01 9.54894669e-01 1.33543443e-03 -1.43449347e+01] [ 4.71775091e-03 6.85704130e-05 9.99988869e-01 -1.17419122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55538474999999 meters 0.058330062568565266 Centerline is valid? [True, True] Translation: X:82.18, Y:-14.36, Z:-1.18 [[ 9.54201280e-01 2.99124163e-01 -4.96512963e-03 8.21794147e+01] [-2.99120584e-01 9.54214194e-01 1.46581031e-03 -1.43575372e+01] [ 5.17625645e-03 8.64943971e-05 9.99986599e-01 -1.17736125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61538474999999 meters 0.059079396641000294 Centerline is valid? [True, True] Translation: X:82.24, Y:-14.37, Z:-1.18 [[ 9.52807117e-01 3.03488393e-01 -7.30709728e-03 8.22400338e+01] [-3.03480796e-01 9.52835121e-01 2.15371417e-03 -1.43702626e+01] [ 7.61608617e-03 1.65489509e-04 9.99970984e-01 -1.17855580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67538474999999 meters 0.0591693721488607 Centerline is valid? [True, True] Translation: X:82.30, Y:-14.39, Z:-1.18 [[ 9.52199550e-01 3.05417467e-01 -6.01562180e-03 8.23005062e+01] [-3.05412330e-01 9.52218541e-01 1.77739995e-03 -1.43856985e+01] [ 6.27103560e-03 1.44805636e-04 9.99980326e-01 -1.17874873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73538475 meters 0.05943506281417934 Centerline is valid? [True, True] Translation: X:82.36, Y:-14.40, Z:-1.18 [[ 9.51741278e-01 3.06866365e-01 -4.64486530e-03 8.23617099e+01] [-3.06863307e-01 9.51752605e-01 1.37496893e-03 -1.44020504e+01] [ 4.84269437e-03 1.16724037e-04 9.99988267e-01 -1.17825216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79538475 meters 0.0566369871552591 Centerline is valid? [True, True] Translation: X:82.42, Y:-14.44, Z:-1.17 [[ 9.55662184e-01 2.94461063e-01 -1.57248233e-03 8.24157355e+01] [-2.94460692e-01 9.55663478e-01 4.67787612e-04 -1.44373551e+01] [ 1.64050917e-03 1.59873039e-05 9.99998654e-01 -1.17014093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85538475 meters 0.056383950277514035 Centerline is valid? [True, True] Translation: X:82.48, Y:-14.46, Z:-1.18 [[ 9.56978901e-01 2.90134165e-01 -3.68081053e-03 8.24754088e+01] [-2.90132109e-01 9.56985980e-01 1.09258860e-03 -1.44563537e+01] [ 3.83948135e-03 2.23370824e-05 9.99992629e-01 -1.17653377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91538474999999 meters 0.05669253968995328 Centerline is valid? [True, True] Translation: X:82.53, Y:-14.47, Z:-1.18 [[ 9.56872128e-01 2.90466371e-01 -5.00190611e-03 8.25343512e+01] [-2.90462593e-01 9.56885200e-01 1.48185358e-03 -1.44727333e+01] [ 5.21667856e-03 3.49222319e-05 9.99986392e-01 -1.18364690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97538474999999 meters 0.056160623184443446 Centerline is valid? [True, True] Translation: X:82.59, Y:-14.50, Z:-1.18 [[ 9.57561861e-01 2.88198299e-01 -4.12589910e-03 8.25921391e+01] [-2.88195695e-01 9.57570749e-01 1.22542382e-03 -1.44952043e+01] [ 4.30400536e-03 1.56472395e-05 9.99990738e-01 -1.17831649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03538474999999 meters 0.056404661507304686 Centerline is valid? [True, True] Translation: X:82.65, Y:-14.51, Z:-1.18 [[ 9.56024499e-01 2.93253045e-01 -4.45078265e-03 8.26529394e+01] [-2.93250064e-01 9.56034858e-01 1.32288041e-03 -1.45070399e+01] [ 4.64304206e-03 4.04862170e-05 9.99989220e-01 -1.18096321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09538475 meters 0.05651271585018582 Centerline is valid? [True, True] Translation: X:82.71, Y:-14.52, Z:-1.18 [[ 9.55724995e-01 2.94229570e-01 -4.32366525e-03 8.27133417e+01] [-2.94226758e-01 9.55734774e-01 1.28702138e-03 -1.45247699e+01] [ 4.51095698e-03 4.20995015e-05 9.99989825e-01 -1.18263510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15538475 meters 0.05680999245806897 Centerline is valid? [True, True] Translation: X:82.77, Y:-14.54, Z:-1.18 [[ 9.55206829e-01 2.95910534e-01 -4.10736309e-03 8.27723815e+01] [-2.95908010e-01 9.55215658e-01 1.22304551e-03 -1.45399852e+01] [ 4.28532959e-03 4.71402181e-05 9.99990817e-01 -1.18382711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21538475 meters 0.05762926188429928 Centerline is valid? [True, True] Translation: X:82.83, Y:-14.55, Z:-1.19 [[ 9.53456660e-01 3.01503473e-01 -4.00672554e-03 8.28335612e+01] [-3.01501117e-01 9.53465076e-01 1.19408819e-03 -1.45503348e+01] [ 4.18029461e-03 6.95208902e-05 9.99991260e-01 -1.18500775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27538474999999 meters 0.05813441543671399 Centerline is valid? [True, True] Translation: X:82.89, Y:-14.56, Z:-1.18 [[ 9.51824019e-01 3.06634690e-01 -2.49074198e-03 8.28948025e+01] [-3.06633791e-01 9.51827276e-01 7.44621602e-04 -1.45626222e+01] [ 2.59908297e-03 5.49969286e-05 9.99996621e-01 -1.18364166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33538474999999 meters 0.0587860273180859 Centerline is valid? [True, True] Translation: X:82.96, Y:-14.58, Z:-1.18 [[ 9.50692930e-01 3.10121623e-01 -2.74431067e-03 8.29554545e+01] [-3.10120553e-01 9.50696888e-01 8.17676728e-04 -1.45758130e+01] [ 2.86258685e-03 7.37076598e-05 9.99995900e-01 -1.18439210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39538474999999 meters 0.05969369590549363 Centerline is valid? [True, True] Translation: X:83.01, Y:-14.59, Z:-1.18 [[ 9.49854056e-01 3.12678042e-01 -3.11696449e-03 8.30140760e+01] [-3.12676667e-01 9.49859165e-01 9.31644504e-04 -1.45939660e+01] [ 3.25198206e-03 8.96757546e-05 9.99994708e-01 -1.18450292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45538475 meters 0.05886716378170458 Centerline is valid? [True, True] Translation: X:83.07, Y:-14.62, Z:-1.19 [[ 9.51026770e-01 3.09100027e-01 -2.29271247e-03 8.30713888e+01] [-3.09099271e-01 9.51029532e-01 6.85905940e-04 -1.46161659e+01] [ 2.39245081e-03 5.63608411e-05 9.99997136e-01 -1.18557333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51538475 meters 0.05870494690538999 Centerline is valid? [True, True] Translation: X:83.13, Y:-14.64, Z:-1.19 [[ 9.51483478e-01 3.07689640e-01 -2.50536625e-03 8.31301573e+01] [-3.07688729e-01 9.51486775e-01 7.50783727e-04 -1.46361377e+01] [ 2.61483122e-03 5.65146449e-05 9.99996580e-01 -1.18823390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57538475 meters 0.05740627761695683 Centerline is valid? [True, True] Translation: X:83.19, Y:-14.66, Z:-1.19 [[ 9.53449899e-01 3.01542754e-01 -2.29272830e-03 8.31863941e+01] [-3.01541974e-01 9.53452655e-01 6.86908566e-04 -1.46615784e+01] [ 2.39314018e-03 3.64209139e-05 9.99997136e-01 -1.18807203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63538474999999 meters 0.05823499400875671 Centerline is valid? [True, True] Translation: X:83.25, Y:-14.68, Z:-1.19 [[ 9.52773696e-01 3.03630297e-01 -5.56121863e-03 8.32464884e+01] [-3.03625771e-01 9.52789920e-01 1.66129723e-03 -1.46776908e+01] [ 5.80309322e-03 1.05688990e-04 9.99983156e-01 -1.19451052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69538474999999 meters 0.05821910216194896 Centerline is valid? [True, True] Translation: X:83.30, Y:-14.70, Z:-1.19 [[ 9.52711768e-01 3.03826611e-01 -5.44762791e-03 8.33049263e+01] [-3.03822257e-01 9.52727338e-01 1.62977582e-03 -1.46992229e+01] [ 5.68527330e-03 1.02404004e-04 9.99983833e-01 -1.19288281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75538474999999 meters 0.05806546008989006 Centerline is valid? [True, True] Translation: X:83.36, Y:-14.72, Z:-1.19 [[ 9.52640104e-01 3.04061989e-01 -4.81036812e-03 8.33632403e+01] [-3.04058584e-01 9.52652244e-01 1.44177490e-03 -1.47200954e+01] [ 5.02099693e-03 8.91411328e-05 9.99987391e-01 -1.19332776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81538474999999 meters 0.05792565148126941 Centerline is valid? [True, True] Translation: X:83.42, Y:-14.74, Z:-1.20 [[ 9.53149211e-01 3.02461337e-01 -4.87050496e-03 8.34222837e+01] [-3.02457834e-01 9.53161651e-01 1.45796893e-03 -1.47411633e+01] [ 5.08335778e-03 8.34604415e-05 9.99987076e-01 -1.19615100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87538475 meters 0.057979802546220205 Centerline is valid? [True, True] Translation: X:83.48, Y:-14.76, Z:-1.20 [[ 9.53104301e-01 3.02593611e-01 -5.41268074e-03 8.34813220e+01] [-3.02589265e-01 9.53119666e-01 1.62436793e-03 -1.47626339e+01] [ 5.65045582e-03 8.96270219e-05 9.99984032e-01 -1.19657938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.93538475 meters 0.05803998676266697 Centerline is valid? [True, True] Translation: X:83.54, Y:-14.78, Z:-1.20 [[ 9.53110814e-01 3.02572823e-01 -5.42795497e-03 8.35401489e+01] [-3.02568444e-01 9.53126266e-01 1.63015662e-03 -1.47817560e+01] [ 5.66676754e-03 8.86079875e-05 9.99983940e-01 -1.19812224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99538474999999 meters 0.05710268906745153 Centerline is valid? [True, True] Translation: X:83.60, Y:-14.81, Z:-1.20 [[ 9.54498072e-01 2.98200066e-01 -3.18615465e-03 8.35973501e+01] [-2.98198537e-01 9.54503389e-01 9.55665303e-04 -1.48065682e+01] [ 3.32617486e-03 3.79259646e-05 9.99994468e-01 -1.19713869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05538474999999 meters 0.056819823817941276 Centerline is valid? [True, True] Translation: X:83.66, Y:-14.83, Z:-1.20 [[ 9.55020200e-01 2.96503448e-01 -4.70355192e-03 8.36559320e+01] [-2.96500074e-01 9.55031781e-01 1.41518358e-03 -1.48286057e+01] [ 4.91164838e-03 4.30745853e-05 9.99987937e-01 -1.19828947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11538474999999 meters 0.05667053165131176 Centerline is valid? [True, True] Translation: X:83.71, Y:-14.85, Z:-1.20 [[ 9.55470295e-01 2.95006832e-01 -6.89095580e-03 8.37146225e+01] [-2.94999556e-01 9.55495142e-01 2.07267317e-03 -1.48492393e+01] [ 7.19572753e-03 5.24512556e-05 9.99974109e-01 -1.20283644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17538474999999 meters 0.05643295375114797 Centerline is valid? [True, True] Translation: X:83.77, Y:-14.87, Z:-1.20 [[ 9.56164879e-01 2.92759969e-01 -6.35020038e-03 8.37720149e+01] [-2.92753730e-01 9.56185965e-01 1.91151080e-03 -1.48705306e+01] [ 6.63158632e-03 3.13253610e-05 9.99978010e-01 -1.20352278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23538475 meters 0.05625239731577188 Centerline is valid? [True, True] Translation: X:83.83, Y:-14.89, Z:-1.20 [[ 9.56443837e-01 2.91825320e-01 -7.29177555e-03 8.38303106e+01] [-2.91817054e-01 9.56471632e-01 2.19651547e-03 -1.48928539e+01] [ 7.61537528e-03 2.70207769e-05 9.99971002e-01 -1.20337704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29538475 meters 0.0561371557215555 Centerline is valid? [True, True] Translation: X:83.89, Y:-14.91, Z:-1.20 [[ 9.56822609e-01 2.90612283e-01 -5.91574874e-03 8.38891956e+01] [-2.90606807e-01 9.56840896e-01 1.78409092e-03 -1.49110866e+01] [ 6.17890907e-03 1.20983233e-05 9.99980910e-01 -1.20429138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35538475 meters 0.056265541442976026 Centerline is valid? [True, True] Translation: X:83.95, Y:-14.93, Z:-1.21 [[ 9.56035189e-01 2.93183417e-01 -6.34048992e-03 8.39482549e+01] [-2.93177189e-01 9.56056213e-01 1.91128751e-03 -1.49256774e+01] [ 6.62222258e-03 3.16288955e-05 9.99978072e-01 -1.20555533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41538474999999 meters 0.056457571946498177 Centerline is valid? [True, True] Translation: X:84.01, Y:-14.94, Z:-1.21 [[ 9.55658116e-01 2.94415095e-01 -6.10878948e-03 8.40086856e+01] [-2.94409315e-01 9.55677640e-01 1.84513911e-03 -1.49427465e+01] [ 6.38127032e-03 3.51623626e-05 9.99979639e-01 -1.20584448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47538474999999 meters 0.05644840197159845 Centerline is valid? [True, True] Translation: X:84.07, Y:-14.96, Z:-1.21 [[ 9.54652750e-01 2.97656763e-01 -6.21118493e-03 8.40689725e+01] [-2.97650848e-01 9.54672954e-01 1.87731580e-03 -1.49562512e+01] [ 6.48844601e-03 5.65797675e-05 9.99978948e-01 -1.20519875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53538474999999 meters 0.05660675002748796 Centerline is valid? [True, True] Translation: X:84.13, Y:-14.97, Z:-1.21 [[ 9.54642739e-01 2.97665954e-01 -7.22633523e-03 8.41293875e+01] [-2.97657939e-01 9.54670087e-01 2.18539793e-03 -1.49721849e+01] [ 7.54928465e-03 6.47017849e-05 9.99971502e-01 -1.20667513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59538475 meters 0.057572523349371796 Centerline is valid? [True, True] Translation: X:84.19, Y:-14.98, Z:-1.21 [[ 9.53070868e-01 3.02650259e-01 -7.66432985e-03 8.41899311e+01] [-3.02641413e-01 9.53101678e-01 2.31661116e-03 -1.49815888e+01] [ 8.00600861e-03 1.11649010e-04 9.99967945e-01 -1.21273998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65538475 meters 0.05769239968278472 Centerline is valid? [True, True] Translation: X:84.25, Y:-15.00, Z:-1.21 [[ 9.52725724e-01 3.03764832e-01 -6.37347934e-03 8.42491592e+01] [-3.03758716e-01 9.52747038e-01 1.93006817e-03 -1.49987125e+01] [ 6.65860039e-03 9.71743053e-05 9.99977827e-01 -1.21089298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71538475 meters 0.056653354807046946 Centerline is valid? [True, True] Translation: X:84.31, Y:-15.02, Z:-1.21 [[ 9.54370540e-01 2.98571135e-01 -5.67005131e-03 8.43066394e+01] [-2.98566214e-01 9.54387381e-01 1.71514084e-03 -1.50219950e+01] [ 5.92351697e-03 5.60058675e-05 9.99982454e-01 -1.20828640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77538474999999 meters 0.05671278714107163 Centerline is valid? [True, True] Translation: X:84.37, Y:-15.04, Z:-1.21 [[ 9.53981474e-01 2.99764657e-01 -7.77801339e-03 8.43665229e+01] [-2.99755421e-01 9.54013178e-01 2.35468814e-03 -1.50364098e+01] [ 8.12617955e-03 8.51728189e-05 9.99966978e-01 -1.21083111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83538474999999 meters 0.05672605554978839 Centerline is valid? [True, True] Translation: X:84.42, Y:-15.06, Z:-1.21 [[ 9.53883305e-01 3.00075959e-01 -7.81399748e-03 8.44248016e+01] [-3.00066615e-01 9.53915306e-01 2.36960942e-03 -1.50559293e+01] [ 8.16495462e-03 8.43889092e-05 9.99966663e-01 -1.21083243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89538474999999 meters 0.056711518752589285 Centerline is valid? [True, True] Translation: X:84.49, Y:-15.07, Z:-1.21 [[ 9.53510124e-01 3.01269057e-01 -7.44310308e-03 8.44855894e+01] [-3.01260595e-01 9.53539169e-01 2.25971697e-03 -1.50736449e+01] [ 7.77807313e-03 8.76506575e-05 9.99969746e-01 -1.21067557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95538475 meters 0.05744958288363755 Centerline is valid? [True, True] Translation: X:84.55, Y:-15.09, Z:-1.21 [[ 9.52470983e-01 3.04537342e-01 -7.48555633e-03 8.45451212e+01] [-3.04528894e-01 9.52500391e-01 2.27123614e-03 -1.50860039e+01] [ 7.82167154e-03 1.16281667e-04 9.99969403e-01 -1.21301332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01538475 meters 0.05783829846961473 Centerline is valid? [True, True] Translation: X:84.61, Y:-15.10, Z:-1.21 [[ 9.51278510e-01 3.08194763e-01 -9.22950947e-03 8.46054042e+01] [-3.08182058e-01 9.51323266e-01 2.80399502e-03 -1.50997534e+01] [ 9.64442367e-03 1.76989014e-04 9.99953476e-01 -1.21295702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07538475 meters 0.0589332968985591 Centerline is valid? [True, True] Translation: X:84.67, Y:-15.11, Z:-1.22 [[ 9.51167567e-01 3.08523477e-01 -9.67081611e-03 8.46652576e+01] [-3.08509523e-01 9.51216710e-01 2.94024006e-03 -1.51136948e+01] [ 1.01061750e-02 1.86877881e-04 9.99948914e-01 -1.21891203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13538474999999 meters 0.056567368982002146 Centerline is valid? [True, True] Translation: X:84.72, Y:-15.14, Z:-1.21 [[ 9.53828679e-01 3.00280397e-01 -6.52182737e-03 8.47217989e+01] [-3.00273851e-01 9.53850973e-01 1.98369971e-03 -1.51408046e+01] [ 6.81651752e-03 6.62245464e-05 9.99976765e-01 -1.21205534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19538474999999 meters 0.05669092837896245 Centerline is valid? [True, True] Translation: X:84.78, Y:-15.16, Z:-1.22 [[ 9.53795004e-01 3.00341972e-01 -8.35405112e-03 8.47815723e+01] [-3.00331210e-01 9.53831585e-01 2.54388838e-03 -1.51585123e+01] [ 8.73239427e-03 8.26342509e-05 9.99961869e-01 -1.21675736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25538474999999 meters 0.05653984380439989 Centerline is valid? [True, True] Translation: X:84.84, Y:-15.18, Z:-1.22 [[ 9.53720189e-01 3.00615892e-01 -6.92000996e-03 8.48406049e+01] [-3.00608498e-01 9.53745291e-01 2.10955334e-03 -1.51766625e+01] [ 7.23409218e-03 6.82901888e-05 9.99973831e-01 -1.21630467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31538474999999 meters 0.0567010616334323 Centerline is valid? [True, True] Translation: X:84.90, Y:-15.19, Z:-1.21 [[ 9.53363733e-01 3.01786464e-01 -4.74580062e-03 8.48990423e+01] [-3.01782991e-01 9.53375544e-01 1.44860894e-03 -1.51948973e+01] [ 4.96170081e-03 5.11506853e-05 9.99987689e-01 -1.21426926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37538475 meters 0.057108717186336526 Centerline is valid? [True, True] Translation: X:84.96, Y:-15.21, Z:-1.22 [[ 9.52719335e-01 3.03781595e-01 -6.52768279e-03 8.49587817e+01] [-3.03775084e-01 9.52741694e-01 1.99079465e-03 -1.52098490e+01] [ 6.82396233e-03 8.62788369e-05 9.99976713e-01 -1.21670133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43538475 meters 0.057474508287647406 Centerline is valid? [True, True] Translation: X:85.02, Y:-15.22, Z:-1.22 [[ 9.52244874e-01 3.05262066e-01 -6.69107636e-03 8.50188740e+01] [-3.05255240e-01 9.52268377e-01 2.04376572e-03 -1.52245607e+01] [ 6.99558458e-03 9.63206862e-05 9.99975526e-01 -1.21872597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49538474999999 meters 0.058452418312627055 Centerline is valid? [True, True] Translation: X:85.08, Y:-15.24, Z:-1.22 [[ 9.51393765e-01 3.07869509e-01 -8.14059633e-03 8.50798253e+01] [-3.07859521e-01 9.51428581e-01 2.48407495e-03 -1.52379419e+01] [ 8.50996695e-03 1.42826668e-04 9.99963779e-01 -1.22296440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55538474999999 meters 0.05880297956459237 Centerline is valid? [True, True] Translation: X:85.14, Y:-15.25, Z:-1.22 [[ 9.50244399e-01 3.11376942e-01 -8.94329387e-03 8.51405908e+01] [-3.11365036e-01 9.50286464e-01 2.72964171e-03 -1.52527948e+01] [ 9.34863860e-03 1.90802276e-04 9.99956282e-01 -1.22231979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61538474999999 meters 0.05962313443018983 Centerline is valid? [True, True] Translation: X:85.20, Y:-15.27, Z:-1.22 [[ 9.49009535e-01 3.15169985e-01 -6.98440871e-03 8.52015628e+01] [-3.15162795e-01 9.49035221e-01 2.13608219e-03 -1.52670264e+01] [ 7.30167886e-03 1.74063404e-04 9.99973327e-01 -1.22119519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67538474999999 meters 0.06028962310510036 Centerline is valid? [True, True] Translation: X:85.26, Y:-15.28, Z:-1.22 [[ 9.48404881e-01 3.17008403e-01 -5.81835477e-03 8.52603140e+01] [-3.17003438e-01 9.48422716e-01 1.78107602e-03 -1.52827054e+01] [ 6.08287590e-03 1.55257272e-04 9.99981487e-01 -1.22140657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73538475 meters 0.0582288830068986 Centerline is valid? [True, True] Translation: X:85.32, Y:-15.31, Z:-1.22 [[ 9.50069398e-01 3.12010072e-01 -4.22536023e-03 8.53161580e+01] [-3.12007398e-01 9.50078790e-01 1.29467548e-03 -1.53096535e+01] [ 4.41837692e-03 8.83120919e-05 9.99990235e-01 -1.21819860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79538475 meters 0.05777779224288396 Centerline is valid? [True, True] Translation: X:85.37, Y:-15.33, Z:-1.23 [[ 9.51855366e-01 3.06466515e-01 -7.04533222e-03 8.53726237e+01] [-3.06458926e-01 9.51881434e-01 2.15920981e-03 -1.53319572e+01] [ 7.36804645e-03 1.03849502e-04 9.99972850e-01 -1.22657316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85538475 meters 0.05656287962877306 Centerline is valid? [True, True] Translation: X:85.43, Y:-15.36, Z:-1.22 [[ 9.53642668e-01 3.00856561e-01 -7.14085507e-03 8.54287191e+01] [-3.00848618e-01 9.53669401e-01 2.18714523e-03 -1.53623794e+01] [ 7.46803196e-03 6.25613699e-05 9.99972112e-01 -1.22268600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91538474999999 meters 0.056513344459827725 Centerline is valid? [True, True] Translation: X:85.49, Y:-15.38, Z:-1.22 [[ 9.53112863e-01 3.02561492e-01 -5.69331623e-03 8.54875272e+01] [-3.02556449e-01 9.53129865e-01 1.74780041e-03 -1.53808570e+01] [ 5.95528683e-03 5.66984916e-05 9.99982266e-01 -1.22214284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97538474999999 meters 0.05645094276447496 Centerline is valid? [True, True] Translation: X:85.55, Y:-15.40, Z:-1.22 [[ 9.53567566e-01 3.01139720e-01 -4.87505508e-03 8.55453230e+01] [-3.01135995e-01 9.53580027e-01 1.49832950e-03 -1.54023407e+01] [ 5.09996168e-03 3.92961541e-05 9.99986994e-01 -1.22140027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03538474999999 meters 0.05611349365791196 Centerline is valid? [True, True] Translation: X:85.60, Y:-15.43, Z:-1.22 [[ 9.54577494e-01 2.97938200e-01 -3.82591740e-03 8.56034392e+01] [-2.97935885e-01 9.54585160e-01 1.17475527e-03 -1.54262042e+01] [ 4.00216844e-03 1.84831404e-05 9.99991991e-01 -1.22215651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09538475 meters 0.055943961951188975 Centerline is valid? [True, True] Translation: X:85.66, Y:-15.45, Z:-1.22 [[ 9.55837578e-01 2.93865233e-01 -4.21294222e-03 8.56619469e+01] [-2.93862370e-01 9.55846862e-01 1.29731486e-03 -1.54499940e+01] [ 4.40816334e-03 -1.99710878e-06 9.99990284e-01 -1.22405869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15538475 meters 0.05639924934629361 Centerline is valid? [True, True] Translation: X:85.72, Y:-15.47, Z:-1.23 [[ 9.57312802e-01 2.88931406e-01 -8.41676526e-03 8.57180548e+01] [-2.88919829e-01 9.57349800e-01 2.58685863e-03 -1.54735179e+01] [ 8.80521324e-03 -4.46624973e-05 9.99961232e-01 -1.23001117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21538475 meters 0.056472729287227144 Centerline is valid? [True, True] Translation: X:85.78, Y:-15.49, Z:-1.23 [[ 9.57338444e-01 2.88850675e-01 -8.26985601e-03 8.57770316e+01] [-2.88839461e-01 9.57374162e-01 2.54569874e-03 -1.54917188e+01] [ 8.65267326e-03 -4.84345153e-05 9.99962564e-01 -1.23072063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27538474999999 meters 0.056143519455275605 Centerline is valid? [True, True] Translation: X:85.84, Y:-15.51, Z:-1.23 [[ 9.56631320e-01 2.91212937e-01 -7.17936494e-03 8.58373912e+01] [-2.91204534e-01 9.56658259e-01 2.21238245e-03 -1.55065087e+01] [ 7.51247316e-03 -2.57707261e-05 9.99971781e-01 -1.22625976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33538474999999 meters 0.056047174650622214 Centerline is valid? [True, True] Translation: X:85.90, Y:-15.52, Z:-1.23 [[ 9.55903927e-01 2.93636867e-01 -5.00733634e-03 8.58971344e+01] [-2.93632802e-01 9.55917042e-01 1.54503809e-03 -1.55210390e+01] [ 5.24027828e-03 -6.58977622e-06 9.99986270e-01 -1.22612435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39538474999999 meters 0.056385849689434935 Centerline is valid? [True, True] Translation: X:85.96, Y:-15.53, Z:-1.23 [[ 9.54421064e-01 2.98426853e-01 -4.67404240e-03 8.59581182e+01] [-2.98423359e-01 9.54432508e-01 1.44414177e-03 -1.55325768e+01] [ 4.89202869e-03 1.65241120e-05 9.99988034e-01 -1.23031520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45538475 meters 0.056418876078933096 Centerline is valid? [True, True] Translation: X:86.02, Y:-15.55, Z:-1.23 [[ 9.53393340e-01 3.01683930e-01 -5.28627307e-03 8.60189000e+01] [-3.01679509e-01 9.53407995e-01 1.63376996e-03 -1.55474086e+01] [ 5.53285715e-03 3.71348595e-05 9.99984693e-01 -1.22937497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51538475 meters 0.0563260634830891 Centerline is valid? [True, True] Translation: X:86.08, Y:-15.57, Z:-1.23 [[ 9.53366731e-01 3.01744573e-01 -6.48758034e-03 8.60781876e+01] [-3.01737907e-01 9.53388804e-01 2.00619822e-03 -1.55659863e+01] [ 6.79054589e-03 4.49062727e-05 9.99976943e-01 -1.22898681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57538475 meters 0.05640020399093629 Centerline is valid? [True, True] Translation: X:86.14, Y:-15.58, Z:-1.23 [[ 9.53302225e-01 3.01936479e-01 -7.01647566e-03 8.61370431e+01] [-3.01928674e-01 9.53328044e-01 2.17161752e-03 -1.55841948e+01] [ 7.34469357e-03 4.82673753e-05 9.99973026e-01 -1.23308409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63538474999999 meters 0.05640981005004884 Centerline is valid? [True, True] Translation: X:86.19, Y:-15.60, Z:-1.23 [[ 9.52973167e-01 3.02967046e-01 -7.28785622e-03 8.61948342e+01] [-3.02958663e-01 9.53001031e-01 2.25462181e-03 -1.56027966e+01] [ 7.62841060e-03 5.93250850e-05 9.99970901e-01 -1.23410347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69538474999999 meters 0.05603601363522731 Centerline is valid? [True, True] Translation: X:86.25, Y:-15.62, Z:-1.23 [[ 9.52610575e-01 3.04080937e-01 -8.23874592e-03 8.62533656e+01] [-3.04070232e-01 9.52646198e-01 2.55260219e-03 -1.56229770e+01] [ 8.62480764e-03 7.35215424e-05 9.99962803e-01 -1.23089843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75538474999999 meters 0.056273070459416916 Centerline is valid? [True, True] Translation: X:86.31, Y:-15.64, Z:-1.23 [[ 9.51888248e-01 3.06332075e-01 -8.33207196e-03 8.63132693e+01] [-3.06321192e-01 9.51924709e-01 2.58375999e-03 -1.56400660e+01] [ 8.72299374e-03 9.28394497e-05 9.99961950e-01 -1.23153582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81538474999999 meters 0.05632614827780785 Centerline is valid? [True, True] Translation: X:86.37, Y:-15.66, Z:-1.23 [[ 9.51713195e-01 3.06880825e-01 -8.13350906e-03 8.63732002e+01] [-3.06870448e-01 9.51747945e-01 2.52530210e-03 -1.56578184e+01] [ 8.51601732e-03 9.25702401e-05 9.99963734e-01 -1.23207491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87538475 meters 0.05682109516600753 Centerline is valid? [True, True] Translation: X:86.43, Y:-15.67, Z:-1.23 [[ 9.50825118e-01 3.09642472e-01 -7.28941697e-03 8.64328780e+01] [-3.09634207e-01 9.50853053e-01 2.26465011e-03 -1.56717210e+01] [ 7.63239624e-03 1.03766641e-04 9.99970867e-01 -1.23365707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93538475 meters 0.05693320593747325 Centerline is valid? [True, True] Translation: X:86.49, Y:-15.69, Z:-1.23 [[ 9.49943791e-01 3.12370043e-01 -5.63465452e-03 8.64931554e+01] [-3.12365133e-01 9.49960498e-01 1.75401403e-03 -1.56881712e+01] [ 5.90060066e-03 9.38548693e-05 9.99982587e-01 -1.23262792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99538474999999 meters 0.05653793983155114 Centerline is valid? [True, True] Translation: X:86.55, Y:-15.71, Z:-1.23 [[ 9.51127567e-01 3.08740577e-01 -5.96726476e-03 8.65499152e+01] [-3.08734995e-01 9.51146283e-01 1.85797115e-03 -1.57110052e+01] [ 6.24937277e-03 7.51358763e-05 9.99980470e-01 -1.23371050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05538474999999 meters 0.056665296727936146 Centerline is valid? [True, True] Translation: X:86.61, Y:-15.73, Z:-1.24 [[ 9.51740900e-01 3.06799806e-01 -7.94601526e-03 8.66077653e+01] [-3.06789834e-01 9.51774066e-01 2.47492418e-03 -1.57321518e+01] [ 8.32211751e-03 8.22701370e-05 9.99965367e-01 -1.23715232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11538474999999 meters 0.056640874719251506 Centerline is valid? [True, True] Translation: X:86.67, Y:-15.75, Z:-1.24 [[ 9.52423465e-01 3.04610357e-01 -1.01031998e-02 8.66661432e+01] [-3.04594091e-01 9.52477047e-01 3.14883989e-03 -1.57528687e+01] [ 1.05822352e-02 7.83459784e-05 9.99944004e-01 -1.23817473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17538474999999 meters 0.056821893637536446 Centerline is valid? [True, True] Translation: X:86.73, Y:-15.77, Z:-1.24 [[ 9.51816835e-01 3.06506595e-01 -9.92071245e-03 8.67264969e+01] [-3.06490977e-01 9.51868530e-01 3.09554686e-03 -1.57701970e+01] [ 1.03920195e-02 9.42152424e-05 9.99945997e-01 -1.23995147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23538475 meters 0.05707198998043858 Centerline is valid? [True, True] Translation: X:86.79, Y:-15.79, Z:-1.24 [[ 9.51460692e-01 3.07600960e-01 -1.02078733e-02 8.67858263e+01] [-3.07584467e-01 9.51515443e-01 3.18715433e-03 -1.57888183e+01] [ 1.06933208e-02 1.07331211e-04 9.99942819e-01 -1.24075384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29538475 meters 0.05611291138487707 Centerline is valid? [True, True] Translation: X:86.84, Y:-15.82, Z:-1.24 [[ 9.53930000e-01 2.99931415e-01 -7.66165424e-03 8.68417444e+01] [-2.99921887e-01 9.53960767e-01 2.39080348e-03 -1.58166355e+01] [ 8.02599463e-03 1.72386322e-05 9.99967791e-01 -1.23558535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35538475 meters 0.056493472328185974 Centerline is valid? [True, True] Translation: X:86.90, Y:-15.83, Z:-1.24 [[ 9.53693107e-01 3.00674361e-01 -8.02407374e-03 8.69008305e+01] [-3.00663892e-01 9.53726862e-01 2.50920510e-03 -1.58332258e+01] [ 8.40722831e-03 1.95376276e-05 9.99964658e-01 -1.24463946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41538474999999 meters 0.05608151255684876 Centerline is valid? [True, True] Translation: X:86.96, Y:-15.86, Z:-1.24 [[ 9.54133468e-01 2.99330375e-01 -5.53644554e-03 8.69584236e+01] [-2.99325354e-01 9.54149531e-01 1.73368463e-03 -1.58565689e+01] [ 5.80154139e-03 3.03199997e-06 9.99983171e-01 -1.23950871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47538474999999 meters 0.05631810616062988 Centerline is valid? [True, True] Translation: X:87.02, Y:-15.87, Z:-1.24 [[ 9.53602021e-01 3.00947025e-01 -8.60662270e-03 8.70174696e+01] [-3.00934980e-01 9.53640859e-01 2.69255917e-03 -1.58739368e+01] [ 9.01794473e-03 2.24039683e-05 9.99959337e-01 -1.24371074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53538474999999 meters 0.056365667665986614 Centerline is valid? [True, True] Translation: X:87.08, Y:-15.89, Z:-1.25 [[ 9.53287354e-01 3.01979930e-01 -7.16541336e-03 8.70775148e+01] [-3.01971607e-01 9.53314283e-01 2.24210543e-03 -1.58914579e+01] [ 7.50796174e-03 2.63806398e-05 9.99971815e-01 -1.24554514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59538475 meters 0.05608915063290837 Centerline is valid? [True, True] Translation: X:87.14, Y:-15.91, Z:-1.24 [[ 9.53191360e-01 3.02304152e-01 -6.19925701e-03 8.71362857e+01] [-3.02297902e-01 9.53211519e-01 1.94396865e-03 -1.59110025e+01] [ 6.49687298e-03 2.10482716e-05 9.99978895e-01 -1.24263654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65538475 meters 0.0558414421701159 Centerline is valid? [True, True] Translation: X:87.20, Y:-15.93, Z:-1.24 [[ 9.53794215e-01 3.00419685e-01 -4.96073571e-03 8.71958445e+01] [-3.00415664e-01 9.53807115e-01 1.55448370e-03 -1.59304077e+01] [ 5.19858252e-03 7.62515180e-06 9.99986487e-01 -1.24160924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71538475 meters 0.05578551795468829 Centerline is valid? [True, True] Translation: X:87.25, Y:-15.95, Z:-1.24 [[ 9.54295432e-01 2.98822368e-01 -5.04195028e-03 8.72545603e+01] [-2.98818170e-01 9.54308751e-01 1.58380144e-03 -1.59494380e+01] [ 5.28485257e-03 -4.78812192e-06 9.99986035e-01 -1.24440238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77538474999999 meters 0.055851530031255855 Centerline is valid? [True, True] Translation: X:87.31, Y:-15.97, Z:-1.24 [[ 9.53825636e-01 3.00306003e-01 -5.74113878e-03 8.73138071e+01] [-3.00300583e-01 9.53842914e-01 1.80429849e-03 -1.59675697e+01] [ 6.01798621e-03 3.08116180e-06 9.99981892e-01 -1.24495329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83538474999999 meters 0.05588031622610516 Centerline is valid? [True, True] Translation: X:87.37, Y:-15.98, Z:-1.25 [[ 9.52879064e-01 3.03292680e-01 -5.91951146e-03 8.73741753e+01] [-3.03286961e-01 9.52897450e-01 1.86261824e-03 -1.59836119e+01] [ 6.20560585e-03 2.04607183e-05 9.99980745e-01 -1.24521626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89538474999999 meters 0.05587260865552452 Centerline is valid? [True, True] Translation: X:87.43, Y:-16.00, Z:-1.25 [[ 9.52068043e-01 3.05849274e-01 -4.76063847e-03 8.74344362e+01] [-3.05845601e-01 9.52079945e-01 1.49914195e-03 -1.59968649e+01] [ 4.99101988e-03 2.87351932e-05 9.99987544e-01 -1.24870457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95538475 meters 0.055605493283916736 Centerline is valid? [True, True] Translation: X:87.49, Y:-16.02, Z:-1.25 [[ 9.51885262e-01 3.06424492e-01 -4.29866217e-03 8.74946601e+01] [-3.06421492e-01 9.51894968e-01 1.35620150e-03 -1.60162053e+01] [ 4.50744824e-03 2.62542531e-05 9.99989841e-01 -1.24524065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01538475 meters 0.05593465510953633 Centerline is valid? [True, True] Translation: X:87.55, Y:-16.03, Z:-1.25 [[ 9.51619764e-01 3.07238549e-01 -4.92939975e-03 8.75547655e+01] [-3.07234614e-01 9.51632530e-01 1.55536817e-03 -1.60324878e+01] [ 5.16884622e-03 3.43631328e-05 9.99986641e-01 -1.24923512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07538475 meters 0.05583192936495757 Centerline is valid? [True, True] Translation: X:87.61, Y:-16.05, Z:-1.25 [[ 9.51699133e-01 3.07020104e-01 -2.72310529e-03 8.76134219e+01] [-3.07018896e-01 9.51703029e-01 8.61528973e-04 -1.60527156e+01] [ 2.85609427e-03 1.61284035e-05 9.99995921e-01 -1.24851403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13538474999999 meters 0.055649439402889515 Centerline is valid? [True, True] Translation: X:87.67, Y:-16.08, Z:-1.25 [[ 9.52305797e-01 3.05126300e-01 -3.40731363e-03 8.76722664e+01] [-3.05124393e-01 9.52311893e-01 1.07857034e-03 -1.60760093e+01] [ 3.57392547e-03 1.25257188e-05 9.99993613e-01 -1.24947450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19538474999999 meters 0.05592790417779741 Centerline is valid? [True, True] Translation: X:87.73, Y:-16.10, Z:-1.25 [[ 9.52554042e-01 3.04316677e-01 -5.67073538e-03 8.77302301e+01] [-3.04311392e-01 9.52570921e-01 1.79354186e-03 -1.60969998e+01] [ 5.94758232e-03 1.72238274e-05 9.99982313e-01 -1.25290011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25538474999999 meters 0.05591263505433187 Centerline is valid? [True, True] Translation: X:87.79, Y:-16.12, Z:-1.25 [[ 9.52324435e-01 3.05029004e-01 -5.95621785e-03 8.77903239e+01] [-3.05023174e-01 9.52343061e-01 1.88599554e-03 -1.61159799e+01] [ 6.24764608e-03 2.07048371e-05 9.99980483e-01 -1.25456577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31538474999999 meters 0.05611255109634816 Centerline is valid? [True, True] Translation: X:87.85, Y:-16.13, Z:-1.25 [[ 9.51594556e-01 3.07290039e-01 -6.37434584e-03 8.78504094e+01] [-3.07283407e-01 9.51615905e-01 2.01923917e-03 -1.61325929e+01] [ 6.68642096e-03 3.72337097e-05 9.99977645e-01 -1.25498930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37538475 meters 0.055805167495755 Centerline is valid? [True, True] Translation: X:87.91, Y:-16.15, Z:-1.25 [[ 9.52510904e-01 3.04487578e-01 -3.20803301e-03 8.79086028e+01] [-3.04485874e-01 9.52516307e-01 1.01879484e-03 -1.61535700e+01] [ 3.36591413e-03 6.38753993e-06 9.99994335e-01 -1.25290802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43538475 meters 0.055920602340804405 Centerline is valid? [True, True] Translation: X:87.97, Y:-16.17, Z:-1.26 [[ 9.51845267e-01 3.06564637e-01 -2.95152216e-03 8.79696444e+01] [-3.06563199e-01 9.51849843e-01 9.39099641e-04 -1.61694859e+01] [ 3.09730065e-03 1.09505279e-05 9.99995203e-01 -1.25515366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49538474999999 meters 0.05576168382717966 Centerline is valid? [True, True] Translation: X:88.03, Y:-16.19, Z:-1.25 [[ 9.51609158e-01 3.07309288e-01 -1.00635284e-03 8.80290247e+01] [-3.07309119e-01 9.51609690e-01 3.22619484e-04 -1.61888257e+01] [ 1.05679908e-03 2.25374998e-06 9.99999442e-01 -1.25359482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55538474999999 meters 0.05565697766470375 Centerline is valid? [True, True] Translation: X:88.09, Y:-16.21, Z:-1.25 [[ 9.51553938e-01 3.07481822e-01 -1.79293419e-04 8.80875786e+01] [-3.07481816e-01 9.51553955e-01 6.04846486e-05 -1.62091581e+01] [ 1.89205292e-04 -2.42493951e-06 9.99999982e-01 -1.25371206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61538474999999 meters 0.05561896029342779 Centerline is valid? [True, True] Translation: X:88.15, Y:-16.23, Z:-1.26 [[ 9.51892696e-01 3.06430631e-01 -7.50372897e-04 8.81460950e+01] [-3.06430535e-01 9.51892992e-01 2.42446546e-04 -1.62311205e+01] [ 7.88567750e-04 -8.45928811e-07 9.99999689e-01 -1.25626098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67538474999999 meters 0.055723899668635946 Centerline is valid? [True, True] Translation: X:88.20, Y:-16.26, Z:-1.26 [[ 9.52803893e-01 3.03582333e-01 -1.58370966e-03 8.82041808e+01] [-3.03581908e-01 9.52805209e-01 5.07830276e-04 -1.62563081e+01] [ 1.66313512e-03 -3.07706161e-06 9.99998617e-01 -1.25541216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73538475 meters 0.05593163514759919 Centerline is valid? [True, True] Translation: X:88.26, Y:-16.28, Z:-1.26 [[ 9.54461154e-01 2.98327913e-01 -2.08864297e-03 8.82609208e+01] [-2.98327165e-01 9.54463439e-01 6.68070249e-04 -1.62801017e+01] [ 2.19283735e-03 -1.45481641e-05 9.99997596e-01 -1.25746606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79538475 meters 0.05592821518701339 Centerline is valid? [True, True] Translation: X:88.32, Y:-16.30, Z:-1.26 [[ 9.54376233e-01 2.98590182e-01 -3.14774272e-03 8.83212015e+01] [-2.98588488e-01 9.54381424e-01 1.00611799e-03 -1.62960310e+01] [ 3.30456413e-03 -2.03353581e-05 9.99994540e-01 -1.26231553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85538475 meters 0.055705835285089 Centerline is valid? [True, True] Translation: X:88.38, Y:-16.31, Z:-1.26 [[ 9.52621027e-01 3.04158013e-01 -1.04052685e-03 8.83821677e+01] [-3.04157828e-01 9.52621595e-01 3.35198742e-04 -1.63096517e+01] [ 1.09318173e-03 -2.83298201e-06 9.99999402e-01 -1.25956481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91538474999999 meters 0.05574744089178197 Centerline is valid? [True, True] Translation: X:88.44, Y:-16.32, Z:-1.26 [[ 9.51563158e-01 3.07450500e-01 -1.32131657e-03 8.84422107e+01] [-3.07450206e-01 9.51564076e-01 4.25301689e-04 -1.63241078e+01] [ 1.38807660e-03 1.53763468e-06 9.99999037e-01 -1.26068394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97538474999999 meters 0.056070573618478864 Centerline is valid? [True, True] Translation: X:88.50, Y:-16.34, Z:-1.27 [[ 9.51096333e-01 3.08886628e-01 -2.19475563e-03 8.85020885e+01] [-3.08885826e-01 9.51098865e-01 7.04254814e-04 -1.63399733e+01] [ 2.30496448e-03 8.11473367e-06 9.99997344e-01 -1.26527144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03538474999999 meters 0.05626000566024835 Centerline is valid? [True, True] Translation: X:88.56, Y:-16.36, Z:-1.27 [[ 9.50549434e-01 3.10560364e-01 -2.83430801e-03 8.85610623e+01] [-3.10559033e-01 9.50553660e-01 9.09196153e-04 -1.63582916e+01] [ 2.97652214e-03 1.59840656e-05 9.99995570e-01 -1.26638369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09538475 meters 0.0560834251756767 Centerline is valid? [True, True] Translation: X:88.62, Y:-16.38, Z:-1.26 [[ 9.51337841e-01 3.08144730e-01 -1.77133186e-03 8.86188907e+01] [-3.08144203e-01 9.51339490e-01 5.70097717e-04 -1.63812176e+01] [ 1.86081055e-03 3.47011137e-06 9.99998269e-01 -1.26409459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15538475 meters 0.056242514728647566 Centerline is valid? [True, True] Translation: X:88.68, Y:-16.40, Z:-1.27 [[ 9.52776032e-01 3.03669446e-01 -1.64357957e-03 8.86762153e+01] [-3.03668984e-01 9.52777449e-01 5.29874360e-04 -1.64040471e+01] [ 1.72687220e-03 -5.74745392e-06 9.99998509e-01 -1.26804473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21538475 meters 0.0565914147191917 Centerline is valid? [True, True] Translation: X:88.73, Y:-16.43, Z:-1.27 [[ 9.53396747e-01 3.01697160e-01 -3.66970277e-03 8.87347387e+01] [-3.01694856e-01 9.53403809e-01 1.17927253e-03 -1.64250412e+01] [ 3.85449177e-03 -1.71841477e-05 9.99992571e-01 -1.27089906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27538474999999 meters 0.05656471553059414 Centerline is valid? [True, True] Translation: X:88.79, Y:-16.45, Z:-1.27 [[ 9.52709158e-01 3.03859124e-01 -3.85919430e-03 8.87932301e+01] [-3.03856595e-01 9.52716974e-01 1.23967531e-03 -1.64450242e+01] [ 4.05340657e-03 -8.40838519e-06 9.99991785e-01 -1.27163540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33538474999999 meters 0.05648586689019313 Centerline is valid? [True, True] Translation: X:88.85, Y:-16.46, Z:-1.27 [[ 9.52291881e-01 3.05186239e-01 -1.23777737e-03 8.88525401e+01] [-3.05185976e-01 9.52292686e-01 4.00660359e-04 -1.64629323e+01] [ 1.30100236e-03 -3.79331307e-06 9.99999154e-01 -1.26928078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39538474999999 meters 0.05662154866009581 Centerline is valid? [True, True] Translation: X:88.91, Y:-16.48, Z:-1.27 [[ 9.52318385e-01 3.05105959e-01 -2.19601979e-04 8.89112116e+01] [-3.05105950e-01 9.52318410e-01 7.37357057e-05 -1.64811912e+01] [ 2.31628210e-04 -3.21799778e-06 9.99999973e-01 -1.27173974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45538475 meters 0.05666543213633879 Centerline is valid? [True, True] Translation: X:88.97, Y:-16.50, Z:-1.27 [[ 9.51966137e-01 3.06203274e-01 -1.70429447e-04 8.89707306e+01] [-3.06203268e-01 9.51966152e-01 5.88612956e-05 -1.65009068e+01] [ 1.80266586e-04 -3.84790658e-06 9.99999984e-01 -1.27167600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51538475 meters 0.05694017657425069 Centerline is valid? [True, True] Translation: X:89.03, Y:-16.52, Z:-1.28 [[ 9.52537218e-01 3.04420453e-01 -1.01805444e-03 8.90277120e+01] [-3.04420273e-01 9.52537762e-01 3.30715884e-04 -1.65217595e+01] [ 1.07041197e-03 -5.10277891e-06 9.99999427e-01 -1.27605803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57538475 meters 0.05726413491900074 Centerline is valid? [True, True] Translation: X:89.09, Y:-16.54, Z:-1.28 [[ 9.53121176e-01 3.02584060e-01 -1.70582852e-03 8.90850976e+01] [-3.02583556e-01 9.53122703e-01 5.52197703e-04 -1.65442574e+01] [ 1.79295011e-03 -1.01556651e-05 9.99998393e-01 -1.27850779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63538474999999 meters 0.057438163400220815 Centerline is valid? [True, True] Translation: X:89.14, Y:-16.57, Z:-1.28 [[ 9.54822564e-01 2.97175420e-01 -8.00395712e-04 8.91415466e+01] [-2.97175305e-01 9.54822900e-01 2.61421138e-04 -1.65706272e+01] [ 8.41924091e-04 -1.17529610e-05 9.99999646e-01 -1.27631373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69538474999999 meters 0.0578009444368587 Centerline is valid? [True, True] Translation: X:89.20, Y:-16.60, Z:-1.28 [[ 9.55946894e-01 2.93537612e-01 -1.09819645e-03 8.91977644e+01] [-2.93537396e-01 9.55947525e-01 3.57310739e-04 -1.65950036e+01] [ 1.15470232e-03 -1.92083643e-05 9.99999333e-01 -1.27713472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75538474999999 meters 0.05764155765986602 Centerline is valid? [True, True] Translation: X:89.26, Y:-16.61, Z:-1.28 [[ 9.55526742e-01 2.94902417e-01 -1.10009030e-03 8.92568491e+01] [-2.94902199e-01 9.55527375e-01 3.58493522e-04 -1.66135492e+01] [ 1.15688701e-03 -1.81310969e-05 9.99999331e-01 -1.27818640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81538474999999 meters 0.05721508230290579 Centerline is valid? [True, True] Translation: X:89.32, Y:-16.63, Z:-1.28 [[ 9.53947577e-01 2.99966160e-01 -2.07910506e-03 8.93175100e+01] [-2.99965401e-01 9.53949843e-01 6.75023352e-04 -1.66283027e+01] [ 2.18584611e-03 -2.02773081e-05 9.99997611e-01 -1.27963407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87538475 meters 0.05692638173640142 Centerline is valid? [True, True] Translation: X:89.38, Y:-16.65, Z:-1.28 [[ 9.53906296e-01 3.00103757e-01 -7.16877224e-04 8.93770341e+01] [-3.00103666e-01 9.53906565e-01 2.32863207e-04 -1.66477968e+01] [ 7.53717013e-04 -6.99219634e-06 9.99999716e-01 -1.27883037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93538475 meters 0.05727045195316724 Centerline is valid? [True, True] Translation: X:89.44, Y:-16.67, Z:-1.28 [[ 9.55032537e-01 2.96498215e-01 1.28923543e-03 8.94363245e+01] [-2.96497928e-01 9.55033407e-01 -4.12732127e-04 -1.66685377e+01] [-1.35363724e-03 1.19169778e-05 9.99999084e-01 -1.27753648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99538474999999 meters 0.05729851634462343 Centerline is valid? [True, True] Translation: X:89.50, Y:-16.69, Z:-1.28 [[ 9.54849047e-01 2.97088914e-01 1.21459498e-03 8.94971794e+01] [-2.97088659e-01 9.54849819e-01 -3.89054522e-04 -1.66852765e+01] [-1.27533958e-03 1.06459468e-05 9.99999187e-01 -1.27982992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05538474999999 meters 0.057104118206906564 Centerline is valid? [True, True] Translation: X:89.56, Y:-16.70, Z:-1.28 [[ 9.53848780e-01 3.00283844e-01 1.45540514e-03 8.95582170e+01] [-3.00283476e-01 9.53849890e-01 -4.69974278e-04 -1.67000908e+01] [-1.52936372e-03 1.12502757e-05 9.99998830e-01 -1.28066074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11538474999999 meters 0.056950371413925976 Centerline is valid? [True, True] Translation: X:89.62, Y:-16.72, Z:-1.28 [[ 9.53386907e-01 3.01744633e-01 1.89262063e-03 8.96177567e+01] [-3.01744017e-01 9.53388786e-01 -6.09777597e-04 -1.67173480e+01] [-1.98840040e-03 1.02670273e-05 9.99998023e-01 -1.28062408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17538474999999 meters 0.05699074959696858 Centerline is valid? [True, True] Translation: X:89.68, Y:-16.73, Z:-1.28 [[ 9.52468902e-01 3.04631457e-01 1.63276529e-03 8.96775603e+01] [-3.04631002e-01 9.52470302e-01 -5.26270894e-04 -1.67300117e+01] [-1.71547912e-03 3.86573418e-06 9.99998529e-01 -1.28287041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23538475 meters 0.05698463321453426 Centerline is valid? [True, True] Translation: X:89.74, Y:-16.75, Z:-1.28 [[ 9.51736924e-01 3.06914865e-01 -3.06981556e-04 8.97374963e+01] [-3.06914847e-01 9.51736973e-01 1.03208007e-04 -1.67455160e+01] [ 3.23841768e-04 -4.00967422e-06 9.99999948e-01 -1.28438696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29538475 meters 0.05701391672393256 Centerline is valid? [True, True] Translation: X:89.80, Y:-16.76, Z:-1.29 [[ 9.50942050e-01 3.09361032e-01 -2.22928267e-03 8.97976894e+01] [-3.09360176e-01 9.50944663e-01 7.27845892e-04 -1.67616347e+01] [ 2.34509161e-03 -2.48798561e-06 9.99997250e-01 -1.28765932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35538475 meters 0.05715333635203494 Centerline is valid? [True, True] Translation: X:89.86, Y:-16.78, Z:-1.29 [[ 9.50383476e-01 3.11066506e-01 -2.97958690e-03 8.98563490e+01] [-3.11064987e-01 9.50388146e-01 9.72023469e-04 -1.67781106e+01] [ 3.13412801e-03 3.05011722e-06 9.99995089e-01 -1.28848419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41538474999999 meters 0.057075150044496974 Centerline is valid? [True, True] Translation: X:89.91, Y:-16.80, Z:-1.29 [[ 9.50430771e-01 3.10930486e-01 -1.89252135e-03 8.99138792e+01] [-3.10929870e-01 9.50432656e-01 6.19008904e-04 -1.67987059e+01] [ 1.99118283e-03 1.16306838e-07 9.99998018e-01 -1.28692947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47538474999999 meters 0.05697481038888601 Centerline is valid? [True, True] Translation: X:89.97, Y:-16.82, Z:-1.29 [[ 9.51359360e-01 3.08083334e-01 -1.66600157e-04 8.99719934e+01] [-3.08083328e-01 9.51359375e-01 5.77193093e-05 -1.68208286e+01] [ 1.76278978e-04 -3.58507437e-06 9.99999984e-01 -1.28692035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53538474999999 meters 0.05723797826267828 Centerline is valid? [True, True] Translation: X:90.03, Y:-16.84, Z:-1.29 [[ 9.52834310e-01 3.03490047e-01 7.54646956e-04 9.00299429e+01] [-3.03489950e-01 9.52834609e-01 -2.42042411e-04 -1.68448873e+01] [-7.92511200e-04 1.59854605e-06 9.99999686e-01 -1.28946406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59538475 meters 0.05824932367271593 Centerline is valid? [True, True] Translation: X:90.08, Y:-16.88, Z:-1.29 [[ 9.55497958e-01 2.94996025e-01 -9.98344917e-04 9.00842633e+01] [-2.94995843e-01 9.55498480e-01 3.28647542e-04 -1.68750926e+01] [ 1.05086677e-03 -1.95144549e-05 9.99999448e-01 -1.28984168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65538475 meters 0.05877191267262824 Centerline is valid? [True, True] Translation: X:90.14, Y:-16.90, Z:-1.29 [[ 9.56966734e-01 2.90195399e-01 -1.14029529e-03 9.01425547e+01] [-2.90195160e-01 9.56967413e-01 3.72994229e-04 -1.68978553e+01] [ 1.19946665e-03 -2.60348932e-05 9.99999280e-01 -1.28888215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71538475 meters 0.05857769135508657 Centerline is valid? [True, True] Translation: X:90.20, Y:-16.92, Z:-1.29 [[ 9.56738269e-01 2.90943616e-01 -1.92287526e-03 9.02024831e+01] [-2.90942933e-01 9.56740200e-01 6.31902834e-04 -1.69155789e+01] [ 2.02354016e-03 -4.51186552e-05 9.99997952e-01 -1.29108649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77538474999999 meters 0.0580687111213384 Centerline is valid? [True, True] Translation: X:90.26, Y:-16.93, Z:-1.29 [[ 9.54767846e-01 2.97339360e-01 -2.76858375e-03 9.02619629e+01] [-2.97337984e-01 9.54771859e-01 9.05837039e-04 -1.69264887e+01] [ 2.91270686e-03 -4.16589674e-05 9.99995757e-01 -1.29226988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83538474999999 meters 0.056982612727312344 Centerline is valid? [True, True] Translation: X:90.32, Y:-16.93, Z:-1.29 [[ 9.52193331e-01 3.05491795e-01 -1.61973291e-03 9.03242043e+01] [-3.05491335e-01 9.52194709e-01 5.29894024e-04 -1.69345100e+01] [ 1.70417938e-03 -9.74718650e-06 9.99998548e-01 -1.29259718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89538474999999 meters 0.0569973234489664 Centerline is valid? [True, True] Translation: X:90.38, Y:-16.95, Z:-1.29 [[ 9.52459935e-01 3.04663818e-01 1.72532439e-04 9.03831760e+01] [-3.04663813e-01 9.52459951e-01 -5.30636031e-05 -1.69538381e+01] [-1.80496799e-04 -2.02343483e-06 9.99999984e-01 -1.29336281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95538475 meters 0.05724667323739868 Centerline is valid? [True, True] Translation: X:90.44, Y:-16.98, Z:-1.29 [[ 9.53771637e-01 3.00532221e-01 2.18346598e-04 9.04407824e+01] [-3.00532214e-01 9.53771662e-01 -6.79335731e-05 -1.69776124e+01] [-2.28669025e-04 -8.27071150e-07 9.99999974e-01 -1.29300088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01538475 meters 0.05810449515083342 Centerline is valid? [True, True] Translation: X:90.50, Y:-17.00, Z:-1.30 [[ 9.55114264e-01 2.96233484e-01 -1.57020238e-03 9.04971047e+01] [-2.96233034e-01 9.55115554e-01 5.17400466e-04 -1.70016381e+01] [ 1.65299606e-03 -2.90307510e-05 9.99998633e-01 -1.29604365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07538475 meters 0.05906740277685867 Centerline is valid? [True, True] Translation: X:90.55, Y:-17.03, Z:-1.30 [[ 9.56520163e-01 2.91632929e-01 -4.40598505e-03 9.05531894e+01] [-2.91629362e-01 9.56530305e-01 1.44578698e-03 -1.70250244e+01] [ 4.63609731e-03 -9.80097865e-05 9.99989248e-01 -1.30014865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13538474999999 meters 0.06002871856903932 Centerline is valid? [True, True] Translation: X:90.61, Y:-17.05, Z:-1.30 [[ 9.57510376e-01 2.88348973e-01 -5.36181367e-03 9.06109208e+01] [-2.88343646e-01 9.57525379e-01 1.75809784e-03 -1.70478397e+01] [ 5.64101837e-03 -1.37352024e-04 9.99984080e-01 -1.30104373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19538474999999 meters 0.059444682085821286 Centerline is valid? [True, True] Translation: X:90.67, Y:-17.06, Z:-1.30 [[ 9.58154876e-01 2.86206201e-01 -5.02430424e-03 9.06704442e+01] [-2.86201473e-01 9.58168038e-01 1.65150688e-03 -1.70649628e+01] [ 5.28679925e-03 -1.44436099e-04 9.99986014e-01 -1.29741078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25538474999999 meters 0.05852837775917703 Centerline is valid? [True, True] Translation: X:90.73, Y:-17.08, Z:-1.30 [[ 9.57452061e-01 2.88583136e-01 -2.30745473e-03 9.07302746e+01] [-2.88582141e-01 9.57454840e-01 7.60190255e-04 -1.70793730e+01] [ 2.42866179e-03 -6.19554978e-05 9.99997049e-01 -1.29580004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31538474999999 meters 0.05764115948538506 Centerline is valid? [True, True] Translation: X:90.79, Y:-17.09, Z:-1.30 [[ 9.55451656e-01 2.95147365e-01 -4.08424438e-04 9.07904679e+01] [-2.95147333e-01 9.55451743e-01 1.36855963e-04 -1.70909875e+01] [ 4.30622518e-04 -1.02138734e-05 9.99999907e-01 -1.29541290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37538475 meters 0.05665661472525436 Centerline is valid? [True, True] Translation: X:90.85, Y:-17.10, Z:-1.30 [[ 9.52846132e-01 3.03452251e-01 -9.90570218e-04 9.08519468e+01] [-3.03452073e-01 9.52846646e-01 3.28470652e-04 -1.70988678e+01] [ 1.04353667e-03 -1.23914034e-05 9.99999455e-01 -1.29688602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43538475 meters 0.055921639284041716 Centerline is valid? [True, True] Translation: X:90.91, Y:-17.11, Z:-1.30 [[ 9.50676637e-01 3.10171039e-01 -2.80322890e-03 9.09126067e+01] [-3.10169658e-01 9.50680770e-01 9.25648816e-04 -1.71117601e+01] [ 2.95208526e-03 -1.05161540e-05 9.99995643e-01 -1.29766084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49538474999999 meters 0.05589611871291468 Centerline is valid? [True, True] Translation: X:90.97, Y:-17.12, Z:-1.30 [[ 9.48521534e-01 3.16697761e-01 -3.07057141e-03 9.09735609e+01] [-3.16696135e-01 9.48526504e-01 1.01469575e-03 -1.71241264e+01] [ 3.23387024e-03 9.97732507e-06 9.99994771e-01 -1.30169857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55538474999999 meters 0.056337985294948184 Centerline is valid? [True, True] Translation: X:91.03, Y:-17.14, Z:-1.30 [[ 9.45736361e-01 3.24919459e-01 -3.17502763e-03 9.10344046e+01] [-3.24917766e-01 9.45741690e-01 1.04956963e-03 -1.71376686e+01] [ 3.34378159e-03 3.90067246e-05 9.99994409e-01 -1.30422614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61538474999999 meters 0.057056484659289974 Centerline is valid? [True, True] Translation: X:91.09, Y:-17.16, Z:-1.30 [[ 9.43584327e-01 3.31131198e-01 -8.65214415e-04 9.10942347e+01] [-3.31131072e-01 9.43584723e-01 2.88788121e-04 -1.71553890e+01] [ 9.12029860e-04 1.40034320e-05 9.99999584e-01 -1.30400393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67538474999999 meters 0.05671016780617157 Centerline is valid? [True, True] Translation: X:91.15, Y:-17.18, Z:-1.30 [[ 9.44067482e-01 3.29751776e-01 5.96445264e-04 9.11508248e+01] [-3.29751720e-01 9.44067670e-01 -1.93384856e-04 -1.71809279e+01] [-6.26853691e-04 -1.41104975e-05 9.99999803e-01 -1.30410047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73538475 meters 0.05585117222865194 Centerline is valid? [True, True] Translation: X:91.21, Y:-17.21, Z:-1.31 [[ 9.46285082e-01 3.23332399e-01 -8.38969553e-04 9.12056212e+01] [-3.23332277e-01 9.46285454e-01 2.80516747e-04 -1.72133308e+01] [ 8.84604836e-04 5.81712305e-06 9.99999609e-01 -1.30727919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79538475 meters 0.05565128275480329 Centerline is valid? [True, True] Translation: X:91.26, Y:-17.25, Z:-1.31 [[ 9.49575074e-01 3.13517388e-01 -3.74529939e-03 9.12589544e+01] [-3.13514929e-01 9.49582460e-01 1.24160695e-03 -1.72498214e+01] [ 3.94573597e-03 -4.79173557e-06 9.99992216e-01 -1.31164668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85538475 meters 0.056478376852044966 Centerline is valid? [True, True] Translation: X:91.31, Y:-17.29, Z:-1.31 [[ 9.52782333e-01 3.03599741e-01 -5.74653591e-03 9.13104753e+01] [-3.03593786e-01 9.52799660e-01 1.90276383e-03 -1.72867565e+01] [ 6.05297606e-03 -6.83071644e-05 9.99981678e-01 -1.31458441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91538474999999 meters 0.05670598852114856 Centerline is valid? [True, True] Translation: X:91.37, Y:-17.31, Z:-1.31 [[ 9.54634671e-01 2.97731785e-01 -5.33190088e-03 9.13678603e+01] [-2.97726568e-01 9.54649556e-01 1.76535244e-03 -1.73108796e+01] [ 5.61569834e-03 -9.78180935e-05 9.99984227e-01 -1.31250585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97538474999999 meters 0.057056367829668636 Centerline is valid? [True, True] Translation: X:91.43, Y:-17.33, Z:-1.31 [[ 9.55468733e-01 2.95056495e-01 -4.60063040e-03 9.14276200e+01] [-2.95052561e-01 9.55479803e-01 1.52700889e-03 -1.73290116e+01] [ 4.84636332e-03 -1.01581465e-04 9.99988251e-01 -1.31068433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03538474999999 meters 0.05708918472411956 Centerline is valid? [True, True] Translation: X:91.49, Y:-17.35, Z:-1.31 [[ 9.55533521e-01 2.94858460e-01 -3.76555617e-03 9.14873301e+01] [-2.94855813e-01 9.55540936e-01 1.25218297e-03 -1.73484949e+01] [ 3.96735981e-03 -8.62066730e-05 9.99992126e-01 -1.31068808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09538475 meters 0.05693127096082982 Centerline is valid? [True, True] Translation: X:91.55, Y:-17.37, Z:-1.31 [[ 9.55669705e-01 2.94440127e-01 -6.53107482e-04 9.15451815e+01] [-2.94440045e-01 9.55669928e-01 2.19949150e-04 -1.73672707e+01] [ 6.88917035e-04 -1.78977426e-05 9.99999763e-01 -1.30729658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15538475 meters 0.05701153937933389 Centerline is valid? [True, True] Translation: X:91.60, Y:-17.39, Z:-1.31 [[ 9.55719885e-01 2.94273984e-01 1.52474570e-03 9.16043659e+01] [-2.94273556e-01 9.55721100e-01 -5.02599127e-04 -1.73856386e+01] [-1.60513349e-03 3.16516395e-05 9.99998711e-01 -1.30657584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21538475 meters 0.05765962342063497 Centerline is valid? [True, True] Translation: X:91.66, Y:-17.40, Z:-1.31 [[ 9.55495046e-01 2.95006712e-01 5.06228580e-04 9.16638341e+01] [-2.95006667e-01 9.55495180e-01 -1.64445840e-04 -1.74014872e+01] [-5.32211596e-04 7.78637967e-06 9.99999858e-01 -1.31088995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27538474999999 meters 0.058205133214811425 Centerline is valid? [True, True] Translation: X:91.72, Y:-17.42, Z:-1.32 [[ 9.55535926e-01 2.94854442e-01 -3.45731222e-03 9.17225749e+01] [-2.94852200e-01 9.55542177e-01 1.15269487e-03 -1.74199236e+01] [ 3.64348484e-03 -8.20452423e-05 9.99993359e-01 -1.31519451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33538474999999 meters 0.05940940977448584 Centerline is valid? [True, True] Translation: X:91.78, Y:-17.44, Z:-1.32 [[ 9.56506836e-01 2.91660450e-01 -5.37167035e-03 9.17796877e+01] [-2.91654992e-01 9.56521908e-01 1.79035869e-03 -1.74411578e+01] [ 5.66029719e-03 -1.45815858e-04 9.99983970e-01 -1.31965475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39538474999999 meters 0.05872086843562554 Centerline is valid? [True, True] Translation: X:91.84, Y:-17.46, Z:-1.32 [[ 9.56581772e-01 2.91429789e-01 -4.47113492e-03 9.18407270e+01] [-2.91425991e-01 9.56592213e-01 1.49310254e-03 -1.74571950e+01] [ 4.71218741e-03 -1.25269748e-04 9.99988890e-01 -1.31878230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45538475 meters 0.05780093712887973 Centerline is valid? [True, True] Translation: X:91.90, Y:-17.47, Z:-1.32 [[ 9.55013308e-01 2.96550804e-01 -2.68379945e-03 9.18988511e+01] [-2.96549458e-01 9.55017077e-01 8.95649988e-04 -1.74726876e+01] [ 2.82868003e-03 -5.94783879e-05 9.99995998e-01 -1.31731217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51538475 meters 0.056704741455363854 Centerline is valid? [True, True] Translation: X:91.96, Y:-17.49, Z:-1.32 [[ 9.52846280e-01 3.03453360e-01 -1.57028479e-04 9.19594635e+01] [-3.03453355e-01 9.52846293e-01 5.30423317e-05 -1.74867641e+01] [ 1.65719878e-04 -2.89036971e-06 9.99999986e-01 -1.31546846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57538475 meters 0.05601873658817872 Centerline is valid? [True, True] Translation: X:92.02, Y:-17.50, Z:-1.32 [[ 9.50532059e-01 3.10626469e-01 -3.09244655e-05 9.20200021e+01] [-3.10626469e-01 9.50532060e-01 1.37141627e-05 -1.74997092e+01] [ 3.36546777e-05 -3.42979374e-06 9.99999999e-01 -1.31745176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63538474999999 meters 0.055807720380949756 Centerline is valid? [True, True] Translation: X:92.08, Y:-17.52, Z:-1.32 [[ 9.50020787e-01 3.12185963e-01 -6.54754174e-04 9.20789501e+01] [-3.12185884e-01 9.50021012e-01 2.22359512e-04 -1.75201264e+01] [ 6.91447742e-04 -6.84114776e-06 9.99999761e-01 -1.32053093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69538474999999 meters 0.05653640351491116 Centerline is valid? [True, True] Translation: X:92.13, Y:-17.55, Z:-1.32 [[ 9.51400871e-01 3.07946969e-01 -2.24652081e-03 9.21337459e+01] [-3.07946052e-01 9.51403523e-01 7.52105124e-04 -1.75470340e+01] [ 2.36895631e-03 -2.37462546e-05 9.99997194e-01 -1.32396576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75538474999999 meters 0.05669450718413432 Centerline is valid? [True, True] Translation: X:92.19, Y:-17.57, Z:-1.33 [[ 9.51366476e-01 3.08004553e-01 -5.91814461e-03 9.21911962e+01] [-3.07998202e-01 9.51384881e-01 1.97883361e-03 -1.75709538e+01] [ 6.23992307e-03 -5.98180599e-05 9.99980530e-01 -1.32817285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81538474999999 meters 0.05662828090229475 Centerline is valid? [True, True] Translation: X:92.25, Y:-17.59, Z:-1.33 [[ 9.51356959e-01 3.08073442e-01 -3.26979025e-03 9.22492466e+01] [-3.08071494e-01 9.51362577e-01 1.09631052e-03 -1.75936089e+01] [ 3.44850023e-03 -3.56534700e-05 9.99994053e-01 -1.32852320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87538475 meters 0.055991640424698445 Centerline is valid? [True, True] Translation: X:92.31, Y:-17.61, Z:-1.33 [[ 9.50613455e-01 3.10355312e-01 -3.69308441e-03 9.23085150e+01] [-3.10352841e-01 9.50620628e-01 1.23901330e-03 -1.76124330e+01] [ 3.89525659e-03 -3.16634797e-05 9.99992413e-01 -1.32853597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93538475 meters 0.05543489004278923 Centerline is valid? [True, True] Translation: X:92.37, Y:-17.63, Z:-1.33 [[ 9.48457235e-01 3.16893990e-01 -2.65923272e-03 9.23692739e+01] [-3.16892737e-01 9.48460963e-01 8.91146862e-04 -1.76282854e+01] [ 2.80457751e-03 -2.52315305e-06 9.99996067e-01 -1.32519142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99538474999999 meters 0.05534668456718457 Centerline is valid? [True, True] Translation: X:92.43, Y:-17.65, Z:-1.32 [[ 9.50449018e-01 3.10880297e-01 3.24445843e-04 9.24266791e+01] [-3.10880279e-01 9.50449073e-01 -1.05080261e-04 -1.76520548e+01] [-3.41036634e-04 -9.90383737e-07 9.99999942e-01 -1.31930608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05538474999999 meters 0.05613992346471916 Centerline is valid? [True, True] Translation: X:92.49, Y:-17.67, Z:-1.33 [[ 9.51528918e-01 3.07543254e-01 -3.14085396e-03 9.24860262e+01] [-3.07541452e-01 9.51534101e-01 1.05323336e-03 -1.76701822e+01] [ 3.31254446e-03 -3.62392086e-05 9.99994513e-01 -1.32868985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11538474999999 meters 0.056401194525298695 Centerline is valid? [True, True] Translation: X:92.54, Y:-17.69, Z:-1.33 [[ 9.50833636e-01 3.09681816e-01 -3.54543811e-03 9.25435600e+01] [-3.09679524e-01 9.50840245e-01 1.19183856e-03 -1.76890510e+01] [ 3.74023597e-03 -3.52906064e-05 9.99993005e-01 -1.33179005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17538474999999 meters 0.05582940242094449 Centerline is valid? [True, True] Translation: X:92.60, Y:-17.71, Z:-1.33 [[ 9.50476239e-01 3.10789881e-01 -2.13738976e-03 9.26018275e+01] [-3.10789046e-01 9.50478642e-01 7.20492012e-04 -1.77105766e+01] [ 2.25546494e-03 -2.05332135e-05 9.99997456e-01 -1.32738868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23538475 meters 0.05596907581854632 Centerline is valid? [True, True] Translation: X:92.66, Y:-17.73, Z:-1.33 [[ 9.50510564e-01 3.10687459e-01 -1.72385214e-03 9.26611060e+01] [-3.10686913e-01 9.50512127e-01 5.82692593e-04 -1.77315048e+01] [ 1.81957764e-03 -1.82771652e-05 9.99998344e-01 -1.32967921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29538475 meters 0.056150484940113266 Centerline is valid? [True, True] Translation: X:92.72, Y:-17.76, Z:-1.33 [[ 9.50665794e-01 3.10209207e-01 -2.18993585e-03 9.27190558e+01] [-3.10208327e-01 9.50668316e-01 7.39261073e-04 -1.77551776e+01] [ 2.31122822e-03 -2.34538781e-05 9.99997329e-01 -1.33005922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35538475 meters 0.05595386816114515 Centerline is valid? [True, True] Translation: X:92.78, Y:-17.78, Z:-1.33 [[ 9.50721742e-01 3.10039477e-01 -1.92141668e-03 9.27772745e+01] [-3.10038796e-01 9.50723683e-01 6.50051372e-04 -1.77785712e+01] [ 2.02827793e-03 -2.23042577e-05 9.99997943e-01 -1.32968136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41538474999999 meters 0.05631564024412754 Centerline is valid? [True, True] Translation: X:92.84, Y:-17.80, Z:-1.33 [[ 9.50807552e-01 3.09779537e-01 -1.27977709e-03 9.28369544e+01] [-3.09779233e-01 9.50808413e-01 4.34799714e-04 -1.77967091e+01] [ 1.35151487e-03 -1.69624880e-05 9.99999087e-01 -1.32990959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47538474999999 meters 0.05590298421115085 Centerline is valid? [True, True] Translation: X:92.90, Y:-17.80, Z:-1.33 [[ 9.47305030e-01 3.20323611e-01 -2.44232230e-03 9.29004144e+01] [-3.20322546e-01 9.47308178e-01 8.25966041e-04 -1.78002661e+01] [ 2.57820831e-03 -1.10888946e-07 9.99996676e-01 -1.33161784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53538474999999 meters 0.05604900419906471 Centerline is valid? [True, True] Translation: X:92.96, Y:-17.82, Z:-1.33 [[ 9.46479091e-01 3.22760259e-01 -1.77357133e-03 9.29619193e+01] [-3.22759697e-01 9.46480753e-01 6.01908486e-04 -1.78154566e+01] [ 1.87292326e-03 2.74354793e-06 9.99998246e-01 -1.33327880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59538475 meters 0.05657076274939241 Centerline is valid? [True, True] Translation: X:93.02, Y:-17.83, Z:-1.34 [[ 9.45579830e-01 3.25376910e-01 -2.94137011e-03 9.30208138e+01] [-3.25375392e-01 9.45584405e-01 9.94008281e-04 -1.78323252e+01] [ 3.10474105e-03 1.71352725e-05 9.99995180e-01 -1.33558967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65538475 meters 0.05678188288866882 Centerline is valid? [True, True] Translation: X:93.08, Y:-17.85, Z:-1.34 [[ 9.45559170e-01 3.25427795e-01 -3.82187139e-03 9.30798125e+01] [-3.25425224e-01 9.45566894e-01 1.29352407e-03 -1.78522597e+01] [ 4.03478374e-03 2.06298087e-05 9.99991860e-01 -1.33625581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71538475 meters 0.056859615839456486 Centerline is valid? [True, True] Translation: X:93.14, Y:-17.87, Z:-1.34 [[ 9.45426675e-01 3.25827862e-01 -2.14612798e-03 9.31369954e+01] [-3.25827049e-01 9.45429111e-01 7.28026861e-04 -1.78729779e+01] [ 2.26622331e-03 1.09705319e-05 9.99997432e-01 -1.33772340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77538474999999 meters 0.05677936287973261 Centerline is valid? [True, True] Translation: X:93.19, Y:-17.90, Z:-1.34 [[ 9.45957315e-01 3.24288059e-01 -1.41850216e-03 9.31946941e+01] [-3.24287703e-01 9.45958379e-01 4.80464472e-04 -1.78977013e+01] [ 1.49765290e-03 5.50392691e-06 9.99998879e-01 -1.33783264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83538474999999 meters 0.05666926435983458 Centerline is valid? [True, True] Translation: X:93.25, Y:-17.92, Z:-1.34 [[ 9.46760343e-01 3.21925271e-01 -2.99561614e-03 9.32510986e+01] [-3.21923666e-01 9.46765082e-01 1.01646086e-03 -1.79245380e+01] [ 3.16336919e-03 2.01489759e-06 9.99994997e-01 -1.33757538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89538474999999 meters 0.056850909995184454 Centerline is valid? [True, True] Translation: X:93.31, Y:-17.95, Z:-1.34 [[ 9.47756432e-01 3.18968573e-01 -4.09803703e-03 9.33064468e+01] [-3.18965545e-01 9.47765292e-01 1.38992143e-03 -1.79502711e+01] [ 4.32731852e-03 -1.01743638e-05 9.99990637e-01 -1.34192401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95538475 meters 0.05700176244561627 Centerline is valid? [True, True] Translation: X:93.37, Y:-17.97, Z:-1.34 [[ 9.48076638e-01 3.18009735e-01 -4.52731595e-03 9.33650801e+01] [-3.18006019e-01 9.48087448e-01 1.53725355e-03 -1.79723065e+01] [ 4.78115302e-03 -1.77204535e-05 9.99988570e-01 -1.34328249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01538475 meters 0.05807216867454439 Centerline is valid? [True, True] Translation: X:93.42, Y:-18.01, Z:-1.34 [[ 9.52268258e-01 3.05250849e-01 -2.66155882e-03 9.34189044e+01] [-3.05249518e-01 9.52271976e-01 9.02617014e-04 -1.80072407e+01] [ 2.81005249e-03 -4.70939844e-05 9.99996051e-01 -1.33844144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07538475 meters 0.05906024976242243 Centerline is valid? [True, True] Translation: X:93.48, Y:-18.02, Z:-1.35 [[ 9.52016412e-01 3.05947196e-01 -7.81442375e-03 9.34787025e+01] [-3.05935730e-01 9.52048473e-01 2.65215211e-03 -1.80227203e+01] [ 8.25112870e-03 -1.34180902e-04 9.99965950e-01 -1.34969830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13538474999999 meters 0.0589091840490802 Centerline is valid? [True, True] Translation: X:93.54, Y:-18.04, Z:-1.35 [[ 9.51883859e-01 3.06386262e-01 -6.67669627e-03 9.35368202e+01] [-3.06377886e-01 9.51907267e-01 2.26829502e-03 -1.80431749e+01] [ 7.05057013e-03 -1.13561327e-04 9.99975138e-01 -1.34837812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19538474999999 meters 0.05801116138653933 Centerline is valid? [True, True] Translation: X:93.60, Y:-18.06, Z:-1.35 [[ 9.50686566e-01 3.10090879e-01 -6.22091898e-03 9.35973144e+01] [-3.10083674e-01 9.50706916e-01 2.11545881e-03 -1.80580552e+01] [ 6.57025518e-03 -8.21328546e-05 9.99978412e-01 -1.34544600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25538474999999 meters 0.057792544184632644 Centerline is valid? [True, True] Translation: X:93.66, Y:-18.07, Z:-1.35 [[ 9.49623059e-01 3.13355287e-01 -4.95075585e-03 9.36578668e+01] [-3.13350760e-01 9.49635963e-01 1.68513267e-03 -1.80701895e+01] [ 5.22946103e-03 -4.89177379e-05 9.99986325e-01 -1.34614556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31538474999999 meters 0.05754267190456755 Centerline is valid? [True, True] Translation: X:93.72, Y:-18.08, Z:-1.35 [[ 9.47918558e-01 3.18478149e-01 -4.69843857e-03 9.37199045e+01] [-3.18474127e-01 9.47930202e-01 1.60077876e-03 -1.80815958e+01] [ 4.96360487e-03 -2.10767712e-05 9.99987681e-01 -1.34673082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37538475 meters 0.05738895906689098 Centerline is valid? [True, True] Translation: X:93.78, Y:-18.09, Z:-1.35 [[ 9.45256789e-01 3.26304471e-01 -3.87236010e-03 9.37824601e+01] [-3.26301799e-01 9.45264721e-01 1.32052705e-03 -1.80862199e+01] [ 4.09129927e-03 1.53209040e-05 9.99991630e-01 -1.34823914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43538475 meters 0.05752546774109454 Centerline is valid? [True, True] Translation: X:93.84, Y:-18.10, Z:-1.35 [[ 9.44159098e-01 3.29470278e-01 -3.59620554e-03 9.38421585e+01] [-3.29467991e-01 9.44165947e-01 1.22797836e-03 -1.81022177e+01] [ 3.79999718e-03 2.54276762e-05 9.99992780e-01 -1.34791819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49538474999999 meters 0.05753174961265665 Centerline is valid? [True, True] Translation: X:93.90, Y:-18.12, Z:-1.35 [[ 9.43918165e-01 3.30160544e-01 -3.53737678e-03 9.39014021e+01] [-3.30158331e-01 9.43924793e-01 1.20914485e-03 -1.81213691e+01] [ 3.73822956e-03 2.65606226e-05 9.99993012e-01 -1.34885321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55538474999999 meters 0.05735206057368268 Centerline is valid? [True, True] Translation: X:93.96, Y:-18.15, Z:-1.35 [[ 9.44871696e-01 3.27425415e-01 -3.17405498e-03 9.39589157e+01] [-3.27423615e-01 9.44877028e-01 1.08588083e-03 -1.81450840e+01] [ 3.35463662e-03 1.32424937e-05 9.99994373e-01 -1.35041092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61538474999999 meters 0.05751112668426817 Centerline is valid? [True, True] Translation: X:94.01, Y:-18.17, Z:-1.35 [[ 9.45952858e-01 3.24295540e-01 -2.36494077e-03 9.40145473e+01] [-3.24294528e-01 9.45955814e-01 8.10222194e-04 -1.81700011e+01] [ 2.49988092e-03 5.05350814e-07 9.99996875e-01 -1.35191003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67538474999999 meters 0.057635949469424366 Centerline is valid? [True, True] Translation: X:94.07, Y:-18.19, Z:-1.35 [[ 9.46204421e-01 3.23553530e-01 -3.21050765e-03 9.40713455e+01] [-3.23551661e-01 9.46209867e-01 1.09979691e-03 -1.81944289e+01] [ 3.39365719e-03 -1.86761370e-06 9.99994242e-01 -1.35436702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73538475 meters 0.05767453330285653 Centerline is valid? [True, True] Translation: X:94.13, Y:-18.22, Z:-1.35 [[ 9.46045168e-01 3.24020266e-01 -3.06721479e-03 9.41308730e+01] [-3.24018556e-01 9.46050140e-01 1.05247222e-03 -1.82156793e+01] [ 3.24276131e-03 -1.85175064e-06 9.99994742e-01 -1.35382013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79538475 meters 0.057685991563812156 Centerline is valid? [True, True] Translation: X:94.19, Y:-18.23, Z:-1.36 [[ 9.45792570e-01 3.24756331e-01 -3.12088283e-03 9.41893381e+01] [-3.24754564e-01 9.45797719e-01 1.07138583e-03 -1.82343062e+01] [ 3.29966319e-03 2.12185305e-07 9.99994556e-01 -1.35573148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85538475 meters 0.05762916155516121 Centerline is valid? [True, True] Translation: X:94.25, Y:-18.25, Z:-1.35 [[ 9.45340090e-01 3.26077115e-01 -2.41427065e-03 9.42489760e+01] [-3.26076058e-01 9.45343173e-01 8.30250382e-04 -1.82520810e+01] [ 2.55303992e-03 2.36688296e-06 9.99996741e-01 -1.35447926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91538474999999 meters 0.0578113245221805 Centerline is valid? [True, True] Translation: X:94.31, Y:-18.27, Z:-1.36 [[ 9.45601165e-01 3.25314712e-01 -2.96226852e-03 9.43070604e+01] [-3.25313116e-01 9.45605805e-01 1.01897687e-03 -1.82723690e+01] [ 3.13262647e-03 1.19090978e-07 9.99995093e-01 -1.35888320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97538474999999 meters 0.05787951598884526 Centerline is valid? [True, True] Translation: X:94.36, Y:-18.29, Z:-1.36 [[ 9.46989765e-01 3.21245996e-01 -3.37571498e-03 9.43647875e+01] [-3.21243898e-01 9.46995781e-01 1.16127549e-03 -1.82949554e+01] [ 3.56984294e-03 -1.52881640e-05 9.99993628e-01 -1.35825095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03538474999999 meters 0.05784616981449273 Centerline is valid? [True, True] Translation: X:94.42, Y:-18.31, Z:-1.36 [[ 9.46799363e-01 3.21799070e-01 -4.04037040e-03 9.44248095e+01] [-3.21796065e-01 9.46807984e-01 1.39092914e-03 -1.83141893e+01] [ 4.27305466e-03 -1.67555244e-05 9.99990870e-01 -1.36073356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09538475 meters 0.057768287164649774 Centerline is valid? [True, True] Translation: X:94.49, Y:-18.33, Z:-1.36 [[ 9.46145954e-01 3.23713788e-01 -4.14932806e-03 9.44853087e+01] [-3.23710632e-01 9.46155052e-01 1.42954952e-03 -1.83329334e+01] [ 4.38867260e-03 -9.38089267e-06 9.99990370e-01 -1.36204068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15538475 meters 0.057638108739109836 Centerline is valid? [True, True] Translation: X:94.54, Y:-18.35, Z:-1.36 [[ 9.45844323e-01 3.24578160e-01 -5.24739883e-03 9.45448878e+01] [-3.24573125e-01 9.45858878e-01 1.80789171e-03 -1.83517096e+01] [ 5.55010094e-03 -6.81947291e-06 9.99984598e-01 -1.36216395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.21538475 meters 0.057858897275849384 Centerline is valid? [True, True] Translation: X:94.60, Y:-18.37, Z:-1.36 [[ 9.45258833e-01 3.26285940e-01 -4.81907730e-03 9.46026527e+01] [-3.26281710e-01 9.45271117e-01 1.66151374e-03 -1.83699698e+01] [ 5.09746316e-03 1.81624596e-06 9.99987008e-01 -1.36420907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27538474999999 meters 0.057824253873078726 Centerline is valid? [True, True] Translation: X:94.66, Y:-18.39, Z:-1.36 [[ 9.44292948e-01 3.29074195e-01 -4.58282807e-03 9.46633636e+01] [-3.29070391e-01 9.44304068e-01 1.58233227e-03 -1.83867116e+01] [ 4.84828791e-03 1.38878232e-05 9.99988247e-01 -1.36287121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33538474999999 meters 0.05785296107136217 Centerline is valid? [True, True] Translation: X:94.72, Y:-18.40, Z:-1.37 [[ 9.43104263e-01 3.32448940e-01 -5.66137355e-03 9.47232846e+01] [-3.32443197e-01 9.43121255e-01 1.95440052e-03 -1.84012856e+01] [ 5.98910011e-03 3.88816586e-05 9.99982064e-01 -1.36669914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39538474999999 meters 0.05829627652532266 Centerline is valid? [True, True] Translation: X:94.78, Y:-18.42, Z:-1.37 [[ 9.42149829e-01 3.35146753e-01 -5.50941900e-03 9.47838191e+01] [-3.35141351e-01 9.42165936e-01 1.90364485e-03 -1.84171771e+01] [ 5.82878730e-03 5.29154553e-05 9.99983011e-01 -1.36791075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45538475 meters 0.05876394922971397 Centerline is valid? [True, True] Translation: X:94.84, Y:-18.43, Z:-1.37 [[ 9.40250912e-01 3.40439349e-01 -5.41031592e-03 9.48433054e+01] [-3.40434221e-01 9.40266474e-01 1.87047900e-03 -1.84312102e+01] [ 5.72392333e-03 8.31370962e-05 9.99983615e-01 -1.36876425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51538475 meters 0.060237754093774895 Centerline is valid? [True, True] Translation: X:94.90, Y:-18.44, Z:-1.37 [[ 9.38131020e-01 3.46209933e-01 -6.99075124e-03 9.49040842e+01] [-3.46201552e-01 9.38157054e-01 2.41406651e-03 -1.84446239e+01] [ 7.39419640e-03 1.55498245e-04 9.99972650e-01 -1.37152428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57538475 meters 0.06107473338305283 Centerline is valid? [True, True] Translation: X:94.96, Y:-18.46, Z:-1.37 [[ 9.37139688e-01 3.48905577e-01 -5.83981990e-03 9.49638578e+01] [-3.48899755e-01 9.37157872e-01 2.02074837e-03 -1.84621806e+01] [ 6.17788357e-03 1.43788236e-04 9.99980906e-01 -1.37296836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63538474999999 meters 0.05971955843497152 Centerline is valid? [True, True] Translation: X:95.02, Y:-18.49, Z:-1.37 [[ 9.38243697e-01 3.45922231e-01 -6.04778362e-03 9.50189512e+01] [-3.45915914e-01 9.38263179e-01 2.09442494e-03 -1.84916716e+01] [ 6.39892084e-03 1.26943599e-04 9.99979519e-01 -1.37041503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69538474999999 meters 0.06011476443421293 Centerline is valid? [True, True] Translation: X:95.08, Y:-18.51, Z:-1.38 [[ 9.38220136e-01 3.45910622e-01 -9.42432586e-03 9.50762482e+01] [-3.45895280e-01 9.38267447e-01 3.26383094e-03 -1.85123545e+01] [ 9.97153196e-03 1.97637933e-04 9.99950264e-01 -1.37648392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75538474999999 meters 0.06021348735394669 Centerline is valid? [True, True] Translation: X:95.13, Y:-18.54, Z:-1.38 [[ 9.38538427e-01 3.44970703e-01 -1.18674280e-02 9.51334401e+01] [-3.44946268e-01 9.38613424e-01 4.11248826e-03 -1.85359425e+01] [ 1.25576152e-02 2.33896724e-04 9.99921123e-01 -1.37923557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81538474999999 meters 0.05987196890250785 Centerline is valid? [True, True] Translation: X:95.19, Y:-18.56, Z:-1.38 [[ 9.39184472e-01 3.43270595e-01 -9.89069177e-03 9.51886400e+01] [-3.43253519e-01 9.39236535e-01 3.42843825e-03 -1.85603246e+01] [ 1.04665811e-02 1.75078783e-04 9.99945209e-01 -1.37672994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87538475 meters 0.05915449346124302 Centerline is valid? [True, True] Translation: X:95.25, Y:-18.58, Z:-1.38 [[ 9.39846441e-01 3.41513651e-01 -7.55608442e-03 9.52464306e+01] [-3.41503628e-01 9.39876807e-01 2.61917168e-03 -1.85825879e+01] [ 7.99627138e-03 1.18811058e-04 9.99968022e-01 -1.37594614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93538475 meters 0.05964025021384149 Centerline is valid? [True, True] Translation: X:95.30, Y:-18.60, Z:-1.38 [[ 9.40077994e-01 3.40908315e-01 -5.90637759e-03 9.53041261e+01] [-3.40902167e-01 9.40096545e-01 2.04922954e-03 -1.86016913e+01] [ 6.25116455e-03 8.70613205e-05 9.99980457e-01 -1.37992848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99538474999999 meters 0.05849749332471974 Centerline is valid? [True, True] Translation: X:95.36, Y:-18.63, Z:-1.37 [[ 9.40760628e-01 3.39022338e-01 -5.77020606e-03 9.53599727e+01] [-3.39016416e-01 9.40778321e-01 2.00511325e-03 -1.86305771e+01] [ 6.10826295e-03 6.98629715e-05 9.99981342e-01 -1.37438123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05538474999999 meters 0.0585376909151914 Centerline is valid? [True, True] Translation: X:95.42, Y:-18.65, Z:-1.38 [[ 9.40629396e-01 3.39338472e-01 -8.10810393e-03 9.54167232e+01] [-3.39326788e-01 9.40664335e-01 2.81777818e-03 -1.86530854e+01] [ 8.58318474e-03 1.00811878e-04 9.99963159e-01 -1.37789065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11538474999999 meters 0.05844697440741743 Centerline is valid? [True, True] Translation: X:95.47, Y:-18.68, Z:-1.38 [[ 9.41154526e-01 3.37832941e-01 -9.85199074e-03 9.54742306e+01] [-3.37815586e-01 9.41206084e-01 3.42585379e-03 -1.86760581e+01] [ 1.04301199e-02 1.03898224e-04 9.99945599e-01 -1.38119750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17538474999999 meters 0.05820972205198631 Centerline is valid? [True, True] Translation: X:95.53, Y:-18.70, Z:-1.39 [[ 9.42804916e-01 3.33161589e-01 -1.10564764e-02 9.55297211e+01] [-3.33139387e-01 9.42869743e-01 3.84661132e-03 -1.87019527e+01] [ 1.17063602e-02 5.67437110e-05 9.99931477e-01 -1.38507293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23538475 meters 0.05821367741069506 Centerline is valid? [True, True] Translation: X:95.59, Y:-18.72, Z:-1.39 [[ 9.43741198e-01 3.30453974e-01 -1.23580425e-02 9.55866052e+01] [-3.30425976e-01 9.43822107e-01 4.30163328e-03 -1.87244977e+01] [ 1.30852856e-02 2.37897161e-05 9.99914384e-01 -1.38939138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.29538475 meters 0.057581237680371995 Centerline is valid? [True, True] Translation: X:95.65, Y:-18.75, Z:-1.38 [[ 9.43400642e-01 3.31450576e-01 -1.16509388e-02 9.56450390e+01] [-3.31425718e-01 9.43472583e-01 4.05937670e-03 -1.87470016e+01] [ 1.23378241e-02 3.18021724e-05 9.99923886e-01 -1.38204396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35538475 meters 0.057381663987587095 Centerline is valid? [True, True] Translation: X:95.70, Y:-18.77, Z:-1.38 [[ 9.43204228e-01 3.31996963e-01 -1.19917322e-02 9.57024633e+01] [-3.31970673e-01 9.43280454e-01 4.17820235e-03 -1.87671044e+01] [ 1.26987171e-02 4.00052769e-05 9.99919367e-01 -1.38298368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41538474999999 meters 0.057178300110249575 Centerline is valid? [True, True] Translation: X:95.76, Y:-18.78, Z:-1.38 [[ 9.42723716e-01 3.33397350e-01 -1.08721093e-02 9.57629136e+01] [-3.33375814e-01 9.42786404e-01 3.78973479e-03 -1.87836730e+01] [ 1.15135644e-02 5.18254285e-05 9.99933715e-01 -1.38402188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47538474999999 meters 0.057016727468362526 Centerline is valid? [True, True] Translation: X:95.82, Y:-18.80, Z:-1.38 [[ 9.43081996e-01 3.32422338e-01 -9.57802956e-03 9.58207653e+01] [-3.32405557e-01 9.43130631e-01 3.34037081e-03 -1.88025028e+01] [ 1.01437469e-02 3.35466834e-05 9.99948550e-01 -1.38280831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53538474999999 meters 0.05710850604887762 Centerline is valid? [True, True] Translation: X:95.88, Y:-18.82, Z:-1.38 [[ 9.42383901e-01 3.34429811e-01 -8.32373467e-03 9.58813873e+01] [-3.34417179e-01 9.42420660e-01 2.90705959e-03 -1.88173052e+01] [ 8.81666690e-03 4.40337071e-05 9.99961131e-01 -1.38082261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59538475 meters 0.058152650529068685 Centerline is valid? [True, True] Translation: X:95.94, Y:-18.83, Z:-1.39 [[ 9.39857949e-01 3.41429624e-01 -9.63572030e-03 9.59426948e+01] [-3.41413047e-01 9.39907334e-01 3.36681085e-03 -1.88274099e+01] [ 1.02062131e-02 1.25436682e-04 9.99947907e-01 -1.38667747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65538475 meters 0.058389205676482515 Centerline is valid? [True, True] Translation: X:96.00, Y:-18.85, Z:-1.38 [[ 9.38671479e-01 3.44643067e-01 -1.08171547e-02 9.60022373e+01] [-3.44622408e-01 9.38733787e-01 3.77786093e-03 -1.88464607e+01] [ 1.14564421e-02 1.81663584e-04 9.99934356e-01 -1.38459160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71538475 meters 0.05848401676976074 Centerline is valid? [True, True] Translation: X:96.06, Y:-18.87, Z:-1.39 [[ 9.38126329e-01 3.46128457e-01 -1.06809357e-02 9.60608207e+01] [-3.46108353e-01 9.38187110e-01 3.73545526e-03 -1.88665439e+01] [ 1.13136635e-02 1.92432128e-04 9.99935980e-01 -1.38627940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77538474999999 meters 0.0586748006830383 Centerline is valid? [True, True] Translation: X:96.12, Y:-18.89, Z:-1.39 [[ 9.38237482e-01 3.45808999e-01 -1.12500841e-02 9.61183978e+01] [-3.45786635e-01 9.38304907e-01 3.93766370e-03 -1.88885617e+01] [ 1.19176886e-02 1.95665042e-04 9.99928963e-01 -1.38769334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83538474999999 meters 0.05802291300188131 Centerline is valid? [True, True] Translation: X:96.17, Y:-18.91, Z:-1.39 [[ 9.39531261e-01 3.42325307e-01 -9.71565501e-03 9.61739076e+01] [-3.42308427e-01 9.39581485e-01 3.40191309e-03 -1.89149309e+01] [ 1.02932105e-02 1.29546890e-04 9.99947015e-01 -1.38732476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89538474999999 meters 0.05766945421926951 Centerline is valid? [True, True] Translation: X:96.23, Y:-18.94, Z:-1.39 [[ 9.39479071e-01 3.42522776e-01 -7.56463162e-03 9.62318633e+01] [-3.42512521e-01 9.39509520e-01 2.65227696e-03 -1.89378658e+01] [ 8.01550869e-03 9.92223536e-05 9.99967870e-01 -1.38590786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95538475 meters 0.057385882472204996 Centerline is valid? [True, True] Translation: X:96.29, Y:-18.96, Z:-1.39 [[ 9.40086175e-01 3.40865034e-01 -7.00088676e-03 9.62881658e+01] [-3.40856206e-01 9.40112239e-01 2.45441573e-03 -1.89631309e+01] [ 7.41824383e-03 7.89334042e-05 9.99972481e-01 -1.38637628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01538475 meters 0.05724652864750799 Centerline is valid? [True, True] Translation: X:96.35, Y:-18.99, Z:-1.38 [[ 9.39648669e-01 3.42053947e-01 -7.71202806e-03 9.63459757e+01] [-3.42043246e-01 9.39680312e-01 2.70734000e-03 -1.89860790e+01] [ 8.17289727e-03 9.38986804e-05 9.99966597e-01 -1.38480182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07538475 meters 0.05706202154533148 Centerline is valid? [True, True] Translation: X:96.40, Y:-19.01, Z:-1.39 [[ 9.41413211e-01 3.37139860e-01 -8.82505645e-03 9.64021613e+01] [-3.37125612e-01 9.41454572e-01 3.09995867e-03 -1.90121494e+01] [ 9.35350938e-03 5.68105117e-05 9.99956253e-01 -1.38633245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13538474999999 meters 0.05783862400459115 Centerline is valid? [True, True] Translation: X:96.46, Y:-19.03, Z:-1.40 [[ 9.41600491e-01 3.36545695e-01 -1.12031199e-02 9.64600056e+01] [-3.36522706e-01 9.41667134e-01 3.93413204e-03 -1.90308999e+01] [ 1.18736250e-02 6.57235592e-05 9.99929504e-01 -1.39628928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19538474999999 meters 0.057460872600558245 Centerline is valid? [True, True] Translation: X:96.52, Y:-19.06, Z:-1.39 [[ 9.42418124e-01 3.34313808e-01 -9.07508322e-03 9.65171759e+01] [-3.34298614e-01 9.42461817e-01 3.18747344e-03 -1.90571249e+01] [ 9.61853581e-03 2.98549989e-05 9.99953740e-01 -1.39201629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25538474999999 meters 0.05719676310845319 Centerline is valid? [True, True] Translation: X:96.57, Y:-19.08, Z:-1.39 [[ 9.43008570e-01 3.32670502e-01 -8.07310485e-03 9.65727269e+01] [-3.32658383e-01 9.43043126e-01 2.83957167e-03 -1.90819211e+01] [ 8.55792777e-03 7.84557979e-06 9.99963380e-01 -1.39128904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31538474999999 meters 0.05738912661625449 Centerline is valid? [True, True] Translation: X:96.63, Y:-19.10, Z:-1.39 [[ 9.43287311e-01 3.31895937e-01 -7.35771824e-03 9.66299504e+01] [-3.31885829e-01 9.43316006e-01 2.59032954e-03 -1.91047761e+01] [ 7.80037323e-03 -1.50256941e-06 9.99969577e-01 -1.39292071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37538475 meters 0.0573682817202263 Centerline is valid? [True, True] Translation: X:96.69, Y:-19.13, Z:-1.39 [[ 9.43261486e-01 3.31944727e-01 -8.39446093e-03 9.66877525e+01] [-3.31931557e-01 9.43298838e-01 2.95697059e-03 -1.91265580e+01] [ 8.90003604e-03 -2.80998771e-06 9.99960394e-01 -1.39435644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43538475 meters 0.05737765945839743 Centerline is valid? [True, True] Translation: X:96.75, Y:-19.15, Z:-1.39 [[ 9.43310865e-01 3.31832592e-01 -7.19319991e-03 9.67452666e+01] [-3.31822904e-01 9.43338291e-01 2.53569980e-03 -1.91469794e+01] [ 7.62704875e-03 -5.08468813e-06 9.99970914e-01 -1.39463725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49538474999999 meters 0.05734238459678619 Centerline is valid? [True, True] Translation: X:96.80, Y:-19.17, Z:-1.40 [[ 9.43163154e-01 3.32229700e-01 -8.16649447e-03 9.68041959e+01] [-3.32217209e-01 9.43198508e-01 2.88099299e-03 -1.91668456e+01] [ 8.65977684e-03 -4.19643531e-06 9.99962503e-01 -1.39520756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55538474999999 meters 0.05753624900113402 Centerline is valid? [True, True] Translation: X:96.86, Y:-19.19, Z:-1.40 [[ 9.42562826e-01 3.33868278e-01 -1.03581931e-02 9.68626947e+01] [-3.33848265e-01 9.42619739e-01 3.65551534e-03 -1.91862012e+01] [ 1.09842978e-02 1.25119173e-05 9.99939671e-01 -1.39802643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61538474999999 meters 0.05771224912952786 Centerline is valid? [True, True] Translation: X:96.92, Y:-19.21, Z:-1.40 [[ 9.42231413e-01 3.34776785e-01 -1.11565342e-02 9.69201121e+01] [-3.34753614e-01 9.42297460e-01 3.93878940e-03 -1.92051056e+01] [ 1.18313891e-02 2.34390502e-05 9.99930006e-01 -1.40456192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67538474999999 meters 0.057527023102395644 Centerline is valid? [True, True] Translation: X:96.98, Y:-19.23, Z:-1.40 [[ 9.42658834e-01 3.33587726e-01 -1.06560236e-02 9.69774239e+01] [-3.33566472e-01 9.42719062e-01 3.76558972e-03 -1.92282892e+01] [ 1.13017910e-02 4.82577351e-06 9.99936133e-01 -1.40230963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73538475 meters 0.0574847839135169 Centerline is valid? [True, True] Translation: X:97.04, Y:-19.25, Z:-1.40 [[ 9.42976919e-01 3.32687710e-01 -1.06497837e-02 9.70352078e+01] [-3.32666383e-01 9.43037055e-01 3.76696085e-03 -1.92520231e+01] [ 1.12963622e-02 -9.33212091e-06 9.99936194e-01 -1.40290206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.79538475 meters 0.05739157276119931 Centerline is valid? [True, True] Translation: X:97.09, Y:-19.28, Z:-1.40 [[ 9.43390248e-01 3.31540471e-01 -9.78545266e-03 9.70924381e+01] [-3.31522380e-01 9.43440997e-01 3.46356167e-03 -1.92750474e+01] [ 1.03803081e-02 -2.33937532e-05 9.99946123e-01 -1.40343018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.85538475 meters 0.05751900308242473 Centerline is valid? [True, True] Translation: X:97.15, Y:-19.30, Z:-1.41 [[ 9.43357556e-01 3.31597280e-01 -1.09437541e-02 9.71501421e+01] [-3.31574634e-01 9.43421032e-01 3.87543415e-03 -1.92957499e+01] [ 1.16096512e-02 -2.72488193e-05 9.99932605e-01 -1.40575340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91538474999999 meters 0.05733342382618896 Centerline is valid? [True, True] Translation: X:97.21, Y:-19.31, Z:-1.40 [[ 9.42609481e-01 3.33674280e-01 -1.22000526e-02 9.72099199e+01] [-3.33646267e-01 9.42688429e-01 4.32358182e-03 -1.93123194e+01] [ 1.29435165e-02 -4.94719743e-06 9.99916229e-01 -1.40393020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97538474999999 meters 0.05708663887097941 Centerline is valid? [True, True] Translation: X:97.27, Y:-19.33, Z:-1.40 [[ 9.42041070e-01 3.35378271e-01 -8.94637098e-03 9.72683359e+01] [-3.35363272e-01 9.42083550e-01 3.17182526e-03 -1.93278809e+01] [ 9.49199021e-03 1.22945776e-05 9.99954950e-01 -1.40042073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03538474999999 meters 0.057393295863692496 Centerline is valid? [True, True] Translation: X:97.33, Y:-19.35, Z:-1.40 [[ 9.42268559e-01 3.34732144e-01 -9.18453154e-03 9.73272209e+01] [-3.34716269e-01 9.42313319e-01 3.25999243e-03 -1.93456232e+01] [ 9.74593066e-03 2.42375836e-06 9.99952507e-01 -1.40154859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09538475 meters 0.05750681360966317 Centerline is valid? [True, True] Translation: X:97.39, Y:-19.36, Z:-1.40 [[ 9.41088070e-01 3.38005994e-01 -1.02563663e-02 9.73881763e+01] [-3.37986366e-01 9.41143956e-01 3.64277966e-03 -1.93605288e+01] [ 1.08839985e-02 3.83354875e-05 9.99940767e-01 -1.40081067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15538475 meters 0.05777831143457867 Centerline is valid? [True, True] Translation: X:97.45, Y:-19.38, Z:-1.40 [[ 9.39781523e-01 3.41593172e-01 -1.11710856e-02 9.74480458e+01] [-3.41570114e-01 9.39847912e-01 3.96983051e-03 -1.93751480e+01] [ 1.18551885e-02 8.49356209e-05 9.99929721e-01 -1.40367265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21538475 meters 0.057761146517294304 Centerline is valid? [True, True] Translation: X:97.51, Y:-19.40, Z:-1.40 [[ 9.40531541e-01 3.39519518e-01 -1.12657848e-02 9.75057359e+01] [-3.39495914e-01 9.40599008e-01 4.00385971e-03 -1.93953850e+01] [ 1.19559745e-02 5.89315757e-05 9.99928523e-01 -1.40482055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27538474999999 meters 0.058154887793306874 Centerline is valid? [True, True] Translation: X:97.56, Y:-19.41, Z:-1.41 [[ 9.39856294e-01 3.41356783e-01 -1.20703584e-02 9.75643437e+01] [-3.41329820e-01 9.39933795e-01 4.29122658e-03 -1.94127023e+01] [ 1.28101771e-02 8.68369449e-05 9.99917943e-01 -1.40671318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33538474999999 meters 0.05792309734421176 Centerline is valid? [True, True] Translation: X:97.62, Y:-19.43, Z:-1.41 [[ 9.39068513e-01 3.43550554e-01 -1.11061142e-02 9.76233816e+01] [-3.43527827e-01 9.39134179e-01 3.95291351e-03 -1.94309400e+01] [ 1.17881571e-02 1.03202659e-04 9.99930512e-01 -1.40512491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39538474999999 meters 0.058513980716587054 Centerline is valid? [True, True] Translation: X:97.68, Y:-19.44, Z:-1.41 [[ 9.37758209e-01 3.47141707e-01 -1.01082522e-02 9.76843625e+01] [-3.47123059e-01 9.37812677e-01 3.60052360e-03 -1.94448400e+01] [ 1.07295390e-02 1.32386871e-04 9.99942428e-01 -1.40652828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45538475 meters 0.058053989749696853 Centerline is valid? [True, True] Translation: X:97.74, Y:-19.47, Z:-1.40 [[ 9.38623735e-01 3.44788677e-01 -1.03078405e-02 9.77415537e+01] [-3.44769112e-01 9.38680327e-01 3.67455353e-03 -1.94688185e+01] [ 1.09427115e-02 1.04801851e-04 9.99940121e-01 -1.40323620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51538475 meters 0.0578957591216113 Centerline is valid? [True, True] Translation: X:97.80, Y:-19.49, Z:-1.41 [[ 9.39738568e-01 3.41677888e-01 -1.21509467e-02 9.77977220e+01] [-3.41650426e-01 9.39817118e-01 4.33269591e-03 -1.94916127e+01] [ 1.29000541e-02 7.97746626e-05 9.99916788e-01 -1.40585433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57538475 meters 0.0581371711478841 Centerline is valid? [True, True] Translation: X:97.86, Y:-19.51, Z:-1.41 [[ 9.38930829e-01 3.43850740e-01 -1.32501527e-02 9.78566220e+01] [-3.43818252e-01 9.39024310e-01 4.72800410e-03 -1.95079001e+01] [ 1.40679432e-02 1.16375531e-04 9.99901035e-01 -1.40932808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63538474999999 meters 0.05844615040608301 Centerline is valid? [True, True] Translation: X:97.91, Y:-19.53, Z:-1.41 [[ 9.38272101e-01 3.45597358e-01 -1.44198115e-02 9.79144221e+01] [-3.45559041e-01 9.38382887e-01 5.14846233e-03 -1.95263831e+01] [ 1.53105994e-02 1.52237679e-04 9.99882774e-01 -1.41145409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69538474999999 meters 0.058178295738506094 Centerline is valid? [True, True] Translation: X:97.97, Y:-19.55, Z:-1.41 [[ 9.38396511e-01 3.45273801e-01 -1.40709045e-02 9.79716968e+01] [-3.45237222e-01 9.38501989e-01 5.02767637e-03 -1.95503667e+01] [ 1.49414968e-02 1.39846005e-04 9.99888360e-01 -1.41142390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75538474999999 meters 0.05779402200399437 Centerline is valid? [True, True] Translation: X:98.03, Y:-19.58, Z:-1.41 [[ 9.38807987e-01 3.44190480e-01 -1.31330509e-02 9.80282579e+01] [-3.44158459e-01 9.38899836e-01 4.69610328e-03 -1.95764981e+01] [ 1.39469734e-02 1.11111285e-04 9.99902730e-01 -1.41087880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81538474999999 meters 0.05742466305470981 Centerline is valid? [True, True] Translation: X:98.09, Y:-19.60, Z:-1.41 [[ 9.39014001e-01 3.43649248e-01 -1.25658171e-02 9.80860024e+01] [-3.43619837e-01 9.39098070e-01 4.49694167e-03 -1.96006121e+01] [ 1.33459052e-02 9.51728308e-05 9.99910935e-01 -1.40754987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87538475 meters 0.0570493120589692 Centerline is valid? [True, True] Translation: X:98.14, Y:-19.63, Z:-1.41 [[ 9.40312762e-01 3.40096846e-01 -1.20848638e-02 9.81412119e+01] [-3.40069314e-01 9.40390416e-01 4.32760547e-03 -1.96280333e+01] [ 1.28362951e-02 4.03887052e-05 9.99917611e-01 -1.40684737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.93538475 meters 0.05707746167397627 Centerline is valid? [True, True] Translation: X:98.20, Y:-19.65, Z:-1.40 [[ 9.41029928e-01 3.37998122e-01 -1.48304825e-02 9.81986629e+01] [-3.37956391e-01 9.41146784e-01 5.31121981e-03 -1.96522235e+01] [ 1.57528432e-02 1.40395308e-05 9.99875916e-01 -1.40483965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99538474999999 meters 0.05720917365669736 Centerline is valid? [True, True] Translation: X:98.26, Y:-19.67, Z:-1.41 [[ 9.42010877e-01 3.35212464e-01 -1.57515349e-02 9.82563701e+01] [-3.35164912e-01 9.42142560e-01 5.64614837e-03 -1.96728325e+01] [ 1.67328507e-02 -3.93713785e-05 9.99859995e-01 -1.40836555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05538474999999 meters 0.05760628973072092 Centerline is valid? [True, True] Translation: X:98.32, Y:-19.69, Z:-1.41 [[ 9.41115723e-01 3.37634316e-01 -1.74431646e-02 9.83163613e+01] [-3.37576334e-01 9.41277360e-01 6.25703181e-03 -1.96902976e+01] [ 1.85314446e-02 -1.91471854e-07 9.99828278e-01 -1.41221512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11538474999999 meters 0.05744632908751884 Centerline is valid? [True, True] Translation: X:98.38, Y:-19.71, Z:-1.41 [[ 9.40186151e-01 3.40271369e-01 -1.62909929e-02 9.83753987e+01] [-3.40221111e-01 9.40327280e-01 5.84826679e-03 -1.97100962e+01] [ 1.73088628e-02 4.40802472e-05 9.99850189e-01 -1.41119559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17538474999999 meters 0.05734262776721821 Centerline is valid? [True, True] Translation: X:98.44, Y:-19.73, Z:-1.41 [[ 9.39047808e-01 3.43407518e-01 -1.61397263e-02 9.84357179e+01] [-3.43358550e-01 9.39186492e-01 5.79986639e-03 -1.97291772e+01] [ 1.71499307e-02 9.53612132e-05 9.99852925e-01 -1.40830386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23538475 meters 0.057884073853929886 Centerline is valid? [True, True] Translation: X:98.50, Y:-19.75, Z:-1.41 [[ 9.37983176e-01 3.46333373e-01 -1.55163249e-02 9.84961285e+01] [-3.46288442e-01 9.38111494e-01 5.58025922e-03 -1.97451906e+01] [ 1.64886728e-02 1.38934727e-04 9.99864043e-01 -1.41318914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.29538475 meters 0.05837657189200078 Centerline is valid? [True, True] Translation: X:98.56, Y:-19.76, Z:-1.42 [[ 9.36992803e-01 3.48984988e-01 -1.59362852e-02 9.85560141e+01] [-3.48937927e-01 9.37128296e-01 5.73414110e-03 -1.97604557e+01] [ 1.69354730e-02 1.87925379e-04 9.99856567e-01 -1.41622770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35538474999998 meters 0.05851910396904364 Centerline is valid? [True, True] Translation: X:98.62, Y:-19.78, Z:-1.41 [[ 9.35312137e-01 3.53466790e-01 -1.58881653e-02 9.86157961e+01] [-3.53420577e-01 9.35447037e-01 5.72164380e-03 -1.97781383e+01] [ 1.68849482e-02 2.63681639e-04 9.99857404e-01 -1.41214449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41538474999999 meters 0.058631599710886335 Centerline is valid? [True, True] Translation: X:98.68, Y:-19.79, Z:-1.41 [[ 9.33315165e-01 3.58704307e-01 -1.59380922e-02 9.86760731e+01] [-3.58658583e-01 9.33451172e-01 5.73849747e-03 -1.97948796e+01] [ 1.69358546e-02 3.60506835e-04 9.99856513e-01 -1.40811473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47538474999999 meters 0.057519300868021477 Centerline is valid? [True, True] Translation: X:98.73, Y:-19.82, Z:-1.41 [[ 9.35680199e-01 3.52635156e-01 -1.22886591e-02 9.87305819e+01] [-3.52607382e-01 9.35760873e-01 4.42978334e-03 -1.98222313e+01] [ 1.30613437e-02 1.88211360e-04 9.99914679e-01 -1.40561428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53538474999999 meters 0.05765476727688557 Centerline is valid? [True, True] Translation: X:98.79, Y:-19.84, Z:-1.41 [[ 9.36121398e-01 3.51400596e-01 -1.39409162e-02 9.87889137e+01] [-3.51364655e-01 9.36225179e-01 5.02931136e-03 -1.98438135e+01] [ 1.48191398e-02 1.90299235e-04 9.99890172e-01 -1.41229458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59538475 meters 0.05756001046217738 Centerline is valid? [True, True] Translation: X:98.85, Y:-19.87, Z:-1.41 [[ 9.36767366e-01 3.49750466e-01 -1.18959270e-02 9.88459008e+01] [-3.49724116e-01 9.36842886e-01 4.29529930e-03 -1.98677933e+01] [ 1.26468975e-02 1.36596333e-04 9.99920015e-01 -1.41179576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65538475 meters 0.05690252095114168 Centerline is valid? [True, True] Translation: X:98.90, Y:-19.89, Z:-1.41 [[ 9.37899818e-01 3.46767448e-01 -9.81167872e-03 9.89019854e+01] [-3.46749329e-01 9.37951135e-01 3.54570011e-03 -1.98936454e+01] [ 1.04324086e-02 7.66815181e-05 9.99945578e-01 -1.40813769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.71538475 meters 0.057388752489527836 Centerline is valid? [True, True] Translation: X:98.96, Y:-19.91, Z:-1.41 [[ 9.37666066e-01 3.47308340e-01 -1.26200142e-02 9.89609178e+01] [-3.47278426e-01 9.37750983e-01 4.55958407e-03 -1.99116187e+01] [ 1.34180123e-02 1.07291390e-04 9.99909969e-01 -1.41313844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77538474999999 meters 0.05768644495144688 Centerline is valid? [True, True] Translation: X:99.02, Y:-19.93, Z:-1.42 [[ 9.37523392e-01 3.47692054e-01 -1.26540731e-02 9.90199745e+01] [-3.47661937e-01 9.37608780e-01 4.57747014e-03 -1.99301117e+01] [ 1.34561201e-02 1.07854245e-04 9.99909457e-01 -1.41853720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83538474999999 meters 0.05828276180264236 Centerline is valid? [True, True] Translation: X:99.08, Y:-19.95, Z:-1.42 [[ 9.35927463e-01 3.51970042e-01 -1.25248925e-02 9.90787418e+01] [-3.51940886e-01 9.36011251e-01 4.53325404e-03 -1.99466812e+01] [ 1.33190099e-02 1.65224805e-04 9.99911284e-01 -1.41744624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89538474999999 meters 0.059017124912101114 Centerline is valid? [True, True] Translation: X:99.14, Y:-19.96, Z:-1.42 [[ 9.34507669e-01 3.55734341e-01 -1.21858603e-02 9.91392029e+01] [-3.55707017e-01 9.34587093e-01 4.41396007e-03 -1.99619464e+01] [ 1.29589449e-02 2.09716469e-04 9.99916007e-01 -1.41992331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95538475 meters 0.05881759810334308 Centerline is valid? [True, True] Translation: X:99.20, Y:-19.98, Z:-1.42 [[ 9.33589185e-01 3.58182583e-01 -1.07921543e-02 9.91985427e+01] [-3.58161265e-01 9.33651537e-01 3.91358425e-03 -1.99816785e+01] [ 1.14778891e-02 2.11651696e-04 9.99934104e-01 -1.41714600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01538475 meters 0.058751810748962005 Centerline is valid? [True, True] Translation: X:99.26, Y:-20.00, Z:-1.41 [[ 9.32294517e-01 3.61601632e-01 -8.43759039e-03 9.92582531e+01] [-3.61588706e-01 9.32332678e-01 3.06368370e-03 -2.00011128e+01] [ 8.97447427e-03 1.94681870e-04 9.99959710e-01 -1.41378787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.07538475 meters 0.059458639957285904 Centerline is valid? [True, True] Translation: X:99.32, Y:-20.02, Z:-1.42 [[ 9.32271336e-01 3.61647147e-01 -9.02761513e-03 9.93169037e+01] [-3.61632331e-01 9.32315021e-01 3.28008529e-03 -2.00195120e+01] [ 9.60281468e-03 2.06748011e-04 9.99953871e-01 -1.41845926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13538474999999 meters 0.05873623427551417 Centerline is valid? [True, True] Translation: X:99.37, Y:-20.05, Z:-1.42 [[ 9.33347638e-01 3.58828185e-01 -1.02235481e-02 9.93735549e+01] [-3.58808992e-01 9.33403607e-01 3.71663255e-03 -2.00456212e+01] [ 1.08763292e-02 1.99390781e-04 9.99940831e-01 -1.41954323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19538474999999 meters 0.05926568105224317 Centerline is valid? [True, True] Translation: X:99.43, Y:-20.07, Z:-1.42 [[ 9.32364569e-01 3.61361305e-01 -1.06919056e-02 9.94312400e+01] [-3.61340454e-01 9.32425842e-01 3.88915895e-03 -2.00663879e+01] [ 1.13748006e-02 2.37303996e-04 9.99935277e-01 -1.42313314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25538474999999 meters 0.058632328008462624 Centerline is valid? [True, True] Translation: X:99.49, Y:-20.09, Z:-1.42 [[ 9.33582927e-01 3.58229176e-01 -9.73533939e-03 9.94871157e+01] [-3.58211690e-01 9.33633668e-01 3.54387001e-03 -2.00928718e+01] [ 1.03587583e-02 1.78815849e-04 9.99946331e-01 -1.42138142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31538474999999 meters 0.057462934930497 Centerline is valid? [True, True] Translation: X:99.54, Y:-20.12, Z:-1.42 [[ 9.36586584e-01 3.50357756e-01 -7.41707338e-03 9.95413707e+01] [-3.50347341e-01 9.36615950e-01 2.70225506e-03 -2.01227105e+01] [ 7.89370526e-03 6.76561017e-05 9.99968842e-01 -1.42168505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37538475 meters 0.05720260581682886 Centerline is valid? [True, True] Translation: X:99.60, Y:-20.15, Z:-1.42 [[ 9.36921365e-01 3.49502482e-01 -5.13525044e-03 9.95974560e+01] [-3.49497461e-01 9.36935437e-01 1.87382851e-03 -2.01488912e+01] [ 5.46630584e-03 3.91270237e-05 9.99985059e-01 -1.41994085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43538475 meters 0.05698559136565645 Centerline is valid? [True, True] Translation: X:99.66, Y:-20.17, Z:-1.42 [[ 9.37693816e-01 3.47442598e-01 -3.73466501e-03 9.96550072e+01] [-3.47439930e-01 9.37701253e-01 1.36180052e-03 -2.01739386e+01] [ 3.97514757e-03 2.06198188e-05 9.99992099e-01 -1.42065848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49538474999999 meters 0.057106199282634953 Centerline is valid? [True, True] Translation: X:99.71, Y:-20.20, Z:-1.43 [[ 9.37658728e-01 3.47503454e-01 -6.12036167e-03 9.97126575e+01] [-3.47496269e-01 9.37678702e-01 2.23486591e-03 -2.01956059e+01] [ 6.51555641e-03 3.12613195e-05 9.99978773e-01 -1.42585207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55538474999999 meters 0.05720135893507602 Centerline is valid? [True, True] Translation: X:99.77, Y:-20.22, Z:-1.43 [[ 9.37757607e-01 3.47219978e-01 -6.99696322e-03 9.97692935e+01] [-3.47210572e-01 9.37783709e-01 2.55589610e-03 -2.02191228e+01] [ 7.44909631e-03 3.26086000e-05 9.99972255e-01 -1.42965866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61538474999999 meters 0.057192381495372535 Centerline is valid? [True, True] Translation: X:99.83, Y:-20.24, Z:-1.43 [[ 9.38089922e-01 3.46318338e-01 -7.13498979e-03 9.98272326e+01] [-3.46308510e-01 9.38117055e-01 2.60911911e-03 -2.02432898e+01] [ 7.59704140e-03 2.33193411e-05 9.99971142e-01 -1.43182047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67538474999999 meters 0.05742788515317063 Centerline is valid? [True, True] Translation: X:99.89, Y:-20.26, Z:-1.44 [[ 9.37496914e-01 3.47934081e-01 -6.43511112e-03 9.98850210e+01] [-3.47926117e-01 9.37518999e-01 2.35434055e-03 -2.02619927e+01] [ 6.85219426e-03 3.17562229e-05 9.99976523e-01 -1.43508382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73538475 meters 0.05726678395819675 Centerline is valid? [True, True] Translation: X:99.94, Y:-20.28, Z:-1.43 [[ 9.36507043e-01 3.50628328e-01 -3.78597688e-03 9.99446290e+01] [-3.50625584e-01 9.36514695e-01 1.38760685e-03 -2.02789442e+01] [ 4.03215726e-03 2.79567691e-05 9.99991870e-01 -1.43429236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.79538475 meters 0.05730089555409833 Centerline is valid? [True, True] Translation: X:100.00, Y:-20.30, Z:-1.43 [[ 9.35442511e-01 3.53477201e-01 -1.08490579e-03 1.00003518e+02] [-3.53476975e-01 9.35443140e-01 4.00250761e-04 -2.02970599e+01] [ 1.15634720e-03 9.07764147e-06 9.99999331e-01 -1.43242902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85538474999998 meters 0.057113412446390996 Centerline is valid? [True, True] Translation: X:100.06, Y:-20.32, Z:-1.43 [[ 9.35916194e-01 3.52221143e-01 -1.06995226e-03 1.00061295e+02] [-3.52220921e-01 9.35916805e-01 3.95021137e-04 -2.03196045e+01] [ 1.14052110e-03 7.15289263e-06 9.99999350e-01 -1.43459051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91538474999999 meters 0.057122244776014464 Centerline is valid? [True, True] Translation: X:100.12, Y:-20.35, Z:-1.43 [[ 9.36911894e-01 3.49558405e-01 -2.24152651e-03 1.00118349e+02] [-3.49557431e-01 9.36914575e-01 8.25267762e-04 -2.03465156e+01] [ 2.38859814e-03 1.03390670e-05 9.99997147e-01 -1.43470873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97538474999999 meters 0.05732856549227277 Centerline is valid? [True, True] Translation: X:100.17, Y:-20.37, Z:-1.44 [[ 9.37175169e-01 3.48840133e-01 -3.64209045e-03 1.00174773e+02] [-3.48837565e-01 9.37182246e-01 1.33857657e-03 -2.03702342e+01] [ 3.88025174e-03 1.60172430e-05 9.99992472e-01 -1.43978664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03538474999999 meters 0.057499331786596435 Centerline is valid? [True, True] Translation: X:100.23, Y:-20.39, Z:-1.44 [[ 9.37120539e-01 3.48980260e-01 -4.22766593e-03 1.00233398e+02] [-3.48976795e-01 9.37130075e-01 1.55525111e-03 -2.03935702e+01] [ 4.50462483e-03 1.78995452e-05 9.99989854e-01 -1.44008149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09538475 meters 0.057332009708066206 Centerline is valid? [True, True] Translation: X:100.29, Y:-20.42, Z:-1.44 [[ 9.37948960e-01 3.46755754e-01 -3.49225420e-03 1.00289999e+02] [-3.46753370e-01 9.37955461e-01 1.28585638e-03 -2.04189753e+01] [ 3.72145699e-03 4.88325493e-06 9.99993075e-01 -1.43730553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15538475 meters 0.05731291861718684 Centerline is valid? [True, True] Translation: X:100.35, Y:-20.44, Z:-1.44 [[ 9.37287279e-01 3.48554136e-01 -1.60356380e-03 1.00348604e+02] [-3.48553633e-01 9.37288650e-01 5.92375417e-04 -2.04356301e+01] [ 1.70947705e-03 3.70204423e-06 9.99998539e-01 -1.43966557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21538475 meters 0.05724492483074748 Centerline is valid? [True, True] Translation: X:100.41, Y:-20.46, Z:-1.44 [[ 9.36794629e-01 3.49878128e-01 -1.05759987e-03 1.00408096e+02] [-3.49877908e-01 9.36795226e-01 3.92907627e-04 -2.04563095e+01] [ 1.12822429e-03 1.95707369e-06 9.99999364e-01 -1.43809042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27538474999999 meters 0.057344642855437715 Centerline is valid? [True, True] Translation: X:100.47, Y:-20.47, Z:-1.44 [[ 9.35764513e-01 3.52625075e-01 -5.76686894e-04 1.00468740e+02] [-3.52625009e-01 9.35764691e-01 2.16139973e-04 -2.04745982e+01] [ 6.15859607e-04 1.09810415e-06 9.99999810e-01 -1.43937029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33538474999999 meters 0.057487927272456864 Centerline is valid? [True, True] Translation: X:100.53, Y:-20.49, Z:-1.44 [[ 9.35031806e-01 3.54560006e-01 -1.65052505e-03 1.00527974e+02] [-3.54559480e-01 9.35033262e-01 6.11314187e-04 -2.04924157e+01] [ 1.76004339e-03 1.36110956e-05 9.99998451e-01 -1.44277784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39538474999999 meters 0.05794156503698214 Centerline is valid? [True, True] Translation: X:100.59, Y:-20.51, Z:-1.44 [[ 9.33381322e-01 3.58872585e-01 -3.12660331e-03 1.00587947e+02] [-3.58870735e-01 9.33386557e-01 1.15331952e-03 -2.05090599e+01] [ 3.33222426e-03 4.55595265e-05 9.99994447e-01 -1.44472591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45538475 meters 0.05864088558037106 Centerline is valid? [True, True] Translation: X:100.65, Y:-20.53, Z:-1.45 [[ 9.32847472e-01 3.60252662e-01 -3.68957609e-03 1.00647247e+02] [-3.60250086e-01 9.32854767e-01 1.36357956e-03 -2.05255636e+01] [ 3.93307181e-03 5.71583533e-05 9.99992264e-01 -1.44985177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51538475 meters 0.057501540156977546 Centerline is valid? [True, True] Translation: X:100.70, Y:-20.56, Z:-1.45 [[ 9.35389429e-01 3.53601284e-01 -3.57059386e-03 1.00701285e+02] [-3.53598830e-01 9.35396243e-01 1.31769402e-03 -2.05590621e+01] [ 3.80585838e-03 3.00007479e-05 9.99992757e-01 -1.44674780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.57538475 meters 0.057229900171126384 Centerline is valid? [True, True] Translation: X:100.76, Y:-20.59, Z:-1.45 [[ 9.36661865e-01 3.50218763e-01 -3.37163898e-03 1.00757826e+02] [-3.50216541e-01 9.36667934e-01 1.24762300e-03 -2.05854151e+01] [ 3.59504710e-03 1.22028527e-05 9.99993538e-01 -1.44666085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63538474999999 meters 0.057405723496496835 Centerline is valid? [True, True] Translation: X:100.81, Y:-20.61, Z:-1.45 [[ 9.37327904e-01 3.48403813e-01 -5.58429938e-03 1.00814594e+02] [-3.48397689e-01 9.37344538e-01 2.06559009e-03 -2.06096139e+01] [ 5.95407198e-03 9.42177459e-06 9.99982274e-01 -1.45241740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69538474999999 meters 0.057210878166750086 Centerline is valid? [True, True] Translation: X:100.87, Y:-20.64, Z:-1.45 [[ 9.37882748e-01 3.46921493e-01 -4.62910295e-03 1.00869799e+02] [-3.46917269e-01 9.37894172e-01 1.71204739e-03 -2.06353029e+01] [ 4.93555471e-03 2.16042230e-07 9.99987820e-01 -1.45272142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75538474999999 meters 0.05706296644810522 Centerline is valid? [True, True] Translation: X:100.93, Y:-20.66, Z:-1.45 [[ 9.37877156e-01 3.46912929e-01 -6.15301282e-03 1.00926785e+02] [-3.46905448e-01 9.37897340e-01 2.27835823e-03 -2.06590020e+01] [ 6.56128628e-03 -2.30646880e-06 9.99978475e-01 -1.45122441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81538474999999 meters 0.05710752795321915 Centerline is valid? [True, True] Translation: X:100.99, Y:-20.68, Z:-1.46 [[ 9.37450768e-01 3.48067482e-01 -5.92322509e-03 1.00985585e+02] [-3.48060559e-01 9.37469481e-01 2.19530677e-03 -2.06788520e+01] [ 6.31695766e-03 3.64901848e-06 9.99980048e-01 -1.45635642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87538475 meters 0.05725195020804427 Centerline is valid? [True, True] Translation: X:101.05, Y:-20.70, Z:-1.46 [[ 9.36477813e-01 3.50676161e-01 -5.96126777e-03 1.01045617e+02] [-3.50669193e-01 9.36496786e-01 2.21065355e-03 -2.06960731e+01] [ 6.35793161e-03 2.02049578e-05 9.99979788e-01 -1.45725007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93538475 meters 0.05724340246008501 Centerline is valid? [True, True] Translation: X:101.11, Y:-20.71, Z:-1.45 [[ 9.34624654e-01 3.55600055e-01 -5.03565754e-03 1.01106410e+02] [-3.55595145e-01 9.34638218e-01 1.86921252e-03 -2.07103736e+01] [ 5.37121007e-03 4.36432719e-05 9.99985574e-01 -1.45346793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99538474999999 meters 0.059997293821297634 Centerline is valid? [True, True] Translation: X:101.17, Y:-20.71, Z:-1.46 [[ 9.30689142e-01 3.65794679e-01 -3.46027647e-03 1.01171375e+02] [-3.65792425e-01 9.30695572e-01 1.28595988e-03 -2.07109602e+01] [ 3.69086127e-03 6.89140276e-05 9.99993186e-01 -1.45753904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05538474999999 meters 0.058587149619309435 Centerline is valid? [True, True] Translation: X:101.23, Y:-20.73, Z:-1.45 [[ 9.28865530e-01 3.70399821e-01 -3.57783519e-03 1.01228834e+02] [-3.70397441e-01 9.28872416e-01 1.33055229e-03 -2.07348061e+01] [ 3.81618874e-03 8.93168437e-05 9.99992714e-01 -1.45140662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11538474999999 meters 0.057531335842104764 Centerline is valid? [True, True] Translation: X:101.28, Y:-20.76, Z:-1.45 [[ 9.31232805e-01 3.64416627e-01 -2.44658798e-03 1.01282643e+02] [-3.64415492e-01 9.31236018e-01 9.10551867e-04 -2.07629827e+01] [ 2.61017108e-03 4.36387911e-05 9.99996593e-01 -1.44898222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17538474999999 meters 0.056915518357278365 Centerline is valid? [True, True] Translation: X:101.34, Y:-20.79, Z:-1.45 [[ 9.33476562e-01 3.58620834e-01 -3.55052079e-03 1.01338341e+02] [-3.58618397e-01 9.33483313e-01 1.32267442e-03 -2.07898741e+01] [ 3.78869051e-03 3.85965077e-05 9.99992822e-01 -1.45259418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23538475 meters 0.056852228602923334 Centerline is valid? [True, True] Translation: X:101.39, Y:-20.81, Z:-1.46 [[ 9.34052992e-01 3.57111770e-01 -4.02376064e-03 1.01394336e+02] [-3.57108625e-01 9.34061659e-01 1.49921532e-03 -2.08144832e+01] [ 4.29382798e-03 3.65730737e-05 9.99990781e-01 -1.45583392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.29538475 meters 0.05634071852234984 Centerline is valid? [True, True] Translation: X:101.45, Y:-20.84, Z:-1.46 [[ 9.35635580e-01 3.52933432e-01 -4.90454951e-03 1.01450083e+02] [-3.52928697e-01 9.35648434e-01 1.82820690e-03 -2.08427977e+01] [ 5.23416940e-03 2.04208468e-05 9.99986301e-01 -1.45543135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35538474999998 meters 0.05641484915983973 Centerline is valid? [True, True] Translation: X:101.51, Y:-20.87, Z:-1.46 [[ 9.35733743e-01 3.52667653e-01 -5.28096702e-03 1.01508667e+02] [-3.52662150e-01 9.35748645e-01 1.97034900e-03 -2.08656251e+01] [ 5.63653609e-03 1.86751359e-05 9.99984114e-01 -1.45835073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41538474999999 meters 0.05644785565455585 Centerline is valid? [True, True] Translation: X:101.57, Y:-20.89, Z:-1.46 [[ 9.36190222e-01 3.51447525e-01 -5.70140614e-03 1.01565923e+02] [-3.51441081e-01 9.36207582e-01 2.12823685e-03 -2.08876830e+01] [ 6.08566323e-03 1.12738148e-05 9.99981482e-01 -1.46039311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47538474999999 meters 0.056350051483559246 Centerline is valid? [True, True] Translation: X:101.62, Y:-20.91, Z:-1.46 [[ 9.35740719e-01 3.52651037e-01 -5.15301158e-03 1.01624227e+02] [-3.52645779e-01 9.35754907e-01 1.92579497e-03 -2.09103848e+01] [ 5.50108947e-03 1.51430108e-05 9.99984869e-01 -1.45989189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53538474999999 meters 0.05641281504659514 Centerline is valid? [True, True] Translation: X:101.68, Y:-20.93, Z:-1.46 [[ 9.35157173e-01 3.54192468e-01 -5.36250531e-03 1.01683134e+02] [-3.54186793e-01 9.35172548e-01 2.00517721e-03 -2.09303470e+01] [ 5.72508642e-03 2.41727090e-05 9.99983611e-01 -1.46164978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59538475 meters 0.05662008017842616 Centerline is valid? [True, True] Translation: X:101.74, Y:-20.95, Z:-1.46 [[ 9.34166548e-01 3.56785389e-01 -6.08663980e-03 1.01742518e+02] [-3.56778126e-01 9.34186375e-01 2.27708114e-03 -2.09485383e+01] [ 6.49848526e-03 4.44069077e-05 9.99978884e-01 -1.45962480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65538475 meters 0.056177128448787285 Centerline is valid? [True, True] Translation: X:101.80, Y:-20.97, Z:-1.46 [[ 9.33668558e-01 3.58121570e-01 -3.45904531e-03 1.01801169e+02] [-3.58119223e-01 9.33674965e-01 1.29681778e-03 -2.09695756e+01] [ 3.69404243e-03 2.79526326e-05 9.99993177e-01 -1.45507880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.71538475 meters 0.05618734939377619 Centerline is valid? [True, True] Translation: X:101.86, Y:-20.99, Z:-1.46 [[ 9.33988175e-01 3.57287844e-01 -3.38903919e-03 1.01859471e+02] [-3.57285584e-01 9.33994323e-01 1.27122815e-03 -2.09881324e+01] [ 3.61953773e-03 2.35427900e-05 9.99993449e-01 -1.45867526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77538474999999 meters 0.05614646361986713 Centerline is valid? [True, True] Translation: X:101.92, Y:-21.01, Z:-1.46 [[ 9.33651511e-01 3.58153028e-01 -4.61136033e-03 1.01917404e+02] [-3.58148852e-01 9.33662898e-01 1.72998308e-03 -2.10090101e+01] [ 4.92505472e-03 3.63520920e-05 9.99987871e-01 -1.46007130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83538474999999 meters 0.056311282896873566 Centerline is valid? [True, True] Translation: X:101.98, Y:-21.03, Z:-1.47 [[ 9.33261738e-01 3.59179590e-01 -3.54269501e-03 1.01975496e+02] [-3.59177127e-01 9.33268461e-01 1.33055086e-03 -2.10283351e+01] [ 3.78419223e-03 3.07028073e-05 9.99992839e-01 -1.46545242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89538474999999 meters 0.05587164222722069 Centerline is valid? [True, True] Translation: X:102.03, Y:-21.05, Z:-1.46 [[ 9.33014140e-01 3.59817509e-01 -3.99693000e-03 1.02032303e+02] [-3.59814372e-01 9.33022700e-01 1.50299354e-03 -2.10549501e+01] [ 4.27002981e-03 3.58386363e-05 9.99990883e-01 -1.46039883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95538475 meters 0.055851344368053425 Centerline is valid? [True, True] Translation: X:102.09, Y:-21.08, Z:-1.46 [[ 9.32757823e-01 3.60468480e-01 -5.03175760e-03 1.02089848e+02] [-3.60463520e-01 9.32771394e-01 1.89149076e-03 -2.10763326e+01] [ 5.37530235e-03 4.94622513e-05 9.99985552e-01 -1.46427317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01538475 meters 0.055884481021887956 Centerline is valid? [True, True] Translation: X:102.15, Y:-21.10, Z:-1.47 [[ 9.32060913e-01 3.62266407e-01 -5.05026760e-03 1.02148270e+02] [-3.62261429e-01 9.32074593e-01 1.90010652e-03 -2.10975137e+01] [ 5.39557088e-03 5.85021364e-05 9.99985442e-01 -1.46523703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07538475 meters 0.05611659164569507 Centerline is valid? [True, True] Translation: X:102.21, Y:-21.12, Z:-1.47 [[ 9.31525120e-01 3.63648812e-01 -4.52680588e-03 1.02206696e+02] [-3.63644827e-01 9.31536118e-01 1.70338920e-03 -2.11176387e+01] [ 4.83631863e-03 5.93997077e-05 9.99988303e-01 -1.46623249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13538474999999 meters 0.05587325243839502 Centerline is valid? [True, True] Translation: X:102.26, Y:-21.14, Z:-1.47 [[ 9.31779585e-01 3.63011824e-01 -3.03654878e-03 1.02264672e+02] [-3.63010019e-01 9.31784532e-01 1.14535570e-03 -2.11403486e+01] [ 3.24518685e-03 3.50785686e-05 9.99994734e-01 -1.46652444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19538474999999 meters 0.055452229962355506 Centerline is valid? [True, True] Translation: X:102.32, Y:-21.17, Z:-1.47 [[ 9.32943092e-01 3.60018809e-01 -1.90903747e-03 1.02320498e+02] [-3.60018086e-01 9.32945045e-01 7.21589856e-04 -2.11656878e+01] [ 2.04081297e-03 1.40857467e-05 9.99997917e-01 -1.46621701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25538474999999 meters 0.05549993776793088 Centerline is valid? [True, True] Translation: X:102.38, Y:-21.19, Z:-1.47 [[ 9.32854730e-01 3.60251105e-01 -1.09314208e-03 1.02378049e+02] [-3.60250865e-01 9.32855370e-01 4.15253930e-04 -2.11880658e+01] [ 1.16933915e-03 6.43378686e-06 9.99999316e-01 -1.46665749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31538474999999 meters 0.05546510895800033 Centerline is valid? [True, True] Translation: X:102.44, Y:-21.21, Z:-1.47 [[ 9.33226823e-01 3.59283126e-01 -1.82541764e-03 1.02436128e+02] [-3.59282460e-01 9.33228608e-01 6.92046077e-04 -2.12132760e+01] [ 1.95217244e-03 1.00045790e-05 9.99998094e-01 -1.46702210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37538475 meters 0.05561990424297913 Centerline is valid? [True, True] Translation: X:102.49, Y:-21.24, Z:-1.47 [[ 9.33172591e-01 3.59414663e-01 -3.16477971e-03 1.02493675e+02] [-3.59412670e-01 9.33177957e-01 1.19709793e-03 -2.12373711e+01] [ 3.38355721e-03 2.03629479e-05 9.99994276e-01 -1.46934277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43538475 meters 0.05564828846787125 Centerline is valid? [True, True] Translation: X:102.55, Y:-21.26, Z:-1.47 [[ 9.33243240e-01 3.59233343e-01 -2.90847261e-03 1.02552079e+02] [-3.59231654e-01 9.33247772e-01 1.10179759e-03 -2.12597001e+01] [ 3.11012802e-03 1.65702763e-05 9.99995163e-01 -1.47210960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49538474999999 meters 0.055688616104590305 Centerline is valid? [True, True] Translation: X:102.61, Y:-21.28, Z:-1.47 [[ 9.33067822e-01 3.59684501e-01 -3.39120279e-03 1.02610630e+02] [-3.59682206e-01 9.33073984e-01 1.28501400e-03 -2.12820743e+01] [ 3.62644271e-03 2.07500836e-05 9.99993424e-01 -1.47346571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55538474999999 meters 0.055573957797771516 Centerline is valid? [True, True] Translation: X:102.67, Y:-21.31, Z:-1.47 [[ 9.33479347e-01 3.58622172e-01 -2.53893922e-03 1.02666702e+02] [-3.58620879e-01 9.33482800e-01 9.62891929e-04 -2.13058922e+01] [ 2.71537049e-03 1.16768859e-05 9.99996313e-01 -1.47256210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61538474999999 meters 0.05491897899421753 Centerline is valid? [True, True] Translation: X:102.72, Y:-21.34, Z:-1.47 [[ 9.36557041e-01 3.50512009e-01 -1.49700922e-03 1.02720946e+02] [-3.50511545e-01 9.36558237e-01 5.69943394e-04 -2.13367359e+01] [ 1.60180832e-03 -9.06548475e-06 9.99998717e-01 -1.47094068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67538474999999 meters 0.05525778572953617 Centerline is valid? [True, True] Translation: X:102.78, Y:-21.36, Z:-1.48 [[ 9.35797701e-01 3.52508745e-01 -4.49972832e-03 1.02779801e+02] [-3.52504611e-01 9.35808519e-01 1.70712414e-03 -2.13573756e+01] [ 4.81266028e-03 -1.13478669e-05 9.99988419e-01 -1.47604670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73538475 meters 0.05515243547680462 Centerline is valid? [True, True] Translation: X:102.84, Y:-21.38, Z:-1.47 [[ 9.34632354e-01 3.55601913e-01 -3.10509779e-03 1.02836878e+02] [-3.55599956e-01 9.34637512e-01 1.17965359e-03 -2.13800809e+01] [ 3.32162795e-03 1.63022387e-06 9.99994483e-01 -1.47417565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79538475 meters 0.05531999621648703 Centerline is valid? [True, True] Translation: X:102.90, Y:-21.40, Z:-1.48 [[ 9.34057104e-01 3.57108000e-01 -3.34700074e-03 1.02896189e+02] [-3.57105731e-01 9.34063101e-01 1.27304605e-03 -2.14002961e+01] [ 3.58092481e-03 6.13543807e-06 9.99993588e-01 -1.47634915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85538474999998 meters 0.05560625514987698 Centerline is valid? [True, True] Translation: X:102.96, Y:-21.42, Z:-1.48 [[ 9.33235166e-01 3.59253077e-01 -3.05792102e-03 1.02955881e+02] [-3.59251191e-01 9.33240176e-01 1.16436647e-03 -2.14187205e+01] [ 3.27207699e-03 1.19340324e-05 9.99994647e-01 -1.47919055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91538474999999 meters 0.05564318163485952 Centerline is valid? [True, True] Translation: X:103.01, Y:-21.44, Z:-1.48 [[ 9.33805436e-01 3.57766833e-01 -3.20953744e-03 1.03013505e+02] [-3.57764743e-01 9.33810951e-01 1.22290281e-03 -2.14431975e+01] [ 3.43461528e-03 6.30604644e-06 9.99994102e-01 -1.47959640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97538474999999 meters 0.05570647006589977 Centerline is valid? [True, True] Translation: X:103.07, Y:-21.47, Z:-1.48 [[ 9.33994173e-01 3.57264816e-01 -4.09099506e-03 1.03070958e+02] [-3.57261417e-01 9.34003133e-01 1.55834756e-03 -2.14653300e+01] [ 4.37774495e-03 6.06714571e-06 9.99990418e-01 -1.48330333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03538474999999 meters 0.05568111807304718 Centerline is valid? [True, True] Translation: X:103.13, Y:-21.49, Z:-1.48 [[ 9.35874158e-01 3.52324689e-01 -2.62170082e-03 1.03126124e+02] [-3.52323268e-01 9.35877830e-01 1.00071234e-03 -2.14946858e+01] [ 2.80616734e-03 -1.28546231e-05 9.99996063e-01 -1.48236090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09538475 meters 0.05597987663265813 Centerline is valid? [True, True] Translation: X:103.18, Y:-21.52, Z:-1.48 [[ 9.36410234e-01 3.50903662e-01 -1.57931842e-03 1.03181418e+02] [-3.50903141e-01 9.36411566e-01 6.04341459e-04 -2.15221430e+01] [ 1.69095766e-03 -1.17237339e-05 9.99998570e-01 -1.48289612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15538475 meters 0.05639509263231389 Centerline is valid? [True, True] Translation: X:103.24, Y:-21.54, Z:-1.49 [[ 9.37287302e-01 3.48546365e-01 -2.81860376e-03 1.03239035e+02] [-3.48544703e-01 9.37291540e-01 1.07662960e-03 -2.15438115e+01] [ 3.01710879e-03 -2.67018429e-05 9.99995448e-01 -1.48627801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21538475 meters 0.056306605798831184 Centerline is valid? [True, True] Translation: X:103.30, Y:-21.56, Z:-1.49 [[ 9.36630288e-01 3.50308952e-01 -2.70958484e-03 1.03297871e+02] [-3.50307420e-01 9.36634207e-01 1.03601271e-03 -2.15635910e+01] [ 2.90081437e-03 -2.11732110e-05 9.99995792e-01 -1.48787772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27538474999999 meters 0.0560643108229867 Centerline is valid? [True, True] Translation: X:103.36, Y:-21.58, Z:-1.48 [[ 9.36031833e-01 3.51910175e-01 -1.90682112e-03 1.03357230e+02] [-3.51909416e-01 9.36033775e-01 7.30849930e-04 -2.15830453e+01] [ 2.04204249e-03 -1.30704940e-05 9.99997915e-01 -1.48496378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33538474999999 meters 0.056072422261265846 Centerline is valid? [True, True] Translation: X:103.42, Y:-21.60, Z:-1.49 [[ 9.34681887e-01 3.55482600e-01 -1.37532990e-03 1.03418001e+02] [-3.55482207e-01 9.34682899e-01 5.28551635e-04 -2.15982068e+01] [ 1.47338825e-03 -5.12233094e-06 9.99998915e-01 -1.48654092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39538474999999 meters 0.05632481027315854 Centerline is valid? [True, True] Translation: X:103.48, Y:-21.61, Z:-1.49 [[ 9.33332923e-01 3.59008208e-01 -1.66179057e-03 1.03477470e+02] [-3.59007640e-01 9.33334402e-01 6.38606897e-04 -2.16149741e+01] [ 1.78027142e-03 5.62668364e-07 9.99998415e-01 -1.49088485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45538475 meters 0.05668672043481171 Centerline is valid? [True, True] Translation: X:103.54, Y:-21.63, Z:-1.49 [[ 9.31264641e-01 3.64335448e-01 -2.41861339e-03 1.03538681e+02] [-3.64334267e-01 9.31267781e-01 9.28056661e-04 -2.16286927e+01] [ 2.59050066e-03 1.69173818e-05 9.99996645e-01 -1.49168975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51538475 meters 0.05715233929576598 Centerline is valid? [True, True] Translation: X:103.60, Y:-21.64, Z:-1.49 [[ 9.29246705e-01 3.69450780e-01 -2.58512708e-03 1.03598988e+02] [-3.69449448e-01 9.29250300e-01 9.92491417e-04 -2.16448081e+01] [ 2.76890684e-03 3.28043948e-05 9.99996166e-01 -1.49198908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57538475 meters 0.05768701166326601 Centerline is valid? [True, True] Translation: X:103.66, Y:-21.66, Z:-1.49 [[ 9.27793507e-01 3.73084923e-01 -2.61716202e-03 1.03658336e+02] [-3.73083576e-01 9.27797197e-01 1.00343194e-03 -2.16620653e+01] [ 2.80256091e-03 4.54425230e-05 9.99996072e-01 -1.49211332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63538474999999 meters 0.05868022595842808 Centerline is valid? [True, True] Translation: X:103.72, Y:-21.68, Z:-1.49 [[ 9.25855982e-01 3.77867898e-01 -2.55951257e-03 1.03718625e+02] [-3.77866628e-01 9.25859518e-01 9.81544876e-04 -2.16758818e+01] [ 2.74064337e-03 5.83851887e-05 9.99996243e-01 -1.49439375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69538474999999 meters 0.058631619614608915 Centerline is valid? [True, True] Translation: X:103.78, Y:-21.70, Z:-1.50 [[ 9.26161670e-01 3.77122557e-01 -1.77164654e-03 1.03777160e+02] [-3.77121942e-01 9.26163363e-01 6.82254740e-04 -2.16963872e+01] [ 1.89812777e-03 3.62485958e-05 9.99998198e-01 -1.49635609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75538474999999 meters 0.058419598336474206 Centerline is valid? [True, True] Translation: X:103.83, Y:-21.72, Z:-1.50 [[ 9.26624998e-01 3.75986045e-01 -7.79358404e-04 1.03834158e+02] [-3.75985924e-01 9.26625326e-01 3.02276574e-04 -2.17204671e+01] [ 8.35825008e-04 1.29307597e-05 9.99999651e-01 -1.49523980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81538474999999 meters 0.0579370145893425 Centerline is valid? [True, True] Translation: X:103.89, Y:-21.75, Z:-1.50 [[ 9.27495030e-01 3.73834810e-01 -7.10179344e-04 1.03890786e+02] [-3.73834708e-01 9.27495302e-01 2.75921733e-04 -2.17450214e+01] [ 7.61837154e-04 9.57365211e-06 9.99999710e-01 -1.49761565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87538475 meters 0.05776987935717065 Centerline is valid? [True, True] Translation: X:103.95, Y:-21.77, Z:-1.50 [[ 9.28127167e-01 3.72261805e-01 -1.05423395e-03 1.03946955e+02] [-3.72261581e-01 9.28127765e-01 4.07859273e-04 -2.17697563e+01] [ 1.13029423e-03 1.39055256e-05 9.99999361e-01 -1.49895065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93538475 meters 0.05758149405767327 Centerline is valid? [True, True] Translation: X:104.00, Y:-21.80, Z:-1.50 [[ 9.28537013e-01 3.71239703e-01 -3.13572263e-04 1.04003438e+02] [-3.71239683e-01 9.28537066e-01 1.23815339e-04 -2.17957736e+01] [ 3.37128639e-04 1.44334234e-06 9.99999943e-01 -1.49892046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99538474999999 meters 0.057148713551696165 Centerline is valid? [True, True] Translation: X:104.06, Y:-21.82, Z:-1.50 [[ 9.29495390e-01 3.68833049e-01 -7.08254944e-04 1.04059585e+02] [-3.68832946e-01 9.29495660e-01 2.75592224e-04 -2.18226355e+01] [ 7.59967416e-04 5.06605543e-06 9.99999711e-01 -1.49893029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05538474999999 meters 0.057318010837507066 Centerline is valid? [True, True] Translation: X:104.12, Y:-21.85, Z:-1.50 [[ 9.29648834e-01 3.68441850e-01 -1.90997115e-03 1.04115569e+02] [-3.68441112e-01 9.29650796e-01 7.37688952e-04 -2.18458507e+01] [ 2.04740168e-03 1.79202210e-05 9.99997904e-01 -1.50266785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11538474999999 meters 0.057229761254924925 Centerline is valid? [True, True] Translation: X:104.17, Y:-21.87, Z:-1.50 [[ 9.29458943e-01 3.68925097e-01 -5.88176213e-04 1.04173497e+02] [-3.68925025e-01 9.29459129e-01 2.29622217e-04 -2.18688357e+01] [ 6.31399149e-04 3.56850095e-06 9.99999801e-01 -1.50323656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17538474999999 meters 0.05714534444235626 Centerline is valid? [True, True] Translation: X:104.23, Y:-21.89, Z:-1.50 [[ 9.29606507e-01 3.68551447e-01 -1.25443924e-03 1.04231085e+02] [-3.68551126e-01 9.29607353e-01 4.86845711e-04 -2.18942420e+01] [ 1.34556363e-03 9.75005337e-06 9.99999095e-01 -1.50425140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23538475 meters 0.057096086142659735 Centerline is valid? [True, True] Translation: X:104.29, Y:-21.92, Z:-1.51 [[ 9.29160196e-01 3.69669820e-01 -2.35689716e-03 1.04288304e+02] [-3.69668696e-01 9.29163185e-01 9.11800428e-04 -2.19189792e+01] [ 2.52700717e-03 2.40624356e-05 9.99996807e-01 -1.50577936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29538475 meters 0.05721826632126508 Centerline is valid? [True, True] Translation: X:104.35, Y:-21.94, Z:-1.51 [[ 9.29107926e-01 3.69802810e-01 -2.08389597e-03 1.04346179e+02] [-3.69801929e-01 9.29110263e-01 8.07622114e-04 -2.19422032e+01] [ 2.23483006e-03 2.02606420e-05 9.99997503e-01 -1.50710647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35538474999998 meters 0.05729576787253518 Centerline is valid? [True, True] Translation: X:104.40, Y:-21.96, Z:-1.51 [[ 9.28980900e-01 3.70116290e-01 -2.90160865e-03 1.04403773e+02] [-3.70114587e-01 9.28985431e-01 1.12334178e-03 -2.19644097e+01] [ 3.11131925e-03 3.03646319e-05 9.99995159e-01 -1.50915387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41538474999999 meters 0.05703120171991137 Centerline is valid? [True, True] Translation: X:104.46, Y:-21.99, Z:-1.51 [[ 9.30136191e-01 3.67195970e-01 -3.71297017e-03 1.04459019e+02] [-3.67193159e-01 9.30143601e-01 1.43711770e-03 -2.19908335e+01] [ 3.98129927e-03 2.66620635e-05 9.99992074e-01 -1.51143676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47538474999999 meters 0.05666796976522525 Centerline is valid? [True, True] Translation: X:104.51, Y:-22.02, Z:-1.51 [[ 9.31180039e-01 3.64542229e-01 -3.56350942e-03 1.04514722e+02] [-3.64539617e-01 9.31186857e-01 1.38013783e-03 -2.20167062e+01] [ 3.82141166e-03 1.38835621e-05 9.99992698e-01 -1.51269848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53538474999999 meters 0.05649773357907543 Centerline is valid? [True, True] Translation: X:104.57, Y:-22.04, Z:-1.51 [[ 9.31562864e-01 3.63576234e-01 -1.71805381e-03 1.04571048e+02] [-3.63575621e-01 9.31564449e-01 6.67556453e-04 -2.20432769e+01] [ 1.84318551e-03 2.77167916e-06 9.99998301e-01 -1.51091612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59538475 meters 0.056344162825827396 Centerline is valid? [True, True] Translation: X:104.63, Y:-22.07, Z:-1.51 [[ 9.31240244e-01 3.64404248e-01 -1.07351656e-03 1.04629581e+02] [-3.64404006e-01 9.31240863e-01 4.19553320e-04 -2.20674024e+01] [ 1.15258950e-03 4.88799969e-07 9.99999336e-01 -1.50638462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65538475 meters 0.056356142172369846 Centerline is valid? [True, True] Translation: X:104.69, Y:-22.08, Z:-1.51 [[ 9.30117235e-01 3.67259608e-01 -1.52001411e-03 1.04689516e+02] [-3.67259130e-01 9.30118477e-01 5.92226029e-04 -2.20848803e+01] [ 1.63129390e-03 7.39942178e-06 9.99998669e-01 -1.50837325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71538475 meters 0.05706594834513146 Centerline is valid? [True, True] Translation: X:104.75, Y:-22.10, Z:-1.51 [[ 9.28584035e-01 3.71113464e-01 -2.54693381e-03 1.04748881e+02] [-3.71112144e-01 9.28587527e-01 9.90290465e-04 -2.21011711e+01] [ 2.73256109e-03 2.56301491e-05 9.99996266e-01 -1.51172544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77538474999999 meters 0.05696398598940897 Centerline is valid? [True, True] Translation: X:104.81, Y:-22.12, Z:-1.52 [[ 9.29193554e-01 3.69547952e-01 -5.80092293e-03 1.04806075e+02] [-3.69541087e-01 9.29211660e-01 2.25319591e-03 -2.21244327e+01] [ 6.22294916e-03 5.00242443e-05 9.99980636e-01 -1.51525465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83538474999999 meters 0.05709031713319346 Centerline is valid? [True, True] Translation: X:104.86, Y:-22.15, Z:-1.52 [[ 9.29320426e-01 3.69224649e-01 -6.05846962e-03 1.04864393e+02] [-3.69217139e-01 9.29340173e-01 2.35541746e-03 -2.21483563e+01] [ 6.50005738e-03 4.79532656e-05 9.99978873e-01 -1.51804361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89538474999999 meters 0.05671409812752585 Centerline is valid? [True, True] Translation: X:104.92, Y:-22.18, Z:-1.52 [[ 9.30630019e-01 3.65921405e-01 -5.41227717e-03 1.04919059e+02] [-3.65915360e-01 9.30645757e-01 2.10343063e-03 -2.21760381e+01] [ 5.80660307e-03 2.29196647e-05 9.99983141e-01 -1.51641063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95538475 meters 0.05634022011859331 Centerline is valid? [True, True] Translation: X:104.98, Y:-22.20, Z:-1.51 [[ 9.31473150e-01 3.63783443e-01 -4.40202685e-03 1.04975679e+02] [-3.63779405e-01 9.31483551e-01 1.71417565e-03 -2.22025495e+01] [ 4.72400433e-03 4.65811311e-06 9.99988842e-01 -1.51360139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01538475 meters 0.05629147868092642 Centerline is valid? [True, True] Translation: X:105.03, Y:-22.23, Z:-1.51 [[ 9.31612814e-01 3.63432778e-01 -3.76568688e-03 1.05032537e+02] [-3.63429813e-01 9.31620425e-01 1.46802937e-03 -2.22273589e+01] [ 4.04172080e-03 9.27908422e-07 9.99991832e-01 -1.51475523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.07538475 meters 0.05617476836774647 Centerline is valid? [True, True] Translation: X:105.09, Y:-22.26, Z:-1.51 [[ 9.32714412e-01 3.60583296e-01 -4.84894975e-03 1.05086807e+02] [-3.60578342e-01 9.32727016e-01 1.89030682e-03 -2.22575800e+01] [ 5.20435950e-03 -1.46901549e-05 9.99986457e-01 -1.51487205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13538474999999 meters 0.05650359504280206 Centerline is valid? [True, True] Translation: X:105.14, Y:-22.28, Z:-1.52 [[ 9.33086978e-01 3.59588085e-01 -6.71570985e-03 1.05143411e+02] [-3.59578549e-01 9.33111145e-01 2.61883657e-03 -2.22825322e+01] [ 7.20820613e-03 -2.87770996e-05 9.99974020e-01 -1.51860548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19538474999999 meters 0.056424306672723065 Centerline is valid? [True, True] Translation: X:105.20, Y:-22.30, Z:-1.52 [[ 9.32256612e-01 3.61697686e-01 -8.50839050e-03 1.05201987e+02] [-3.61682454e-01 9.32295438e-01 3.31946447e-03 -2.23024310e+01] [ 9.13297626e-03 -1.72571449e-05 9.99958293e-01 -1.52041632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25538474999999 meters 0.056554770828340435 Centerline is valid? [True, True] Translation: X:105.26, Y:-22.32, Z:-1.52 [[ 9.30068592e-01 3.67246458e-01 -1.01219476e-02 1.05261606e+02] [-3.67225211e-01 9.30123668e-01 3.95060004e-03 -2.23169407e+01] [ 1.08655069e-02 4.27053215e-05 9.99940968e-01 -1.52174030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31538474999999 meters 0.05684628950290503 Centerline is valid? [True, True] Translation: X:105.32, Y:-22.33, Z:-1.52 [[ 9.27021897e-01 3.74897327e-01 -9.07728663e-03 1.05324369e+02] [-3.74880572e-01 9.27066331e-01 3.54620065e-03 -2.23276387e+01] [ 9.74470795e-03 1.15492749e-04 9.99952513e-01 -1.52106708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37538475 meters 0.056698816669890836 Centerline is valid? [True, True] Translation: X:105.38, Y:-22.35, Z:-1.52 [[ 9.26723369e-01 3.75673008e-01 -7.32033997e-03 1.05382740e+02] [-3.75662118e-01 9.26752276e-01 2.86219153e-03 -2.23452279e+01] [ 7.85938983e-03 9.75146409e-05 9.99969110e-01 -1.52002992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.43538475 meters 0.056776614749471474 Centerline is valid? [True, True] Translation: X:105.44, Y:-22.36, Z:-1.52 [[ 9.26373290e-01 3.76561943e-01 -5.79914503e-03 1.05441457e+02] [-3.76555112e-01 9.26391438e-01 2.26955119e-03 -2.23633082e+01] [ 6.22690491e-03 8.12461031e-05 9.99980609e-01 -1.52017158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49538474999999 meters 0.057393217016257644 Centerline is valid? [True, True] Translation: X:105.50, Y:-22.38, Z:-1.52 [[ 9.24275118e-01 3.81692306e-01 -5.14687564e-03 1.05501217e+02] [-3.81686993e-01 9.24289442e-01 2.01644502e-03 -2.23809336e+01] [ 5.52686437e-03 1.00745531e-04 9.99984722e-01 -1.51966456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55538474999999 meters 0.0575795902938159 Centerline is valid? [True, True] Translation: X:105.56, Y:-22.40, Z:-1.52 [[ 9.23643107e-01 3.83217404e-01 -5.27567372e-03 1.05558849e+02] [-3.83211839e-01 9.23658167e-01 2.06833774e-03 -2.24032916e+01] [ 5.66554213e-03 1.11294733e-04 9.99983944e-01 -1.51960879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61538474999999 meters 0.05785726808662917 Centerline is valid? [True, True] Translation: X:105.62, Y:-22.42, Z:-1.52 [[ 9.22766692e-01 3.85309874e-01 -6.15900459e-03 1.05617522e+02] [-3.85302345e-01 9.22787234e-01 2.41321907e-03 -2.24226052e+01] [ 6.61328795e-03 1.46240727e-04 9.99978121e-01 -1.52272948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67538474999999 meters 0.058057661053801564 Centerline is valid? [True, True] Translation: X:105.68, Y:-22.45, Z:-1.52 [[ 9.23153731e-01 3.84355419e-01 -7.62236569e-03 1.05675130e+02] [-3.84343822e-01 9.23185184e-01 2.99048620e-03 -2.24461589e+01] [ 8.18626465e-03 1.68930665e-04 9.99966478e-01 -1.52475661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73538475 meters 0.05714583781401521 Centerline is valid? [True, True] Translation: X:105.73, Y:-22.47, Z:-1.52 [[ 9.24753416e-01 3.80498990e-01 -7.18598346e-03 1.05731249e+02] [-3.80488582e-01 9.24781327e-01 2.81719491e-03 -2.24735608e+01] [ 7.71740314e-03 1.28974041e-04 9.99970212e-01 -1.52388828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79538475 meters 0.05731096649230257 Centerline is valid? [True, True] Translation: X:105.79, Y:-22.50, Z:-1.53 [[ 9.25108432e-01 3.79611383e-01 -8.34181544e-03 1.05787948e+02] [-3.79597304e-01 9.25146031e-01 3.27240756e-03 -2.24950040e+01] [ 8.95964060e-03 1.39198821e-04 9.99959852e-01 -1.52789865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85538474999998 meters 0.05684853704993784 Centerline is valid? [True, True] Translation: X:105.84, Y:-22.52, Z:-1.53 [[ 9.25953218e-01 3.77600570e-01 -5.33358195e-03 1.05844473e+02] [-3.77594782e-01 9.25968576e-01 2.09215763e-03 -2.25207443e+01] [ 5.72872920e-03 7.66926273e-05 9.99983588e-01 -1.52569097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91538474999999 meters 0.05685040322148596 Centerline is valid? [True, True] Translation: X:105.90, Y:-22.55, Z:-1.52 [[ 9.25315721e-01 3.79174416e-01 -4.19269095e-03 1.05902550e+02] [-3.79170832e-01 9.25325218e-01 1.64972376e-03 -2.25452799e+01] [ 4.50513571e-03 6.32307859e-05 9.99989850e-01 -1.52302707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97538474999999 meters 0.05651353288184897 Centerline is valid? [True, True] Translation: X:105.96, Y:-22.57, Z:-1.53 [[ 9.27070417e-01 3.74862557e-01 -4.30174592e-03 1.05958632e+02] [-3.74858735e-01 9.27080397e-01 1.69319035e-03 -2.25725869e+01] [ 4.62277798e-03 4.28403560e-05 9.99989314e-01 -1.52506176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03538474999999 meters 0.056501264079659094 Centerline is valid? [True, True] Translation: X:106.02, Y:-22.60, Z:-1.53 [[ 9.28211727e-01 3.72012473e-01 -5.45067516e-03 1.06016269e+02] [-3.72006280e-01 9.28227730e-01 2.14669169e-03 -2.25987526e+01] [ 5.85806391e-03 3.51009851e-05 9.99982841e-01 -1.52902653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09538475 meters 0.056206405720607554 Centerline is valid? [True, True] Translation: X:106.07, Y:-22.63, Z:-1.53 [[ 9.30297399e-01 3.66777141e-01 -4.61277515e-03 1.06069348e+02] [-3.66772637e-01 9.30308835e-01 1.81770136e-03 -2.26303371e+01] [ 4.95799678e-03 8.36851606e-07 9.99987709e-01 -1.52813222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15538475 meters 0.05619111594074519 Centerline is valid? [True, True] Translation: X:106.12, Y:-22.66, Z:-1.53 [[ 9.31966810e-01 3.62515507e-01 -4.51355218e-03 1.06124616e+02] [-3.62511136e-01 9.31977739e-01 1.78039561e-03 -2.26588111e+01] [ 4.85195118e-03 -2.30566891e-05 9.99988229e-01 -1.52988151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21538475 meters 0.056393969311324975 Centerline is valid? [True, True] Translation: X:106.18, Y:-22.68, Z:-1.53 [[ 9.32327399e-01 3.61583583e-01 -4.78877574e-03 1.06182527e+02] [-3.61578643e-01 9.32339697e-01 1.89039958e-03 -2.26821577e+01] [ 5.14830318e-03 -3.09522853e-05 9.99986747e-01 -1.53323448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27538474999999 meters 0.05653198946649782 Centerline is valid? [True, True] Translation: X:106.24, Y:-22.71, Z:-1.53 [[ 9.31989047e-01 3.62438371e-01 -5.90289075e-03 1.06239844e+02] [-3.62430881e-01 9.32007739e-01 2.33035216e-03 -2.27057123e+01] [ 6.34614890e-03 -3.24727933e-05 9.99979862e-01 -1.53457246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33538474999999 meters 0.05653288104038838 Centerline is valid? [True, True] Translation: X:106.30, Y:-22.73, Z:-1.54 [[ 9.31810744e-01 3.62892239e-01 -6.16113694e-03 1.06297668e+02] [-3.62884077e-01 9.31831112e-01 2.43409135e-03 -2.27279533e+01] [ 6.62445195e-03 -3.23339795e-05 9.99978058e-01 -1.53545972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39538474999999 meters 0.05654306623340304 Centerline is valid? [True, True] Translation: X:106.36, Y:-22.75, Z:-1.54 [[ 9.31156237e-01 3.64559761e-01 -6.65149312e-03 1.06356417e+02] [-3.64550280e-01 9.31179993e-01 2.62932544e-03 -2.27471099e+01] [ 7.15228358e-03 -2.35091070e-05 9.99974422e-01 -1.53876519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45538475 meters 0.056131371561765106 Centerline is valid? [True, True] Translation: X:106.42, Y:-22.77, Z:-1.54 [[ 9.30169776e-01 3.67100693e-01 -4.61188632e-03 1.06416480e+02] [-3.67096171e-01 9.30181209e-01 1.82227290e-03 -2.27654202e+01] [ 4.95884764e-03 -2.01736736e-06 9.99987705e-01 -1.53542623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51538475 meters 0.0563098006864927 Centerline is valid? [True, True] Translation: X:106.48, Y:-22.78, Z:-1.53 [[ 9.28061208e-01 3.72412328e-01 -3.38428164e-03 1.06477377e+02] [-3.72409914e-01 9.28067378e-01 1.34077310e-03 -2.27806781e+01] [ 3.64016182e-03 1.60205295e-05 9.99993374e-01 -1.53436382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57538475 meters 0.05733699419879807 Centerline is valid? [True, True] Translation: X:106.54, Y:-22.79, Z:-1.54 [[ 9.25376793e-01 3.79028119e-01 -3.93395217e-03 1.06538353e+02] [-3.79024924e-01 9.25385153e-01 1.55720175e-03 -2.27908964e+01] [ 4.23064419e-03 5.00675598e-05 9.99991050e-01 -1.53946934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63538474999999 meters 0.05796685287455793 Centerline is valid? [True, True] Translation: X:106.60, Y:-22.81, Z:-1.54 [[ 9.23120996e-01 3.84497180e-01 -3.08974962e-03 1.06598450e+02] [-3.84495231e-01 9.23126165e-01 1.22550568e-03 -2.28071499e+01] [ 3.32343219e-03 5.67039723e-05 9.99994476e-01 -1.53773440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69538474999999 meters 0.057007746292322414 Centerline is valid? [True, True] Translation: X:106.65, Y:-22.83, Z:-1.53 [[ 9.24624454e-01 3.80880054e-01 -6.06564036e-05 1.06653636e+02] [-3.80880053e-01 9.24624456e-01 2.70040786e-05 -2.28336088e+01] [ 6.63697090e-05 -1.86581719e-06 9.99999998e-01 -1.53109055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75538474999999 meters 0.05748054078125967 Centerline is valid? [True, True] Translation: X:106.71, Y:-22.85, Z:-1.54 [[ 9.23826070e-01 3.82790270e-01 -4.12330517e-03 1.06713312e+02] [-3.82786778e-01 9.23835269e-01 1.63640960e-03 -2.28496398e+01] [ 4.43565641e-03 6.65888553e-05 9.99990160e-01 -1.54039930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81538474999999 meters 0.058198294461035804 Centerline is valid? [True, True] Translation: X:106.77, Y:-22.87, Z:-1.55 [[ 9.22942718e-01 3.84877547e-01 -6.78325506e-03 1.06771700e+02] [-3.84868182e-01 9.22967636e-01 2.68810634e-03 -2.28701188e+01] [ 7.29531666e-03 1.29690868e-04 9.99973380e-01 -1.54510765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87538475 meters 0.05847770944486887 Centerline is valid? [True, True] Translation: X:106.83, Y:-22.89, Z:-1.54 [[ 9.22625504e-01 3.85613959e-01 -8.00331828e-03 1.06828183e+02] [-3.85600933e-01 9.22660203e-01 3.17344612e-03 -2.28945786e+01] [ 8.60806839e-03 1.58184670e-04 9.99962937e-01 -1.54369641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93538475 meters 0.058144961319212145 Centerline is valid? [True, True] Translation: X:106.89, Y:-22.92, Z:-1.55 [[ 9.23089361e-01 3.84512889e-01 -7.47456298e-03 1.06885586e+02] [-3.84501460e-01 9.23119613e-01 2.96766158e-03 -2.29174009e+01] [ 8.04101982e-03 1.34563544e-04 9.99967661e-01 -1.54554113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99538474999999 meters 0.05833690736986522 Centerline is valid? [True, True] Translation: X:106.94, Y:-22.94, Z:-1.55 [[ 9.23302830e-01 3.84027093e-01 -5.92245688e-03 1.06941350e+02] [-3.84019896e-01 9.23321819e-01 2.35335992e-03 -2.29416866e+01] [ 6.37208762e-03 1.01477396e-04 9.99979693e-01 -1.54656779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05538474999999 meters 0.057384427301815026 Centerline is valid? [True, True] Translation: X:107.00, Y:-22.97, Z:-1.54 [[ 9.23685739e-01 3.83138757e-01 -3.05744171e-03 1.06995867e+02] [-3.83136825e-01 9.23690798e-01 1.21772815e-03 -2.29719295e+01] [ 3.29068962e-03 4.66203831e-05 9.99994585e-01 -1.53970416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11538474999999 meters 0.05816683845663223 Centerline is valid? [True, True] Translation: X:107.05, Y:-22.99, Z:-1.54 [[ 9.23505656e-01 3.83576299e-01 -2.55467417e-03 1.07054970e+02] [-3.83574952e-01 9.23509188e-01 1.01750663e-03 -2.29918430e+01] [ 2.74955650e-03 4.02358990e-05 9.99996219e-01 -1.54487519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17538474999999 meters 0.05860926564983209 Centerline is valid? [True, True] Translation: X:107.11, Y:-23.02, Z:-1.55 [[ 9.23473682e-01 3.83629879e-01 -4.94714985e-03 1.07110025e+02] [-3.83624840e-01 9.23486930e-01 1.96786192e-03 -2.30175726e+01] [ 5.32355886e-03 8.05808747e-05 9.99985827e-01 -1.54933187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23538475 meters 0.057961738945969225 Centerline is valid? [True, True] Translation: X:107.16, Y:-23.05, Z:-1.55 [[ 9.23854489e-01 3.82677854e-01 -7.10934610e-03 1.07164707e+02] [-3.82667396e-01 9.23881837e-01 2.83102888e-03 -2.30483906e+01] [ 7.65156780e-03 1.05056217e-04 9.99970721e-01 -1.54807417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29538475 meters 0.057898023945511294 Centerline is valid? [True, True] Translation: X:107.22, Y:-23.07, Z:-1.55 [[ 9.24521704e-01 3.81072529e-01 -6.58385115e-03 1.07219993e+02] [-3.81063521e-01 9.24545142e-01 2.62150515e-03 -2.30742502e+01] [ 7.08605120e-03 8.52270903e-05 9.99974890e-01 -1.55050412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35538474999998 meters 0.05797249081353036 Centerline is valid? [True, True] Translation: X:107.28, Y:-23.10, Z:-1.55 [[ 9.24178322e-01 3.81876081e-01 -8.06775295e-03 1.07276828e+02] [-3.81862560e-01 9.24213529e-01 3.21538365e-03 -2.30977496e+01] [ 8.68420453e-03 1.09184920e-04 9.99962286e-01 -1.55073839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41538474999999 meters 0.05799607535668816 Centerline is valid? [True, True] Translation: X:107.34, Y:-23.12, Z:-1.55 [[ 9.24034520e-01 3.82250756e-01 -6.67581147e-03 1.07335690e+02] [-3.82241506e-01 9.24058630e-01 2.66078965e-03 -2.31192475e+01] [ 7.18593005e-03 9.31107435e-05 9.99974177e-01 -1.55050800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47538474999999 meters 0.05753821285741312 Centerline is valid? [True, True] Translation: X:107.40, Y:-23.14, Z:-1.55 [[ 9.24642712e-01 3.80813590e-01 -4.10670710e-03 1.07395254e+02] [-3.80810061e-01 9.24651830e-01 1.64031197e-03 -2.31383693e+01] [ 4.42192733e-03 4.71728776e-05 9.99990222e-01 -1.54551327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53538474999999 meters 0.05924833488129264 Centerline is valid? [True, True] Translation: X:107.46, Y:-23.15, Z:-1.56 [[ 9.22760397e-01 3.85225829e-01 -1.06915689e-02 1.07457898e+02] [-3.85202239e-01 9.22822316e-01 4.26698429e-03 -2.31465495e+01] [ 1.15101710e-02 1.81012170e-04 9.99933739e-01 -1.56018888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59538475 meters 0.0598754266396321 Centerline is valid? [True, True] Translation: X:107.52, Y:-23.16, Z:-1.56 [[ 9.21701651e-01 3.87745082e-01 -1.09460948e-02 1.07516249e+02] [-3.87720501e-01 9.21766622e-01 4.37129771e-03 -2.31642569e+01] [ 1.17846940e-02 2.14993031e-04 9.99930535e-01 -1.56057369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65538475 meters 0.06010264186454839 Centerline is valid? [True, True] Translation: X:107.58, Y:-23.18, Z:-1.56 [[ 9.20368073e-01 3.90942223e-01 -9.31598114e-03 1.07575548e+02] [-3.90924550e-01 9.20415195e-01 3.72345148e-03 -2.31834052e+01] [ 1.00302250e-02 2.14899877e-04 9.99949673e-01 -1.55646637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71538475 meters 0.060439845677725514 Centerline is valid? [True, True] Translation: X:107.63, Y:-23.20, Z:-1.55 [[ 9.18381961e-01 3.95633082e-01 -7.00274982e-03 1.07634949e+02] [-3.95623209e-01 9.18408638e-01 2.80190427e-03 -2.32027308e+01] [ 7.53991194e-03 1.97232019e-04 9.99971555e-01 -1.55338431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77538474999999 meters 0.060249925953949186 Centerline is valid? [True, True] Translation: X:107.69, Y:-23.23, Z:-1.55 [[ 9.17771414e-01 3.97023941e-01 -8.22328657e-03 1.07691231e+02] [-3.97010364e-01 9.17808221e-01 3.29228228e-03 -2.32289473e+01] [ 8.85451491e-03 2.43167439e-04 9.99960768e-01 -1.55249544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83538474999999 meters 0.06063771724878389 Centerline is valid? [True, True] Translation: X:107.75, Y:-23.25, Z:-1.56 [[ 9.18799683e-01 3.94648896e-01 -7.70660738e-03 1.07747216e+02] [-3.94636871e-01 9.18831980e-01 3.08744779e-03 -2.32534848e+01] [ 8.29953518e-03 2.04565376e-04 9.99965537e-01 -1.55714137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89538474999999 meters 0.05809586529400235 Centerline is valid? [True, True] Translation: X:107.80, Y:-23.29, Z:-1.55 [[ 9.22420966e-01 3.86146625e-01 -5.50863405e-03 1.07799116e+02] [-3.86140315e-01 9.22437410e-01 2.20934022e-03 -2.32898072e+01] [ 5.93449940e-03 8.91639510e-05 9.99982387e-01 -1.55174609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95538475 meters 0.05810481415672665 Centerline is valid? [True, True] Translation: X:107.86, Y:-23.32, Z:-1.56 [[ 9.23928966e-01 3.82459214e-01 -8.95634323e-03 1.07856184e+02] [-3.82442355e-01 9.23972369e-01 3.59259830e-03 -2.33150438e+01] [ 9.64943599e-03 1.05979359e-04 9.99953437e-01 -1.55862025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01538475 meters 0.05867269353883034 Centerline is valid? [True, True] Translation: X:107.91, Y:-23.34, Z:-1.56 [[ 9.23198101e-01 3.84175962e-01 -1.06815792e-02 1.07914347e+02] [-3.84152072e-01 9.23259882e-01 4.28682678e-03 -2.33362118e+01] [ 1.15087693e-02 1.45760427e-04 9.99933761e-01 -1.56237408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07538475 meters 0.05916181932314479 Centerline is valid? [True, True] Translation: X:107.97, Y:-23.36, Z:-1.56 [[ 9.21905062e-01 3.87292909e-01 -9.76007227e-03 1.07972514e+02] [-3.87273107e-01 9.21956710e-01 3.91994316e-03 -2.33580502e+01] [ 1.05165303e-02 1.65998069e-04 9.99944686e-01 -1.56214809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13538474999999 meters 0.06048654468640052 Centerline is valid? [True, True] Translation: X:108.03, Y:-23.38, Z:-1.57 [[ 9.20865615e-01 3.89747309e-01 -1.01761722e-02 1.08030108e+02] [-3.89725931e-01 9.20921818e-01 4.08711350e-03 -2.33773262e+01] [ 1.09644005e-02 2.02235887e-04 9.99939869e-01 -1.56577072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19538474999999 meters 0.05982827951969873 Centerline is valid? [True, True] Translation: X:108.09, Y:-23.40, Z:-1.56 [[ 9.20666840e-01 3.90231070e-01 -9.60631855e-03 1.08086941e+02] [-3.90212004e-01 9.20716935e-01 3.86230742e-03 -2.34026014e+01] [ 1.03518925e-02 1.92602448e-04 9.99946399e-01 -1.56321117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25538474999999 meters 0.05851036954020381 Centerline is valid? [True, True] Translation: X:108.14, Y:-23.43, Z:-1.56 [[ 9.23035607e-01 3.84674934e-01 -5.51935576e-03 1.08139547e+02] [-3.84668528e-01 9.23052106e-01 2.22129776e-03 -2.34336772e+01] [ 5.94913053e-03 7.27855275e-05 9.99982301e-01 -1.55954674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31538474999999 meters 0.05876624289188401 Centerline is valid? [True, True] Translation: X:108.20, Y:-23.46, Z:-1.56 [[ 9.22369649e-01 3.86260773e-01 -6.07013042e-03 1.08196213e+02] [-3.86253062e-01 9.22389618e-01 2.44239783e-03 -2.34553686e+01] [ 6.54242775e-03 9.18128373e-05 9.99978594e-01 -1.56313616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37538475 meters 0.05895114910790792 Centerline is valid? [True, True] Translation: X:108.25, Y:-23.48, Z:-1.56 [[ 9.21794252e-01 3.87655751e-01 -4.28677596e-03 1.08252621e+02] [-3.87651907e-01 9.21804217e-01 1.72763733e-03 -2.34793142e+01] [ 4.62129670e-03 6.92507190e-05 9.99989319e-01 -1.56136707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.43538475 meters 0.05790100929316509 Centerline is valid? [True, True] Translation: X:108.31, Y:-23.51, Z:-1.56 [[ 9.23502932e-01 3.83576320e-01 -3.39721321e-03 1.08307251e+02] [-3.83573871e-01 9.23509180e-01 1.37111384e-03 -2.35092098e+01] [ 3.66328439e-03 3.68545742e-05 9.99993289e-01 -1.55866540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49538474999999 meters 0.059425327479559586 Centerline is valid? [True, True] Translation: X:108.37, Y:-23.53, Z:-1.57 [[ 9.22530604e-01 3.85802885e-01 -9.66530176e-03 1.08365250e+02] [-3.85783246e-01 9.22581224e-01 3.89504560e-03 -2.35258113e+01] [ 1.04197458e-02 1.35412716e-04 9.99945704e-01 -1.57298537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55538474999999 meters 0.05894699478407104 Centerline is valid? [True, True] Translation: X:108.42, Y:-23.55, Z:-1.57 [[ 9.21675885e-01 3.87785161e-01 -1.16718105e-02 1.08421949e+02] [-3.87756635e-01 9.21749768e-01 4.70726735e-03 -2.35518346e+01] [ 1.25838971e-02 1.87247167e-04 9.99920802e-01 -1.56918681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61538474999999 meters 0.05920175882211142 Centerline is valid? [True, True] Translation: X:108.48, Y:-23.57, Z:-1.57 [[ 9.20456707e-01 3.90717909e-01 -9.94822477e-03 1.08481525e+02] [-3.90697307e-01 9.20510445e-01 4.01675131e-03 -2.35730714e+01] [ 1.07268615e-02 1.89498948e-04 9.99942448e-01 -1.56776451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67538474999999 meters 0.05848741611620591 Centerline is valid? [True, True] Translation: X:108.54, Y:-23.60, Z:-1.57 [[ 9.21703774e-01 3.87804670e-01 -8.34810011e-03 1.08538118e+02] [-3.87790060e-01 9.21741569e-01 3.36890448e-03 -2.35990068e+01] [ 9.00126779e-03 1.32178272e-04 9.99959479e-01 -1.56588768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73538475 meters 0.05815505039808706 Centerline is valid? [True, True] Translation: X:108.60, Y:-23.62, Z:-1.57 [[ 9.22872239e-01 3.85036697e-01 -7.31938050e-03 1.08595031e+02] [-3.85025339e-01 9.22901259e-01 2.95864668e-03 -2.36220081e+01] [ 7.89425302e-03 8.76940743e-05 9.99968836e-01 -1.56835116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79538475 meters 0.05759153941926712 Centerline is valid? [True, True] Translation: X:108.65, Y:-23.65, Z:-1.57 [[ 9.24866262e-01 3.80255607e-01 -5.29819455e-03 1.08649608e+02] [-3.80249566e-01 9.24881437e-01 2.14360614e-03 -2.36520178e+01] [ 5.71532004e-03 3.20871848e-05 9.99983667e-01 -1.56611151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85538474999998 meters 0.057177194943549586 Centerline is valid? [True, True] Translation: X:108.70, Y:-23.68, Z:-1.57 [[ 9.26696390e-01 3.75778383e-01 -4.94034799e-03 1.08704342e+02] [-3.75773057e-01 9.26709559e-01 2.00078101e-03 -2.36822809e+01] [ 5.33011796e-03 2.33312443e-06 9.99985795e-01 -1.56626223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91538474999999 meters 0.0573747281827922 Centerline is valid? [True, True] Translation: X:108.76, Y:-23.71, Z:-1.57 [[ 9.27813082e-01 3.72991660e-01 -6.33301831e-03 1.08758426e+02] [-3.72982856e-01 9.27834695e-01 2.56282514e-03 -2.37101012e+01] [ 6.83190652e-03 -1.57154412e-05 9.99976662e-01 -1.57114154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97538474999999 meters 0.05734553572470162 Centerline is valid? [True, True] Translation: X:108.81, Y:-23.74, Z:-1.57 [[ 9.29720260e-01 3.68236351e-01 -4.71467583e-03 1.08813475e+02] [-3.68231393e-01 9.29732213e-01 1.91125561e-03 -2.37397700e+01] [ 5.08717979e-03 -4.08414114e-05 9.99987059e-01 -1.56976960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03538474999999 meters 0.057193802459906885 Centerline is valid? [True, True] Translation: X:108.87, Y:-23.76, Z:-1.57 [[ 9.29374149e-01 3.69120009e-01 -3.75650694e-03 1.08871378e+02] [-3.69116861e-01 9.29381740e-01 1.52455609e-03 -2.37620013e+01] [ 4.05397311e-03 -3.02929618e-05 9.99991782e-01 -1.57038514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09538475 meters 0.05691270731063243 Centerline is valid? [True, True] Translation: X:108.93, Y:-23.78, Z:-1.57 [[ 9.28484897e-01 3.71359499e-01 -2.81416709e-03 1.08929394e+02] [-3.71357737e-01 9.28489161e-01 1.14400628e-03 -2.37836908e+01] [ 3.03776124e-03 -1.71298344e-05 9.99995386e-01 -1.56903445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15538475 meters 0.05695315675486663 Centerline is valid? [True, True] Translation: X:108.99, Y:-23.81, Z:-1.57 [[ 9.28724402e-01 3.70757584e-01 -3.13032613e-03 1.08986514e+02] [-3.70755397e-01 9.28729677e-01 1.27361228e-03 -2.38111950e+01] [ 3.37942818e-03 -2.22494936e-05 9.99994289e-01 -1.57015006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21538475 meters 0.057774664079382615 Centerline is valid? [True, True] Translation: X:109.04, Y:-23.84, Z:-1.58 [[ 9.30450315e-01 3.66385384e-01 -4.89500465e-03 1.09041184e+02] [-3.66379986e-01 9.30463190e-01 1.98967686e-03 -2.38386261e+01] [ 5.28361016e-03 -5.78637259e-05 9.99986040e-01 -1.57758964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27538474999999 meters 0.0576736507053653 Centerline is valid? [True, True] Translation: X:109.10, Y:-23.86, Z:-1.58 [[ 9.30415552e-01 3.66447366e-01 -6.57479117e-03 1.09100547e+02] [-3.66437621e-01 9.30438779e-01 2.67356646e-03 -2.38564747e+01] [ 7.09716206e-03 -7.82769782e-05 9.99974812e-01 -1.57854552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33538474999999 meters 0.05740772263622955 Centerline is valid? [True, True] Translation: X:109.16, Y:-23.88, Z:-1.57 [[ 9.30061861e-01 3.67372687e-01 -4.71627214e-03 1.09158932e+02] [-3.67367689e-01 9.30073818e-01 1.91698773e-03 -2.38790530e+01] [ 5.09073016e-03 -5.03111829e-05 9.99987041e-01 -1.57469858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39538474999999 meters 0.057146911968515415 Centerline is valid? [True, True] Translation: X:109.22, Y:-23.90, Z:-1.57 [[ 9.30573622e-01 3.66099834e-01 -1.90929125e-03 1.09216345e+02] [-3.66099005e-01 9.30575580e-01 7.79652607e-04 -2.39015570e+01] [ 2.06217050e-03 -2.65345238e-05 9.99997873e-01 -1.57026250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45538475 meters 0.05806849765919505 Centerline is valid? [True, True] Translation: X:109.27, Y:-23.93, Z:-1.57 [[ 9.32992936e-01 3.59893642e-01 8.65340704e-04 1.09272183e+02] [-3.59893472e-01 9.32993337e-01 -3.50040849e-04 -2.39268845e+01] [-9.33334587e-04 1.51551693e-05 9.99999564e-01 -1.57008158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51538475 meters 0.06071560918279123 Centerline is valid? [True, True] Translation: X:109.33, Y:-23.96, Z:-1.57 [[ 9.36743181e-01 3.50010874e-01 -2.14491103e-03 1.09325307e+02] [-3.50009789e-01 9.36745634e-01 8.74041512e-04 -2.39567588e+01] [ 2.31516007e-03 -6.80125696e-05 9.99997318e-01 -1.57371300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57538475 meters 0.0654163088083858 Centerline is valid? [True, True] Translation: X:109.38, Y:-23.99, Z:-1.58 [[ 9.41274724e-01 3.37620165e-01 -3.81011660e-03 1.09378326e+02] [-3.37616636e-01 9.41282419e-01 1.55384435e-03 -2.39894538e+01] [ 4.11100496e-03 -1.76235669e-04 9.99991534e-01 -1.57633260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63538474999999 meters 0.0705504383783348 Centerline is valid? [True, True] Translation: X:109.43, Y:-24.02, Z:-1.58 [[ 9.44567035e-01 3.28302267e-01 -3.27681351e-03 1.09431701e+02] [-3.28299598e-01 9.44572700e-01 1.33704548e-03 -2.40183997e+01] [ 3.53414364e-03 -1.87152522e-04 9.99993737e-01 -1.57572598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69538474999999 meters 0.06752746753237295 Centerline is valid? [True, True] Translation: X:109.50, Y:-24.03, Z:-1.57 [[ 9.44787523e-01 3.27640276e-01 -5.32775200e-03 1.09495451e+02] [-3.27633226e-01 9.44802496e-01 2.17091011e-03 -2.40275226e+01] [ 5.74495098e-03 -3.05500209e-04 9.99983451e-01 -1.57424928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75538474999999 meters 0.06562192260450744 Centerline is valid? [True, True] Translation: X:109.56, Y:-24.03, Z:-1.58 [[ 9.41949268e-01 3.35714067e-01 -5.25751130e-03 1.09557692e+02] [-3.35707309e-01 9.41963906e-01 2.14544294e-03 -2.40349992e+01] [ 5.67264125e-03 -2.55913432e-04 9.99983878e-01 -1.57533483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81538474999999 meters 0.06157338867346412 Centerline is valid? [True, True] Translation: X:109.62, Y:-24.04, Z:-1.58 [[ 9.37093582e-01 3.48967199e-01 -8.80410395e-03 1.09623753e+02] [-3.48948854e-01 9.37134894e-01 3.59009689e-03 -2.40363988e+01] [ 9.50345908e-03 -2.92074773e-04 9.99954798e-01 -1.57649544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87538475 meters 0.05915138983429405 Centerline is valid? [True, True] Translation: X:109.69, Y:-24.04, Z:-1.58 [[ 9.31874305e-01 3.62602558e-01 -1.13870536e-02 1.09688530e+02] [-3.62572853e-01 9.31943853e-01 4.64561587e-03 -2.40378132e+01] [ 1.22966068e-02 -2.00493557e-04 9.99924374e-01 -1.57995396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93538475 meters 0.05803778344282651 Centerline is valid? [True, True] Translation: X:109.75, Y:-24.05, Z:-1.58 [[ 9.27581852e-01 3.73344410e-01 -1.43478119e-02 1.09752346e+02] [-3.73298451e-01 9.27692807e-01 5.85843811e-03 -2.40457847e+01] [ 1.54975770e-02 -7.81649054e-05 9.99879902e-01 -1.57880089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99538474999999 meters 0.058786701940535716 Centerline is valid? [True, True] Translation: X:109.81, Y:-24.06, Z:-1.59 [[ 9.23961045e-01 3.82117247e-01 -1.68046378e-02 1.09813332e+02] [-3.82055583e-01 9.24113848e-01 6.86499847e-03 -2.40573191e+01] [ 1.81526328e-02 7.73145107e-05 9.99835224e-01 -1.58530081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05538474999999 meters 0.06036273724231595 Centerline is valid? [True, True] Translation: X:109.88, Y:-24.07, Z:-1.59 [[ 9.19428037e-01 3.92731647e-01 -2.03454841e-02 1.09875941e+02] [-3.92643764e-01 9.19653052e-01 8.31499261e-03 -2.40666209e+01] [ 2.19763473e-02 3.43490143e-04 9.99758432e-01 -1.58930880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11538474999999 meters 0.059646377975155804 Centerline is valid? [True, True] Translation: X:109.93, Y:-24.09, Z:-1.58 [[ 9.17825801e-01 3.96456274e-01 -2.04504593e-02 1.09932748e+02] [-3.96368266e-01 9.18053505e-01 8.36415739e-03 -2.40908073e+01] [ 2.20906385e-02 4.29073640e-04 9.99755880e-01 -1.58182012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17538474999999 meters 0.06088758540660204 Centerline is valid? [True, True] Translation: X:109.99, Y:-24.11, Z:-1.58 [[ 9.14568414e-01 4.03883811e-01 -2.10352902e-02 1.09991261e+02] [-4.03792677e-01 9.14810076e-01 8.60230761e-03 -2.41115169e+01] [ 2.27176282e-02 6.26497316e-04 9.99741725e-01 -1.58268034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23538475 meters 0.06240356873057092 Centerline is valid? [True, True] Translation: X:110.05, Y:-24.13, Z:-1.58 [[ 9.11702903e-01 4.10371687e-01 -1.98215654e-02 1.10048031e+02] [-4.10292238e-01 9.11918050e-01 8.10857690e-03 -2.41343359e+01] [ 2.14031737e-02 7.40021327e-04 9.99770652e-01 -1.58404121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29538475 meters 0.06363793546394016 Centerline is valid? [True, True] Translation: X:110.10, Y:-24.16, Z:-1.58 [[ 9.10335206e-01 4.13468962e-01 -1.82545996e-02 1.10102817e+02] [-4.13402060e-01 9.10517911e-01 7.47459630e-03 -2.41614792e+01] [ 1.97116535e-02 7.42100933e-04 9.99805431e-01 -1.58469263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35538474999998 meters 0.0628257021762885 Centerline is valid? [True, True] Translation: X:110.15, Y:-24.20, Z:-1.58 [[ 9.10758707e-01 4.12696559e-01 -1.41466226e-02 1.10153381e+02] [-4.12656292e-01 9.10868395e-01 5.79233196e-03 -2.42011185e+01] [ 1.52761869e-02 5.62276052e-04 9.99883154e-01 -1.58179929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41538474999999 meters 0.06387463001994481 Centerline is valid? [True, True] Translation: X:110.21, Y:-24.23, Z:-1.59 [[ 9.11467141e-01 4.11118647e-01 -1.44606220e-02 1.10208096e+02] [-4.11076278e-01 9.11581683e-01 5.92703022e-03 -2.42286821e+01] [ 1.56187508e-02 5.42125404e-04 9.99877873e-01 -1.58877731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47538474999999 meters 0.06155017411868181 Centerline is valid? [True, True] Translation: X:110.26, Y:-24.27, Z:-1.58 [[ 9.13886726e-01 4.05825914e-01 -1.07879812e-02 1.10257297e+02] [-4.05801925e-01 9.13950336e-01 4.42506897e-03 -2.42708971e+01] [ 1.16554867e-02 3.33771746e-04 9.99932017e-01 -1.58223202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53538474999999 meters 0.05940849084486973 Centerline is valid? [True, True] Translation: X:110.31, Y:-24.31, Z:-1.58 [[ 9.17228153e-01 3.98130926e-01 -1.35750204e-02 1.10307734e+02] [-3.98092130e-01 9.17328554e-01 5.56590932e-03 -2.43110663e+01] [ 1.46687145e-02 2.98900081e-04 9.99892364e-01 -1.58355416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59538475 meters 0.05914701654454925 Centerline is valid? [True, True] Translation: X:110.36, Y:-24.35, Z:-1.59 [[ 9.21161770e-01 3.88801503e-01 -1.71576314e-02 1.10359284e+02] [-3.88737771e-01 9.21321528e-01 7.04185360e-03 -2.43465142e+01] [ 1.85455785e-02 1.83133070e-04 9.99827999e-01 -1.59294528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65538475 meters 0.05910494119496564 Centerline is valid? [True, True] Translation: X:110.41, Y:-24.38, Z:-1.59 [[ 9.21542738e-01 3.87745366e-01 -2.03103967e-02 1.10414204e+02] [-3.87655716e-01 9.21766508e-01 8.33967281e-03 -2.43758382e+01] [ 2.19551129e-02 1.88076447e-04 9.99758940e-01 -1.59356425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71538475 meters 0.05980049797236118 Centerline is valid? [True, True] Translation: X:110.47, Y:-24.40, Z:-1.60 [[ 9.21619386e-01 3.87561148e-01 -2.03485466e-02 1.10470829e+02] [-3.87470956e-01 9.21843981e-01 8.36260224e-03 -2.44003250e+01] [ 2.19992049e-02 1.77334472e-04 9.99757972e-01 -1.60150678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77538474999999 meters 0.058823067248668204 Centerline is valid? [True, True] Translation: X:110.53, Y:-24.43, Z:-1.59 [[ 9.22175331e-01 3.86381055e-01 -1.73879141e-02 1.10526599e+02] [-3.86315018e-01 9.22339235e-01 7.14440521e-03 -2.44275346e+01] [ 1.87980182e-02 1.28818129e-04 9.99823293e-01 -1.59209188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83538474999999 meters 0.058623207611786216 Centerline is valid? [True, True] Translation: X:110.58, Y:-24.45, Z:-1.59 [[ 9.22649309e-01 3.85317050e-01 -1.57804944e-02 1.10583044e+02] [-3.85262384e-01 9.22784245e-01 6.49095538e-03 -2.44503628e+01] [ 1.70630674e-02 9.07553921e-05 9.99854411e-01 -1.59354348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89538474999999 meters 0.05858235479831819 Centerline is valid? [True, True] Translation: X:110.64, Y:-24.47, Z:-1.59 [[ 9.22883128e-01 3.84871526e-01 -1.26744108e-02 1.10639936e+02] [-3.84836169e-01 9.22970154e-01 5.21715617e-03 -2.44734911e+01] [ 1.37060377e-02 6.27462919e-05 9.99906066e-01 -1.59372533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95538475 meters 0.0587525991210845 Centerline is valid? [True, True] Translation: X:110.70, Y:-24.50, Z:-1.59 [[ 9.21992830e-01 3.87074827e-01 -1.01142976e-02 1.10696247e+02] [-3.87052406e-01 9.22048303e-01 4.16677952e-03 -2.44971717e+01] [ 1.09387264e-02 7.30223729e-05 9.99940168e-01 -1.59306384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01538475 meters 0.05880713934104984 Centerline is valid? [True, True] Translation: X:110.75, Y:-24.52, Z:-1.59 [[ 9.20601243e-01 3.90448993e-01 -6.55253286e-03 1.10754604e+02] [-3.90439645e-01 9.20624559e-01 2.70263767e-03 -2.45192725e+01] [ 7.08766483e-03 7.03170077e-05 9.99974880e-01 -1.59200864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.07538475 meters 0.05920831506071749 Centerline is valid? [True, True] Translation: X:110.81, Y:-24.54, Z:-1.59 [[ 9.19546661e-01 3.92896228e-01 -8.15429898e-03 1.10812376e+02] [-3.92881832e-01 9.19582809e-01 3.36508809e-03 -2.45421850e+01] [ 8.82068358e-03 1.09320411e-04 9.99961091e-01 -1.59245162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13538474999999 meters 0.05981157032091575 Centerline is valid? [True, True] Translation: X:110.87, Y:-24.56, Z:-1.60 [[ 9.19446895e-01 3.93071726e-01 -1.05841778e-02 1.10869491e+02] [-3.93047467e-01 9.19507802e-01 4.36929546e-03 -2.45630825e+01] [ 1.14496806e-02 1.42749145e-04 9.99934440e-01 -1.60002046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19538474999999 meters 0.059591447190901495 Centerline is valid? [True, True] Translation: X:110.93, Y:-24.59, Z:-1.60 [[ 9.19892863e-01 3.91998413e-01 -1.15915867e-02 1.10926018e+02] [-3.91969231e-01 9.19965882e-01 4.78521059e-03 -2.45875944e+01] [ 1.25396592e-02 1.41664240e-04 9.99921365e-01 -1.60037443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25538474999999 meters 0.059398942021536325 Centerline is valid? [True, True] Translation: X:110.98, Y:-24.61, Z:-1.60 [[ 9.20748184e-01 3.90033779e-01 -9.82001110e-03 1.10983670e+02] [-3.90012673e-01 9.20800544e-01 4.05860497e-03 -2.46100785e+01] [ 1.06252646e-02 9.29756292e-05 9.99943546e-01 -1.60022290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31538474999999 meters 0.059419866016124444 Centerline is valid? [True, True] Translation: X:111.04, Y:-24.63, Z:-1.60 [[ 9.20041633e-01 3.91759528e-01 -6.91848999e-03 1.11042934e+02] [-3.91749077e-01 9.20067642e-01 2.86259693e-03 -2.46283415e+01] [ 7.48692839e-03 7.66037193e-05 9.99971970e-01 -1.60012846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37538475 meters 0.05920174723008041 Centerline is valid? [True, True] Translation: X:111.10, Y:-24.65, Z:-1.60 [[ 9.18104126e-01 3.96334106e-01 -2.02252440e-03 1.11102693e+02] [-3.96333217e-01 9.18106353e-01 8.40098884e-04 -2.46470557e+01] [ 2.18985234e-03 3.02953488e-05 9.99997602e-01 -1.59542416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43538475 meters 0.05999263847846673 Centerline is valid? [True, True] Translation: X:111.16, Y:-24.66, Z:-1.59 [[ 9.15107874e-01 4.03208639e-01 -6.10387750e-04 1.11164017e+02] [-4.03208558e-01 9.15108078e-01 2.55338768e-04 -2.46608678e+01] [ 6.61525557e-04 1.24510472e-05 9.99999781e-01 -1.59465858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49538474999999 meters 0.06080927516639536 Centerline is valid? [True, True] Translation: X:111.22, Y:-24.68, Z:-1.60 [[ 9.13433671e-01 4.06987461e-01 -3.67576538e-04 1.11223473e+02] [-4.06987432e-01 9.13433745e-01 1.55635743e-04 -2.46785122e+01] [ 3.99098609e-04 7.43610261e-06 9.99999920e-01 -1.59810856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55538474999999 meters 0.06030176332205016 Centerline is valid? [True, True] Translation: X:111.28, Y:-24.71, Z:-1.60 [[ 9.13600768e-01 4.06605739e-01 -2.32602097e-03 1.11278584e+02] [-4.06604592e-01 9.13603727e-01 9.67549316e-04 -2.47071961e+01] [ 2.51847253e-03 6.18170112e-05 9.99996827e-01 -1.60167000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61538474999999 meters 0.05907188827800841 Centerline is valid? [True, True] Translation: X:111.33, Y:-24.74, Z:-1.60 [[ 9.17197327e-01 3.98425270e-01 -2.52342489e-03 1.11330225e+02] [-3.98423890e-01 9.17200797e-01 1.04964478e-03 -2.47426381e+01] [ 2.73269233e-03 4.26613758e-05 9.99996265e-01 -1.60193342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67538474999999 meters 0.05870765966316155 Centerline is valid? [True, True] Translation: X:111.38, Y:-24.78, Z:-1.61 [[ 9.20119272e-01 3.91597415e-01 -5.65588877e-03 1.11383138e+02] [-3.91590366e-01 9.20136654e-01 2.35017026e-03 -2.47765880e+01] [ 6.12451117e-03 5.23546048e-05 9.99981244e-01 -1.60680868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73538475 meters 0.05842256301892509 Centerline is valid? [True, True] Translation: X:111.44, Y:-24.80, Z:-1.61 [[ 9.20528632e-01 3.90649139e-01 -4.50423008e-03 1.11438566e+02] [-3.90644648e-01 9.20539651e-01 1.87361821e-03 -2.48041105e+01] [ 4.87824973e-03 3.48341608e-05 9.99988101e-01 -1.60583970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79538475 meters 0.05783768858543917 Centerline is valid? [True, True] Translation: X:111.49, Y:-24.83, Z:-1.60 [[ 9.21590930e-01 3.88162538e-01 -4.41778463e-05 1.11493835e+02] [-3.88162538e-01 9.21590931e-01 2.15729152e-05 -2.48309539e+01] [ 4.90876998e-05 -2.73321805e-06 9.99999999e-01 -1.60008191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85538474999998 meters 0.058070054141388876 Centerline is valid? [True, True] Translation: X:111.55, Y:-24.85, Z:-1.60 [[ 9.22534411e-01 3.85911049e-01 1.70943055e-03 1.11552045e+02] [-3.85910399e-01 9.22535995e-01 -7.08372391e-04 -2.48538403e+01] [-1.85037994e-03 -6.18911797e-06 9.99998288e-01 -1.60002449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91538474999999 meters 0.058356150462627744 Centerline is valid? [True, True] Translation: X:111.61, Y:-24.88, Z:-1.61 [[ 9.23601781e-01 3.83353188e-01 2.90185292e-04 1.11609006e+02] [-3.83353169e-01 9.23601826e-01 -1.18623542e-04 -2.48761549e+01] [-3.13490378e-04 -1.68253656e-06 9.99999951e-01 -1.60522407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97538474999999 meters 0.05844509807446778 Centerline is valid? [True, True] Translation: X:111.67, Y:-24.90, Z:-1.61 [[ 9.22656642e-01 3.85617326e-01 -1.99982565e-03 1.11667650e+02] [-3.85616420e-01 9.22658809e-01 8.35745444e-04 -2.48960139e+01] [ 2.16743467e-03 5.95228126e-08 9.99997651e-01 -1.60708542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03538474999999 meters 0.05853803898204933 Centerline is valid? [True, True] Translation: X:111.72, Y:-24.92, Z:-1.61 [[ 9.23083235e-01 3.84588188e-01 -3.04405289e-03 1.11724917e+02] [-3.84586089e-01 9.23088255e-01 1.27066995e-03 -2.49165617e+01] [ 3.29861412e-03 -2.23373086e-06 9.99994560e-01 -1.60557824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09538475 meters 0.05898642519726094 Centerline is valid? [True, True] Translation: X:111.79, Y:-24.93, Z:-1.61 [[ 9.20423372e-01 3.90866026e-01 -6.67575509e-03 1.11785866e+02] [-3.90856118e-01 9.20447580e-01 2.78346736e-03 -2.49277132e+01] [ 7.23264544e-03 4.72913059e-05 9.99973843e-01 -1.61382151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15538475 meters 0.0591888390741362 Centerline is valid? [True, True] Translation: X:111.85, Y:-24.94, Z:-1.62 [[ 9.17946099e-01 3.96661100e-01 -5.91029666e-03 1.11847017e+02] [-3.96653435e-01 9.17965122e-01 2.46707925e-03 -2.49431645e+01] [ 6.40404056e-03 7.96936980e-05 9.99979491e-01 -1.61554316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21538474999998 meters 0.059412907497195064 Centerline is valid? [True, True] Translation: X:111.91, Y:-24.96, Z:-1.61 [[ 9.16466410e-01 4.00083115e-01 -4.77705208e-03 1.11905726e+02] [-4.00078144e-01 9.16478856e-01 1.99605332e-03 -2.49637031e+01] [ 5.17665446e-03 8.18783110e-05 9.99986598e-01 -1.61300195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27538474999999 meters 0.06016423800417678 Centerline is valid? [True, True] Translation: X:111.97, Y:-24.98, Z:-1.61 [[ 9.14029444e-01 4.05636135e-01 -3.08243970e-03 1.11966031e+02] [-4.05634097e-01 9.14034639e-01 1.28785728e-03 -2.49768535e+01] [ 3.33985811e-03 7.32031737e-05 9.99994420e-01 -1.61433110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33538474999999 meters 0.060577927346980726 Centerline is valid? [True, True] Translation: X:112.02, Y:-25.00, Z:-1.61 [[ 9.13049261e-01 4.07846464e-01 -1.51941453e-03 1.12024508e+02] [-4.07845966e-01 9.13050525e-01 6.37841304e-04 -2.49980947e+01] [ 1.64744356e-03 3.73065567e-05 9.99998642e-01 -1.61333117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39538474999999 meters 0.06238359971910501 Centerline is valid? [True, True] Translation: X:112.08, Y:-25.02, Z:-1.61 [[ 9.10829179e-01 4.12779134e-01 -1.89569708e-03 1.12082270e+02] [-4.12778376e-01 9.10831149e-01 7.93319821e-04 -2.50165121e+01] [ 2.05412582e-03 5.99239212e-05 9.99997888e-01 -1.61441663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45538475 meters 0.0638638015569197 Centerline is valid? [True, True] Translation: X:112.14, Y:-25.04, Z:-1.62 [[ 9.09567683e-01 4.15529572e-01 -4.66957776e-03 1.12140162e+02] [-4.15525023e-01 9.09579654e-01 1.95137663e-03 -2.50384845e+01] [ 5.05820762e-03 1.65417282e-04 9.99987194e-01 -1.62004899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51538475 meters 0.06250040746050699 Centerline is valid? [True, True] Translation: X:112.19, Y:-25.07, Z:-1.62 [[ 9.08757691e-01 4.17281155e-01 -5.99141443e-03 1.12194523e+02] [-4.17273679e-01 9.08777414e-01 2.50756618e-03 -2.50692581e+01] [ 6.49122222e-03 2.21289492e-04 9.99978907e-01 -1.61713695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57538475 meters 0.0602876487804775 Centerline is valid? [True, True] Translation: X:112.25, Y:-25.10, Z:-1.61 [[ 9.12796439e-01 4.08406382e-01 -2.62452432e-03 1.12246402e+02] [-4.08404904e-01 9.12800209e-01 1.10105965e-03 -2.51044673e+01] [ 2.84534614e-03 6.68252720e-05 9.99995950e-01 -1.61357265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63538474999999 meters 0.058882494282735655 Centerline is valid? [True, True] Translation: X:112.30, Y:-25.13, Z:-1.61 [[ 9.16565627e-01 3.99878547e-01 -2.14473516e-03 1.12301071e+02] [-3.99877533e-01 9.16568135e-01 9.00811207e-04 -2.51336640e+01] [ 2.32601098e-03 3.19788155e-05 9.99997294e-01 -1.61313984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69538474999999 meters 0.05968332128799396 Centerline is valid? [True, True] Translation: X:112.36, Y:-25.15, Z:-1.62 [[ 9.15855433e-01 4.01461839e-01 -6.10062041e-03 1.12359231e+02] [-4.01453704e-01 9.15875745e-01 2.55797399e-03 -2.51535842e+01] [ 6.61433920e-03 1.06382281e-04 9.99978119e-01 -1.62206984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75538474999999 meters 0.06005532200309774 Centerline is valid? [True, True] Translation: X:112.42, Y:-25.18, Z:-1.63 [[ 9.15131536e-01 4.03100890e-01 -6.62903731e-03 1.12415495e+02] [-4.03091333e-01 9.15155536e-01 2.77878664e-03 -2.51767653e+01] [ 7.18673156e-03 1.29152201e-04 9.99974167e-01 -1.62569900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81538474999999 meters 0.06062558300149655 Centerline is valid? [True, True] Translation: X:112.47, Y:-25.20, Z:-1.62 [[ 9.14261526e-01 4.05110447e-01 -3.37451246e-03 1.12472066e+02] [-4.05107972e-01 9.14267751e-01 1.41765980e-03 -2.51993501e+01] [ 3.65951672e-03 7.09300932e-05 9.99993301e-01 -1.62311495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87538475 meters 0.0603923596795625 Centerline is valid? [True, True] Translation: X:112.53, Y:-25.23, Z:-1.62 [[ 9.14655002e-01 4.04232660e-01 -1.47792414e-03 1.12528593e+02] [-4.04232183e-01 9.14656196e-01 6.21437931e-04 -2.52263310e+01] [ 1.60299798e-03 2.90231879e-05 9.99998715e-01 -1.62411799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93538475 meters 0.059900029643821635 Centerline is valid? [True, True] Translation: X:112.58, Y:-25.26, Z:-1.62 [[ 9.14392345e-01 4.04800502e-01 -4.81596321e-03 1.12582990e+02] [-4.04795455e-01 9.14405022e-01 2.02398149e-03 -2.52577578e+01] [ 5.22304966e-03 9.87668306e-05 9.99986355e-01 -1.62412379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99538474999999 meters 0.06051677513219792 Centerline is valid? [True, True] Translation: X:112.64, Y:-25.28, Z:-1.63 [[ 9.14124246e-01 4.05395165e-01 -5.62345152e-03 1.12638852e+02] [-4.05388294e-01 9.14141535e-01 2.36328661e-03 -2.52810795e+01] [ 6.09869557e-03 1.19343828e-04 9.99981396e-01 -1.62827346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05538474999999 meters 0.059423773735435656 Centerline is valid? [True, True] Translation: X:112.69, Y:-25.31, Z:-1.62 [[ 9.14630410e-01 4.04261963e-01 -4.84554185e-03 1.12692566e+02] [-4.04256830e-01 9.14643240e-01 2.03915486e-03 -2.53136190e+01] [ 5.25629484e-03 9.37703487e-05 9.99986181e-01 -1.62429547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11538474999999 meters 0.059510532974406644 Centerline is valid? [True, True] Translation: X:112.75, Y:-25.34, Z:-1.62 [[ 9.13958415e-01 4.05797846e-01 -2.85029326e-03 1.12748883e+02] [-4.05796071e-01 9.13962857e-01 1.20176220e-03 -2.53384561e+01] [ 3.09273469e-03 5.82771277e-05 9.99995216e-01 -1.62312537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17538474999999 meters 0.05948744223726869 Centerline is valid? [True, True] Translation: X:112.81, Y:-25.36, Z:-1.62 [[ 9.12478804e-01 4.09117129e-01 -2.36778949e-03 1.12806765e+02] [-4.09115911e-01 9.12481875e-01 9.99842560e-04 -2.53599599e+01] [ 2.56961771e-03 5.63652117e-05 9.99996697e-01 -1.62247861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23538475 meters 0.05941543264289648 Centerline is valid? [True, True] Translation: X:112.86, Y:-25.39, Z:-1.62 [[ 9.13685303e-01 4.06406251e-01 -3.62309947e-03 1.12862510e+02] [-4.06403381e-01 9.13692483e-01 1.52902167e-03 -2.53872718e+01] [ 3.93180271e-03 7.53952484e-05 9.99992268e-01 -1.62463798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29538475 meters 0.05917820794297731 Centerline is valid? [True, True] Translation: X:112.92, Y:-25.41, Z:-1.63 [[ 9.14764153e-01 4.03942529e-01 -6.08087157e-03 1.12919810e+02] [-4.03934392e-01 9.14784358e-01 2.56633357e-03 -2.54117073e+01] [ 6.59933747e-03 1.08683204e-04 9.99978218e-01 -1.63038744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35538474999998 meters 0.058949435848210094 Centerline is valid? [True, True] Translation: X:112.98, Y:-25.44, Z:-1.63 [[ 9.16172687e-01 4.00732383e-01 -6.41589796e-03 1.12975705e+02] [-4.00723241e-01 9.16195148e-01 2.70838604e-03 -2.54368015e+01] [ 6.96355258e-03 8.96501063e-05 9.99975750e-01 -1.63122029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41538474999999 meters 0.058463060492791465 Centerline is valid? [True, True] Translation: X:113.03, Y:-25.46, Z:-1.63 [[ 9.16322979e-01 4.00418960e-01 -4.10543803e-03 1.13032919e+02] [-4.00415201e-01 9.16332174e-01 1.73586232e-03 -2.54606959e+01] [ 4.45701714e-03 5.32692591e-05 9.99990066e-01 -1.62664370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47538474999999 meters 0.058796524034549325 Centerline is valid? [True, True] Translation: X:113.09, Y:-25.48, Z:-1.63 [[ 9.14764977e-01 4.03976696e-01 -2.80465691e-03 1.13092033e+02] [-4.03974954e-01 9.14769275e-01 1.18752244e-03 -2.54768568e+01] [ 3.04534536e-03 4.67072070e-05 9.99995362e-01 -1.62860235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53538474999999 meters 0.05941072025720383 Centerline is valid? [True, True] Translation: X:113.15, Y:-25.49, Z:-1.63 [[ 9.11532567e-01 4.11224875e-01 1.57502910e-03 1.13152397e+02] [-4.11224345e-01 9.11533927e-01 -6.61823628e-04 -2.54943019e+01] [-1.70785080e-03 -4.44165194e-05 9.99998541e-01 -1.62536684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59538475 meters 0.060969236109325725 Centerline is valid? [True, True] Translation: X:113.21, Y:-25.51, Z:-1.63 [[ 9.07926944e-01 4.19127826e-01 7.28643216e-04 1.13212219e+02] [-4.19127716e-01 9.07927235e-01 -3.04423762e-04 -2.55117059e+01] [-7.89147490e-04 -2.90000311e-05 9.99999688e-01 -1.62722079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65538475 meters 0.0610554391000462 Centerline is valid? [True, True] Translation: X:113.27, Y:-25.54, Z:-1.63 [[ 9.08335595e-01 4.18240902e-01 -9.97554480e-04 1.13267925e+02] [-4.18240686e-01 9.08336142e-01 4.25884726e-04 -2.55394833e+01] [ 1.08423720e-03 3.03716139e-05 9.99999412e-01 -1.62906726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71538474999998 meters 0.05991860132333865 Centerline is valid? [True, True] Translation: X:113.32, Y:-25.57, Z:-1.63 [[ 9.10604029e-01 4.13266657e-01 -3.31238647e-03 1.13321634e+02] [-4.13264276e-01 9.10610049e-01 1.40576230e-03 -2.55699333e+01] [ 3.59724710e-03 8.87981858e-05 9.99993526e-01 -1.63428450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77538474999999 meters 0.05987380082599378 Centerline is valid? [True, True] Translation: X:113.38, Y:-25.60, Z:-1.64 [[ 9.12133311e-01 4.09859757e-01 -5.27279323e-03 1.13375734e+02] [-4.09853668e-01 9.12148543e-01 2.23734614e-03 -2.55998818e+01] [ 5.72656881e-03 1.20315705e-04 9.99983596e-01 -1.63839284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83538474999999 meters 0.058899070581364246 Centerline is valid? [True, True] Translation: X:113.43, Y:-25.63, Z:-1.63 [[ 9.13307470e-01 4.07269238e-01 -1.11034501e-03 1.13428616e+02] [-4.07268962e-01 9.13308145e-01 4.74070458e-04 -2.56324841e+01] [ 1.20716145e-03 1.92369683e-05 9.99999271e-01 -1.63400589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89538474999999 meters 0.05869609908913546 Centerline is valid? [True, True] Translation: X:113.48, Y:-25.66, Z:-1.63 [[ 9.13388157e-01 4.07089738e-01 1.38697251e-04 1.13484512e+02] [-4.07089734e-01 9.13388168e-01 -5.50519081e-05 -2.56595776e+01] [-1.49095495e-04 -6.17846634e-06 9.99999989e-01 -1.63286316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95538475 meters 0.05801656446783889 Centerline is valid? [True, True] Translation: X:113.54, Y:-25.69, Z:-1.63 [[ 9.15187716e-01 4.03000904e-01 4.66000899e-03 1.13538691e+02] [-4.02996068e-01 9.15199577e-01 -1.97559346e-03 -2.56913850e+01] [-5.06100420e-03 -6.99264292e-05 9.99987191e-01 -1.63027761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01538475 meters 0.05793272053303714 Centerline is valid? [True, True] Translation: X:113.59, Y:-25.72, Z:-1.63 [[ 9.17085858e-01 3.98668530e-01 4.11482307e-03 1.13592180e+02] [-3.98664715e-01 9.17095089e-01 -1.74450383e-03 -2.57206005e+01] [-4.46916281e-03 -4.05749731e-05 9.99990012e-01 -1.63305778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07538475 meters 0.05808483987272114 Centerline is valid? [True, True] Translation: X:113.65, Y:-25.75, Z:-1.64 [[ 9.18030406e-01 3.96509392e-01 6.88914940e-04 1.13647705e+02] [-3.96509287e-01 9.18030665e-01 -2.88901198e-04 -2.57486644e+01] [-7.46997079e-04 -7.94108764e-06 9.99999721e-01 -1.63701134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13538474999999 meters 0.058186586317432495 Centerline is valid? [True, True] Translation: X:113.70, Y:-25.77, Z:-1.64 [[ 9.18335819e-01 3.95792887e-01 -2.70447329e-03 1.13703773e+02] [-3.95791207e-01 9.18339801e-01 1.15331279e-03 -2.57747669e+01] [ 2.94009846e-03 1.12782994e-05 9.99995678e-01 -1.64204910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19538474999999 meters 0.05821984526813147 Centerline is valid? [True, True] Translation: X:113.76, Y:-25.80, Z:-1.64 [[ 9.18249885e-01 3.95992724e-01 -2.62893301e-03 1.13760430e+02] [-3.95991134e-01 9.18253648e-01 1.12222186e-03 -2.57987175e+01] [ 2.85841902e-03 1.05540673e-05 9.99995915e-01 -1.64360798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25538474999999 meters 0.058229644049775674 Centerline is valid? [True, True] Translation: X:113.82, Y:-25.82, Z:-1.64 [[ 9.17869886e-01 3.96871419e-01 -2.81950150e-03 1.13818283e+02] [-3.96869591e-01 9.17874216e-01 1.20470276e-03 -2.58222284e+01] [ 3.06605983e-03 1.32140227e-05 9.99995300e-01 -1.64308964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31538474999999 meters 0.058226675873793626 Centerline is valid? [True, True] Translation: X:113.88, Y:-25.84, Z:-1.65 [[ 9.17170927e-01 3.98482317e-01 -3.05527663e-03 1.13875090e+02] [-3.98480187e-01 9.17176015e-01 1.30304413e-03 -2.58434349e+01] [ 3.32146649e-03 2.23530074e-05 9.99994484e-01 -1.64539772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37538475 meters 0.05810783535095937 Centerline is valid? [True, True] Translation: X:113.93, Y:-25.87, Z:-1.64 [[ 9.16923350e-01 3.99057868e-01 -2.09489136e-03 1.13932093e+02] [-3.99056861e-01 9.16925743e-01 8.96540324e-04 -2.58677516e+01] [ 2.27863129e-03 1.39220137e-05 9.99997404e-01 -1.64424407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43538475 meters 0.057831716785434674 Centerline is valid? [True, True] Translation: X:113.99, Y:-25.90, Z:-1.64 [[ 9.19810966e-01 3.92360935e-01 8.26545140e-04 1.13986797e+02] [-3.92360780e-01 9.19811337e-01 -3.49032200e-04 -2.58959595e+01] [-8.97212191e-04 -3.26025065e-06 9.99999597e-01 -1.64284612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49538474999999 meters 0.057810302951998065 Centerline is valid? [True, True] Translation: X:114.05, Y:-25.92, Z:-1.64 [[ 9.20030906e-01 3.91844551e-01 9.90009338e-04 1.14045913e+02] [-3.91844328e-01 9.20031438e-01 -4.18340549e-04 -2.59173514e+01] [-1.07476418e-03 -3.04330904e-06 9.99999422e-01 -1.64363399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55538474999999 meters 0.057881783030782584 Centerline is valid? [True, True] Translation: X:114.11, Y:-25.93, Z:-1.65 [[ 9.17515178e-01 3.97700630e-01 3.28089768e-04 1.14107011e+02] [-3.97700607e-01 9.17515236e-01 -1.36381406e-04 -2.59316575e+01] [-3.55266332e-04 -5.34948976e-06 9.99999937e-01 -1.64600495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61538474999999 meters 0.058134872332010035 Centerline is valid? [True, True] Translation: X:114.17, Y:-25.95, Z:-1.65 [[ 9.15310598e-01 4.02745698e-01 -1.55280981e-03 1.14166638e+02] [-4.02745145e-01 9.15311915e-01 6.67459699e-04 -2.59504931e+01] [ 1.69012184e-03 1.44536736e-05 9.99998572e-01 -1.64768560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67538474999999 meters 0.05885823982399333 Centerline is valid? [True, True] Translation: X:114.23, Y:-25.97, Z:-1.65 [[ 9.12745454e-01 4.08514737e-01 -3.38322668e-03 1.14225434e+02] [-4.08512167e-01 9.12751722e-01 1.45032465e-03 -2.59683480e+01] [ 3.68052498e-03 5.83120283e-05 9.99993225e-01 -1.65161773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73538475 meters 0.0589067165404385 Centerline is valid? [True, True] Translation: X:114.28, Y:-25.99, Z:-1.65 [[ 9.12290907e-01 4.09508084e-01 -5.33204482e-03 1.14281912e+02] [-4.09501717e-01 9.12306484e-01 2.28556332e-03 -2.59932342e+01] [ 5.80041572e-03 9.83828742e-05 9.99983173e-01 -1.65471334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79538475 meters 0.059045207776773176 Centerline is valid? [True, True] Translation: X:114.34, Y:-26.02, Z:-1.66 [[ 9.12300190e-01 4.09475524e-01 -6.17721489e-03 1.14338391e+02] [-4.09466970e-01 9.12321096e-01 2.64905257e-03 -2.60180024e+01] [ 6.72032565e-03 1.12634305e-04 9.99977412e-01 -1.65718079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85538474999998 meters 0.05877630063902641 Centerline is valid? [True, True] Translation: X:114.39, Y:-26.04, Z:-1.66 [[ 9.12860929e-01 4.08256739e-01 -3.37023730e-03 1.14394968e+02] [-4.08254175e-01 9.12867149e-01 1.44795021e-03 -2.60442482e+01] [ 3.66771435e-03 5.41362791e-05 9.99993272e-01 -1.65682231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91538474999999 meters 0.05794034466493362 Centerline is valid? [True, True] Translation: X:114.45, Y:-26.07, Z:-1.65 [[ 9.14494773e-01 4.04596053e-01 -1.15933725e-03 1.14449435e+02] [-4.04595744e-01 9.14495508e-01 5.00377128e-04 -2.60720180e+01] [ 1.26265932e-03 1.14706494e-05 9.99999203e-01 -1.65379168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97538474999999 meters 0.058448757047558995 Centerline is valid? [True, True] Translation: X:114.51, Y:-26.09, Z:-1.66 [[ 9.12688218e-01 4.08656584e-01 -1.11766103e-04 1.14508922e+02] [-4.08656581e-01 9.12688225e-01 5.15330100e-05 -2.60896335e+01] [ 1.23066910e-04 -1.35961753e-06 9.99999992e-01 -1.65633241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03538474999999 meters 0.058788174641299484 Centerline is valid? [True, True] Translation: X:114.57, Y:-26.11, Z:-1.66 [[ 9.10671474e-01 4.13131213e-01 -2.59409196e-04 1.14567037e+02] [-4.13131197e-01 9.10671511e-01 1.14932308e-04 -2.61116348e+01] [ 2.83718688e-04 2.50445756e-06 9.99999960e-01 -1.65500124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09538475 meters 0.060039649968353336 Centerline is valid? [True, True] Translation: X:114.63, Y:-26.13, Z:-1.66 [[ 9.09164059e-01 4.16436763e-01 -1.06602552e-03 1.14625755e+02] [-4.16436510e-01 9.09164684e-01 4.59723354e-04 -2.61304403e+01] [ 1.16063846e-03 2.59679974e-05 9.99999326e-01 -1.65784435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15538475 meters 0.05948510754646602 Centerline is valid? [True, True] Translation: X:114.68, Y:-26.16, Z:-1.66 [[ 9.09487398e-01 4.15730624e-01 -8.49259994e-04 1.14681067e+02] [-4.15730461e-01 9.09487794e-01 3.68817080e-04 -2.61577238e+01] [ 9.25720154e-04 1.76287627e-05 9.99999571e-01 -1.65897281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21538474999998 meters 0.05927386685146733 Centerline is valid? [True, True] Translation: X:114.74, Y:-26.18, Z:-1.66 [[ 9.10736048e-01 4.12988616e-01 -5.05088801e-04 1.14735783e+02] [-4.12988557e-01 9.10736188e-01 2.20696074e-04 -2.61843929e+01] [ 5.51147615e-04 7.60002458e-06 9.99999848e-01 -1.66141312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27538474999999 meters 0.05904365273824181 Centerline is valid? [True, True] Translation: X:114.79, Y:-26.21, Z:-1.66 [[ 9.11462203e-01 4.11377042e-01 -2.36260238e-03 1.14791516e+02] [-4.11375777e-01 9.11465264e-01 1.02116785e-03 -2.62143498e+01] [ 2.57351501e-03 4.11614928e-05 9.99996688e-01 -1.66435461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33538474999999 meters 0.05860178065899791 Centerline is valid? [True, True] Translation: X:114.85, Y:-26.25, Z:-1.66 [[ 9.13012572e-01 4.07920036e-01 -3.04756906e-03 1.14845468e+02] [-4.07917924e-01 9.13017657e-01 1.31336974e-03 -2.62472557e+01] [ 3.31823420e-03 4.40349607e-05 9.99994494e-01 -1.66362099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39538474999999 meters 0.05855808745154973 Centerline is valid? [True, True] Translation: X:114.90, Y:-26.27, Z:-1.67 [[ 9.13629287e-01 4.06529901e-01 -3.86864980e-03 1.14902037e+02] [-4.06526469e-01 9.13637476e-01 1.67104000e-03 -2.62744779e+01] [ 4.21387116e-03 4.59974579e-05 9.99991121e-01 -1.66622992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45538475 meters 0.05804515789157417 Centerline is valid? [True, True] Translation: X:114.96, Y:-26.30, Z:-1.66 [[ 9.14793321e-01 4.03913747e-01 -2.61993828e-03 1.14956954e+02] [-4.03912158e-01 9.14797073e-01 1.13326839e-03 -2.63029712e+01] [ 2.85445455e-03 2.15185705e-05 9.99995926e-01 -1.66383990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51538475 meters 0.058391137314161956 Centerline is valid? [True, True] Translation: X:115.02, Y:-26.32, Z:-1.67 [[ 9.13905588e-01 4.05922362e-01 -1.90045522e-03 1.15015692e+02] [-4.05921526e-01 9.13907564e-01 8.23874456e-04 -2.63231709e+01] [ 2.07126947e-03 1.84922166e-05 9.99997855e-01 -1.66512471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57538475 meters 0.05878863588978515 Centerline is valid? [True, True] Translation: X:115.07, Y:-26.34, Z:-1.67 [[ 9.12282324e-01 4.09556559e-01 -2.09415974e-03 1.15074256e+02] [-4.09555554e-01 9.12284727e-01 9.07898873e-04 -2.63435252e+01] [ 2.28230588e-03 2.94146566e-05 9.99997395e-01 -1.66566822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63538474999999 meters 0.05896811628202151 Centerline is valid? [True, True] Translation: X:115.13, Y:-26.37, Z:-1.67 [[ 9.11338858e-01 4.11653771e-01 -1.63053691e-03 1.15131471e+02] [-4.11653163e-01 9.11340316e-01 7.08173596e-04 -2.63672345e+01] [ 1.77749635e-03 2.58295603e-05 9.99998420e-01 -1.66527194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69538474999999 meters 0.05935682531524398 Centerline is valid? [True, True] Translation: X:115.19, Y:-26.39, Z:-1.67 [[ 9.10745847e-01 4.12950894e-01 -3.68260678e-03 1.15188761e+02] [-4.12947816e-01 9.10753290e-01 1.59577981e-03 -2.63911046e+01] [ 4.01292493e-03 6.73745948e-05 9.99991946e-01 -1.66905932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75538474999999 meters 0.06000620706373788 Centerline is valid? [True, True] Translation: X:115.25, Y:-26.41, Z:-1.67 [[ 9.09922830e-01 4.14700032e-01 -8.02033571e-03 1.15246322e+02] [-4.14685543e-01 9.09958161e-01 3.47062750e-03 -2.64146367e+01] [ 8.73743927e-03 1.67914071e-04 9.99961814e-01 -1.67345106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81538474999999 meters 0.06001490344888676 Centerline is valid? [True, True] Translation: X:115.30, Y:-26.44, Z:-1.68 [[ 9.09774240e-01 4.15020964e-01 -8.27235640e-03 1.15303804e+02] [-4.15005519e-01 9.09811832e-01 3.58462483e-03 -2.64399414e+01] [ 9.01398218e-03 1.71874230e-04 9.99959358e-01 -1.67566218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87538475 meters 0.05994747477389221 Centerline is valid? [True, True] Translation: X:115.36, Y:-26.47, Z:-1.68 [[ 9.10197872e-01 4.14065886e-01 -9.44863007e-03 1.15360408e+02] [-4.14045658e-01 9.10246894e-01 4.09689368e-03 -2.64669816e+01] [ 1.02969701e-02 1.83180344e-04 9.99946968e-01 -1.67812717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93538475 meters 0.05981418538147007 Centerline is valid? [True, True] Translation: X:115.42, Y:-26.49, Z:-1.68 [[ 9.09982366e-01 4.14504483e-01 -1.08686421e-02 1.15416243e+02] [-4.14477724e-01 9.10047245e-01 4.71471364e-03 -2.64932397e+01] [ 1.18452477e-02 2.14503750e-04 9.99929820e-01 -1.67825520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99538474999999 meters 0.05939319168948727 Centerline is valid? [True, True] Translation: X:115.47, Y:-26.52, Z:-1.68 [[ 9.10605989e-01 4.13168718e-01 -9.39907923e-03 1.15471460e+02] [-4.13148608e-01 9.10654480e-01 4.07991727e-03 -2.65183697e+01] [ 1.02450078e-02 1.68019392e-04 9.99947504e-01 -1.67778625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05538474999999 meters 0.058535028355365656 Centerline is valid? [True, True] Translation: X:115.53, Y:-26.55, Z:-1.67 [[ 9.12885113e-01 4.08139178e-01 -7.94872414e-03 1.15527241e+02] [-4.08124613e-01 9.12919713e-01 3.44931580e-03 -2.65464468e+01] [ 8.66434788e-03 9.52409257e-05 9.99962459e-01 -1.67282378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11538474999999 meters 0.05932120414433672 Centerline is valid? [True, True] Translation: X:115.59, Y:-26.56, Z:-1.68 [[ 9.11745159e-01 4.10636057e-01 -9.93947797e-03 1.15587039e+02] [-4.10613412e-01 9.11799324e-01 4.31499660e-03 -2.65613142e+01] [ 1.08347025e-02 1.47105692e-04 9.99941292e-01 -1.68012615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17538474999999 meters 0.06001043027653666 Centerline is valid? [True, True] Translation: X:115.65, Y:-26.58, Z:-1.68 [[ 9.08771548e-01 4.17122594e-01 -1.19589017e-02 1.15645745e+02] [-4.17090312e-01 9.08850192e-01 5.19623722e-03 -2.65800199e+01] [ 1.30363181e-02 2.65749509e-04 9.99914988e-01 -1.67848655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23538475 meters 0.059972236291592124 Centerline is valid? [True, True] Translation: X:115.70, Y:-26.60, Z:-1.68 [[ 9.08368857e-01 4.17955066e-01 -1.34008400e-02 1.15703614e+02] [-4.17914561e-01 9.08467649e-01 5.82676253e-03 -2.66031753e+01] [ 1.46095545e-02 3.07556554e-04 9.99893227e-01 -1.67766070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29538475 meters 0.06013713310279247 Centerline is valid? [True, True] Translation: X:115.76, Y:-26.63, Z:-1.68 [[ 9.08150757e-01 4.18421915e-01 -1.36125978e-02 1.15761691e+02] [-4.18380097e-01 9.08252719e-01 5.92393954e-03 -2.66272709e+01] [ 1.48423851e-02 3.15409797e-04 9.99889796e-01 -1.67934750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35538474999998 meters 0.060255512520731365 Centerline is valid? [True, True] Translation: X:115.82, Y:-26.65, Z:-1.68 [[ 9.07444853e-01 4.19948888e-01 -1.36663817e-02 1.15818742e+02] [-4.19906859e-01 9.07547694e-01 5.95087396e-03 -2.66519000e+01] [ 1.49019561e-02 3.38517482e-04 9.99888902e-01 -1.68002071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41538474999999 meters 0.06082708033535834 Centerline is valid? [True, True] Translation: X:115.88, Y:-26.67, Z:-1.68 [[ 9.05847400e-01 4.23425729e-01 -1.22938914e-02 1.15876691e+02] [-4.23391991e-01 9.05930752e-01 5.35667978e-03 -2.66724780e+01] [ 1.34055703e-02 3.52800704e-04 9.99910079e-01 -1.67839707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47538474999999 meters 0.05988216120227791 Centerline is valid? [True, True] Translation: X:115.93, Y:-26.70, Z:-1.68 [[ 9.08086106e-01 4.18650396e-01 -1.05579388e-02 1.15930440e+02] [-4.18625175e-01 9.08147448e-01 4.60168507e-03 -2.66997455e+01] [ 1.15146624e-02 2.41092678e-04 9.99933675e-01 -1.67880965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53538474999999 meters 0.05887816447196835 Centerline is valid? [True, True] Translation: X:115.98, Y:-26.73, Z:-1.68 [[ 9.11431715e-01 4.11288307e-01 -1.15826021e-02 1.15984407e+02] [-4.11257314e-01 9.11505295e-01 5.05157607e-03 -2.67295150e+01] [ 1.26352573e-02 1.59263170e-04 9.99920159e-01 -1.67989345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59538475 meters 0.05927311815860352 Centerline is valid? [True, True] Translation: X:116.04, Y:-26.75, Z:-1.68 [[ 9.10827411e-01 4.12593279e-01 -1.26575554e-02 1.16041609e+02] [-4.12556348e-01 9.10915336e-01 5.52361521e-03 -2.67503818e+01] [ 1.38089678e-02 1.90894689e-04 9.99904633e-01 -1.68335369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65538475 meters 0.06070833222062312 Centerline is valid? [True, True] Translation: X:116.10, Y:-26.77, Z:-1.69 [[ 9.08077828e-01 4.18598947e-01 -1.30222825e-02 1.16101485e+02] [-4.18560493e-01 9.08171149e-01 5.68126768e-03 -2.67688842e+01] [ 1.42046340e-02 2.91579786e-04 9.99899067e-01 -1.68518800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71538474999998 meters 0.060716988853693483 Centerline is valid? [True, True] Translation: X:116.16, Y:-26.79, Z:-1.68 [[ 9.06318882e-01 4.22419803e-01 -1.21488205e-02 1.16157863e+02] [-4.22386592e-01 9.06400246e-01 5.30662211e-03 -2.67944814e+01] [ 1.32533162e-02 3.22007071e-04 9.99912119e-01 -1.68186335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77538474999999 meters 0.060553770314798416 Centerline is valid? [True, True] Translation: X:116.21, Y:-26.82, Z:-1.68 [[ 9.06725312e-01 4.21531122e-01 -1.26776302e-02 1.16211375e+02] [-4.21494830e-01 9.06813879e-01 5.54054947e-03 -2.68244115e+01] [ 1.38317651e-02 3.19799152e-04 9.99904285e-01 -1.68320518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83538474999999 meters 0.059416326031675515 Centerline is valid? [True, True] Translation: X:116.27, Y:-26.86, Z:-1.68 [[ 9.08346601e-01 4.18029098e-01 -1.25747719e-02 1.16265382e+02] [-4.17993049e-01 9.08433599e-01 5.49611899e-03 -2.68568526e+01] [ 1.37208830e-02 2.63786261e-04 9.99905829e-01 -1.68216690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89538474999999 meters 0.05889579768406882 Centerline is valid? [True, True] Translation: X:116.32, Y:-26.89, Z:-1.68 [[ 9.10064782e-01 4.14309569e-01 -1.13874478e-02 1.16317477e+02] [-4.14279660e-01 9.10136005e-01 4.98156107e-03 -2.68886190e+01] [ 1.24280347e-02 1.84044729e-04 9.99922752e-01 -1.68358930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95538475 meters 0.058152991422009054 Centerline is valid? [True, True] Translation: X:116.37, Y:-26.92, Z:-1.68 [[ 9.11961010e-01 4.10125488e-01 -1.11445018e-02 1.16370158e+02] [-4.10096479e-01 9.12029095e-01 4.87937900e-03 -2.69223116e+01] [ 1.21652676e-02 1.20517571e-04 9.99925993e-01 -1.68142054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01538475 meters 0.058101232350887065 Centerline is valid? [True, True] Translation: X:116.42, Y:-26.95, Z:-1.69 [[ 9.13850943e-01 4.05909671e-01 -1.06673479e-02 1.16423447e+02] [-4.05882772e-01 9.13913199e-01 4.67329320e-03 -2.69526809e+01] [ 1.16459649e-02 5.89993415e-05 9.99932182e-01 -1.68699527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07538475 meters 0.05795133167844648 Centerline is valid? [True, True] Translation: X:116.48, Y:-26.98, Z:-1.68 [[ 9.14079051e-01 4.05338020e-01 -1.26719518e-02 1.16478901e+02] [-4.05300009e-01 9.14166881e-01 5.55128478e-03 -2.69796865e+01] [ 1.38344254e-02 6.16290517e-05 9.99904298e-01 -1.68491321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13538474999999 meters 0.05789707038375645 Centerline is valid? [True, True] Translation: X:116.53, Y:-27.01, Z:-1.68 [[ 9.15240851e-01 4.02730017e-01 -1.19464765e-02 1.16533004e+02] [-4.02695937e-01 9.15318815e-01 5.23915843e-03 -2.70109985e+01] [ 1.30448011e-02 1.57057309e-05 9.99914913e-01 -1.68245102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19538474999999 meters 0.058002396221591576 Centerline is valid? [True, True] Translation: X:116.59, Y:-27.04, Z:-1.69 [[ 9.15915897e-01 4.01186956e-01 -1.21283411e-02 1.16587906e+02] [-4.01151641e-01 9.15996193e-01 5.32302396e-03 -2.70386383e+01] [ 1.32450421e-02 -1.01383157e-05 9.99912281e-01 -1.68676452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25538474999999 meters 0.05801008842308107 Centerline is valid? [True, True] Translation: X:116.64, Y:-27.07, Z:-1.69 [[ 9.16026498e-01 4.00941963e-01 -1.18742298e-02 1.16643729e+02] [-4.00908044e-01 9.16103456e-01 5.21524324e-03 -2.70656133e+01] [ 1.29690328e-02 -1.68267817e-05 9.99915898e-01 -1.68779570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31538474999999 meters 0.05788577588615311 Centerline is valid? [True, True] Translation: X:116.70, Y:-27.09, Z:-1.69 [[ 9.15955169e-01 4.01168743e-01 -9.47460942e-03 1.16701243e+02] [-4.01147169e-01 9.16004170e-01 4.16045711e-03 -2.70902597e+01] [ 1.03478271e-02 -1.00794428e-05 9.99946460e-01 -1.68828440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37538475 meters 0.05773690334013349 Centerline is valid? [True, True] Translation: X:116.76, Y:-27.12, Z:-1.69 [[ 9.16529808e-01 3.99855185e-01 -9.43087585e-03 1.16756217e+02] [-3.99833683e-01 9.16578327e-01 4.14677884e-03 -2.71176825e+01] [ 1.03022474e-02 -2.98645872e-05 9.99946930e-01 -1.68977960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43538475 meters 0.05804312965529898 Centerline is valid? [True, True] Translation: X:116.81, Y:-27.15, Z:-1.69 [[ 9.17694800e-01 3.97236736e-01 -6.26334057e-03 1.16811537e+02] [-3.97227172e-01 9.17716173e-01 2.75680345e-03 -2.71456567e+01] [ 6.84307254e-03 -4.19351353e-05 9.99976585e-01 -1.68838652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49538474999999 meters 0.05797104602016311 Centerline is valid? [True, True] Translation: X:116.87, Y:-27.17, Z:-1.69 [[ 9.18226440e-01 3.96010867e-01 -5.96638731e-03 1.16870161e+02] [-3.96002142e-01 9.18245822e-01 2.62925648e-03 -2.71680611e+01] [ 6.51982436e-03 -5.15506666e-05 9.99978744e-01 -1.68734261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55538474999999 meters 0.05809725661782918 Centerline is valid? [True, True] Translation: X:116.93, Y:-27.19, Z:-1.69 [[ 9.17044581e-01 3.98745907e-01 -5.56225189e-03 1.16926991e+02] [-3.98738369e-01 9.17061449e-01 2.45214196e-03 -2.71892736e+01] [ 6.07870835e-03 -3.08402492e-05 9.99981524e-01 -1.69120077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61538474999999 meters 0.05788462604183988 Centerline is valid? [True, True] Translation: X:116.98, Y:-27.21, Z:-1.69 [[ 9.15664488e-01 4.01909974e-01 -5.18835292e-03 1.16984565e+02] [-4.01903467e-01 9.15679187e-01 2.28687509e-03 -2.72102175e+01] [ 5.66998469e-03 -8.79327288e-06 9.99983925e-01 -1.69261699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67538474999999 meters 0.05772199343337471 Centerline is valid? [True, True] Translation: X:117.04, Y:-27.23, Z:-1.69 [[ 9.15583273e-01 4.02108280e-01 -4.02510266e-03 1.17041252e+02] [-4.02104352e-01 9.15592121e-01 1.77722840e-03 -2.72344331e+01] [ 4.39999054e-03 -8.68929360e-06 9.99990320e-01 -1.69219527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73538475 meters 0.05787705601599029 Centerline is valid? [True, True] Translation: X:117.10, Y:-27.26, Z:-1.69 [[ 9.15646801e-01 4.01964235e-01 -3.96098153e-03 1.17098156e+02] [-4.01960421e-01 9.15655369e-01 1.75107540e-03 -2.72606612e+01] [ 4.33076369e-03 -1.12087846e-05 9.99990622e-01 -1.69101462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79538475 meters 0.05772209562187423 Centerline is valid? [True, True] Translation: X:117.15, Y:-27.29, Z:-1.69 [[ 9.15864875e-01 4.01477957e-01 -2.64198582e-03 1.17154705e+02] [-4.01476254e-01 9.15868686e-01 1.16963987e-03 -2.72856246e+01] [ 2.88929671e-03 -1.05375063e-05 9.99995826e-01 -1.69286908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85538474999998 meters 0.05779489163425976 Centerline is valid? [True, True] Translation: X:117.21, Y:-27.31, Z:-1.69 [[ 9.15785685e-01 4.01663943e-01 -1.62992954e-03 1.17209999e+02] [-4.01663292e-01 9.15787135e-01 7.23140964e-04 -2.73104468e+01] [ 1.78312816e-03 -7.55927765e-06 9.99998410e-01 -1.69326832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91538474999999 meters 0.05792820728786928 Centerline is valid? [True, True] Translation: X:117.27, Y:-27.33, Z:-1.69 [[ 9.14962270e-01 4.03533251e-01 -2.22717033e-03 1.17268102e+02] [-4.03532041e-01 9.14964980e-01 9.88359941e-04 -2.73341512e+01] [ 2.43661896e-03 -5.57746517e-06 9.99997031e-01 -1.69395511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97538474999999 meters 0.058021900623152205 Centerline is valid? [True, True] Translation: X:117.33, Y:-27.36, Z:-1.69 [[ 9.14144092e-01 4.05382512e-01 -2.36590712e-03 1.17326806e+02] [-4.05381151e-01 9.14147154e-01 1.05047072e-03 -2.73563948e+01] [ 2.58862972e-03 -1.18745680e-06 9.99996649e-01 -1.69435083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03538474999999 meters 0.05828917156138816 Centerline is valid? [True, True] Translation: X:117.39, Y:-27.37, Z:-1.70 [[ 9.12066249e-01 4.10034438e-01 -2.62996177e-03 1.17385683e+02] [-4.10032782e-01 9.12070041e-01 1.16545198e-03 -2.73740417e+01] [ 2.87658479e-03 1.54011252e-05 9.99995863e-01 -1.69720717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09538475 meters 0.05849590431358501 Centerline is valid? [True, True] Translation: X:117.44, Y:-27.39, Z:-1.70 [[ 9.11003727e-01 4.12389806e-01 -2.61884519e-03 1.17444065e+02] [-4.12388168e-01 9.11007491e-01 1.16246608e-03 -2.73930051e+01] [ 2.86517675e-03 2.09698395e-05 9.99995895e-01 -1.69910501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15538475 meters 0.05898241995688902 Centerline is valid? [True, True] Translation: X:117.50, Y:-27.41, Z:-1.70 [[ 9.09083934e-01 4.16606873e-01 -2.26156975e-03 1.17503842e+02] [-4.16605660e-01 9.09086747e-01 1.00537611e-03 -2.74115414e+01] [ 2.47480968e-03 2.82114931e-05 9.99996937e-01 -1.69920101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21538474999998 meters 0.06022727537859071 Centerline is valid? [True, True] Translation: X:117.56, Y:-27.43, Z:-1.70 [[ 9.06730764e-01 4.21706905e-01 -1.61463902e-03 1.17562881e+02] [-4.21706295e-01 9.06732201e-01 7.18089879e-04 -2.74276352e+01] [ 1.76686865e-03 2.97892543e-05 9.99998439e-01 -1.70276733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27538474999999 meters 0.06035549573460633 Centerline is valid? [True, True] Translation: X:117.62, Y:-27.45, Z:-1.70 [[ 9.05360409e-01 4.24629284e-01 -3.53582796e-03 1.17619592e+02] [-4.24626392e-01 9.05367309e-01 1.56915271e-03 -2.74521358e+01] [ 3.86753124e-03 8.07571283e-05 9.99992518e-01 -1.70176817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33538474999999 meters 0.060464724345911505 Centerline is valid? [True, True] Translation: X:117.68, Y:-27.48, Z:-1.70 [[ 9.04792167e-01 4.25817338e-01 -5.54337326e-03 1.17675586e+02] [-4.25810236e-01 9.04809139e-01 2.46285255e-03 -2.74784703e+01] [ 6.06442010e-03 1.32055385e-04 9.99981603e-01 -1.70432509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39538474999999 meters 0.060464522136927865 Centerline is valid? [True, True] Translation: X:117.73, Y:-27.50, Z:-1.71 [[ 9.04544683e-01 4.26342484e-01 -5.56800559e-03 1.17732582e+02] [-4.26335314e-01 9.04561810e-01 2.47622339e-03 -2.75049366e+01] [ 6.09232444e-03 1.33982708e-04 9.99981433e-01 -1.70571665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45538475 meters 0.060488104810783094 Centerline is valid? [True, True] Translation: X:117.79, Y:-27.53, Z:-1.71 [[ 9.04989585e-01 4.25397540e-01 -5.54837834e-03 1.17788105e+02] [-4.25390396e-01 9.05006584e-01 2.46851971e-03 -2.75327236e+01] [ 6.07142114e-03 1.26242226e-04 9.99981561e-01 -1.70692014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51538475 meters 0.060577061261564445 Centerline is valid? [True, True] Translation: X:117.84, Y:-27.56, Z:-1.71 [[ 9.05469480e-01 4.24375815e-01 -5.49441264e-03 1.17842949e+02] [-4.24368783e-01 9.05486142e-01 2.44574263e-03 -2.75596176e+01] [ 6.01302853e-03 1.17111901e-04 9.99981915e-01 -1.70918423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57538475 meters 0.06096741860773195 Centerline is valid? [True, True] Translation: X:117.90, Y:-27.58, Z:-1.71 [[ 9.04785925e-01 4.25832404e-01 -5.40318444e-03 1.17899405e+02] [-4.25825619e-01 9.04802049e-01 2.40692934e-03 -2.75849845e+01] [ 5.91376086e-03 1.23058566e-04 9.99982506e-01 -1.71076509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63538474999999 meters 0.061205044294929914 Centerline is valid? [True, True] Translation: X:117.96, Y:-27.61, Z:-1.71 [[ 9.04437754e-01 4.26557349e-01 -6.41694966e-03 1.17955879e+02] [-4.26547789e-01 9.04460505e-01 2.85970851e-03 -2.76110873e+01] [ 7.02370721e-03 1.50707352e-04 9.99975322e-01 -1.71340943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69538474999999 meters 0.06099266979874732 Centerline is valid? [True, True] Translation: X:118.01, Y:-27.64, Z:-1.71 [[ 9.04690875e-01 4.26020228e-01 -6.41764119e-03 1.18009923e+02] [-4.26010638e-01 9.04713626e-01 2.86211791e-03 -2.76410901e+01] [ 7.02544755e-03 1.44651463e-04 9.99975311e-01 -1.71308579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75538474999999 meters 0.06025170581231516 Centerline is valid? [True, True] Translation: X:118.06, Y:-27.68, Z:-1.71 [[ 9.06342655e-01 4.22514508e-01 -4.94804795e-03 1.18061586e+02] [-4.22508743e-01 9.06356157e-01 2.20894179e-03 -2.76763377e+01] [ 5.41800368e-03 8.85353518e-05 9.99985319e-01 -1.71133559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81538474999999 meters 0.05950793311064334 Centerline is valid? [True, True] Translation: X:118.11, Y:-27.71, Z:-1.71 [[ 9.10559906e-01 4.13356415e-01 -4.13904539e-03 1.18112538e+02] [-4.13352279e-01 9.10569313e-01 1.84935502e-03 -2.77122506e+01] [ 4.53333048e-03 2.69353099e-05 9.99989724e-01 -1.71187876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87538475 meters 0.059948058618114024 Centerline is valid? [True, True] Translation: X:118.17, Y:-27.74, Z:-1.72 [[ 9.11932442e-01 4.10291623e-01 -6.32493003e-03 1.18167147e+02] [-4.10281888e-01 9.11954376e-01 2.82635619e-03 -2.77427913e+01] [ 6.92767788e-03 1.75583281e-05 9.99976003e-01 -1.71621051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93538475 meters 0.05997141871636096 Centerline is valid? [True, True] Translation: X:118.22, Y:-27.77, Z:-1.72 [[ 9.12823574e-01 4.08278738e-01 -7.84825789e-03 1.18221542e+02] [-4.08263665e-01 9.12857312e-01 3.50820687e-03 -2.77719414e+01] [ 8.59666588e-03 1.78460394e-06 9.99963048e-01 -1.71686761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99538474999999 meters 0.06023818114477131 Centerline is valid? [True, True] Translation: X:118.27, Y:-27.81, Z:-1.71 [[ 9.15632220e-01 4.01981713e-01 -5.32351984e-03 1.18274057e+02] [-4.01974654e-01 9.15647695e-01 2.38259557e-03 -2.78051341e+01] [ 5.83222852e-03 -4.16612248e-05 9.99982992e-01 -1.71449703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05538474999999 meters 0.06011997544335651 Centerline is valid? [True, True] Translation: X:118.33, Y:-27.83, Z:-1.71 [[ 9.16020652e-01 4.01120955e-01 -2.85377812e-03 1.18331251e+02] [-4.01118914e-01 9.16025097e-01 1.27980159e-03 -2.78296085e+01] [ 3.12748761e-03 -2.76203057e-05 9.99995109e-01 -1.71393989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11538474999999 meters 0.059965028247492724 Centerline is valid? [True, True] Translation: X:118.39, Y:-27.85, Z:-1.72 [[ 9.14534169e-01 4.04505433e-01 -1.61505922e-03 1.18389086e+02] [-4.04504784e-01 9.14535595e-01 7.24563064e-04 -2.78502296e+01] [ 1.77011884e-03 -9.33849694e-06 9.99998433e-01 -1.71543962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17538474999999 meters 0.06009002760499749 Centerline is valid? [True, True] Translation: X:118.45, Y:-27.87, Z:-1.72 [[ 9.13263016e-01 4.07370327e-01 -2.81626704e-04 1.18448079e+02] [-4.07370306e-01 9.13263060e-01 1.29800517e-04 -2.78710793e+01] [ 3.10076145e-04 -3.81565475e-06 9.99999952e-01 -1.71559285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23538475 meters 0.0602095513203253 Centerline is valid? [True, True] Translation: X:118.51, Y:-27.89, Z:-1.72 [[ 9.12229164e-01 4.09679153e-01 -9.71201744e-04 1.18505939e+02] [-4.09678918e-01 9.12229681e-01 4.38972505e-04 -2.78940340e+01] [ 1.06579694e-03 -2.56264147e-06 9.99999432e-01 -1.71806704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29538475 meters 0.060316987958114715 Centerline is valid? [True, True] Translation: X:118.56, Y:-27.92, Z:-1.72 [[ 9.11940119e-01 4.10315907e-01 -2.46514932e-03 1.18562698e+02] [-4.10314410e-01 9.11943450e-01 1.10825072e-03 -2.79176882e+01] [ 2.70280967e-03 8.27993677e-07 9.99996347e-01 -1.72154805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35538474999998 meters 0.06065519657880559 Centerline is valid? [True, True] Translation: X:118.62, Y:-27.94, Z:-1.73 [[ 9.11810585e-01 4.10568305e-01 -5.92661149e-03 1.18618957e+02] [-4.10559680e-01 9.11829845e-01 2.66120074e-03 -2.79424120e+01] [ 6.49666592e-03 6.71671909e-06 9.99978896e-01 -1.72703990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41538474999999 meters 0.0606485982218106 Centerline is valid? [True, True] Translation: X:118.68, Y:-27.97, Z:-1.73 [[ 9.11476531e-01 4.11283934e-01 -7.48729704e-03 1.18676018e+02] [-4.11270179e-01 9.11507282e-01 3.36367197e-03 -2.79674511e+01] [ 8.20815002e-03 1.33939381e-05 9.99966312e-01 -1.72937262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47538474999999 meters 0.06049814670679856 Centerline is valid? [True, True] Translation: X:118.73, Y:-27.99, Z:-1.73 [[ 9.10855415e-01 4.12659461e-01 -7.38796937e-03 1.18733964e+02] [-4.12646085e-01 9.10885376e-01 3.32262931e-03 -2.79911092e+01] [ 8.10070768e-03 2.21817287e-05 9.99967188e-01 -1.72660110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53538474999999 meters 0.06031968355428299 Centerline is valid? [True, True] Translation: X:118.79, Y:-28.01, Z:-1.73 [[ 9.09229832e-01 4.16282556e-01 -3.15368027e-03 1.18792876e+02] [-4.16280132e-01 9.09235301e-01 1.42086131e-03 -2.80087540e+01] [ 3.45891720e-03 2.09249457e-05 9.99994018e-01 -1.72554383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59538475 meters 0.060197819380236564 Centerline is valid? [True, True] Translation: X:118.85, Y:-28.03, Z:-1.73 [[ 9.08758349e-01 4.17317452e-01 -2.09941723e-03 1.18850437e+02] [-4.17316376e-01 9.08760774e-01 9.47898424e-04 -2.80324942e+01] [ 2.30344258e-03 1.47105838e-05 9.99997347e-01 -1.72661862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65538475 meters 0.06016633481274946 Centerline is valid? [True, True] Translation: X:118.91, Y:-28.06, Z:-1.72 [[ 9.07915480e-01 4.19153154e-01 3.38112698e-04 1.18907533e+02] [-4.19153128e-01 9.07915543e-01 -1.48277705e-04 -2.80564287e+01] [-3.69128842e-04 -7.09737113e-06 9.99999932e-01 -1.72472964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71538474999998 meters 0.06016477204532425 Centerline is valid? [True, True] Translation: X:118.96, Y:-28.08, Z:-1.73 [[ 9.07767737e-01 4.19468611e-01 1.95421491e-03 1.18962683e+02] [-4.19467697e-01 9.07769841e-01 -8.76437047e-04 -2.80817069e+01] [-2.14161519e-03 -2.41287506e-05 9.99997706e-01 -1.72542871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77538474999999 meters 0.06018864515283775 Centerline is valid? [True, True] Translation: X:119.02, Y:-28.11, Z:-1.73 [[ 9.08013596e-01 4.18937717e-01 -1.58087552e-03 1.19018066e+02] [-4.18937105e-01 9.08014972e-01 7.16065607e-04 -2.81093852e+01] [ 1.73544553e-03 1.20901068e-05 9.99998494e-01 -1.72938095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83538474999999 meters 0.06000289723632661 Centerline is valid? [True, True] Translation: X:119.07, Y:-28.14, Z:-1.73 [[ 9.09660383e-01 4.15339477e-01 -3.33260385e-03 1.19072460e+02] [-4.15336744e-01 9.09666488e-01 1.50664709e-03 -2.81402913e+01] [ 3.65732805e-03 1.36156637e-05 9.99993312e-01 -1.73267908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89538474999999 meters 0.06005167983764818 Centerline is valid? [True, True] Translation: X:119.13, Y:-28.17, Z:-1.74 [[ 9.11462664e-01 4.11361102e-01 -4.22563272e-03 1.19126108e+02] [-4.11356665e-01 9.11472459e-01 1.91055163e-03 -2.81716315e+01] [ 4.63747447e-03 -3.15428913e-06 9.99989247e-01 -1.73503007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95538475 meters 0.06005218020596015 Centerline is valid? [True, True] Translation: X:119.18, Y:-28.20, Z:-1.74 [[ 9.13333253e-01 4.07193783e-01 -3.94878270e-03 1.19180442e+02] [-4.07189861e-01 9.13341788e-01 1.78727948e-03 -2.82031718e+01] [ 4.33435735e-03 -2.44775000e-05 9.99990606e-01 -1.73518465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01538475 meters 0.06001910031230723 Centerline is valid? [True, True] Translation: X:119.23, Y:-28.24, Z:-1.73 [[ 9.15960492e-01 4.01263466e-01 -2.00216693e-03 1.19232966e+02] [-4.01262438e-01 9.15962680e-01 9.08393579e-04 -2.82373712e+01] [ 2.19841535e-03 -2.86582432e-05 9.99997583e-01 -1.73114299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07538475 meters 0.060285518268376394 Centerline is valid? [True, True] Translation: X:119.29, Y:-28.27, Z:-1.73 [[ 9.18662202e-01 3.95040089e-01 1.75682370e-03 1.19286367e+02] [-3.95039299e-01 9.18663881e-01 -7.90717637e-04 -2.82688884e+01] [-1.92629564e-03 3.23880032e-05 9.99998144e-01 -1.72554100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13538474999999 meters 0.060476293089872984 Centerline is valid? [True, True] Translation: X:119.34, Y:-28.29, Z:-1.73 [[ 9.18690700e-01 3.94975930e-01 1.18858872e-03 1.19344135e+02] [-3.94975570e-01 9.18691469e-01 -5.33955665e-04 -2.82916880e+01] [-1.30284596e-03 2.10765953e-05 9.99999151e-01 -1.73018304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19538474999999 meters 0.05996451785780521 Centerline is valid? [True, True] Translation: X:119.40, Y:-28.31, Z:-1.73 [[ 9.16845587e-01 3.99241968e-01 -1.46008298e-04 1.19403421e+02] [-3.99241962e-01 9.16845598e-01 6.98886821e-05 -2.83119616e+01] [ 1.61769560e-04 -5.78449046e-06 9.99999987e-01 -1.73121627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25538474999999 meters 0.059598368384750605 Centerline is valid? [True, True] Translation: X:119.46, Y:-28.33, Z:-1.73 [[ 9.14552982e-01 4.04462053e-01 -1.81417880e-03 1.19462801e+02] [-4.04461210e-01 9.14554781e-01 8.25642516e-04 -2.83310118e+01] [ 1.99310696e-03 -2.13288737e-05 9.99998014e-01 -1.73350015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31538474999999 meters 0.05956020589925058 Centerline is valid? [True, True] Translation: X:119.52, Y:-28.35, Z:-1.74 [[ 9.12334048e-01 4.09420968e-01 -4.58869851e-03 1.19523271e+02] [-4.09415665e-01 9.12345587e-01 2.08393653e-03 -2.83485856e+01] [ 5.03968615e-03 -2.25612004e-05 9.99987300e-01 -1.73788300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37538475 meters 0.05965425784500614 Centerline is valid? [True, True] Translation: X:119.58, Y:-28.37, Z:-1.74 [[ 9.10089434e-01 4.14387315e-01 -4.51381577e-03 1.19583559e+02] [-4.14382235e-01 9.10100628e-01 2.05197643e-03 -2.83670982e+01] [ 4.95833957e-03 2.96299608e-06 9.99987707e-01 -1.73969305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43538475 meters 0.05961366183103028 Centerline is valid? [True, True] Translation: X:119.64, Y:-28.39, Z:-1.74 [[ 9.07712477e-01 4.19563250e-01 -4.97387009e-03 1.19642956e+02] [-4.19557154e-01 9.07726103e-01 2.26182980e-03 -2.83859494e+01] [ 5.46389237e-03 3.37316540e-05 9.99985072e-01 -1.73846821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49538474999999 meters 0.06015408940768201 Centerline is valid? [True, True] Translation: X:119.70, Y:-28.40, Z:-1.74 [[ 9.04948299e-01 4.25504828e-01 -3.77064294e-03 1.19702061e+02] [-4.25501370e-01 9.04956153e-01 1.71635397e-03 -2.84026484e+01] [ 4.14258343e-03 5.12021339e-05 9.99991418e-01 -1.74004052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55538474999999 meters 0.0604356620540512 Centerline is valid? [True, True] Translation: X:119.76, Y:-28.43, Z:-1.74 [[ 9.03649527e-01 4.28248157e-01 -4.58792021e-03 1.19759714e+02] [-4.28243067e-01 9.03661170e-01 2.08930626e-03 -2.84254303e+01] [ 5.04066690e-03 7.67444106e-05 9.99987293e-01 -1.74136626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61538474999999 meters 0.061276865976389254 Centerline is valid? [True, True] Translation: X:119.82, Y:-28.44, Z:-1.75 [[ 9.01784835e-01 4.32149101e-01 -5.59161851e-03 1.19817521e+02] [-4.32141617e-01 9.01802163e-01 2.54601749e-03 -2.84448894e+01] [ 6.14279283e-03 1.20411098e-04 9.99981126e-01 -1.74509704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67538474999999 meters 0.06089173885386289 Centerline is valid? [True, True] Translation: X:119.87, Y:-28.47, Z:-1.74 [[ 9.02045446e-01 4.31598834e-01 -6.03824614e-03 1.19873932e+02] [-4.31590075e-01 9.02065647e-01 2.75252897e-03 -2.84736874e+01] [ 6.63488271e-03 1.23140878e-04 9.99977981e-01 -1.74281604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73538475 meters 0.060303916790606656 Centerline is valid? [True, True] Translation: X:119.93, Y:-28.50, Z:-1.74 [[ 9.03863509e-01 4.27794978e-01 -4.71320554e-03 1.19928109e+02] [-4.27789581e-01 9.03875794e-01 2.15013376e-03 -2.85037727e+01] [ 5.17996883e-03 7.28327800e-05 9.99986581e-01 -1.74331370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79538475 meters 0.060306638452922556 Centerline is valid? [True, True] Translation: X:119.99, Y:-28.53, Z:-1.74 [[ 9.03738636e-01 4.28054266e-01 -5.10130133e-03 1.19985191e+02] [-4.28047934e-01 9.03753030e-01 2.32943676e-03 -2.85309835e+01] [ 5.60744187e-03 7.83994920e-05 9.99984275e-01 -1.74459239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85538474999998 meters 0.06011888045016572 Centerline is valid? [True, True] Translation: X:120.04, Y:-28.56, Z:-1.74 [[ 9.03912719e-01 4.27705602e-01 -3.11681269e-03 1.20039520e+02] [-4.27703230e-01 9.03918091e-01 1.42528813e-03 -2.85606477e+01] [ 3.42694710e-03 4.47347829e-05 9.99994127e-01 -1.74321805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91538474999999 meters 0.0599415520231522 Centerline is valid? [True, True] Translation: X:120.09, Y:-28.60, Z:-1.75 [[ 9.05391060e-01 4.24536778e-01 -5.96260780e-03 1.20091536e+02] [-4.24528036e-01 9.05410691e-01 2.72515543e-03 -2.85953519e+01] [ 6.55553756e-03 6.39628139e-05 9.99978510e-01 -1.74603510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97538474999999 meters 0.06008319853193743 Centerline is valid? [True, True] Translation: X:120.15, Y:-28.63, Z:-1.75 [[ 9.06720302e-01 4.21606632e-01 -1.03024697e-02 1.20145100e+02] [-4.21580340e-01 9.06778828e-01 4.70898550e-03 -2.86278761e+01] [ 1.13274009e-02 7.35859272e-05 9.99935840e-01 -1.74995912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03538474999999 meters 0.059908197663921074 Centerline is valid? [True, True] Translation: X:120.20, Y:-28.66, Z:-1.75 [[ 9.08876561e-01 4.16923707e-01 -1.08637002e-02 1.20197377e+02] [-4.16894138e-01 9.08941485e-01 4.96544300e-03 -2.86595436e+01] [ 1.19446786e-02 1.60381534e-05 9.99928660e-01 -1.75201380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09538475 meters 0.059896135020398235 Centerline is valid? [True, True] Translation: X:120.25, Y:-28.68, Z:-1.75 [[ 9.08777831e-01 4.17145516e-01 -1.06053115e-02 1.20253670e+02] [-4.17117289e-01 9.08839710e-01 4.85266029e-03 -2.86849303e+01] [ 1.16627937e-02 1.36686749e-05 9.99931987e-01 -1.75460633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15538475 meters 0.059629049148776286 Centerline is valid? [True, True] Translation: X:120.31, Y:-28.71, Z:-1.75 [[ 9.10100673e-01 4.14286349e-01 -9.14258984e-03 1.20308772e+02] [-4.14265198e-01 9.10146593e-01 4.18628654e-03 -2.87128729e+01] [ 1.00554184e-02 -2.24854009e-05 9.99949443e-01 -1.75279996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21538474999998 meters 0.05986184788472788 Centerline is valid? [True, True] Translation: X:120.37, Y:-28.73, Z:-1.76 [[ 9.08691834e-01 4.17378073e-01 -8.64257188e-03 1.20366868e+02] [-4.17359291e-01 9.08732933e-01 3.95952281e-03 -2.87328390e+01] [ 9.50640770e-03 9.07162979e-06 9.99954813e-01 -1.76043586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27538474999999 meters 0.05954399747128137 Centerline is valid? [True, True] Translation: X:120.42, Y:-28.76, Z:-1.75 [[ 9.10858847e-01 4.12676571e-01 -5.84883256e-03 1.20420871e+02] [-4.12667853e-01 9.10877625e-01 2.68250057e-03 -2.87642689e+01] [ 6.43457584e-03 -2.97541967e-05 9.99979297e-01 -1.75212449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33538474999999 meters 0.05961046438015347 Centerline is valid? [True, True] Translation: X:120.48, Y:-28.79, Z:-1.75 [[ 9.11836534e-01 4.10491541e-01 -7.12953502e-03 1.20476144e+02] [-4.10478510e-01 9.11864404e-01 3.27131975e-03 -2.87923981e+01] [ 7.84401829e-03 -5.63879589e-05 9.99969234e-01 -1.75279418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39538474999999 meters 0.05993247626386839 Centerline is valid? [True, True] Translation: X:120.53, Y:-28.82, Z:-1.76 [[ 9.11312555e-01 4.11621144e-01 -8.80114195e-03 1.20531546e+02] [-4.11601327e-01 9.11355052e-01 4.03949368e-03 -2.88181320e+01] [ 9.68370618e-03 -5.86796076e-05 9.99953110e-01 -1.75871338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45538475 meters 0.06041945929686188 Centerline is valid? [True, True] Translation: X:120.58, Y:-28.86, Z:-1.75 [[ 9.14734912e-01 4.03938202e-01 -9.69375729e-03 1.20581845e+02] [-4.03913700e-01 9.14786262e-01 4.45185505e-03 -2.88568648e+01] [ 1.06659903e-02 -1.56825865e-04 9.99943104e-01 -1.75443944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51538475 meters 0.06070836339252503 Centerline is valid? [True, True] Translation: X:120.64, Y:-28.88, Z:-1.76 [[ 9.14607192e-01 4.04178164e-01 -1.15627151e-02 1.20637395e+02] [-4.04143331e-01 9.14680260e-01 5.30945427e-03 -2.88820376e+01] [ 1.27221527e-02 -1.83070866e-04 9.99919053e-01 -1.75939030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57538475 meters 0.0612705460450763 Centerline is valid? [True, True] Translation: X:120.69, Y:-28.91, Z:-1.76 [[ 9.15270293e-01 4.02668523e-01 -1.17623100e-02 1.20693234e+02] [-4.02632288e-01 9.15345845e-01 5.40599827e-03 -2.89095011e+01] [ 1.29434069e-02 -2.12063835e-04 9.99916208e-01 -1.76322673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63538474999999 meters 0.06024909837825726 Centerline is valid? [True, True] Translation: X:120.75, Y:-28.93, Z:-1.76 [[ 9.14892670e-01 4.03595388e-01 -9.06452087e-03 1.20750649e+02] [-4.03573920e-01 9.14937561e-01 4.16547165e-03 -2.89339550e+01] [ 9.97463576e-03 -1.52755260e-04 9.99950240e-01 -1.75665865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69538474999999 meters 0.05949427076612162 Centerline is valid? [True, True] Translation: X:120.81, Y:-28.95, Z:-1.75 [[ 9.13663631e-01 4.06440084e-01 -5.02278200e-03 1.20809411e+02] [-4.06433513e-01 9.13677434e-01 2.31228250e-03 -2.89539772e+01] [ 5.52900686e-03 -7.12214907e-05 9.99984712e-01 -1.75257824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75538474999999 meters 0.0592489507045824 Centerline is valid? [True, True] Translation: X:120.87, Y:-28.97, Z:-1.75 [[ 9.11933530e-01 4.10316281e-01 -4.21732735e-03 1.20868884e+02] [-4.10311695e-01 9.11943281e-01 1.94040264e-03 -2.89747353e+01] [ 4.64214214e-03 -3.90994932e-05 9.99989224e-01 -1.75197968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81538474999999 meters 0.058970794543867056 Centerline is valid? [True, True] Translation: X:120.93, Y:-28.99, Z:-1.75 [[ 9.09010099e-01 4.16750265e-01 -4.45614694e-03 1.20928783e+02] [-4.16745206e-01 9.09021021e-01 2.05351241e-03 -2.89905915e+01] [ 4.90653308e-03 -9.58564463e-06 9.99987963e-01 -1.75329709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87538475 meters 0.05911677431521676 Centerline is valid? [True, True] Translation: X:120.99, Y:-29.00, Z:-1.76 [[ 9.05562151e-01 4.24181657e-01 -5.20694604e-03 1.20990913e+02] [-4.24174865e-01 9.05577120e-01 2.40065188e-03 -2.90044888e+01] [ 5.73360369e-03 3.47161571e-05 9.99983562e-01 -1.75694297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93538475 meters 0.05949982228068698 Centerline is valid? [True, True] Translation: X:121.05, Y:-29.02, Z:-1.76 [[ 9.03236050e-01 4.29118280e-01 -4.70517836e-03 1.21050893e+02] [-4.29112792e-01 9.03248304e-01 2.17118216e-03 -2.90228267e+01] [ 5.18163832e-03 5.79622206e-05 9.99986574e-01 -1.75721723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99538474999999 meters 0.060187012442639645 Centerline is valid? [True, True] Translation: X:121.11, Y:-29.04, Z:-1.76 [[ 9.01288255e-01 4.33200634e-01 -4.08569172e-03 1.21109536e+02] [-4.33196529e-01 9.01297513e-01 1.88703485e-03 -2.90439034e+01] [ 4.49988848e-03 6.91451261e-05 9.99989873e-01 -1.75847134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05538474999999 meters 0.05952066769810562 Centerline is valid? [True, True] Translation: X:121.16, Y:-29.08, Z:-1.76 [[ 9.03358076e-01 4.28874573e-01 -3.28444410e-03 1.21163934e+02] [-4.28871897e-01 9.03364045e-01 1.51567940e-03 -2.90754408e+01] [ 3.61708507e-03 3.94045444e-05 9.99993458e-01 -1.75560507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11538474999999 meters 0.05943126680466076 Centerline is valid? [True, True] Translation: X:121.22, Y:-29.11, Z:-1.76 [[ 9.07580612e-01 4.19873298e-01 -1.96121177e-03 1.21216359e+02] [-4.19872315e-01 9.07582731e-01 9.08556842e-04 -2.91084407e+01] [ 2.16144069e-03 -1.13004803e-06 9.99997664e-01 -1.75780591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17538474999999 meters 0.0596021953577081 Centerline is valid? [True, True] Translation: X:121.27, Y:-29.14, Z:-1.76 [[ 9.08367082e-01 4.18167470e-01 -2.28280417e-03 1.21271136e+02] [-4.18166132e-01 9.08369951e-01 1.05779379e-03 -2.91361658e+01] [ 2.51596566e-03 -6.27367321e-06 9.99996835e-01 -1.75963649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23538475 meters 0.05975922501638846 Centerline is valid? [True, True] Translation: X:121.33, Y:-29.16, Z:-1.76 [[ 9.07257930e-01 4.20563663e-01 -3.04211009e-03 1.21327646e+02] [-4.20561304e-01 9.07263030e-01 1.40852313e-03 -2.91605126e+01] [ 3.35236767e-03 1.50001452e-06 9.99994381e-01 -1.76139679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29538475 meters 0.05967602338036271 Centerline is valid? [True, True] Translation: X:121.39, Y:-29.18, Z:-1.76 [[ 9.06383309e-01 4.22445294e-01 -3.04467196e-03 1.21385761e+02] [-4.22442936e-01 9.06388423e-01 1.41167898e-03 -2.91849004e+01] [ 3.35601256e-03 6.67789532e-06 9.99994369e-01 -1.76167670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35538474999998 meters 0.05965429680139541 Centerline is valid? [True, True] Translation: X:121.44, Y:-29.21, Z:-1.76 [[ 9.05229022e-01 4.24907410e-01 -3.75646298e-03 1.21443343e+02] [-4.24903842e-01 9.05236816e-01 1.74145705e-03 -2.92081472e+01] [ 4.14044659e-03 1.97180944e-05 9.99991428e-01 -1.76219079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41538474999999 meters 0.05966287864836249 Centerline is valid? [True, True] Translation: X:121.50, Y:-29.23, Z:-1.76 [[ 9.04238859e-01 4.27019427e-01 -2.54871023e-03 1.21499796e+02] [-4.27017788e-01 9.04242450e-01 1.18316950e-03 -2.92304146e+01] [ 2.80988835e-03 1.84767687e-05 9.99996052e-01 -1.76374675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47538474999999 meters 0.059703681619042735 Centerline is valid? [True, True] Translation: X:121.56, Y:-29.25, Z:-1.76 [[ 9.02023580e-01 4.31681170e-01 2.19753984e-03 1.21559133e+02] [-4.31679980e-01 9.02026256e-01 -1.01397218e-03 -2.92498935e+01] [-2.41995134e-03 -3.40071398e-05 9.99997071e-01 -1.76109127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53538474999999 meters 0.06027817295396528 Centerline is valid? [True, True] Translation: X:121.62, Y:-29.27, Z:-1.76 [[ 9.00478366e-01 4.34898850e-01 1.30508563e-03 1.21616119e+02] [-4.34898435e-01 9.00479311e-01 -6.01314583e-04 -2.92712482e+01] [-1.43671363e-03 -2.61089249e-05 9.99998968e-01 -1.76349699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59538475 meters 0.06000204845796852 Centerline is valid? [True, True] Translation: X:121.67, Y:-29.30, Z:-1.76 [[ 9.00214714e-01 4.35441224e-01 2.09975981e-03 1.21672157e+02] [-4.35440147e-01 9.00217162e-01 -9.69398632e-04 -2.93006506e+01] [-2.31235594e-03 -4.16528097e-05 9.99997326e-01 -1.76249434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65538475 meters 0.06001683154409794 Centerline is valid? [True, True] Translation: X:121.73, Y:-29.33, Z:-1.77 [[ 9.01375528e-01 4.33038250e-01 1.79124144e-04 1.21725687e+02] [-4.33038243e-01 9.01375545e-01 -7.95459070e-05 -2.93296338e+01] [-1.95904544e-04 -5.86687091e-06 9.99999981e-01 -1.76788280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71538474999998 meters 0.060466660393060825 Centerline is valid? [True, True] Translation: X:121.78, Y:-29.36, Z:-1.77 [[ 9.00744883e-01 4.34336413e-01 -3.24589678e-03 1.21781640e+02] [-4.34333796e-01 9.00750730e-01 1.50881409e-03 -2.93555585e+01] [ 3.57907679e-03 5.07460968e-05 9.99993594e-01 -1.77218786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77538474999999 meters 0.060620901370934795 Centerline is valid? [True, True] Translation: X:121.84, Y:-29.38, Z:-1.77 [[ 9.00005399e-01 4.35861568e-01 -3.86986804e-03 1.21838394e+02] [-4.35857850e-01 9.00013716e-01 1.80153726e-03 -2.93813061e+01] [ 4.26815517e-03 6.53191077e-05 9.99990889e-01 -1.77380763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83538474999999 meters 0.06050913247419114 Centerline is valid? [True, True] Translation: X:121.89, Y:-29.41, Z:-1.77 [[ 9.00668547e-01 4.34489283e-01 -3.90277131e-03 1.21893406e+02] [-4.34485484e-01 9.00677000e-01 1.81797072e-03 -2.94095781e+01] [ 4.30502515e-03 5.83084337e-05 9.99990732e-01 -1.77474356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89538474999999 meters 0.05989140430389177 Centerline is valid? [True, True] Translation: X:121.95, Y:-29.44, Z:-1.77 [[ 9.02776026e-01 4.30107145e-01 -1.81414176e-03 1.21946841e+02] [-4.30106316e-01 9.02777848e-01 8.44682536e-04 -2.94429400e+01] [ 2.00107099e-03 1.77146847e-05 9.99997998e-01 -1.77451375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95538475 meters 0.05962099369301172 Centerline is valid? [True, True] Translation: X:122.00, Y:-29.48, Z:-1.77 [[ 9.05312634e-01 4.24745215e-01 -7.32729506e-04 1.21999704e+02] [-4.24745078e-01 9.05312930e-01 3.42085771e-04 -2.94776681e+01] [ 8.08648791e-04 1.52868033e-06 9.99999673e-01 -1.77315544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01538475 meters 0.05977374724521061 Centerline is valid? [True, True] Translation: X:122.06, Y:-29.50, Z:-1.77 [[ 9.03871931e-01 4.27802815e-01 5.32565374e-04 1.22057676e+02] [-4.27802745e-01 9.03872088e-01 -2.43496318e-04 -2.95014954e+01] [-5.85539387e-04 -7.74344162e-06 9.99999829e-01 -1.77257540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07538475 meters 0.05974043376657649 Centerline is valid? [True, True] Translation: X:122.11, Y:-29.53, Z:-1.77 [[ 9.06637468e-01 4.21908713e-01 1.24099719e-03 1.22111300e+02] [-4.21908322e-01 9.06638317e-01 -5.74421377e-04 -2.95299939e+01] [-1.36748898e-03 -2.79509749e-06 9.99999065e-01 -1.77496032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13538474999999 meters 0.0597726798395821 Centerline is valid? [True, True] Translation: X:122.17, Y:-29.56, Z:-1.78 [[ 9.06481615e-01 4.22244913e-01 5.61116363e-04 1.22169112e+02] [-4.22244835e-01 9.06481789e-01 -2.57182754e-04 -2.95556684e+01] [-6.17235875e-04 -3.79704801e-06 9.99999810e-01 -1.77512845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19538474999999 meters 0.059781809006657444 Centerline is valid? [True, True] Translation: X:122.23, Y:-29.58, Z:-1.78 [[ 9.04107881e-01 4.27303991e-01 -4.88867455e-04 1.22227588e+02] [-4.27303929e-01 9.04108013e-01 2.31799695e-04 -2.95760232e+01] [ 5.41037918e-04 -6.76947134e-07 9.99999854e-01 -1.77672038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25538474999999 meters 0.06010196113202979 Centerline is valid? [True, True] Translation: X:122.28, Y:-29.60, Z:-1.78 [[ 9.03502647e-01 4.28581864e-01 -7.43055366e-04 1.22284523e+02] [-4.28581720e-01 9.03502953e-01 3.50831874e-04 -2.96001911e+01] [ 8.21712896e-04 1.48242017e-06 9.99999662e-01 -1.77951366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31538474999999 meters 0.060124246339530764 Centerline is valid? [True, True] Translation: X:122.34, Y:-29.63, Z:-1.78 [[ 9.03265356e-01 4.29082383e-01 -6.78668510e-05 1.22341286e+02] [-4.29082381e-01 9.03265359e-01 3.61787885e-05 -2.96277674e+01] [ 7.68254561e-05 -3.55857628e-06 9.99999997e-01 -1.77788025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37538475 meters 0.06003497570475191 Centerline is valid? [True, True] Translation: X:122.40, Y:-29.65, Z:-1.78 [[ 9.02312875e-01 4.31081655e-01 2.87189733e-04 1.22397651e+02] [-4.31081635e-01 9.02312921e-01 -1.30073784e-04 -2.96535978e+01] [-3.15207429e-04 -6.43496975e-06 9.99999950e-01 -1.77827783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43538475 meters 0.060046074762265034 Centerline is valid? [True, True] Translation: X:122.45, Y:-29.68, Z:-1.78 [[ 9.02104391e-01 4.31517741e-01 3.26222233e-04 1.22454953e+02] [-4.31517716e-01 9.02104450e-01 -1.48321075e-04 -2.96802399e+01] [-3.58289703e-04 -6.96957967e-06 9.99999936e-01 -1.77947007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49538474999999 meters 0.06009067547028455 Centerline is valid? [True, True] Translation: X:122.51, Y:-29.71, Z:-1.78 [[ 9.01724306e-01 4.32311457e-01 -2.81210442e-04 1.22510772e+02] [-4.32311436e-01 9.01724350e-01 1.35526087e-04 -2.97067441e+01] [ 3.12163784e-04 -6.36676848e-07 9.99999951e-01 -1.78130787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55538474999999 meters 0.06021232950835945 Centerline is valid? [True, True] Translation: X:122.57, Y:-29.73, Z:-1.78 [[ 9.01917297e-01 4.31906416e-01 -1.42745553e-03 1.22565364e+02] [-4.31905893e-01 9.01918426e-01 6.72039122e-04 -2.97335915e+01] [ 1.57770645e-03 1.04027462e-05 9.99998755e-01 -1.78301170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61538474999999 meters 0.06037710322056159 Centerline is valid? [True, True] Translation: X:122.62, Y:-29.76, Z:-1.79 [[ 9.01523406e-01 4.32722648e-01 -2.58034657e-03 1.22621705e+02] [-4.32720948e-01 9.01527099e-01 1.21296330e-03 -2.97596232e+01] [ 2.85112905e-03 2.30552118e-05 9.99995935e-01 -1.78595072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67538474999999 meters 0.06046144830049819 Centerline is valid? [True, True] Translation: X:122.68, Y:-29.79, Z:-1.79 [[ 9.00703061e-01 4.34432921e-01 -1.42584277e-03 1.22678122e+02] [-4.34432401e-01 9.00704189e-01 6.72643820e-04 -2.97854685e+01] [ 1.57648117e-03 1.35799497e-05 9.99998757e-01 -1.78578008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73538475 meters 0.060398045248963035 Centerline is valid? [True, True] Translation: X:122.73, Y:-29.81, Z:-1.79 [[ 9.00992900e-01 4.33832389e-01 -1.11875879e-03 1.22733586e+02] [-4.33832067e-01 9.00993595e-01 5.28875950e-04 -2.98142447e+01] [ 1.23743802e-03 8.83996353e-06 9.99999234e-01 -1.78504208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79538475 meters 0.060516918491371335 Centerline is valid? [True, True] Translation: X:122.79, Y:-29.84, Z:-1.79 [[ 9.01450819e-01 4.32880409e-01 -9.86057819e-04 1.22788775e+02] [-4.32880157e-01 9.01451358e-01 4.66566508e-04 -2.98405935e+01] [ 1.09085066e-03 6.25810315e-06 9.99999405e-01 -1.78794854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85538474999998 meters 0.06050589417358341 Centerline is valid? [True, True] Translation: X:122.85, Y:-29.87, Z:-1.79 [[ 9.00552771e-01 4.34741372e-01 -2.15568839e-03 1.22845283e+02] [-4.34740184e-01 9.00555350e-01 1.01664777e-03 -2.98669730e+01] [ 2.38329556e-03 2.16193969e-05 9.99997160e-01 -1.78780395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91538474999999 meters 0.060520572023937076 Centerline is valid? [True, True] Translation: X:122.90, Y:-29.89, Z:-1.79 [[ 9.01259624e-01 4.33259738e-01 -4.13393236e-03 1.22901386e+02] [-4.33255363e-01 9.01269104e-01 1.94734164e-03 -2.98943454e+01] [ 4.56949024e-03 3.59879710e-05 9.99989559e-01 -1.79044218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97538474999999 meters 0.06096935698356179 Centerline is valid? [True, True] Translation: X:122.96, Y:-29.92, Z:-1.80 [[ 9.01855521e-01 4.31961092e-01 -8.13845582e-03 1.22957107e+02] [-4.31944093e-01 9.01892239e-01 3.83262285e-03 -2.99214359e+01] [ 8.99555410e-03 5.88858393e-05 9.99959537e-01 -1.79551663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03538474999999 meters 0.061000374369790056 Centerline is valid? [True, True] Translation: X:123.01, Y:-29.95, Z:-1.80 [[ 9.01916223e-01 4.31808306e-01 -9.41875611e-03 1.23012372e+02] [-4.31785541e-01 9.01965400e-01 4.43440467e-03 -2.99461415e+01] [ 1.04102049e-02 6.74211885e-05 9.99945810e-01 -1.79913806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09538475 meters 0.0610161772388318 Centerline is valid? [True, True] Translation: X:123.07, Y:-29.97, Z:-1.80 [[ 9.00728345e-01 4.34301638e-01 -8.39857625e-03 1.23070486e+02] [-4.34283594e-01 9.00767495e-01 3.95973583e-03 -2.99708531e+01] [ 9.28488425e-03 8.07175796e-05 9.99956891e-01 -1.79515494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15538475 meters 0.0609527489430461 Centerline is valid? [True, True] Translation: X:123.13, Y:-30.00, Z:-1.79 [[ 9.00135940e-01 4.35560228e-01 -6.52510085e-03 1.23127184e+02] [-4.35549352e-01 9.00159587e-01 3.07888741e-03 -2.99956879e+01] [ 7.21467299e-03 7.05862276e-05 9.99973971e-01 -1.79442637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21538474999998 meters 0.06105972735545104 Centerline is valid? [True, True] Translation: X:123.18, Y:-30.02, Z:-1.79 [[ 8.98925375e-01 4.38070840e-01 -5.20660244e-03 1.23184111e+02] [-4.38063953e-01 8.98940451e-01 2.45751404e-03 -3.00199550e+01] [ 5.75699079e-03 7.17031140e-05 9.99983426e-01 -1.79442099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27538474999999 meters 0.06082662956505784 Centerline is valid? [True, True] Translation: X:123.24, Y:-30.05, Z:-1.79 [[ 9.00528251e-01 4.34764655e-01 -5.34449985e-03 1.23236947e+02] [-4.34757324e-01 9.00544109e-01 2.52519397e-03 -3.00523505e+01] [ 5.91082294e-03 4.95519449e-05 9.99982530e-01 -1.79487542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33538474999999 meters 0.06073858005045354 Centerline is valid? [True, True] Translation: X:123.29, Y:-30.09, Z:-1.80 [[ 9.02734111e-01 4.30157792e-01 -5.94963985e-03 1.23289958e+02] [-4.30148599e-01 9.02753717e-01 2.81242752e-03 -3.00860204e+01] [ 6.58084710e-03 2.03549839e-05 9.99978346e-01 -1.79683325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39538474999999 meters 0.06121428549408856 Centerline is valid? [True, True] Translation: X:123.34, Y:-30.12, Z:-1.80 [[ 9.05557755e-01 4.24100230e-01 -1.02052284e-02 1.23341533e+02] [-4.24072788e-01 9.05615257e-01 4.82465891e-03 -3.01222333e+01] [ 1.12881495e-02 -4.12476424e-05 9.99936286e-01 -1.80136606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45538475 meters 0.061466060415169416 Centerline is valid? [True, True] Translation: X:123.40, Y:-30.15, Z:-1.81 [[ 9.05665769e-01 4.23812448e-01 -1.23500606e-02 1.23395820e+02] [-4.23772199e-01 9.05749969e-01 5.84098524e-03 -3.01503710e+01] [ 1.36615493e-02 -5.63680511e-05 9.99906675e-01 -1.80647363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51538475 meters 0.06143858797531594 Centerline is valid? [True, True] Translation: X:123.45, Y:-30.18, Z:-1.80 [[ 9.05099173e-01 4.24998576e-01 -1.31033629e-02 1.23452385e+02] [-4.24953330e-01 9.05194017e-01 6.20154704e-03 -3.01765846e+01] [ 1.44967344e-02 -4.46973931e-05 9.99894916e-01 -1.80396829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57538475 meters 0.06151993998264332 Centerline is valid? [True, True] Translation: X:123.51, Y:-30.20, Z:-1.81 [[ 9.05165376e-01 4.24825603e-01 -1.41014032e-02 1.23507432e+02] [-4.24773176e-01 9.05275209e-01 6.67416185e-03 -3.02020527e+01] [ 1.56010055e-02 -5.13224167e-05 9.99878296e-01 -1.80703842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63538474999999 meters 0.06109679080826947 Centerline is valid? [True, True] Translation: X:123.56, Y:-30.23, Z:-1.81 [[ 9.04931469e-01 4.25385031e-01 -1.21083652e-02 1.23563940e+02] [-4.25346351e-01 9.05012472e-01 5.73652141e-03 -3.02277487e+01] [ 1.33984519e-02 -4.09097752e-05 9.99910236e-01 -1.80525823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69538474999999 meters 0.06089934832918339 Centerline is valid? [True, True] Translation: X:123.62, Y:-30.25, Z:-1.80 [[ 9.03903579e-01 4.27637214e-01 -9.20504785e-03 1.23622283e+02] [-4.27614983e-01 9.03950448e-01 4.36040655e-03 -3.02507725e+01] [ 1.01855792e-02 -5.17070490e-06 9.99948126e-01 -1.80291331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75538474999999 meters 0.06103258248346363 Centerline is valid? [True, True] Translation: X:123.68, Y:-30.27, Z:-1.80 [[ 9.01654760e-01 4.32348069e-01 -9.68715228e-03 1.23681950e+02] [-4.32323660e-01 9.01706795e-01 4.59437125e-03 -3.02704071e+01] [ 1.07213386e-02 4.54484173e-05 9.99942524e-01 -1.80278581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81538474999999 meters 0.06173827514659246 Centerline is valid? [True, True] Translation: X:123.74, Y:-30.29, Z:-1.81 [[ 8.98482178e-01 4.38847370e-01 -1.19482723e-02 1.23741625e+02] [-4.38810793e-01 8.98561608e-01 5.66788762e-03 -3.02855009e+01] [ 1.32235964e-02 1.50534844e-04 9.99912553e-01 -1.81028522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87538475 meters 0.06286639081094827 Centerline is valid? [True, True] Translation: X:123.80, Y:-30.30, Z:-1.81 [[ 8.95677243e-01 4.44455704e-01 -1.48796431e-02 1.23801425e+02] [-4.44399687e-01 8.95800784e-01 7.06207264e-03 -3.03031875e+01] [ 1.64679744e-02 2.87170986e-04 9.99864352e-01 -1.81454616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93538475 meters 0.062073700251891635 Centerline is valid? [True, True] Translation: X:123.86, Y:-30.33, Z:-1.81 [[ 8.96219619e-01 4.43334993e-01 -1.56357932e-02 1.23857607e+02] [-4.43272854e-01 8.96355961e-01 7.42751626e-03 -3.03325262e+01] [ 1.73081143e-02 2.74236872e-04 9.99850166e-01 -1.81073526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99538474999999 meters 0.06220703040523949 Centerline is valid? [True, True] Translation: X:123.91, Y:-30.36, Z:-1.81 [[ 8.95563296e-01 4.44752484e-01 -1.27125876e-02 1.23914201e+02] [-4.44711502e-01 8.95653487e-01 6.04245745e-03 -3.03559252e+01] [ 1.40734714e-02 2.42030807e-04 9.99900935e-01 -1.81053226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05538475 meters 0.0614904625644716 Centerline is valid? [True, True] Translation: X:123.97, Y:-30.39, Z:-1.81 [[ 8.97659218e-01 4.40555429e-01 -1.09015101e-02 1.23967464e+02] [-4.40524993e-01 8.97725399e-01 5.18065534e-03 -3.03888478e+01] [ 1.20689283e-02 1.51924650e-04 9.99927156e-01 -1.80642113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11538475 meters 0.0611403537458018 Centerline is valid? [True, True] Translation: X:124.02, Y:-30.42, Z:-1.80 [[ 8.98166848e-01 4.39552822e-01 -9.46734394e-03 1.24021852e+02] [-4.39529749e-01 8.98216735e-01 4.50508398e-03 -3.04191303e+01] [ 1.04839491e-02 1.14862235e-04 9.99945035e-01 -1.80365098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17538475 meters 0.06186556681069439 Centerline is valid? [True, True] Translation: X:124.08, Y:-30.44, Z:-1.81 [[ 8.96942028e-01 4.42002520e-01 -1.13476997e-02 1.24078026e+02] [-4.41969541e-01 8.97013792e-01 5.40204296e-03 -3.04425214e+01] [ 1.25667597e-02 1.70018235e-04 9.99921021e-01 -1.80979884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.23538475 meters 0.061598374784755154 Centerline is valid? [True, True] Translation: X:124.13, Y:-30.47, Z:-1.81 [[ 8.98041666e-01 4.39753297e-01 -1.17560479e-02 1.24132193e+02] [-4.39717662e-01 8.98118599e-01 5.59992889e-03 -3.04739227e+01] [ 1.30209125e-02 1.40372435e-04 9.99915214e-01 -1.80972997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.29538475 meters 0.06151387415911283 Centerline is valid? [True, True] Translation: X:124.19, Y:-30.50, Z:-1.81 [[ 8.98111789e-01 4.39596213e-01 -1.22631447e-02 1.24187055e+02] [-4.39557360e-01 8.98195497e-01 5.84611665e-03 -3.05043871e+01] [ 1.35846321e-02 1.39889246e-04 9.99907715e-01 -1.80896893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35538475 meters 0.061739994635444766 Centerline is valid? [True, True] Translation: X:124.24, Y:-30.53, Z:-1.81 [[ 8.98531398e-01 4.38737108e-01 -1.22913074e-02 1.24242243e+02] [-4.38697955e-01 8.98615454e-01 5.86258505e-03 -3.05337462e+01] [ 1.36172924e-02 1.24454656e-04 9.99907273e-01 -1.81207107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41538475000002 meters 0.06143470723728159 Centerline is valid? [True, True] Translation: X:124.30, Y:-30.56, Z:-1.81 [[ 8.99240033e-01 4.37276826e-01 -1.25036152e-02 1.24296215e+02] [-4.37236117e-01 8.99326952e-01 5.96744037e-03 -3.05648506e+01] [ 1.38542615e-02 1.00870892e-04 9.99904020e-01 -1.81256055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47538475000002 meters 0.060629402563406404 Centerline is valid? [True, True] Translation: X:124.35, Y:-30.60, Z:-1.81 [[ 9.01196053e-01 4.33277860e-01 -1.07689564e-02 1.24346856e+02] [-4.33247369e-01 9.01260393e-01 5.14027345e-03 -3.06006488e+01] [ 1.19328006e-02 3.32278870e-05 9.99928801e-01 -1.81154616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53538475 meters 0.06007535115227579 Centerline is valid? [True, True] Translation: X:124.40, Y:-30.63, Z:-1.81 [[ 9.02718898e-01 4.30109661e-01 -1.02112921e-02 1.24399472e+02] [-4.30081992e-01 9.02776650e-01 4.87856347e-03 -3.06345632e+01] [ 1.13168334e-02 -1.22785863e-05 9.99935963e-01 -1.81074842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59538475 meters 0.06161439933652659 Centerline is valid? [True, True] Translation: X:124.45, Y:-30.68, Z:-1.81 [[ 9.09297553e-01 4.16020635e-01 -1.02367486e-02 1.24446652e+02] [-4.15991934e-01 9.09355154e-01 4.89036623e-03 -3.06759564e+01] [ 1.13433334e-02 -1.88393192e-04 9.99935645e-01 -1.81212619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65538475 meters 0.062693834280402 Centerline is valid? [True, True] Translation: X:124.50, Y:-30.70, Z:-1.82 [[ 9.09907447e-01 4.14497523e-01 -1.61320294e-02 1.24500437e+02] [-4.14425927e-01 9.10050380e-01 7.71080639e-03 -3.07042834e+01] [ 1.78770696e-02 -3.30588919e-04 9.99840138e-01 -1.82073429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71538475 meters 0.061597185968083154 Centerline is valid? [True, True] Translation: X:124.56, Y:-30.72, Z:-1.82 [[ 9.07343192e-01 4.20113253e-01 -1.52704166e-02 1.24558247e+02] [-4.20049834e-01 9.07471658e-01 7.30254287e-03 -3.07240245e+01] [ 1.69253653e-02 -2.11576590e-04 9.99856733e-01 -1.82149582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77538475 meters 0.05996333500721286 Centerline is valid? [True, True] Translation: X:124.62, Y:-30.74, Z:-1.81 [[ 9.04919666e-01 4.25417073e-01 -1.18622444e-02 1.24618613e+02] [-4.25379201e-01 9.04997407e-01 5.67709806e-03 -3.07418401e+01] [ 1.31504349e-02 -9.13656200e-05 9.99913525e-01 -1.81040590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.83538475 meters 0.059508809978442975 Centerline is valid? [True, True] Translation: X:124.68, Y:-30.76, Z:-1.81 [[ 9.03383633e-01 4.28749707e-01 -8.46759400e-03 1.24676823e+02] [-4.28730523e-01 9.03423316e-01 4.05589611e-03 -3.07631784e+01] [ 9.38878612e-03 -3.37141588e-05 9.99955924e-01 -1.80774558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89538475 meters 0.05942648645024118 Centerline is valid? [True, True] Translation: X:124.74, Y:-30.78, Z:-1.81 [[ 9.00411404e-01 4.34997627e-01 -6.03057421e-03 1.24737298e+02] [-4.34988020e-01 9.00431599e-01 2.89113811e-03 -3.07785782e+01] [ 6.68775780e-03 2.00138113e-05 9.99977636e-01 -1.81376113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95538475 meters 0.05982727245219132 Centerline is valid? [True, True] Translation: X:124.80, Y:-30.80, Z:-1.81 [[ 8.98016171e-01 4.39896574e-01 -7.61315450e-03 1.24796005e+02] [-4.39881424e-01 8.98048439e-01 3.65152529e-03 -3.07997204e+01] [ 8.44327498e-03 6.97564843e-05 9.99964352e-01 -1.81161027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.01538475 meters 0.06013601148142797 Centerline is valid? [True, True] Translation: X:124.85, Y:-30.82, Z:-1.81 [[ 8.96606877e-01 4.42734410e-01 -9.07469777e-03 1.24854222e+02] [-4.42713008e-01 8.96652792e-01 4.35463494e-03 -3.08224598e+01] [ 1.00647998e-02 1.13091109e-04 9.99949342e-01 -1.81404352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07538475 meters 0.06017530213848164 Centerline is valid? [True, True] Translation: X:124.91, Y:-30.85, Z:-1.81 [[ 8.96008732e-01 4.43974956e-01 -7.38859330e-03 1.24909532e+02] [-4.43960791e-01 8.96039189e-01 3.54795994e-03 -3.08481619e+01] [ 8.19567451e-03 1.01242634e-04 9.99966410e-01 -1.81358586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13538475000001 meters 0.05994466027151366 Centerline is valid? [True, True] Translation: X:124.96, Y:-30.88, Z:-1.82 [[ 8.96822847e-01 4.42310963e-01 -8.35420405e-03 1.24963627e+02] [-4.42292757e-01 8.96861753e-01 4.01422242e-03 -3.08772745e+01] [ 9.26810067e-03 9.49575587e-05 9.99957046e-01 -1.81583244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19538475000002 meters 0.059688088745984566 Centerline is valid? [True, True] Translation: X:125.02, Y:-30.91, Z:-1.82 [[ 9.00195041e-01 4.35420803e-01 -7.59027236e-03 1.25015850e+02] [-4.35405511e-01 9.00227040e-01 3.64929230e-03 -3.09115045e+01] [ 8.42194620e-03 1.97715795e-05 9.99964535e-01 -1.81679045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25538475000002 meters 0.05994296609061016 Centerline is valid? [True, True] Translation: X:125.07, Y:-30.94, Z:-1.82 [[ 9.00844210e-01 4.34022611e-01 -1.02020773e-02 1.25071053e+02] [-4.33994870e-01 9.00901977e-01 4.90709652e-03 -3.09391328e+01] [ 1.13208624e-02 7.11971016e-06 9.99935917e-01 -1.81979774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31538475 meters 0.05980124531976524 Centerline is valid? [True, True] Translation: X:125.12, Y:-30.97, Z:-1.82 [[ 9.01525125e-01 4.32672404e-01 -6.85853725e-03 1.25124390e+02] [-4.32659807e-01 9.01551214e-01 3.30159420e-03 -3.09683323e+01] [ 7.61183128e-03 -9.05672114e-06 9.99971030e-01 -1.81961389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37538475 meters 0.05964361023965734 Centerline is valid? [True, True] Translation: X:125.18, Y:-30.99, Z:-1.82 [[ 9.01036408e-01 4.33710588e-01 -5.34010950e-03 1.25180770e+02] [-4.33702954e-01 9.01052232e-01 2.57327365e-03 -3.09946632e+01] [ 5.92777361e-03 -2.59197946e-06 9.99982431e-01 -1.81559569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43538475 meters 0.05950068746682307 Centerline is valid? [True, True] Translation: X:125.24, Y:-31.02, Z:-1.82 [[ 8.99149627e-01 4.37619793e-01 -4.34346198e-03 1.25238262e+02] [-4.37614780e-01 8.99160117e-01 2.09456402e-03 -3.10167483e+01] [ 4.82209046e-03 1.74367031e-05 9.99988374e-01 -1.81576334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49538475 meters 0.059860294145535675 Centerline is valid? [True, True] Translation: X:125.30, Y:-31.04, Z:-1.82 [[ 8.97052020e-01 4.41890493e-01 -5.51949932e-03 1.25296394e+02] [-4.41882474e-01 8.97068999e-01 2.66262304e-03 -3.10386913e+01] [ 6.12795954e-03 5.04586383e-05 9.99981223e-01 -1.81889006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.55538475 meters 0.06030673005656026 Centerline is valid? [True, True] Translation: X:125.35, Y:-31.06, Z:-1.82 [[ 8.95679732e-01 4.44639057e-01 -7.34343859e-03 1.25353716e+02] [-4.44624950e-01 8.95709831e-01 3.54298102e-03 -3.10610337e+01] [ 8.15293787e-03 9.16997210e-05 9.99966760e-01 -1.82300019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.61538475 meters 0.06116237382725587 Centerline is valid? [True, True] Translation: X:125.41, Y:-31.08, Z:-1.83 [[ 8.93883016e-01 4.48208926e-01 -9.05052872e-03 1.25411914e+02] [-4.48187673e-01 8.93928820e-01 4.36736012e-03 -3.10829417e+01] [ 1.00480182e-02 1.52426369e-04 9.99949506e-01 -1.82642721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67538475 meters 0.061533952186406185 Centerline is valid? [True, True] Translation: X:125.47, Y:-31.11, Z:-1.83 [[ 8.92672258e-01 4.50632659e-01 -8.15146654e-03 1.25469344e+02] [-4.50615495e-01 8.92709461e-01 3.93628087e-03 -3.11054252e+01] [ 9.05070802e-03 1.59368397e-04 9.99959029e-01 -1.82738858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.73538475 meters 0.06011289409356303 Centerline is valid? [True, True] Translation: X:125.52, Y:-31.14, Z:-1.82 [[ 8.95208444e-01 4.45616189e-01 -5.29669048e-03 1.25521341e+02] [-4.45608839e-01 8.95224110e-01 2.56025087e-03 -3.11402995e+01] [ 5.88261425e-03 6.82938995e-05 9.99982695e-01 -1.82115333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.79538475 meters 0.059793241523024517 Centerline is valid? [True, True] Translation: X:125.58, Y:-31.17, Z:-1.82 [[ 8.95614542e-01 4.44806793e-01 -4.63779185e-03 1.25576121e+02] [-4.44801135e-01 8.95626548e-01 2.24410340e-03 -3.11694384e+01] [ 5.15192194e-03 5.30434470e-05 9.99986727e-01 -1.82015131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85538475 meters 0.059893849794805144 Centerline is valid? [True, True] Translation: X:125.63, Y:-31.20, Z:-1.82 [[ 8.95186168e-01 4.45675881e-01 -3.83861341e-03 1.25632020e+02] [-4.45672002e-01 8.95194396e-01 1.85984493e-03 -3.11970443e+01] [ 4.26519324e-03 4.58550650e-05 9.99990903e-01 -1.82300589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91538475000002 meters 0.060070330859473005 Centerline is valid? [True, True] Translation: X:125.69, Y:-31.23, Z:-1.83 [[ 8.94959626e-01 4.46117194e-01 -5.16884257e-03 1.25686701e+02] [-4.46110172e-01 8.94974550e-01 2.50387785e-03 -3.12257658e+01] [ 5.74300552e-03 6.50036602e-05 9.99983507e-01 -1.82537172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97538475000002 meters 0.06024660002071525 Centerline is valid? [True, True] Translation: X:125.74, Y:-31.25, Z:-1.83 [[ 8.94394159e-01 4.47241826e-01 -5.81697436e-03 1.25742136e+02] [-4.47232951e-01 8.94413072e-01 2.81867870e-03 -3.12516570e+01] [ 6.46340891e-03 8.05328436e-05 9.99979109e-01 -1.82964614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03538475 meters 0.060134290181112444 Centerline is valid? [True, True] Translation: X:125.80, Y:-31.28, Z:-1.83 [[ 8.94088666e-01 4.47838979e-01 -6.76063642e-03 1.25797542e+02] [-4.47826994e-01 8.94114221e-01 3.27769814e-03 -3.12799903e+01] [ 7.51266216e-03 9.70427270e-05 9.99971775e-01 -1.82970190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09538475 meters 0.06051142467239986 Centerline is valid? [True, True] Translation: X:125.85, Y:-31.31, Z:-1.83 [[ 8.93809358e-01 4.48388575e-01 -7.24686289e-03 1.25853166e+02] [-4.48374811e-01 8.93838730e-01 3.51481022e-03 -3.13060315e+01] [ 8.05352746e-03 1.07740513e-04 9.99967564e-01 -1.83437605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15538475 meters 0.060046024134860675 Centerline is valid? [True, True] Translation: X:125.91, Y:-31.34, Z:-1.83 [[ 8.94029398e-01 4.47966631e-01 -6.11011620e-03 1.25906737e+02] [-4.47956819e-01 8.94050273e-01 2.96620092e-03 -3.13380310e+01] [ 6.79151009e-03 8.51973875e-05 9.99976934e-01 -1.83060042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21538475 meters 0.06009821709697576 Centerline is valid? [True, True] Translation: X:125.96, Y:-31.37, Z:-1.83 [[ 8.93797051e-01 4.48422638e-01 -6.63093123e-03 1.25962033e+02] [-4.48411082e-01 8.93821643e-01 3.22071737e-03 -3.13651196e+01] [ 7.37111242e-03 9.47153620e-05 9.99972828e-01 -1.83254904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27538475 meters 0.060151039927795594 Centerline is valid? [True, True] Translation: X:126.02, Y:-31.39, Z:-1.84 [[ 8.93936873e-01 4.48125579e-01 -7.76742814e-03 1.26017212e+02] [-4.48109696e-01 8.93970611e-01 3.77441403e-03 -3.13927773e+01] [ 8.63526396e-03 1.06571991e-04 9.99962710e-01 -1.83522566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.33538475 meters 0.059667241771082034 Centerline is valid? [True, True] Translation: X:126.07, Y:-31.42, Z:-1.84 [[ 8.95992284e-01 4.44025339e-01 -6.27095522e-03 1.26069680e+02] [-4.44014871e-01 8.96014228e-01 3.04928756e-03 -3.14246420e+01] [ 6.97282604e-03 5.22592489e-05 9.99975688e-01 -1.83522319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39538475 meters 0.05915565005247301 Centerline is valid? [True, True] Translation: X:126.12, Y:-31.46, Z:-1.83 [[ 8.99441609e-01 4.37023711e-01 -3.88170350e-03 1.26121982e+02] [-4.37019623e-01 8.99449986e-01 1.89018131e-03 -3.14587883e+01] [ 4.31745220e-03 -3.72712040e-06 9.99990680e-01 -1.83232342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45538475 meters 0.059374845481021364 Centerline is valid? [True, True] Translation: X:126.18, Y:-31.49, Z:-1.83 [[ 8.98809952e-01 4.38321745e-01 -3.83656111e-03 1.26177682e+02] [-4.38317757e-01 8.98818140e-01 1.86961715e-03 -3.14861640e+01] [ 4.26786457e-03 1.20236383e-06 9.99990893e-01 -1.83429097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51538475 meters 0.059182003989800475 Centerline is valid? [True, True] Translation: X:126.23, Y:-31.52, Z:-1.83 [[ 8.99065757e-01 4.37803282e-01 -3.00838459e-03 1.26231624e+02] [-4.37800821e-01 8.99070791e-01 1.46788673e-03 -3.15172528e+01] [ 3.34739634e-03 -2.65344828e-06 9.99994397e-01 -1.83040708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57538475 meters 0.05918046107472981 Centerline is valid? [True, True] Translation: X:126.29, Y:-31.55, Z:-1.83 [[ 8.99783984e-01 4.36318530e-01 -3.86300398e-03 1.26285565e+02] [-4.36314460e-01 8.99792276e-01 1.88455751e-03 -3.15468154e+01] [ 4.29816850e-03 -1.02101678e-05 9.99990763e-01 -1.83378155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63538475000001 meters 0.05906835963903635 Centerline is valid? [True, True] Translation: X:126.34, Y:-31.57, Z:-1.83 [[ 8.99088579e-01 4.37731483e-01 -5.55654013e-03 1.26342585e+02] [-4.37723087e-01 8.99105750e-01 2.71111224e-03 -3.15723242e+01] [ 6.18265636e-03 -5.30415526e-06 9.99980887e-01 -1.83403471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69538475000002 meters 0.05896529414477866 Centerline is valid? [True, True] Translation: X:126.40, Y:-31.60, Z:-1.84 [[ 8.97921726e-01 4.40110681e-01 -6.25806628e-03 1.26400165e+02] [-4.40100079e-01 8.97943533e-01 3.05480636e-03 -3.15967664e+01] [ 6.96384305e-03 1.11984715e-05 9.99975752e-01 -1.83580074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75538475000002 meters 0.059194296278951175 Centerline is valid? [True, True] Translation: X:126.46, Y:-31.62, Z:-1.84 [[ 8.96888800e-01 4.42198872e-01 -7.11609124e-03 1.26458205e+02] [-4.42185217e-01 8.96917029e-01 3.47520535e-03 -3.16187148e+01] [ 7.91927530e-03 2.97575860e-05 9.99968642e-01 -1.83913428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81538475 meters 0.05934895464846567 Centerline is valid? [True, True] Translation: X:126.51, Y:-31.65, Z:-1.84 [[ 8.98006666e-01 4.39906741e-01 -8.12934734e-03 1.26514123e+02] [-4.39888810e-01 8.98043462e-01 3.97191279e-03 -3.16464941e+01] [ 9.04777844e-03 9.20476489e-06 9.99959068e-01 -1.83974590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87538475 meters 0.0592309439528914 Centerline is valid? [True, True] Translation: X:126.57, Y:-31.68, Z:-1.84 [[ 9.00214283e-01 4.35378426e-01 -7.73766496e-03 1.26569341e+02] [-4.35361983e-01 9.00247535e-01 3.78411289e-03 -3.16773741e+01] [ 8.61333493e-03 -3.78273139e-05 9.99962904e-01 -1.83976841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93538475 meters 0.0591508691388013 Centerline is valid? [True, True] Translation: X:126.62, Y:-31.71, Z:-1.84 [[ 9.01825637e-01 4.32038449e-01 -7.30063017e-03 1.26623211e+02] [-4.32023690e-01 9.01855185e-01 3.57179094e-03 -3.17065596e+01] [ 8.12726219e-03 -6.70874609e-05 9.99966971e-01 -1.84016740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99538475 meters 0.05900013753168046 Centerline is valid? [True, True] Translation: X:126.68, Y:-31.73, Z:-1.84 [[ 9.00219008e-01 4.35382037e-01 -6.94396550e-03 1.26681433e+02] [-4.35368765e-01 9.00245789e-01 3.39971797e-03 -3.17288734e+01] [ 7.73145184e-03 -3.73050548e-05 9.99970111e-01 -1.84026703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.05538475 meters 0.05870706446322357 Centerline is valid? [True, True] Translation: X:126.74, Y:-31.75, Z:-1.84 [[ 8.98634043e-01 4.38664517e-01 -5.50441029e-03 1.26739406e+02] [-4.38656245e-01 8.98650901e-01 2.69390483e-03 -3.17527898e+01] [ 6.12826373e-03 -6.29064293e-06 9.99981222e-01 -1.83871698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11538475 meters 0.05884326972621598 Centerline is valid? [True, True] Translation: X:126.80, Y:-31.78, Z:-1.84 [[ 8.97127973e-01 4.41732612e-01 -5.80506632e-03 1.26798471e+02] [-4.41723444e-01 8.97146755e-01 2.84599393e-03 -3.17750748e+01] [ 6.46516475e-03 1.10131187e-05 9.99979101e-01 -1.83996573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17538475 meters 0.05922774081103033 Centerline is valid? [True, True] Translation: X:126.86, Y:-31.80, Z:-1.84 [[ 8.95355256e-01 4.45289818e-01 -7.47961938e-03 1.26857299e+02] [-4.45274718e-01 8.95386495e-01 3.66736178e-03 -3.17963832e+01] [ 8.33018905e-03 4.68937662e-05 9.99965302e-01 -1.84468179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.23538475 meters 0.05953120713516571 Centerline is valid? [True, True] Translation: X:126.92, Y:-31.82, Z:-1.85 [[ 8.93394666e-01 4.49173112e-01 -9.45969876e-03 1.26915315e+02] [-4.49149161e-01 8.93444741e-01 4.63968449e-03 -3.18196767e+01] [ 1.05357396e-02 1.03746387e-04 9.99944492e-01 -1.84606816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.29538475 meters 0.059904513930709 Centerline is valid? [True, True] Translation: X:126.97, Y:-31.84, Z:-1.85 [[ 8.91309757e-01 4.53300549e-01 -9.24822751e-03 1.26972096e+02] [-4.53277851e-01 8.91357723e-01 4.53869233e-03 -3.18417122e+01] [ 1.03008707e-02 1.46635931e-04 9.99946934e-01 -1.84652497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35538475 meters 0.06024212886678008 Centerline is valid? [True, True] Translation: X:127.03, Y:-31.86, Z:-1.85 [[ 8.89892528e-01 4.56080341e-01 -9.05601825e-03 1.27029671e+02] [-4.56058695e-01 8.89938589e-01 4.44689603e-03 -3.18641035e+01] [ 1.00874420e-02 1.72816310e-04 9.99949106e-01 -1.84782066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41538475000002 meters 0.06007054238116912 Centerline is valid? [True, True] Translation: X:127.08, Y:-31.89, Z:-1.85 [[ 8.90372087e-01 4.55158275e-01 -8.27592014e-03 1.27084712e+02] [-4.55140130e-01 8.90410537e-01 4.06680328e-03 -3.18926398e+01] [ 9.22000566e-03 1.45735241e-04 9.99957484e-01 -1.84707549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47538475000002 meters 0.059370865833535694 Centerline is valid? [True, True] Translation: X:127.14, Y:-31.92, Z:-1.85 [[ 8.92149231e-01 4.51684599e-01 -7.12552923e-03 1.27139459e+02] [-4.51671048e-01 8.92177681e-01 3.50006566e-03 -3.19226522e+01] [ 7.93816390e-03 9.58143711e-05 9.99968488e-01 -1.84851388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53538475 meters 0.059967735828405255 Centerline is valid? [True, True] Translation: X:127.20, Y:-31.95, Z:-1.85 [[ 8.90749010e-01 4.54430045e-01 -7.71597977e-03 1.27196736e+02] [-4.54414242e-01 8.90782419e-01 3.79191806e-03 -3.19452088e+01] [ 8.59642062e-03 1.28603846e-04 9.99963042e-01 -1.85271874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59538475 meters 0.05965715760489233 Centerline is valid? [True, True] Translation: X:127.25, Y:-31.98, Z:-1.85 [[ 8.89942035e-01 4.56024226e-01 -6.71415916e-03 1.27251211e+02] [-4.56012268e-01 8.89967354e-01 3.30470353e-03 -3.19763882e+01] [ 7.48240733e-03 1.20744355e-04 9.99971999e-01 -1.84690826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65538475 meters 0.059797120575237804 Centerline is valid? [True, True] Translation: X:127.31, Y:-32.00, Z:-1.85 [[ 8.89460637e-01 4.56965662e-01 -6.49298439e-03 1.27306311e+02] [-4.56954489e-01 8.89484328e-01 3.19776704e-03 -3.20049543e+01] [ 7.23667758e-03 1.22710459e-04 9.99973807e-01 -1.84939947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71538475 meters 0.059649329112804184 Centerline is valid? [True, True] Translation: X:127.36, Y:-32.03, Z:-1.85 [[ 8.89777689e-01 4.56349730e-01 -6.37081851e-03 1.27360902e+02] [-4.56338947e-01 8.89800489e-01 3.13926833e-03 -3.20349485e+01] [ 7.10136168e-03 1.14001686e-04 9.99974779e-01 -1.85107288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77538475 meters 0.059122568488971454 Centerline is valid? [True, True] Translation: X:127.41, Y:-32.07, Z:-1.85 [[ 8.91154205e-01 4.53642040e-01 -7.28570381e-03 1.27413221e+02] [-4.53627834e-01 8.91183981e-01 3.59169209e-03 -3.20683732e+01] [ 8.12224505e-03 1.04246526e-04 9.99967009e-01 -1.85424323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.83538475 meters 0.05877604815685154 Centerline is valid? [True, True] Translation: X:127.47, Y:-32.10, Z:-1.86 [[ 8.92631830e-01 4.50715007e-01 -8.02481871e-03 1.27465515e+02] [-4.50697636e-01 8.92667898e-01 3.95804079e-03 -3.21024919e+01] [ 8.94744643e-03 8.36936188e-05 9.99959967e-01 -1.85639803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89538475 meters 0.058628754548445974 Centerline is valid? [True, True] Translation: X:127.52, Y:-32.13, Z:-1.85 [[ 8.92902998e-01 4.50178134e-01 -7.99274706e-03 1.27520075e+02] [-4.50160846e-01 8.92938768e-01 3.94585532e-03 -3.21336579e+01] [ 8.91337149e-03 7.47557376e-05 9.99960272e-01 -1.85471519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95538475 meters 0.058611480423298556 Centerline is valid? [True, True] Translation: X:127.58, Y:-32.16, Z:-1.86 [[ 8.93204931e-01 4.49573376e-01 -8.29041097e-03 1.27575549e+02] [-4.49554731e-01 8.93243402e-01 4.09499779e-03 -3.21608651e+01] [ 9.24635688e-03 6.93212543e-05 9.99957249e-01 -1.85726154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.01538475 meters 0.05840783305750142 Centerline is valid? [True, True] Translation: X:127.63, Y:-32.19, Z:-1.86 [[ 8.93690865e-01 4.48633952e-01 -6.64949752e-03 1.27631448e+02] [-4.48621940e-01 8.93715601e-01 3.28327710e-03 -3.21890846e+01] [ 7.41574925e-03 4.88757257e-05 9.99972502e-01 -1.85832133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07538475 meters 0.058751550146131926 Centerline is valid? [True, True] Translation: X:127.69, Y:-32.21, Z:-1.86 [[ 8.92167837e-01 4.51649000e-01 -7.05201430e-03 1.27688166e+02] [-4.51635549e-01 8.92195705e-01 3.48639142e-03 -3.22147136e+01] [ 7.86640206e-03 7.44940606e-05 9.99969057e-01 -1.85846873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13538475000001 meters 0.05865972966863082 Centerline is valid? [True, True] Translation: X:127.74, Y:-32.24, Z:-1.86 [[ 8.92731767e-01 4.50534045e-01 -7.00479391e-03 1.27742235e+02] [-4.50520727e-01 8.92759246e-01 3.46469084e-03 -3.22437466e+01] [ 7.81455570e-03 6.27652688e-05 9.99969464e-01 -1.85821011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19538475000002 meters 0.05847657926880446 Centerline is valid? [True, True] Translation: X:127.80, Y:-32.27, Z:-1.86 [[ 8.93800531e-01 4.48406699e-01 -7.21414703e-03 1.27796599e+02] [-4.48392486e-01 8.93829643e-01 3.57043532e-03 -3.22736531e+01] [ 8.04922558e-03 4.35123418e-05 9.99967604e-01 -1.86027576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25538475000002 meters 0.05860052696359711 Centerline is valid? [True, True] Translation: X:127.85, Y:-32.30, Z:-1.86 [[ 8.93742373e-01 4.48513717e-01 -7.74696720e-03 1.27850510e+02] [-4.48497318e-01 8.93775947e-01 3.83562009e-03 -3.23023384e+01] [ 8.64438117e-03 4.64378076e-05 9.99962636e-01 -1.86252807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31538475 meters 0.05853221672123024 Centerline is valid? [True, True] Translation: X:127.90, Y:-32.33, Z:-1.86 [[ 8.93686767e-01 4.48637208e-01 -6.97261814e-03 1.27904881e+02] [-4.48623906e-01 8.93713966e-01 3.45510634e-03 -3.23329430e+01] [ 7.78161547e-03 4.03003684e-05 9.99969722e-01 -1.85959674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37538475 meters 0.0585272619436634 Centerline is valid? [True, True] Translation: X:127.96, Y:-32.36, Z:-1.86 [[ 8.94101958e-01 4.47822575e-01 -6.05236382e-03 1.27960239e+02] [-4.47812541e-01 8.94122442e-01 2.99783656e-03 -3.23622137e+01] [ 6.75405321e-03 2.99528918e-05 9.99977191e-01 -1.85935489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43538475 meters 0.058883291583655975 Centerline is valid? [True, True] Translation: X:128.02, Y:-32.39, Z:-1.86 [[ 8.93748104e-01 4.48498623e-01 -7.95687458e-03 1.28015826e+02] [-4.48481275e-01 8.93783521e-01 3.94495540e-03 -3.23881534e+01] [ 8.88103045e-03 4.27128479e-05 9.99960562e-01 -1.86354709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49538475 meters 0.05894912649761361 Centerline is valid? [True, True] Translation: X:128.07, Y:-32.41, Z:-1.87 [[ 8.92914525e-01 4.50148334e-01 -8.37425534e-03 1.28071318e+02] [-4.50129168e-01 8.92953792e-01 4.15435166e-03 -3.24148656e+01] [ 9.34789753e-03 6.00156496e-05 9.99956306e-01 -1.86503112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.55538475 meters 0.05832595777679405 Centerline is valid? [True, True] Translation: X:128.12, Y:-32.45, Z:-1.86 [[ 8.95308893e-01 4.45430764e-01 -3.66347270e-03 1.28123924e+02] [-4.45427045e-01 8.95316388e-01 1.82001610e-03 -3.24457704e+01] [ 4.09065831e-03 2.33321820e-06 9.99991633e-01 -1.85708955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61538475 meters 0.05885606409293166 Centerline is valid? [True, True] Translation: X:128.18, Y:-32.47, Z:-1.87 [[ 8.94498546e-01 4.47035760e-01 -5.60178857e-03 1.28181681e+02] [-4.47027099e-01 8.94516087e-01 2.78267029e-03 -3.24658549e+01] [ 6.25484312e-03 1.50567619e-05 9.99980438e-01 -1.86515377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67538475 meters 0.05929167454749386 Centerline is valid? [True, True] Translation: X:128.24, Y:-32.49, Z:-1.87 [[ 8.91912194e-01 4.52160496e-01 -6.59730923e-03 1.28240032e+02] [-4.52148615e-01 8.91936591e-01 3.27826856e-03 -3.24868851e+01] [ 7.36668505e-03 5.90365336e-05 9.99972864e-01 -1.86788227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.73538475 meters 0.05980343951017423 Centerline is valid? [True, True] Translation: X:128.30, Y:-32.51, Z:-1.87 [[ 8.88958798e-01 4.57934975e-01 -6.91473310e-03 1.28296378e+02] [-4.57922103e-01 8.88985684e-01 3.43532465e-03 -3.25101611e+01] [ 7.72025404e-03 1.12547056e-04 9.99970192e-01 -1.86606393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.79538475 meters 0.058506172507679186 Centerline is valid? [True, True] Translation: X:128.35, Y:-32.55, Z:-1.86 [[ 8.92559719e-01 4.50875680e-01 -6.94766016e-03 1.28347599e+02] [-4.50862437e-01 8.92586757e-01 3.45597610e-03 -3.25461964e+01] [ 7.75960502e-03 4.77739325e-05 9.99969893e-01 -1.86035764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85538475 meters 0.05931872966685526 Centerline is valid? [True, True] Translation: X:128.40, Y:-32.57, Z:-1.88 [[ 8.92847558e-01 4.50237598e-01 -1.04567389e-02 1.28403314e+02] [-4.50207554e-01 8.92908787e-01 5.20166441e-03 -3.25697090e+01] [ 1.16788989e-02 6.34094672e-05 9.99931797e-01 -1.87556646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91538475000002 meters 0.059335173800589114 Centerline is valid? [True, True] Translation: X:128.46, Y:-32.60, Z:-1.87 [[ 8.90637036e-01 4.54560055e-01 -1.18670632e-02 1.28459158e+02] [-4.54521697e-01 8.90716082e-01 5.90657206e-03 -3.25967558e+01] [ 1.32550758e-02 1.33225902e-04 9.99912139e-01 -1.87078078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97538475000002 meters 0.05927284359715112 Centerline is valid? [True, True] Translation: X:128.51, Y:-32.63, Z:-1.87 [[ 8.91984930e-01 4.51898592e-01 -1.22697698e-02 1.28512836e+02] [-4.51857283e-01 8.92069310e-01 6.11081204e-03 -3.26276122e+01] [ 1.37069525e-02 9.34326065e-05 9.99906051e-01 -1.87172994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03538475 meters 0.05868395816980139 Centerline is valid? [True, True] Translation: X:128.57, Y:-32.66, Z:-1.87 [[ 8.93335924e-01 4.49301493e-01 -8.89353384e-03 1.28565098e+02] [-4.49279637e-01 8.93380192e-01 4.43184978e-03 -3.26586319e+01] [ 9.93654369e-03 3.65530334e-05 9.99950631e-01 -1.86931949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09538475 meters 0.05834321135807889 Centerline is valid? [True, True] Translation: X:128.62, Y:-32.69, Z:-1.86 [[ 8.94080134e-01 4.47869521e-01 -5.79701335e-03 1.28618561e+02] [-4.47860182e-01 8.94098927e-01 2.89231472e-03 -3.26911454e+01] [ 6.47848302e-03 1.02903183e-05 9.99979014e-01 -1.86461110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15538475 meters 0.05818010466677036 Centerline is valid? [True, True] Translation: X:128.67, Y:-32.72, Z:-1.86 [[ 8.95173594e-01 4.45692108e-01 -4.77298308e-03 1.28671591e+02] [-4.45685735e-01 8.95186318e-01 2.38354809e-03 -3.27242056e+01] [ 5.33503772e-03 -6.43883496e-06 9.99985769e-01 -1.86394156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21538475 meters 0.0583015715034353 Centerline is valid? [True, True] Translation: X:128.73, Y:-32.76, Z:-1.87 [[ 8.96316795e-01 4.43386657e-01 -4.94713749e-03 1.28725797e+02] [-4.43379762e-01 8.96330448e-01 2.47281083e-03 -3.27565713e+01] [ 5.53068129e-03 -2.29612338e-05 9.99984705e-01 -1.86532378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27538475 meters 0.05864451317829227 Centerline is valid? [True, True] Translation: X:128.78, Y:-32.79, Z:-1.87 [[ 8.96831123e-01 4.42321444e-01 -6.75845377e-03 1.28780268e+02] [-4.42308546e-01 8.96856587e-01 3.37815432e-03 -3.27859655e+01] [ 7.55559388e-03 -4.03120724e-05 9.99971455e-01 -1.86852609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.33538475 meters 0.05868842320326281 Centerline is valid? [True, True] Translation: X:128.84, Y:-32.81, Z:-1.87 [[ 8.95945826e-01 4.44066846e-01 -9.25813160e-03 1.28835416e+02] [-4.44042735e-01 8.95993658e-01 4.62754080e-03 -3.28107718e+01] [ 1.03501646e-02 -3.50197896e-05 9.99946435e-01 -1.87406670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39538475 meters 0.05894376454184705 Centerline is valid? [True, True] Translation: X:128.89, Y:-32.83, Z:-1.88 [[ 8.94742237e-01 4.46433201e-01 -1.15640126e-02 1.28893068e+02] [-4.46395735e-01 8.94816963e-01 5.78364868e-03 -3.28349971e+01] [ 1.29296874e-02 -1.27488642e-05 9.99916408e-01 -1.87559502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45538475 meters 0.05895262044473623 Centerline is valid? [True, True] Translation: X:128.95, Y:-32.86, Z:-1.88 [[ 8.92650579e-01 4.50592452e-01 -1.18905568e-02 1.28951390e+02] [-4.50553161e-01 8.92729769e-01 5.95058823e-03 -3.28568956e+01] [ 1.32963441e-02 4.55318974e-05 9.99911599e-01 -1.87862691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.51538475 meters 0.058831601795413045 Centerline is valid? [True, True] Translation: X:129.01, Y:-32.88, Z:-1.88 [[ 8.92378306e-01 4.51177227e-01 -1.00034306e-02 1.29007179e+02] [-4.51149413e-01 8.92434372e-01 5.00990568e-03 -3.28840100e+01] [ 1.11877606e-02 4.23106817e-05 9.99937414e-01 -1.87559380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57538475 meters 0.05891978939185397 Centerline is valid? [True, True] Translation: X:129.07, Y:-32.91, Z:-1.88 [[ 8.91711521e-01 4.52516390e-01 -8.91510447e-03 1.29065337e+02] [-4.52494336e-01 8.91756084e-01 4.46790600e-03 -3.29061798e+01] [ 9.97189935e-03 4.99510190e-05 9.99950278e-01 -1.87867198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63538475000001 meters 0.058615979417551096 Centerline is valid? [True, True] Translation: X:129.12, Y:-32.93, Z:-1.87 [[ 8.91957463e-01 4.52085352e-01 -5.54245204e-03 1.29121482e+02] [-4.52076799e-01 8.91974682e-01 2.78092341e-03 -3.29328591e+01] [ 6.20094164e-03 2.51485921e-05 9.99980774e-01 -1.87370455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69538475000002 meters 0.058402932242074095 Centerline is valid? [True, True] Translation: X:129.18, Y:-32.96, Z:-1.87 [[ 8.92899320e-01 4.50255425e-01 -9.25775749e-04 1.29177216e+02] [-4.50255185e-01 8.92899800e-01 4.65174459e-04 -3.29609963e+01] [ 1.03607230e-03 1.48137259e-06 9.99999463e-01 -1.86924252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75538475000002 meters 0.058941026173228564 Centerline is valid? [True, True] Translation: X:129.24, Y:-32.98, Z:-1.87 [[ 8.90652057e-01 4.54681441e-01 -1.92373107e-03 1.29236278e+02] [-4.54680410e-01 8.90654135e-01 9.68408460e-04 -3.29814177e+01] [ 2.15369639e-03 1.21678448e-05 9.99997681e-01 -1.87455473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81538475 meters 0.05931170044117615 Centerline is valid? [True, True] Translation: X:129.29, Y:-33.01, Z:-1.88 [[ 8.89644918e-01 4.56627696e-01 -4.80282811e-03 1.29292688e+02] [-4.56621319e-01 8.89657881e-01 2.41362440e-03 -3.30079671e+01] [ 5.37500163e-03 4.58050265e-05 9.99985554e-01 -1.87885692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87538475 meters 0.059746015083669696 Centerline is valid? [True, True] Translation: X:129.35, Y:-33.04, Z:-1.88 [[ 8.89505385e-01 4.56877308e-01 -6.57990002e-03 1.29347685e+02] [-4.56865342e-01 8.89529719e-01 3.30728780e-03 -3.30368335e+01] [ 7.36404137e-03 6.42779594e-05 9.99972883e-01 -1.88273725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93538475 meters 0.05971280317863164 Centerline is valid? [True, True] Translation: X:129.40, Y:-33.07, Z:-1.88 [[ 8.89893614e-01 4.56129455e-01 -5.93937045e-03 1.29401181e+02] [-4.56119673e-01 8.89913433e-01 2.98760221e-03 -3.30675910e+01] [ 6.64825891e-03 5.04155769e-05 9.99977899e-01 -1.88305365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99538475 meters 0.05962211073311404 Centerline is valid? [True, True] Translation: X:129.46, Y:-33.10, Z:-1.88 [[ 8.90174899e-01 4.55594742e-01 -4.69887828e-03 1.29455586e+02] [-4.55588601e-01 8.90187300e-01 2.36580574e-03 -3.30963515e+01] [ 5.26073042e-03 3.47744997e-05 9.99986162e-01 -1.88481837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.05538475 meters 0.05941865469637494 Centerline is valid? [True, True] Translation: X:129.51, Y:-33.12, Z:-1.89 [[ 8.89925054e-01 4.56074345e-01 -5.43972570e-03 1.29511269e+02] [-4.56066118e-01 8.89941678e-01 2.73973691e-03 -3.31243358e+01] [ 6.09056233e-03 4.27140693e-05 9.99981451e-01 -1.88558822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11538475 meters 0.0596089975806013 Centerline is valid? [True, True] Translation: X:129.57, Y:-33.15, Z:-1.88 [[ 8.88822174e-01 4.58240283e-01 -3.31443787e-03 1.29567673e+02] [-4.58237235e-01 8.88828353e-01 1.67181143e-03 -3.31497681e+01] [ 3.71205770e-03 3.28557750e-05 9.99993110e-01 -1.88361354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17538475 meters 0.05913076893717266 Centerline is valid? [True, True] Translation: X:129.62, Y:-33.19, Z:-1.88 [[ 8.93592573e-01 4.48876425e-01 -1.50621451e-03 1.29618701e+02] [-4.48875778e-01 8.93593842e-01 7.62206946e-04 -3.31865203e+01] [ 1.68808074e-03 -4.99925736e-06 9.99998575e-01 -1.88063189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.23538475 meters 0.059590335244516186 Centerline is valid? [True, True] Translation: X:129.67, Y:-33.21, Z:-1.89 [[ 8.93839194e-01 4.48381776e-01 -2.29733162e-03 1.29673495e+02] [-4.48380273e-01 8.93842146e-01 1.16088949e-03 -3.32129464e+01] [ 2.57397351e-03 -7.57034264e-06 9.99996687e-01 -1.88615330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.29538475 meters 0.059646532287573995 Centerline is valid? [True, True] Translation: X:129.73, Y:-33.24, Z:-1.89 [[ 8.92376127e-01 4.51288465e-01 -1.88917277e-03 1.29730266e+02] [-4.51287452e-01 8.92378127e-01 9.56582175e-04 -3.32401331e+01] [ 2.11755096e-03 -1.07113157e-06 9.99997758e-01 -1.88657086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35538475 meters 0.05987300469682563 Centerline is valid? [True, True] Translation: X:129.79, Y:-33.27, Z:-1.89 [[ 8.90936414e-01 4.54102336e-01 -4.83474998e-03 1.29786681e+02] [-4.54095767e-01 8.90949532e-01 2.44256397e-03 -3.32658159e+01] [ 5.41669224e-03 1.92703093e-05 9.99985329e-01 -1.89045873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41538475000002 meters 0.06024276028916142 Centerline is valid? [True, True] Translation: X:129.84, Y:-33.29, Z:-1.89 [[ 8.90647528e-01 4.54655249e-01 -5.96542084e-03 1.29842226e+02] [-4.54645255e-01 8.90667505e-01 3.01474236e-03 -3.32931198e+01] [ 6.68387493e-03 2.70774494e-05 9.99977662e-01 -1.89309832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47538475000002 meters 0.06011520283492257 Centerline is valid? [True, True] Translation: X:129.90, Y:-33.32, Z:-1.89 [[ 8.90233463e-01 4.55480074e-01 -4.72041045e-03 1.29897832e+02] [-4.55473833e-01 8.90245978e-01 2.38454202e-03 -3.33218888e+01] [ 5.28843779e-03 2.72243400e-05 9.99986016e-01 -1.89153335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53538475 meters 0.060091866113082336 Centerline is valid? [True, True] Translation: X:129.95, Y:-33.35, Z:-1.89 [[ 8.90062608e-01 4.55814451e-01 -4.66271910e-03 1.29952724e+02] [-4.55808354e-01 8.90074820e-01 2.35769024e-03 -3.33497908e+01] [ 5.22483815e-03 2.68143926e-05 9.99986350e-01 -1.89389757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59538475 meters 0.0600271467298969 Centerline is valid? [True, True] Translation: X:130.01, Y:-33.38, Z:-1.89 [[ 8.89126296e-01 4.57651825e-01 -3.03922188e-03 1.30009026e+02] [-4.57649235e-01 8.89131490e-01 1.53988581e-03 -3.33753154e+01] [ 3.40699943e-03 2.17446062e-05 9.99994196e-01 -1.89119585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65538475 meters 0.06004142497341617 Centerline is valid? [True, True] Translation: X:130.07, Y:-33.40, Z:-1.89 [[ 8.87002390e-01 4.61757582e-01 -2.58760103e-03 1.30067043e+02] [-4.61755718e-01 8.87006164e-01 1.31236825e-03 -3.33980224e+01] [ 2.90121406e-03 3.07658002e-05 9.99995791e-01 -1.89190756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71538475 meters 0.06048192558231204 Centerline is valid? [True, True] Translation: X:130.12, Y:-33.42, Z:-1.89 [[ 8.84129531e-01 4.67229859e-01 -3.35121797e-03 1.30124917e+02] [-4.67226782e-01 8.84135880e-01 1.69712993e-03 -3.34177861e+01] [ 3.75588183e-03 6.52960923e-05 9.99992945e-01 -1.89278827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77538475 meters 0.06093783302215691 Centerline is valid? [True, True] Translation: X:130.18, Y:-33.44, Z:-1.90 [[ 8.82905305e-01 4.69530404e-01 -4.40708151e-03 1.30181806e+02] [-4.69525097e-01 8.82916299e-01 2.23438256e-03 -3.34424525e+01] [ 4.94019464e-03 9.64871603e-05 9.99987793e-01 -1.89568505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.83538475 meters 0.06063890654680162 Centerline is valid? [True, True] Translation: X:130.24, Y:-33.47, Z:-1.90 [[ 8.84187115e-01 4.67109447e-01 -4.68086276e-03 1.30235488e+02] [-4.67103421e-01 8.84199501e-01 2.37430548e-03 -3.34737620e+01] [ 5.24787703e-03 8.71166914e-05 9.99986226e-01 -1.89733345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89538475 meters 0.06017468509980402 Centerline is valid? [True, True] Translation: X:130.29, Y:-33.51, Z:-1.90 [[ 8.85981176e-01 4.63696210e-01 -4.81454908e-03 1.30287028e+02] [-4.63689778e-01 8.85994255e-01 2.44332812e-03 -3.35079716e+01] [ 5.39862481e-03 6.77144720e-05 9.99985425e-01 -1.89783605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95538475 meters 0.05990530440712486 Centerline is valid? [True, True] Translation: X:130.34, Y:-33.54, Z:-1.90 [[ 8.86473902e-01 4.62740108e-01 -5.96766237e-03 1.30340749e+02] [-4.62730190e-01 8.86493986e-01 3.03059154e-03 -3.35416195e+01] [ 6.69267306e-03 7.48772288e-05 9.99977601e-01 -1.89727909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.01538475 meters 0.05939787071891002 Centerline is valid? [True, True] Translation: X:130.39, Y:-33.58, Z:-1.90 [[ 8.87954193e-01 4.59893973e-01 -5.90631582e-03 1.30391462e+02] [-4.59884202e-01 8.87973834e-01 2.99831697e-03 -3.35770969e+01] [ 6.62356181e-03 5.38532112e-05 9.99978063e-01 -1.89718177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07538475 meters 0.0590303793899195 Centerline is valid? [True, True] Translation: X:130.45, Y:-33.60, Z:-1.90 [[ 8.87631591e-01 4.60524783e-01 -5.20407295e-03 1.30445805e+02] [-4.60517191e-01 8.87646845e-01 2.64479072e-03 -3.36047699e+01] [ 5.83737060e-03 4.89652612e-05 9.99982961e-01 -1.89772797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13538475000001 meters 0.05892503349756154 Centerline is valid? [True, True] Translation: X:130.50, Y:-33.63, Z:-1.90 [[ 8.88801058e-01 4.58234010e-01 -7.36691951e-03 1.30500529e+02] [-4.58218708e-01 8.88831587e-01 3.74508795e-03 -3.36344222e+01] [ 8.26407743e-03 4.70222075e-05 9.99965851e-01 -1.89935497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19538475000002 meters 0.05911936478747498 Centerline is valid? [True, True] Translation: X:130.56, Y:-33.66, Z:-1.90 [[ 8.87457469e-01 4.60804222e-01 -8.87186670e-03 1.30557771e+02] [-4.60782135e-01 8.87501810e-01 4.51235741e-03 -3.36588269e+01] [ 9.95311110e-03 8.34723961e-05 9.99950463e-01 -1.90109732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25538475000002 meters 0.05921235095123776 Centerline is valid? [True, True] Translation: X:130.61, Y:-33.69, Z:-1.90 [[ 8.86344783e-01 4.62944405e-01 -8.68351088e-03 1.30614339e+02] [-4.62923322e-01 8.86387312e-01 4.41931148e-03 -3.36851331e+01] [ 9.74284939e-03 1.02766026e-04 9.99952532e-01 -1.90192341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31538475 meters 0.05925923615894223 Centerline is valid? [True, True] Translation: X:130.67, Y:-33.71, Z:-1.90 [[ 8.85708721e-01 4.64148831e-01 -9.26959219e-03 1.30668882e+02] [-4.64124877e-01 8.85757217e-01 4.71708261e-03 -3.37122931e+01] [ 1.04000366e-02 1.24287137e-04 9.99945910e-01 -1.90308343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37538475 meters 0.059055855363261196 Centerline is valid? [True, True] Translation: X:130.72, Y:-33.74, Z:-1.90 [[ 8.85738726e-01 4.64086352e-01 -9.52720933e-03 1.30723754e+02] [-4.64060986e-01 8.85789954e-01 4.85366125e-03 -3.37425520e+01] [ 1.06916243e-02 1.22130428e-04 9.99942835e-01 -1.90403103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43538475 meters 0.05897337001711943 Centerline is valid? [True, True] Translation: X:130.78, Y:-33.77, Z:-1.91 [[ 8.86113987e-01 4.63324464e-01 -1.15083570e-02 1.30777320e+02] [-4.63287364e-01 8.86188706e-01 5.86477231e-03 -3.37728046e+01] [ 1.29158685e-02 1.34819623e-04 9.99916578e-01 -1.90578142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49538475 meters 0.05893120336054252 Centerline is valid? [True, True] Translation: X:130.83, Y:-33.80, Z:-1.91 [[ 8.86273930e-01 4.62994852e-01 -1.24212312e-02 1.30830780e+02] [-4.62951595e-01 8.86360958e-01 6.33033565e-03 -3.38035414e+01] [ 1.39406072e-02 1.40017339e-04 9.99902815e-01 -1.90587159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.55538475 meters 0.05901524850630454 Centerline is valid? [True, True] Translation: X:130.89, Y:-33.83, Z:-1.91 [[ 8.85955873e-01 4.63601492e-01 -1.24838773e-02 1.30887289e+02] [-4.63557764e-01 8.86043812e-01 6.36890712e-03 -3.38307668e+01] [ 1.40138971e-02 1.44427584e-04 9.99901790e-01 -1.90704441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61538475 meters 0.0586128867578328 Centerline is valid? [True, True] Translation: X:130.94, Y:-33.86, Z:-1.91 [[ 8.87884375e-01 4.59901308e-01 -1.23338542e-02 1.30941600e+02] [-4.59858223e-01 8.87970034e-01 6.29560510e-03 -3.38608342e+01] [ 1.38474499e-02 8.20548627e-05 9.99904116e-01 -1.90723225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67538475 meters 0.058339984366020906 Centerline is valid? [True, True] Translation: X:131.00, Y:-33.89, Z:-1.91 [[ 8.88724618e-01 4.58294236e-01 -1.16166688e-02 1.30996003e+02] [-4.58255838e-01 8.88800535e-01 5.93265369e-03 -3.38887003e+01] [ 1.30438024e-02 5.09108971e-05 9.99914925e-01 -1.90707932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.73538475 meters 0.05830691727960486 Centerline is valid? [True, True] Translation: X:131.05, Y:-33.91, Z:-1.90 [[ 8.86521633e-01 4.62600867e-01 -8.93493981e-03 1.31054293e+02] [-4.62578327e-01 8.86566654e-01 4.56734336e-03 -3.39101904e+01] [ 1.00342767e-02 8.40608155e-05 9.99949652e-01 -1.90341862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.79538475 meters 0.05836288965405956 Centerline is valid? [True, True] Translation: X:131.11, Y:-33.94, Z:-1.90 [[ 8.85061459e-01 4.65420678e-01 -7.05738965e-03 1.31109717e+02] [-4.65406685e-01 8.85089591e-01 3.61016757e-03 -3.39360255e+01] [ 7.92666876e-03 8.93361504e-05 9.99968579e-01 -1.90335960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85538475 meters 0.05852334008740136 Centerline is valid? [True, True] Translation: X:131.16, Y:-33.97, Z:-1.90 [[ 8.84497063e-01 4.66468424e-01 -8.49439215e-03 1.31164344e+02] [-4.66448179e-01 8.84537843e-01 4.34742492e-03 -3.39650321e+01] [ 9.54154776e-03 1.16909181e-04 9.99954472e-01 -1.90473352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91538475000002 meters 0.059208000049995074 Centerline is valid? [True, True] Translation: X:131.22, Y:-33.99, Z:-1.91 [[ 8.84134717e-01 4.67118712e-01 -1.02912634e-02 1.31220169e+02] [-4.67089020e-01 8.84194598e-01 5.26885635e-03 -3.39899033e+01] [ 1.15606609e-02 1.48557305e-04 9.99933162e-01 -1.91439894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97538475000002 meters 0.0588312179298155 Centerline is valid? [True, True] Translation: X:131.27, Y:-34.02, Z:-1.91 [[ 8.84334734e-01 4.66711712e-01 -1.15002898e-02 1.31273465e+02] [-4.66674553e-01 8.84409494e-01 5.89140037e-03 -3.40213411e+01] [ 1.29205510e-02 1.56922629e-04 9.99916514e-01 -1.91246516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03538475 meters 0.05895871953692524 Centerline is valid? [True, True] Translation: X:131.33, Y:-34.05, Z:-1.91 [[ 8.83298258e-01 4.68670700e-01 -1.14875231e-02 1.31328835e+02] [-4.68633749e-01 8.83372935e-01 5.88792636e-03 -3.40482081e+01] [ 1.29072655e-02 1.82645901e-04 9.99916681e-01 -1.91271548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09538475 meters 0.05908558908068831 Centerline is valid? [True, True] Translation: X:131.39, Y:-34.07, Z:-1.91 [[ 8.81921456e-01 4.71254232e-01 -1.15755853e-02 1.31385087e+02] [-4.71216881e-01 8.81997393e-01 5.93716326e-03 -3.40738814e+01] [ 1.30075494e-02 2.18499523e-04 9.99915374e-01 -1.91207980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15538475 meters 0.0594704265994817 Centerline is valid? [True, True] Translation: X:131.44, Y:-34.10, Z:-1.92 [[ 8.81427750e-01 4.72182896e-01 -1.13328704e-02 1.31441774e+02] [-4.72147152e-01 8.81500574e-01 5.81418397e-03 -3.40982822e+01] [ 1.27352900e-02 2.25999404e-04 9.99918877e-01 -1.91576341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21538475 meters 0.05955637088475909 Centerline is valid? [True, True] Translation: X:131.50, Y:-34.13, Z:-1.91 [[ 8.81004114e-01 4.72983855e-01 -1.08638433e-02 1.31498325e+02] [-4.72951001e-01 8.81071066e-01 5.57920285e-03 -3.41262459e+01] [ 1.22106909e-02 2.22764914e-04 9.99925422e-01 -1.91447031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27538475 meters 0.05821746382793027 Centerline is valid? [True, True] Translation: X:131.55, Y:-34.16, Z:-1.91 [[ 8.84038621e-01 4.67379706e-01 -5.65033532e-03 1.31552059e+02] [-4.67370684e-01 8.84056675e-01 2.90494414e-03 -3.41577970e+01] [ 6.35292860e-03 7.27182735e-05 9.99979817e-01 -1.90626260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.33538475 meters 0.058876071769014424 Centerline is valid? [True, True] Translation: X:131.61, Y:-34.18, Z:-1.91 [[ 8.82845726e-01 4.69571094e-01 -9.29579218e-03 1.31611594e+02] [-4.69546813e-01 8.82894652e-01 4.77750444e-03 -3.41780323e+01] [ 1.04505832e-02 1.47010212e-04 9.99945380e-01 -1.91436231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39538475 meters 0.05877885377191895 Centerline is valid? [True, True] Translation: X:131.67, Y:-34.21, Z:-1.91 [[ 8.82487364e-01 4.70245169e-01 -9.24844456e-03 1.31666959e+02] [-4.70221117e-01 8.82535811e-01 4.75847226e-03 -3.42080009e+01] [ 1.03997321e-02 1.49522283e-04 9.99945910e-01 -1.91224705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45538475 meters 0.05923333131070971 Centerline is valid? [True, True] Translation: X:131.72, Y:-34.24, Z:-1.91 [[ 8.81513631e-01 4.72027882e-01 -1.11083895e-02 1.31721963e+02] [-4.71993305e-01 8.81583596e-01 5.71690933e-03 -3.42357167e+01] [ 1.24915145e-02 2.03551950e-04 9.99921957e-01 -1.91462422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.51538475 meters 0.059759090372697984 Centerline is valid? [True, True] Translation: X:131.78, Y:-34.26, Z:-1.92 [[ 8.80970122e-01 4.73034988e-01 -1.13817386e-02 1.31776604e+02] [-4.72998732e-01 8.81043615e-01 5.86070670e-03 -3.42634656e+01] [ 1.28001275e-02 2.20440461e-04 9.99918051e-01 -1.91882107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57538475 meters 0.059836816328752575 Centerline is valid? [True, True] Translation: X:131.83, Y:-34.29, Z:-1.92 [[ 8.80388148e-01 4.74126060e-01 -1.10085345e-02 1.31831378e+02] [-4.74092169e-01 8.80456943e-01 5.67329611e-03 -3.42936528e+01] [ 1.23823982e-02 2.24357361e-04 9.99923310e-01 -1.91845999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63538475000001 meters 0.05969093251322687 Centerline is valid? [True, True] Translation: X:131.89, Y:-34.32, Z:-1.92 [[ 8.80147325e-01 4.74586238e-01 -1.04205783e-02 1.31886732e+02] [-4.74555868e-01 8.80208984e-01 5.37323176e-03 -3.43219306e+01] [ 1.17223485e-02 2.15911005e-04 9.99931268e-01 -1.92000916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69538475000002 meters 0.05975279004736866 Centerline is valid? [True, True] Translation: X:131.94, Y:-34.35, Z:-1.92 [[ 8.79940444e-01 4.74972427e-01 -1.02960692e-02 1.31942805e+02] [-4.74942757e-01 8.80000652e-01 5.31318684e-03 -3.43511494e+01] [ 1.15841649e-02 2.14755520e-04 9.99932878e-01 -1.92032085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75538475000002 meters 0.05987088833342167 Centerline is valid? [True, True] Translation: X:132.00, Y:-34.38, Z:-1.92 [[ 8.79431769e-01 4.75982600e-01 -6.35035145e-03 1.31997476e+02] [-4.75971323e-01 8.79454686e-01 3.27949764e-03 -3.43779348e+01] [ 7.14583016e-03 1.38490771e-04 9.99974459e-01 -1.92036379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81538475 meters 0.059845040939506246 Centerline is valid? [True, True] Translation: X:132.05, Y:-34.41, Z:-1.92 [[ 8.78512742e-01 4.77687698e-01 -5.46132994e-03 1.32051856e+02] [-4.77679374e-01 8.78529708e-01 2.82293303e-03 -3.44070984e+01] [ 6.14642098e-03 1.28782026e-04 9.99981102e-01 -1.91799429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87538475 meters 0.05982437418004868 Centerline is valid? [True, True] Translation: X:132.10, Y:-34.44, Z:-1.92 [[ 8.78741896e-01 4.77269066e-01 -5.18837467e-03 1.32104568e+02] [-4.77261549e-01 8.78757205e-01 2.68129310e-03 -3.44373581e+01] [ 5.83901987e-03 1.20047149e-04 9.99982946e-01 -1.91825231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93538475 meters 0.05830584156133527 Centerline is valid? [True, True] Translation: X:132.15, Y:-34.48, Z:-1.92 [[ 8.83689767e-01 4.68035315e-01 -5.94469974e-03 1.32152011e+02] [-4.68025230e-01 8.83709760e-01 3.07309252e-03 -3.44805249e+01] [ 6.69170500e-03 6.66090520e-05 9.99977608e-01 -1.91640477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99538475 meters 0.058741555972704196 Centerline is valid? [True, True] Translation: X:132.20, Y:-34.52, Z:-1.93 [[ 8.90069629e-01 4.55634707e-01 -1.31556072e-02 1.32199818e+02] [-4.55583932e-01 8.90166844e-01 6.80226144e-03 -3.45230988e+01] [ 1.48100318e-02 -6.10030543e-05 9.99890324e-01 -1.92767770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.05538475 meters 0.05918286936564005 Centerline is valid? [True, True] Translation: X:132.25, Y:-34.56, Z:-1.93 [[ 8.91671842e-01 4.52475793e-01 -1.36741541e-02 1.32251350e+02] [-4.52420501e-01 8.91776677e-01 7.07445458e-03 -3.45559362e+01] [ 1.53953111e-02 -1.21624310e-04 9.99881478e-01 -1.93159235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11538475 meters 0.058761925639466035 Centerline is valid? [True, True] Translation: X:132.31, Y:-34.59, Z:-1.92 [[ 8.92118945e-01 4.51671578e-01 -1.07969479e-02 1.32305140e+02] [-4.51636992e-01 8.92184271e-01 5.59051522e-03 -3.45871113e+01] [ 1.21579439e-02 -1.11103482e-04 9.99926083e-01 -1.92429479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17538475 meters 0.05844312287257782 Centerline is valid? [True, True] Translation: X:132.36, Y:-34.61, Z:-1.93 [[ 8.91253930e-01 4.53404409e-01 -9.53282481e-03 1.32361544e+02] [-4.53377542e-01 8.91304906e-01 4.93645550e-03 -3.46111274e+01] [ 1.07348642e-02 -7.76666892e-05 9.99942377e-01 -1.92563968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.23538475 meters 0.05811800756378137 Centerline is valid? [True, True] Translation: X:132.42, Y:-34.63, Z:-1.92 [[ 8.89561365e-01 4.56756817e-01 -7.33402025e-03 1.32420307e+02] [-4.56741024e-01 8.89591597e-01 3.79844215e-03 -3.46337908e+01] [ 8.25924713e-03 -2.91994630e-05 9.99965891e-01 -1.92091807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29538475 meters 0.05788360394789969 Centerline is valid? [True, True] Translation: X:132.48, Y:-34.66, Z:-1.92 [[ 8.87009363e-01 4.61701970e-01 -6.75874153e-03 1.32479167e+02] [-4.61688663e-01 8.87035113e-01 3.50534140e-03 -3.46557967e+01] [ 7.61366408e-03 1.11636972e-05 9.99971016e-01 -1.92084211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35538475 meters 0.05843385640169955 Centerline is valid? [True, True] Translation: X:132.54, Y:-34.68, Z:-1.93 [[ 8.84129364e-01 4.67144499e-01 -9.55428277e-03 1.32536541e+02] [-4.67118221e-01 8.84180983e-01 4.95558209e-03 -3.46763034e+01] [ 1.07626880e-02 8.16039188e-05 9.99942077e-01 -1.92513519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41538475000002 meters 0.05896600478510309 Centerline is valid? [True, True] Translation: X:132.59, Y:-34.70, Z:-1.93 [[ 8.81754506e-01 4.71606589e-01 -9.80905104e-03 1.32592954e+02] [-4.71579143e-01 8.81809053e-01 5.08969149e-03 -3.46988100e+01] [ 1.10500421e-02 1.37885479e-04 9.99938937e-01 -1.92745189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47538475000002 meters 0.05923871470814497 Centerline is valid? [True, True] Translation: X:132.65, Y:-34.72, Z:-1.92 [[ 8.79398053e-01 4.75986065e-01 -9.81481069e-03 1.32649040e+02] [-4.75958818e-01 8.79452802e-01 5.09640026e-03 -3.47244709e+01] [ 1.10574783e-02 1.89681236e-04 9.99938846e-01 -1.92450370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53538475 meters 0.059896404350496 Centerline is valid? [True, True] Translation: X:132.71, Y:-34.75, Z:-1.93 [[ 8.77018913e-01 4.80320038e-01 -1.14231092e-02 1.32706135e+02] [-4.80283459e-01 8.77093257e-01 5.93444218e-03 -3.47486437e+01] [ 1.28695635e-02 2.81712345e-04 9.99917144e-01 -1.92749925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59538475 meters 0.06136549477461247 Centerline is valid? [True, True] Translation: X:132.76, Y:-34.77, Z:-1.94 [[ 8.75827346e-01 4.82432092e-01 -1.36285081e-02 1.32761820e+02] [-4.82380238e-01 8.75933296e-01 7.08284990e-03 -3.47721928e+01] [ 1.53546581e-02 3.70769346e-04 9.99882042e-01 -1.93529639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65538475 meters 0.059508410561432155 Centerline is valid? [True, True] Translation: X:132.81, Y:-34.81, Z:-1.93 [[ 8.77669340e-01 4.79166164e-01 -9.81412295e-03 1.32812528e+02] [-4.79139017e-01 8.77724181e-01 5.10533513e-03 -3.48098151e+01] [ 1.10603969e-02 2.21533107e-04 9.99938807e-01 -1.92609994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71538475 meters 0.05884332119408144 Centerline is valid? [True, True] Translation: X:132.87, Y:-34.84, Z:-1.93 [[ 8.79143145e-01 4.76523202e-01 -5.74193183e-03 1.32865442e+02] [-4.76513833e-01 8.79161889e-01 2.98995780e-03 -3.48406936e+01] [ 6.47287190e-03 1.07509044e-04 9.99979045e-01 -1.92630403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77538475 meters 0.0588450789014246 Centerline is valid? [True, True] Translation: X:132.92, Y:-34.87, Z:-1.93 [[ 8.78005472e-01 4.78637698e-01 -3.51350900e-03 1.32921384e+02] [-4.78634193e-01 8.78012499e-01 1.83322137e-03 -3.48696304e+01] [ 3.96235368e-03 7.21071519e-05 9.99992147e-01 -1.92555995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83538475 meters 0.05950275836648858 Centerline is valid? [True, True] Translation: X:132.98, Y:-34.90, Z:-1.93 [[ 8.76544836e-01 4.81307084e-01 -3.55550942e-03 1.32976964e+02] [-4.81303524e-01 8.76552043e-01 1.85314183e-03 -3.48959015e+01] [ 4.00851934e-03 8.69173096e-05 9.99991962e-01 -1.92722127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89538475 meters 0.05970305032288963 Centerline is valid? [True, True] Translation: X:133.03, Y:-34.93, Z:-1.93 [[ 8.76426842e-01 4.81527181e-01 -2.75040045e-03 1.33031297e+02] [-4.81525042e-01 8.76431155e-01 1.43666658e-03 -3.49260842e+01] [ 3.10233065e-03 6.52535409e-05 9.99995186e-01 -1.92920243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95538475 meters 0.05962262207756875 Centerline is valid? [True, True] Translation: X:133.08, Y:-34.96, Z:-1.93 [[ 8.77350573e-01 4.79822345e-01 -5.14676870e-03 1.33084620e+02] [-4.79814833e-01 8.77365662e-01 2.68738160e-03 -3.49588471e+01] [ 5.80506387e-03 1.11720173e-04 9.99983144e-01 -1.93328972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.01538475 meters 0.059540948945509646 Centerline is valid? [True, True] Translation: X:133.14, Y:-34.99, Z:-1.94 [[ 8.78772376e-01 4.77184846e-01 -7.33033462e-03 1.33137260e+02] [-4.77169509e-01 8.78802938e-01 3.82818107e-03 -3.49934172e+01] [ 8.26866960e-03 1.33712402e-04 9.99965805e-01 -1.93767527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07538475 meters 0.05957805511182238 Centerline is valid? [True, True] Translation: X:133.19, Y:-35.03, Z:-1.94 [[ 8.78885143e-01 4.76963581e-01 -8.16380938e-03 1.33190698e+02] [-4.76944535e-01 8.78923046e-01 4.26486180e-03 -3.50254228e+01] [ 9.20954397e-03 1.45360602e-04 9.99957581e-01 -1.93810730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13538475000001 meters 0.05898225415851095 Centerline is valid? [True, True] Translation: X:133.25, Y:-35.06, Z:-1.94 [[ 8.80036312e-01 4.74866596e-01 -6.14865552e-03 1.33245023e+02] [-4.74855747e-01 8.80057786e-01 3.21126126e-03 -3.50564275e+01] [ 6.93609287e-03 9.36978951e-05 9.99975941e-01 -1.93636980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19538475000002 meters 0.058869243762944765 Centerline is valid? [True, True] Translation: X:133.30, Y:-35.08, Z:-1.94 [[ 8.79928684e-01 4.75063147e-01 -6.36536771e-03 1.33300780e+02] [-4.75051484e-01 8.79951702e-01 3.33015940e-03 -3.50846975e+01] [ 7.18325215e-03 9.35746019e-05 9.99974196e-01 -1.93644786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25538475000002 meters 0.059036425949274614 Centerline is valid? [True, True] Translation: X:133.35, Y:-35.11, Z:-1.94 [[ 8.80887463e-01 4.73292107e-01 -5.64442310e-03 1.33354328e+02] [-4.73282904e-01 8.80905544e-01 2.95222294e-03 -3.51138979e+01] [ 6.36946741e-03 7.08327857e-05 9.99979712e-01 -1.94109668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31538475 meters 0.05819031313283906 Centerline is valid? [True, True] Translation: X:133.41, Y:-35.15, Z:-1.93 [[ 8.82793662e-01 4.69744813e-01 -3.89376208e-03 1.33406157e+02] [-4.69740398e-01 8.82802249e-01 2.03686440e-03 -3.51499179e+01] [ 4.39422841e-03 3.09263663e-05 9.99990345e-01 -1.93450501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37538475 meters 0.058372920608528785 Centerline is valid? [True, True] Translation: X:133.46, Y:-35.18, Z:-1.94 [[ 8.82364856e-01 4.70547628e-01 -4.14611368e-03 1.33462325e+02] [-4.70542612e-01 8.82374597e-01 2.17287537e-03 -3.51763261e+01] [ 4.68086674e-03 3.36543037e-05 9.99989044e-01 -1.93994951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43538475 meters 0.05819113136597737 Centerline is valid? [True, True] Translation: X:133.52, Y:-35.21, Z:-1.94 [[ 8.81702047e-01 4.71764495e-01 -6.30572991e-03 1.33515546e+02] [-4.71752926e-01 8.81724593e-01 3.30439406e-03 -3.52079288e+01] [ 7.11881293e-03 6.12555288e-05 9.99974659e-01 -1.93630520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49538475 meters 0.0580555844173487 Centerline is valid? [True, True] Translation: X:133.57, Y:-35.24, Z:-1.94 [[ 8.83105588e-01 4.69113855e-01 -7.53067778e-03 1.33567436e+02] [-4.69097241e-01 8.83137696e-01 3.94831896e-03 -3.52417504e+01] [ 8.50283655e-03 4.58376359e-05 9.99963849e-01 -1.93876941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.55538475 meters 0.05806822126281781 Centerline is valid? [True, True] Translation: X:133.62, Y:-35.27, Z:-1.94 [[ 8.84495410e-01 4.66506245e-01 -6.30819009e-03 1.33619453e+02] [-4.66494508e-01 8.84517905e-01 3.30920396e-03 -3.52746957e+01] [ 7.12347139e-03 1.57603166e-05 9.99974628e-01 -1.94115489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61538475 meters 0.05801722142353904 Centerline is valid? [True, True] Translation: X:133.67, Y:-35.31, Z:-1.94 [[ 8.85944977e-01 4.63726242e-01 -7.71173188e-03 1.33670471e+02] [-4.63708578e-01 8.85978540e-01 4.04747958e-03 -3.53108370e+01] [ 8.70935144e-03 -9.84797333e-06 9.99962073e-01 -1.93939816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67538475 meters 0.058031294455963674 Centerline is valid? [True, True] Translation: X:133.73, Y:-35.34, Z:-1.94 [[ 8.86088621e-01 4.63437193e-01 -8.53961037e-03 1.33725559e+02] [-4.63415497e-01 8.86129769e-01 4.48428451e-03 -3.53396965e+01] [ 9.64538719e-03 -1.60856953e-05 9.99953482e-01 -1.94196953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73538475 meters 0.058065901420036946 Centerline is valid? [True, True] Translation: X:133.78, Y:-35.37, Z:-1.94 [[ 8.85528674e-01 4.64527047e-01 -7.32053817e-03 1.33781636e+02] [-4.64511118e-01 8.85558932e-01 3.84692744e-03 -3.53660106e+01] [ 8.26976981e-03 -6.09319102e-06 9.99965805e-01 -1.94337453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.79538475 meters 0.05807842469684318 Centerline is valid? [True, True] Translation: X:133.84, Y:-35.39, Z:-1.94 [[ 8.84421203e-01 4.66658046e-01 -5.42256423e-03 1.33838839e+02] [-4.66649329e-01 8.84437826e-01 2.85233527e-03 -3.53912768e+01] [ 6.12698613e-03 7.77016562e-06 9.99981230e-01 -1.94016172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85538475 meters 0.05803773793408887 Centerline is valid? [True, True] Translation: X:133.90, Y:-35.42, Z:-1.94 [[ 8.83809940e-01 4.67814084e-01 -5.47475583e-03 1.33895956e+02] [-4.67805205e-01 8.83826896e-01 2.88232025e-03 -3.54183300e+01] [ 6.18712646e-03 1.36959811e-05 9.99980859e-01 -1.94006789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91538475000002 meters 0.0582519345546062 Centerline is valid? [True, True] Translation: X:133.95, Y:-35.44, Z:-1.94 [[ 8.82223003e-01 4.70790627e-01 -6.22561184e-03 1.33953145e+02] [-4.70779233e-01 8.82244968e-01 3.27569342e-03 -3.54397876e+01] [ 7.03468048e-03 4.09966803e-05 9.99975255e-01 -1.94483548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97538475000002 meters 0.058336535976992024 Centerline is valid? [True, True] Translation: X:134.01, Y:-35.47, Z:-1.95 [[ 8.82879873e-01 4.69548818e-01 -6.85843470e-03 1.34007681e+02] [-4.69534917e-01 8.82906511e-01 3.61310362e-03 -3.54701018e+01] [ 7.75188518e-03 3.03381056e-05 9.99969953e-01 -1.94607546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03538475 meters 0.05818065695607682 Centerline is valid? [True, True] Translation: X:134.06, Y:-35.50, Z:-1.95 [[ 8.82852410e-01 4.69624198e-01 -4.97342286e-03 1.34062861e+02] [-4.69616897e-01 8.82866418e-01 2.61880965e-03 -3.54996481e+01] [ 5.62072441e-03 2.35810027e-05 9.99984203e-01 -1.94658962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09538475 meters 0.05801149752985673 Centerline is valid? [True, True] Translation: X:134.11, Y:-35.53, Z:-1.94 [[ 8.83737938e-01 4.67960208e-01 -4.52764857e-03 1.34114577e+02] [-4.67954115e-01 8.83749537e-01 2.38812743e-03 -3.55337651e+01] [ 5.11885594e-03 8.25296601e-06 9.99986899e-01 -1.94430921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15538475 meters 0.058155469147813846 Centerline is valid? [True, True] Translation: X:134.17, Y:-35.57, Z:-1.95 [[ 8.86188025e-01 4.63298496e-01 -5.02863507e-03 1.34166397e+02] [-4.63290898e-01 8.86202292e-01 2.65345719e-03 -3.55692251e+01] [ 5.68573065e-03 -2.17411335e-05 9.99983836e-01 -1.94748152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21538475 meters 0.05894446565769119 Centerline is valid? [True, True] Translation: X:134.22, Y:-35.60, Z:-1.95 [[ 8.88620614e-01 4.58577489e-01 -7.75177520e-03 1.34217918e+02] [-4.58559250e-01 8.88654421e-01 4.09074504e-03 -3.56039325e+01] [ 8.76457289e-03 -8.04721497e-05 9.99961587e-01 -1.95231042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27538475 meters 0.05905174305604014 Centerline is valid? [True, True] Translation: X:134.27, Y:-35.64, Z:-1.95 [[ 8.90107534e-01 4.55678094e-01 -8.12723741e-03 1.34270125e+02] [-4.55657902e-01 8.90144629e-01 4.29129113e-03 -3.56375576e+01] [ 9.18986410e-03 -1.16470615e-04 9.99957766e-01 -1.95371998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33538475 meters 0.059089383914732854 Centerline is valid? [True, True] Translation: X:134.32, Y:-35.67, Z:-1.95 [[ 8.90241367e-01 4.55402918e-01 -8.85952107e-03 1.34324867e+02] [-4.55378886e-01 8.90285440e-01 4.68036649e-03 -3.56663986e+01] [ 1.00189552e-02 -1.32217028e-04 9.99949800e-01 -1.95405117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39538475 meters 0.05882994054446938 Centerline is valid? [True, True] Translation: X:134.38, Y:-35.69, Z:-1.95 [[ 8.89145282e-01 4.57553853e-01 -8.07092874e-03 1.34382356e+02] [-4.57533969e-01 8.89181906e-01 4.26677632e-03 -3.56899605e+01] [ 9.12880374e-03 -1.01059972e-04 9.99958326e-01 -1.95401693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45538475 meters 0.05816509793842615 Centerline is valid? [True, True] Translation: X:134.44, Y:-35.72, Z:-1.95 [[ 8.87742737e-01 4.60317974e-01 -4.49394956e-03 1.34439043e+02] [-4.60311829e-01 8.87754111e-01 2.37877346e-03 -3.57158118e+01] [ 5.08451438e-03 -4.31207237e-05 9.99987073e-01 -1.95076552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.51538475 meters 0.05772094062884741 Centerline is valid? [True, True] Translation: X:134.50, Y:-35.74, Z:-1.95 [[ 8.85144155e-01 4.65307078e-01 -3.02466279e-03 1.34497342e+02] [-4.65304315e-01 8.85149322e-01 1.60358116e-03 -3.57391408e+01] [ 3.42343588e-03 -1.20118446e-05 9.99994140e-01 -1.94645027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57538475 meters 0.05778245632878133 Centerline is valid? [True, True] Translation: X:134.55, Y:-35.76, Z:-1.96 [[ 8.83154315e-01 4.69016959e-01 -7.84524359e-03 1.34554737e+02] [-4.68998580e-01 8.83189160e-01 4.15203331e-03 -3.57600805e+01] [ 8.87620813e-03 1.25219739e-05 9.99960606e-01 -1.95643407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63538475000001 meters 0.05803160299473235 Centerline is valid? [True, True] Translation: X:134.61, Y:-35.78, Z:-1.96 [[ 8.81124322e-01 4.72819587e-01 -7.84646880e-03 1.34612319e+02] [-4.72801313e-01 8.81159257e-01 4.15716621e-03 -3.57828014e+01] [ 8.87957822e-03 4.68404905e-05 9.99960575e-01 -1.95857942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69538475000002 meters 0.057682660550707025 Centerline is valid? [True, True] Translation: X:134.67, Y:-35.81, Z:-1.96 [[ 8.81191199e-01 4.72708421e-01 -6.98715170e-03 1.34666036e+02] [-4.72693905e-01 8.81218899e-01 3.70465938e-03 -3.58134035e+01] [ 7.90843381e-03 3.82707777e-05 9.99968727e-01 -1.95544368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75538475 meters 0.05767383097682692 Centerline is valid? [True, True] Translation: X:134.72, Y:-35.84, Z:-1.96 [[ 8.82043240e-01 4.71116212e-01 -7.01693945e-03 1.34719405e+02] [-4.71101526e-01 8.82071150e-01 3.71994730e-03 -3.58436800e+01] [ 7.94196733e-03 2.45365168e-05 9.99968462e-01 -1.95773273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81538475 meters 0.05770653325688816 Centerline is valid? [True, True] Translation: X:134.77, Y:-35.87, Z:-1.96 [[ 8.82627518e-01 4.69990820e-01 -8.79163319e-03 1.34773225e+02] [-4.69967670e-01 8.82671303e-01 4.66475714e-03 -3.58736748e+01] [ 9.95251536e-03 1.45403463e-05 9.99950472e-01 -1.96115586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87538475 meters 0.057577441590999576 Centerline is valid? [True, True] Translation: X:134.83, Y:-35.90, Z:-1.96 [[ 8.82415659e-01 4.70420197e-01 -6.88790925e-03 1.34827287e+02] [-4.70405976e-01 8.82442541e-01 3.65783221e-03 -3.59034389e+01] [ 7.79890229e-03 1.23852539e-05 9.99969588e-01 -1.96007223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93538475 meters 0.057366012540031146 Centerline is valid? [True, True] Translation: X:134.88, Y:-35.93, Z:-1.96 [[ 8.81378041e-01 4.72387111e-01 -4.81312277e-03 1.34882646e+02] [-4.72380182e-01 8.81391183e-01 2.55871078e-03 -3.59303252e+01] [ 5.45094597e-03 1.84323144e-05 9.99985143e-01 -1.96140803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99538475 meters 0.057389898249465665 Centerline is valid? [True, True] Translation: X:134.94, Y:-35.96, Z:-1.96 [[ 8.80889565e-01 4.73289472e-01 -5.53620177e-03 1.34937172e+02] [-4.73280318e-01 8.80906962e-01 2.94384295e-03 -3.59587878e+01] [ 6.27016856e-03 2.69747958e-05 9.99980342e-01 -1.96246208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.05538475 meters 0.05772473545655951 Centerline is valid? [True, True] Translation: X:134.99, Y:-35.99, Z:-1.97 [[ 8.80266663e-01 4.74432537e-01 -6.66103177e-03 1.34992899e+02] [-4.74419305e-01 8.80291864e-01 3.54359610e-03 -3.59868091e+01] [ 7.54484937e-03 4.08125504e-05 9.99971536e-01 -1.96682874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11538475 meters 0.05744742129967017 Centerline is valid? [True, True] Translation: X:135.05, Y:-36.02, Z:-1.97 [[ 8.80719005e-01 4.73619330e-01 -4.33176819e-03 1.35046269e+02] [-4.73613711e-01 8.80729658e-01 2.30714721e-03 -3.60180584e+01] [ 4.90782623e-03 1.96364112e-05 9.99987956e-01 -1.96630156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17538475 meters 0.0575004662630884 Centerline is valid? [True, True] Translation: X:135.10, Y:-36.05, Z:-1.97 [[ 8.80843365e-01 4.73394067e-01 -3.60899267e-03 1.35098652e+02] [-4.73390159e-01 8.80850758e-01 1.92353659e-03 -3.60485220e+01] [ 4.08957474e-03 1.41271758e-05 9.99991638e-01 -1.96727806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.23538475 meters 0.05761912132259807 Centerline is valid? [True, True] Translation: X:135.15, Y:-36.08, Z:-1.97 [[ 8.80942231e-01 4.73202357e-01 -4.50712807e-03 1.35152456e+02] [-4.73196256e-01 8.80953761e-01 2.40297007e-03 -3.60787189e+01] [ 5.10766253e-03 1.58783181e-05 9.99986956e-01 -1.97028299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.29538475 meters 0.05797116534642614 Centerline is valid? [True, True] Translation: X:135.21, Y:-36.11, Z:-1.97 [[ 8.80040551e-01 4.74878629e-01 -4.34915769e-03 1.35209425e+02] [-4.74872958e-01 8.80051298e-01 2.32089197e-03 -3.61062888e+01] [ 4.92962387e-03 2.28183350e-05 9.99987849e-01 -1.97280007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35538475 meters 0.05801556621905667 Centerline is valid? [True, True] Translation: X:135.26, Y:-36.14, Z:-1.97 [[ 8.79979165e-01 4.75011953e-01 -5.59934686e-04 1.35263193e+02] [-4.75011857e-01 8.79979343e-01 3.01784548e-04 -3.61357136e+01] [ 6.36082224e-04 4.11499754e-07 9.99999798e-01 -1.97061937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41538475000002 meters 0.05805592307874961 Centerline is valid? [True, True] Translation: X:135.32, Y:-36.16, Z:-1.97 [[ 8.80105561e-01 4.74778049e-01 -7.21357209e-05 1.35317278e+02] [-4.74778047e-01 8.80105564e-01 4.20541681e-05 -3.61649968e+01] [ 8.34534451e-05 -2.76365058e-06 9.99999997e-01 -1.97384541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47538475000002 meters 0.05813804665240067 Centerline is valid? [True, True] Translation: X:135.37, Y:-36.20, Z:-1.97 [[ 8.80209748e-01 4.74583926e-01 -9.47437564e-04 1.35371373e+02] [-4.74583652e-01 8.80210257e-01 5.09933746e-04 -3.61972449e+01] [ 1.07595062e-03 7.89725433e-07 9.99999421e-01 -1.97311597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53538475 meters 0.05804176827789617 Centerline is valid? [True, True] Translation: X:135.42, Y:-36.24, Z:-1.97 [[ 8.83521438e-01 4.68390686e-01 1.85824227e-04 1.35421078e+02] [-4.68390676e-01 8.83521457e-01 -9.53260931e-05 -3.62350804e+01] [-2.08829546e-04 -2.81568843e-06 9.99999978e-01 -1.96945406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59538475 meters 0.05866848665205691 Centerline is valid? [True, True] Translation: X:135.48, Y:-36.26, Z:-1.98 [[ 8.83954457e-01 4.67555059e-01 -4.09692598e-03 1.35477165e+02] [-4.67549918e-01 8.83963951e-01 2.19257680e-03 -3.62608876e+01] [ 4.64668525e-03 -2.26206239e-05 9.99989204e-01 -1.97793702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65538475 meters 0.05879540551650588 Centerline is valid? [True, True] Translation: X:135.53, Y:-36.29, Z:-1.98 [[ 8.82726927e-01 4.69856932e-01 -5.25696038e-03 1.35532055e+02] [-4.69848508e-01 8.82742580e-01 2.81351677e-03 -3.62876079e+01] [ 5.96249313e-03 -1.35920198e-05 9.99982224e-01 -1.98211843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71538475 meters 0.05832248609561752 Centerline is valid? [True, True] Translation: X:135.59, Y:-36.32, Z:-1.98 [[ 8.82019924e-01 4.71210125e-01 -1.36820726e-03 1.35586335e+02] [-4.71209551e-01 8.82020985e-01 7.35597568e-04 -3.63173315e+01] [ 1.55340854e-03 -4.09938208e-06 9.99998793e-01 -1.97662171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77538475 meters 0.05820978670313016 Centerline is valid? [True, True] Translation: X:135.64, Y:-36.35, Z:-1.98 [[ 8.81729421e-01 4.71753295e-01 -1.43399715e-03 1.35642533e+02] [-4.71752664e-01 8.81730587e-01 7.71925470e-04 -3.63459142e+01] [ 1.62855753e-03 -4.13742391e-06 9.99998674e-01 -1.97894704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83538475 meters 0.058482575090192626 Centerline is valid? [True, True] Translation: X:135.70, Y:-36.37, Z:-1.98 [[ 8.81661943e-01 4.71869865e-01 -3.32391195e-03 1.35697692e+02] [-4.71866492e-01 8.81668209e-01 1.78407628e-03 -3.63737173e+01] [ 3.77243933e-03 -4.50949101e-06 9.99992884e-01 -1.98323208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89538475 meters 0.05856856415885633 Centerline is valid? [True, True] Translation: X:135.75, Y:-36.40, Z:-1.98 [[ 8.80378809e-01 4.74261975e-01 -2.95489595e-03 1.35753083e+02] [-4.74259316e-01 8.80383768e-01 1.58804463e-03 -3.64025697e+01] [ 3.35459161e-03 3.30609114e-06 9.99994373e-01 -1.98404074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95538475 meters 0.05849652183586976 Centerline is valid? [True, True] Translation: X:135.81, Y:-36.43, Z:-1.98 [[ 8.78401149e-01 4.77918601e-01 -2.28736357e-03 1.35810012e+02] [-4.77917015e-01 8.78404127e-01 1.23127565e-03 -3.64299983e+01] [ 2.59767914e-03 1.16160263e-05 9.99996626e-01 -1.98299500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.01538475 meters 0.058994581879231976 Centerline is valid? [True, True] Translation: X:135.87, Y:-36.45, Z:-1.99 [[ 8.76086034e-01 4.82148935e-01 -2.38029560e-03 1.35868186e+02] [-4.82147234e-01 8.76089267e-01 1.28093363e-03 -3.64509516e+01] [ 2.70295221e-03 2.54448805e-05 9.99996347e-01 -1.98816173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07538475 meters 0.059473787778407027 Centerline is valid? [True, True] Translation: X:135.93, Y:-36.48, Z:-1.99 [[ 8.74344406e-01 4.85302958e-01 -1.70279176e-03 1.35925202e+02] [-4.85302090e-01 8.74346064e-01 9.18015934e-04 -3.64757077e+01] [ 1.93434512e-03 2.37063045e-05 9.99998129e-01 -1.99045703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13538475000001 meters 0.05940897150057075 Centerline is valid? [True, True] Translation: X:135.98, Y:-36.51, Z:-1.99 [[ 8.73857809e-01 4.86175807e-01 2.36948635e-03 1.35978887e+02] [-4.86174152e-01 8.73861020e-01 -1.26916631e-03 -3.65076139e+01] [-2.68763971e-03 -4.29121238e-05 9.99996387e-01 -1.98523284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19538475000002 meters 0.0588764146880964 Centerline is valid? [True, True] Translation: X:136.03, Y:-36.54, Z:-1.99 [[ 8.74841936e-01 4.84398303e-01 3.14190681e-03 1.36031803e+02] [-4.84395375e-01 8.74847576e-01 -1.68492522e-03 -3.65404832e+01] [-3.56486448e-03 -4.78818842e-05 9.99993645e-01 -1.98500451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25538475 meters 0.059347569397117154 Centerline is valid? [True, True] Translation: X:136.09, Y:-36.57, Z:-1.99 [[ 8.74908267e-01 4.84288665e-01 -1.14227736e-04 1.36085641e+02] [-4.84288661e-01 8.74908275e-01 6.53800523e-05 -3.65715151e+01] [ 1.31601609e-04 -1.88235107e-06 9.99999991e-01 -1.99237698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31538475 meters 0.05933279042495404 Centerline is valid? [True, True] Translation: X:136.14, Y:-36.60, Z:-1.99 [[ 8.75145771e-01 4.83859354e-01 -6.71785473e-05 1.36138090e+02] [-4.83859353e-01 8.75145774e-01 3.97699357e-05 -3.66029751e+01] [ 7.80340770e-05 -2.29952267e-06 9.99999997e-01 -1.99454449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37538475 meters 0.059180006132444306 Centerline is valid? [True, True] Translation: X:136.19, Y:-36.64, Z:-2.00 [[ 8.76988740e-01 4.80505580e-01 -2.26662171e-03 1.36189656e+02] [-4.80504018e-01 8.76991669e-01 1.22517791e-03 -3.66393658e+01] [ 2.57651318e-03 1.46536103e-05 9.99996681e-01 -1.99710075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43538475 meters 0.05911583154383991 Centerline is valid? [True, True] Translation: X:136.24, Y:-36.67, Z:-2.00 [[ 8.77836623e-01 4.78955549e-01 -2.10850487e-03 1.36243443e+02] [-4.78954199e-01 8.77839155e-01 1.13714671e-03 -3.66714355e+01] [ 2.39557086e-03 1.16482359e-05 9.99997131e-01 -1.99964937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49538475 meters 0.05871028421317116 Centerline is valid? [True, True] Translation: X:136.30, Y:-36.70, Z:-2.00 [[ 8.78944401e-01 4.76916957e-01 2.63760421e-03 1.36296016e+02] [-4.76914850e-01 8.78948358e-01 -1.41774463e-03 -3.67034807e+01] [-2.99446434e-03 -1.17939128e-05 9.99995517e-01 -1.99804932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.55538475 meters 0.058352391356433 Centerline is valid? [True, True] Translation: X:136.35, Y:-36.74, Z:-1.99 [[ 8.80163274e-01 4.74641666e-01 5.28211808e-03 1.36348376e+02] [-4.74633142e-01 8.80179123e-01 -2.84448000e-03 -3.67375438e+01] [-5.99931879e-03 -3.46147254e-06 9.99982004e-01 -1.99371062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61538475 meters 0.05823267621219261 Centerline is valid? [True, True] Translation: X:136.40, Y:-36.77, Z:-2.00 [[ 8.80070750e-01 4.74821020e-01 4.52476533e-03 1.36403122e+02] [-4.74814764e-01 8.80082382e-01 -2.43740030e-03 -3.67673296e+01] [-5.13949515e-03 -3.34067102e-06 9.99986793e-01 -1.99546480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67538475 meters 0.05837128997359341 Centerline is valid? [True, True] Translation: X:136.46, Y:-36.80, Z:-2.00 [[ 8.79831020e-01 4.75266355e-01 4.38959638e-03 1.36457944e+02] [-4.75260464e-01 8.79841970e-01 -2.36637554e-03 -3.67953904e+01] [-4.98680981e-03 -4.19101144e-06 9.99987566e-01 -1.99883932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.73538475 meters 0.058537457941012866 Centerline is valid? [True, True] Translation: X:136.51, Y:-36.82, Z:-2.00 [[ 8.79212903e-01 4.76418813e-01 3.12832387e-03 1.36512878e+02] [-4.76415826e-01 8.79218468e-01 -1.68686170e-03 -3.68223947e+01] [-3.55413277e-03 -7.27242711e-06 9.99993684e-01 -2.00308645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.79538475 meters 0.0585775249747715 Centerline is valid? [True, True] Translation: X:136.57, Y:-36.85, Z:-2.00 [[ 8.78694869e-01 4.77380978e-01 1.65203303e-03 1.36567758e+02] [-4.77380150e-01 8.78696422e-01 -8.89296864e-04 -3.68519432e+01] [-1.87616892e-03 -7.22718696e-06 9.99998240e-01 -2.00371793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85538475 meters 0.05848894426342052 Centerline is valid? [True, True] Translation: X:136.62, Y:-36.88, Z:-2.01 [[ 8.78400691e-01 4.77923213e-01 1.27586048e-03 1.36622609e+02] [-4.77922721e-01 8.78401618e-01 -6.85819630e-04 -3.68817910e+01] [-1.44848703e-03 -7.33827458e-06 9.99998951e-01 -2.00504237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91538475000002 meters 0.058554720210536246 Centerline is valid? [True, True] Translation: X:136.68, Y:-36.91, Z:-2.01 [[ 8.79425089e-01 4.76036719e-01 -7.44872287e-04 1.36675555e+02] [-4.76036545e-01 8.79425404e-01 4.07122681e-04 -3.69141904e+01] [ 8.48864958e-04 -3.44747021e-06 9.99999640e-01 -2.00792594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97538475000002 meters 0.05826036217678019 Centerline is valid? [True, True] Translation: X:136.73, Y:-36.95, Z:-2.01 [[ 8.80278817e-01 4.74456217e-01 -7.09459672e-04 1.36729610e+02] [-4.74456058e-01 8.80279102e-01 3.88716414e-04 -3.69458252e+01] [ 8.08951442e-04 -5.57138548e-06 9.99999673e-01 -2.00826355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03538475 meters 0.05828246529462691 Centerline is valid? [True, True] Translation: X:136.79, Y:-36.97, Z:-2.01 [[ 8.79197241e-01 4.76457900e-01 2.83668750e-04 1.36785419e+02] [-4.76457876e-01 8.79197287e-01 -1.49864434e-04 -3.69729068e+01] [-3.20804889e-04 -3.39581313e-06 9.99999949e-01 -2.00826550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09538475 meters 0.05799151156858166 Centerline is valid? [True, True] Translation: X:136.84, Y:-37.00, Z:-2.01 [[ 8.77957515e-01 4.78737914e-01 7.81929721e-04 1.36842263e+02] [-4.78737728e-01 8.77957863e-01 -4.21984196e-04 -3.70011778e+01] [-8.88521181e-04 -3.85506234e-06 9.99999605e-01 -2.00640552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15538475 meters 0.057876487338131104 Centerline is valid? [True, True] Translation: X:136.90, Y:-37.03, Z:-2.01 [[ 8.78297553e-01 4.78114042e-01 6.08626542e-04 1.36896344e+02] [-4.78113930e-01 8.78297764e-01 -3.27345256e-04 -3.70317940e+01] [-6.91063695e-04 -3.48629109e-06 9.99999761e-01 -2.00670773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21538475 meters 0.058133987682804755 Centerline is valid? [True, True] Translation: X:136.95, Y:-37.06, Z:-2.01 [[ 8.77870797e-01 4.78893883e-01 -1.87407047e-03 1.36953096e+02] [-4.78892795e-01 8.77872798e-01 1.02102183e-03 -3.70564772e+01] [ 2.13415659e-03 1.15359832e-06 9.99997723e-01 -2.01293181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27538475 meters 0.05783182861035457 Centerline is valid? [True, True] Translation: X:137.01, Y:-37.08, Z:-2.01 [[ 8.75948349e-01 4.82404770e-01 -3.58108169e-04 1.37007228e+02] [-4.82404730e-01 8.75948422e-01 1.96573849e-04 -3.70838925e+01] [ 4.08512448e-04 5.64536065e-07 9.99999917e-01 -2.01043767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33538475 meters 0.057134473193925187 Centerline is valid? [True, True] Translation: X:137.06, Y:-37.12, Z:-2.00 [[ 8.77453443e-01 4.79650758e-01 3.25673930e-03 1.37060374e+02] [-4.79647503e-01 8.77459486e-01 -1.76720504e-03 -3.71173909e+01] [-3.70529803e-03 -1.14467203e-05 9.99993135e-01 -2.00431214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39538475 meters 0.05722181671624289 Centerline is valid? [True, True] Translation: X:137.11, Y:-37.15, Z:-2.01 [[ 8.78692108e-01 4.77388546e-01 5.96849537e-04 1.37113490e+02] [-4.77388438e-01 8.78692311e-01 -3.20456664e-04 -3.71494885e+01] [-6.77429440e-04 -3.34632608e-06 9.99999771e-01 -2.00921170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45538475 meters 0.05734382873915262 Centerline is valid? [True, True] Translation: X:137.17, Y:-37.18, Z:-2.01 [[ 8.78785866e-01 4.77211179e-01 -2.21171803e-03 1.37167190e+02] [-4.77209654e-01 8.78788649e-01 1.20637333e-03 -3.71811654e+01] [ 2.51932754e-03 -4.69063824e-06 9.99996826e-01 -2.01263314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.51538475 meters 0.05690067078036461 Centerline is valid? [True, True] Translation: X:137.22, Y:-37.21, Z:-2.01 [[ 8.78710446e-01 4.77354921e-01 4.80898120e-04 1.37219020e+02] [-4.77354852e-01 8.78710577e-01 -2.58067372e-04 -3.72130851e+01] [-5.45759995e-04 -2.79255503e-06 9.99999851e-01 -2.01053026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57538475 meters 0.05689275151721545 Centerline is valid? [True, True] Translation: X:137.27, Y:-37.24, Z:-2.01 [[ 8.79575673e-01 4.75758931e-01 -2.75068791e-04 1.37272152e+02] [-4.75758906e-01 8.79575716e-01 1.53776343e-04 -3.72447223e+01] [ 3.15104297e-04 -4.39150326e-06 9.99999950e-01 -2.00986933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63538475000001 meters 0.05717469100920207 Centerline is valid? [True, True] Translation: X:137.33, Y:-37.27, Z:-2.02 [[ 8.79244779e-01 4.76343853e-01 -5.01529180e-03 1.37326523e+02] [-4.76335998e-01 8.79259082e-01 2.73566447e-03 -3.72729571e+01] [ 5.71285782e-03 -1.63546792e-05 9.99983681e-01 -2.01685475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69538475000002 meters 0.05686402611703192 Centerline is valid? [True, True] Translation: X:137.38, Y:-37.30, Z:-2.02 [[ 8.78893969e-01 4.76993541e-01 -4.74893617e-03 1.37381161e+02] [-4.76986497e-01 8.78906799e-01 2.59238388e-03 -3.73015988e+01] [ 5.41042266e-03 -1.32521338e-05 9.99985363e-01 -2.01735296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75538475 meters 0.05663350415807468 Centerline is valid? [True, True] Translation: X:137.44, Y:-37.33, Z:-2.02 [[ 8.79060455e-01 4.76704700e-01 -2.31195818e-03 1.37436531e+02] [-4.76703022e-01 8.79063496e-01 1.26458100e-03 -3.73298344e+01] [ 2.63518975e-03 -9.52569678e-06 9.99996528e-01 -2.01628484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81538475 meters 0.056411463552282125 Centerline is valid? [True, True] Translation: X:137.49, Y:-37.36, Z:-2.01 [[ 8.78703986e-01 4.77365001e-01 -1.40049917e-03 1.37491144e+02] [-4.77364383e-01 8.78705102e-01 7.68095082e-04 -3.73587697e+01] [ 1.59728748e-03 -6.37978638e-06 9.99998724e-01 -2.01472027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87538475 meters 0.056416840295293515 Centerline is valid? [True, True] Translation: X:137.55, Y:-37.39, Z:-2.02 [[ 8.77871558e-01 4.78894499e-01 -1.26003076e-03 1.37547289e+02] [-4.78893998e-01 8.77872462e-01 6.92414967e-04 -3.73863887e+01] [ 1.43774002e-03 -4.43023837e-06 9.99998966e-01 -2.01703030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93538475 meters 0.05623464589818626 Centerline is valid? [True, True] Translation: X:137.60, Y:-37.42, Z:-2.02 [[ 8.76730879e-01 4.80980138e-01 -1.03566729e-03 1.37603438e+02] [-4.80979800e-01 8.76731491e-01 5.70414329e-04 -3.74156657e+01] [ 1.18236009e-03 -1.96480792e-06 9.99999301e-01 -2.01605752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99538475 meters 0.05647528986828382 Centerline is valid? [True, True] Translation: X:137.66, Y:-37.44, Z:-2.02 [[ 8.75613780e-01 4.82995804e-01 -3.94476890e-03 1.37657693e+02] [-4.82990973e-01 8.75622666e-01 2.16021836e-03 -3.74428374e+01] [ 4.49750546e-03 1.37708098e-05 9.99989886e-01 -2.01881235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05538475 meters 0.05636239699838822 Centerline is valid? [True, True] Translation: X:137.71, Y:-37.47, Z:-2.02 [[ 8.76990794e-01 4.80481605e-01 -4.95721839e-03 1.37711650e+02] [-4.80473931e-01 8.77004804e-01 2.71552026e-03 -3.74729405e+01] [ 5.65226187e-03 3.27940517e-07 9.99984026e-01 -2.02173807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11538475 meters 0.05632535363859882 Centerline is valid? [True, True] Translation: X:137.77, Y:-37.50, Z:-2.02 [[ 8.76799425e-01 4.80823280e-01 -5.63392903e-03 1.37768537e+02] [-4.80813367e-01 8.76817526e-01 3.08747845e-03 -3.74986626e+01] [ 6.42445923e-03 1.76906009e-06 9.99979363e-01 -2.02495618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17538475 meters 0.05620929617617878 Centerline is valid? [True, True] Translation: X:137.83, Y:-37.53, Z:-2.02 [[ 8.75786234e-01 4.82665991e-01 -5.65797139e-03 1.37825351e+02] [-4.82656014e-01 8.75804510e-01 3.10353798e-03 -3.75265462e+01] [ 6.45324910e-03 1.28180797e-05 9.99979177e-01 -2.02142942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23538475 meters 0.05682042774242505 Centerline is valid? [True, True] Translation: X:137.89, Y:-37.54, Z:-2.03 [[ 8.73545773e-01 4.86703769e-01 -6.10114348e-03 1.37887316e+02] [-4.86692277e-01 8.73567078e-01 3.34490128e-03 -3.75407582e+01] [ 6.95773414e-03 4.74550441e-05 9.99975794e-01 -2.02604836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29538475 meters 0.056066703780759716 Centerline is valid? [True, True] Translation: X:137.94, Y:-37.57, Z:-2.02 [[ 8.74598649e-01 4.84844871e-01 -1.62908517e-03 1.37944644e+02] [-4.84844046e-01 8.74600166e-01 8.94597299e-04 -3.75662929e+01] [ 1.85853907e-03 7.43865463e-06 9.99998273e-01 -2.01605337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35538475 meters 0.05641589405226396 Centerline is valid? [True, True] Translation: X:138.00, Y:-37.58, Z:-2.02 [[ 8.73779228e-01 4.86311521e-01 -3.31144738e-03 1.38004232e+02] [-4.86308119e-01 8.73785502e-01 1.81934652e-03 -3.75848916e+01] [ 3.77826388e-03 2.06765517e-05 9.99992862e-01 -2.02151233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41538475000002 meters 0.05665556495392047 Centerline is valid? [True, True] Translation: X:138.06, Y:-37.61, Z:-2.02 [[ 8.71872451e-01 4.89704423e-01 -5.29216777e-03 1.38063428e+02] [-4.89695796e-01 8.71888510e-01 2.90738473e-03 -3.76063608e+01] [ 6.03793943e-03 5.66836579e-05 9.99981770e-01 -2.02471850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47538475000002 meters 0.05711067377624089 Centerline is valid? [True, True] Translation: X:138.12, Y:-37.63, Z:-2.03 [[ 8.70216128e-01 4.92561819e-01 -1.03317366e-02 1.38119126e+02] [-4.92529157e-01 8.70277445e-01 5.67430344e-03 -3.76338194e+01] [ 1.17864225e-02 1.50811125e-04 9.99930526e-01 -2.02578177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53538475 meters 0.05789433225655402 Centerline is valid? [True, True] Translation: X:138.18, Y:-37.66, Z:-2.03 [[ 8.66864740e-01 4.98424431e-01 -1.08907659e-02 1.38177752e+02] [-4.98388570e-01 8.66933116e-01 5.98372343e-03 -3.76563212e+01] [ 1.24239996e-02 2.40754402e-04 9.99922790e-01 -2.02742084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59538475 meters 0.0588929893573702 Centerline is valid? [True, True] Translation: X:138.24, Y:-37.68, Z:-2.03 [[ 8.63472240e-01 5.04298177e-01 -9.95185048e-03 1.38235149e+02] [-5.04268614e-01 8.63529537e-01 5.46850905e-03 -3.76795094e+01] [ 1.13514760e-02 2.96500086e-04 9.99935526e-01 -2.02690318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65538475 meters 0.060747095987367744 Centerline is valid? [True, True] Translation: X:138.29, Y:-37.70, Z:-2.02 [[ 8.58357200e-01 5.13011345e-01 -6.50208087e-03 1.38293629e+02] [-5.12998940e-01 8.58381785e-01 3.57748469e-03 -3.77011306e+01] [ 7.41655802e-03 2.64800848e-04 9.99972462e-01 -2.02409360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71538475 meters 0.06269853700527665 Centerline is valid? [True, True] Translation: X:138.35, Y:-37.73, Z:-2.02 [[ 8.54859850e-01 5.18846937e-01 -3.53459079e-03 1.38350806e+02] [-5.18843309e-01 8.54867140e-01 1.94757606e-03 -3.77254852e+01] [ 4.03209939e-03 1.68994205e-04 9.99991857e-01 -2.02262968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77538475 meters 0.06215357846887724 Centerline is valid? [True, True] Translation: X:138.40, Y:-37.76, Z:-2.02 [[ 8.55226977e-01 5.18237422e-01 -4.09789510e-03 1.38402317e+02] [-5.18232533e-01 8.55236773e-01 2.25910386e-03 -3.77604419e+01] [ 4.67542274e-03 1.91615997e-04 9.99989052e-01 -2.02289346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83538475 meters 0.061623501241668294 Centerline is valid? [True, True] Translation: X:138.45, Y:-37.80, Z:-2.03 [[ 8.59047656e-01 5.11865397e-01 -5.56242079e-03 1.38451396e+02] [-5.11856257e-01 8.59065638e-01 3.06628353e-03 -3.77966243e+01] [ 6.34800900e-03 2.13076207e-04 9.99979828e-01 -2.02898893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89538475 meters 0.05890496645407788 Centerline is valid? [True, True] Translation: X:138.50, Y:-37.84, Z:-2.03 [[ 8.62709725e-01 5.05676999e-01 -4.76467962e-03 1.38498790e+02] [-5.05670184e-01 8.62722871e-01 2.62910593e-03 -3.78405810e+01] [ 5.44007648e-03 1.41201166e-04 9.99985193e-01 -2.02650218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95538475 meters 0.05825658943337332 Centerline is valid? [True, True] Translation: X:138.55, Y:-37.88, Z:-2.03 [[ 8.64375908e-01 5.02827703e-01 -4.31163533e-03 1.38547427e+02] [-5.02822083e-01 8.64386655e-01 2.38005380e-03 -3.78786117e+01] [ 4.92367702e-03 1.10724287e-04 9.99987872e-01 -2.02551258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01538475 meters 0.05832962933825119 Centerline is valid? [True, True] Translation: X:138.60, Y:-37.92, Z:-2.03 [[ 8.64821067e-01 5.02045707e-01 -5.88476964e-03 1.38598996e+02] [-5.02035206e-01 8.64841077e-01 3.25032557e-03 -3.79159174e+01] [ 6.72120251e-03 1.43411507e-04 9.99977402e-01 -2.02918021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07538475 meters 0.05839555518441313 Centerline is valid? [True, True] Translation: X:138.65, Y:-37.95, Z:-2.03 [[ 8.65013420e-01 5.01718618e-01 -5.49646101e-03 1.38650000e+02] [-5.01709441e-01 8.65030873e-01 3.03730101e-03 -3.79511578e+01] [ 6.27847893e-03 1.30320248e-04 9.99980282e-01 -2.03135980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13538475000001 meters 0.05937639253293144 Centerline is valid? [True, True] Translation: X:138.71, Y:-37.98, Z:-2.03 [[ 8.63672147e-01 5.04042885e-01 -3.34558760e-03 1.38705078e+02] [-5.04039492e-01 8.63678622e-01 1.85157494e-03 -3.79791217e+01] [ 3.82278567e-03 8.71545680e-05 9.99992689e-01 -2.02999072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19538475000002 meters 0.05618526183980836 Centerline is valid? [True, True] Translation: X:138.75, Y:-38.02, Z:-2.02 [[ 8.68036450e-01 4.96499754e-01 8.45860446e-04 1.38754950e+02] [-4.96499538e-01 8.68036862e-01 -4.63208121e-04 -3.80181236e+01] [-9.64220766e-04 -1.78877882e-05 9.99999535e-01 -2.01870294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25538475 meters 0.0568338529351477 Centerline is valid? [True, True] Translation: X:138.81, Y:-38.04, Z:-2.04 [[ 8.68769792e-01 4.95146873e-01 -8.28385445e-03 1.38813417e+02] [-4.95125669e-01 8.68809277e-01 4.58380648e-03 -3.80383876e+01] [ 9.46674704e-03 1.19276380e-04 9.99955182e-01 -2.03546341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31538475 meters 0.05735462750167202 Centerline is valid? [True, True] Translation: X:138.87, Y:-38.06, Z:-2.04 [[ 8.68765924e-01 4.95054142e-01 -1.29292252e-02 1.38870336e+02] [-4.95002506e-01 8.68862107e-01 7.15245211e-03 -3.80608662e+01] [ 1.47745649e-02 1.86192196e-04 9.99890833e-01 -2.04434622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37538475 meters 0.057672073769338916 Centerline is valid? [True, True] Translation: X:138.93, Y:-38.09, Z:-2.04 [[ 8.66706433e-01 4.98600618e-01 -1.47438886e-02 1.38926205e+02] [-4.98533911e-01 8.66831787e-01 8.16049295e-03 -3.80882394e+01] [ 1.68492982e-02 2.77576720e-04 9.99858002e-01 -2.04014620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43538475 meters 0.05878271659046328 Centerline is valid? [True, True] Translation: X:138.99, Y:-38.11, Z:-2.04 [[ 8.62769230e-01 5.05422953e-01 -1.33001786e-02 1.38985311e+02] [-5.05369401e-01 8.62871662e-01 7.36641635e-03 -3.81083884e+01] [ 1.51995031e-02 3.65985933e-04 9.99884414e-01 -2.04043174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49538475 meters 0.059746130601748555 Centerline is valid? [True, True] Translation: X:139.04, Y:-38.13, Z:-2.04 [[ 8.59266713e-01 5.11448740e-01 -8.99454250e-03 1.39042256e+02] [-5.11424531e-01 8.59313730e-01 4.98619077e-03 -3.81333514e+01] [ 1.02793148e-02 3.15561926e-04 9.99947117e-01 -2.03644460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.55538475 meters 0.059965438133757945 Centerline is valid? [True, True] Translation: X:139.10, Y:-38.17, Z:-2.03 [[ 8.57485149e-01 5.14464952e-01 -6.71058915e-03 1.39095249e+02] [-5.14451544e-01 8.57511368e-01 3.72335319e-03 -3.81655138e+01] [ 7.66994120e-03 2.59552883e-04 9.99970552e-01 -2.03066999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61538475 meters 0.05987158338989553 Centerline is valid? [True, True] Translation: X:139.15, Y:-38.20, Z:-2.03 [[ 8.58009891e-01 5.13601562e-01 -5.69757985e-03 1.39147665e+02] [-5.13591862e-01 8.58028782e-01 3.16369742e-03 -3.81975863e+01] [ 6.51356743e-03 2.11746971e-04 9.99978764e-01 -2.03161446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67538475 meters 0.05961703752721608 Centerline is valid? [True, True] Translation: X:139.20, Y:-38.23, Z:-2.04 [[ 8.58855575e-01 5.12140458e-01 -8.90234497e-03 1.39199450e+02] [-5.12116690e-01 8.58901655e-01 4.94392953e-03 -3.82312497e+01] [ 1.01782252e-02 3.12917994e-04 9.99948152e-01 -2.03853165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73538475 meters 0.05941573601985196 Centerline is valid? [True, True] Translation: X:139.25, Y:-38.27, Z:-2.04 [[ 8.59676889e-01 5.10728172e-01 -1.06009756e-02 1.39251510e+02] [-5.10694316e-01 8.59742178e-01 5.89096361e-03 -3.82675779e+01] [ 1.21227870e-02 3.49532727e-04 9.99926455e-01 -2.04033984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79538475 meters 0.05886493518402091 Centerline is valid? [True, True] Translation: X:139.30, Y:-38.30, Z:-2.04 [[ 8.60676911e-01 5.09019572e-01 -1.15900833e-02 1.39302495e+02] [-5.08978912e-01 8.60754872e-01 6.44336537e-03 -3.83038805e+01] [ 1.32560198e-02 3.53452180e-04 9.99912073e-01 -2.04214512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85538475 meters 0.05728847493802584 Centerline is valid? [True, True] Translation: X:139.35, Y:-38.34, Z:-2.04 [[ 8.62787288e-01 5.05453855e-01 -1.07002610e-02 1.39352411e+02] [-5.05418900e-01 8.62853594e-01 5.95065676e-03 -3.83435844e+01] [ 1.22405411e-02 2.73963143e-04 9.99925044e-01 -2.03899403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91538475000002 meters 0.05690621755945934 Centerline is valid? [True, True] Translation: X:139.40, Y:-38.38, Z:-2.04 [[ 8.63190965e-01 5.04774145e-01 -1.02186704e-02 1.39404638e+02] [-5.04742166e-01 8.63251412e-01 5.68728141e-03 -3.83766877e+01] [ 1.16920742e-02 2.48583881e-04 9.99931614e-01 -2.03687955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97538475000002 meters 0.0564792748271428 Centerline is valid? [True, True] Translation: X:139.46, Y:-38.41, Z:-2.04 [[ 8.64097284e-01 5.03170796e-01 -1.24512699e-02 1.39457870e+02] [-5.03123101e-01 8.64186945e-01 6.93327745e-03 -3.84086142e+01] [ 1.42488476e-02 2.73495298e-04 9.99898443e-01 -2.03962288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03538475 meters 0.056895458122794285 Centerline is valid? [True, True] Translation: X:139.51, Y:-38.44, Z:-2.05 [[ 8.64346413e-01 5.02734045e-01 -1.27968354e-02 1.39512530e+02] [-5.02683549e-01 8.64441095e-01 7.13034749e-03 -3.84370968e+01] [ 1.46467789e-02 2.69668383e-04 9.99892694e-01 -2.04559111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09538475 meters 0.05701051462766747 Centerline is valid? [True, True] Translation: X:139.57, Y:-38.47, Z:-2.05 [[ 8.63808679e-01 5.03616355e-01 -1.43224668e-02 1.39565704e+02] [-5.03553163e-01 8.63927351e-01 7.98402415e-03 -3.84684621e+01] [ 1.63944559e-02 3.15454098e-04 9.99865552e-01 -2.04649790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15538475 meters 0.05693289786093056 Centerline is valid? [True, True] Translation: X:139.62, Y:-38.50, Z:-2.05 [[ 8.63780027e-01 5.03641773e-01 -1.51337012e-02 1.39619003e+02] [-5.03571142e-01 8.63912528e-01 8.44093177e-03 -3.84998257e+01] [ 1.73253999e-02 3.29786939e-04 9.99849850e-01 -2.04775233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21538475 meters 0.05622868188029502 Centerline is valid? [True, True] Translation: X:139.67, Y:-38.53, Z:-2.05 [[ 8.64534459e-01 5.02333625e-01 -1.55273401e-02 1.39671333e+02] [-5.02258970e-01 8.64673831e-01 8.66557329e-03 -3.85329936e+01] [ 1.77790935e-02 3.07059155e-04 9.99841892e-01 -2.04605894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27538475 meters 0.05558129198646366 Centerline is valid? [True, True] Translation: X:139.72, Y:-38.57, Z:-2.04 [[ 8.65498912e-01 5.00694241e-01 -1.47278939e-02 1.39724062e+02] [-5.00626751e-01 8.65624175e-01 8.22461631e-03 -3.85663237e+01] [ 1.68668390e-02 2.54781176e-04 9.99857712e-01 -2.04398975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33538475 meters 0.0552054847955233 Centerline is valid? [True, True] Translation: X:139.78, Y:-38.60, Z:-2.04 [[ 8.66148514e-01 4.99633372e-01 -1.23792170e-02 1.39777603e+02] [-4.99585566e-01 8.66236951e-01 6.91423986e-03 -3.85987662e+01] [ 1.41779202e-02 1.95719556e-04 9.99899469e-01 -2.04190674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39538475 meters 0.055339978259586094 Centerline is valid? [True, True] Translation: X:139.83, Y:-38.63, Z:-2.05 [[ 8.66657320e-01 4.98787022e-01 -1.07979700e-02 1.39830871e+02] [-4.98750521e-01 8.66724572e-01 6.03613470e-03 -3.86290191e+01] [ 1.23696116e-02 1.54232852e-04 9.99923482e-01 -2.04526735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45538475 meters 0.05480421386091304 Centerline is valid? [True, True] Translation: X:139.88, Y:-38.67, Z:-2.05 [[ 8.67383437e-01 4.97475770e-01 -1.27996712e-02 1.39881855e+02] [-4.97424283e-01 8.67477858e-01 7.15888603e-03 -3.86651532e+01] [ 1.46648037e-02 1.57368076e-04 9.99892454e-01 -2.04557921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.51538475 meters 0.054827660063660785 Centerline is valid? [True, True] Translation: X:139.93, Y:-38.70, Z:-2.05 [[ 8.68101780e-01 4.96208944e-01 -1.32658717e-02 1.39934121e+02] [-4.96153418e-01 8.68203125e-01 7.42433561e-03 -3.86984429e+01] [ 1.52014930e-02 1.36828614e-04 9.99884441e-01 -2.04929350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57538475 meters 0.054487261906462026 Centerline is valid? [True, True] Translation: X:139.99, Y:-38.73, Z:-2.05 [[ 8.68272965e-01 4.95910740e-01 -1.32134683e-02 1.39986252e+02] [-4.95855533e-01 8.68373492e-01 7.40056196e-03 -3.87335211e+01] [ 1.51442437e-02 1.26263464e-04 9.99885311e-01 -2.04726165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63538475000001 meters 0.05460381796724347 Centerline is valid? [True, True] Translation: X:140.04, Y:-38.77, Z:-2.05 [[ 8.68578450e-01 4.95314415e-01 -1.53331594e-02 1.40037430e+02] [-4.95239926e-01 8.68713769e-01 8.59082913e-03 -3.87668466e+01] [ 1.75752882e-02 1.31783675e-04 9.99845534e-01 -2.04880375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69538475000002 meters 0.05469554131537753 Centerline is valid? [True, True] Translation: X:140.09, Y:-38.80, Z:-2.05 [[ 8.69591203e-01 4.93496957e-01 -1.64892035e-02 1.40090002e+02] [-4.93410384e-01 8.69747518e-01 9.24384159e-03 -3.87989493e+01] [ 1.89032515e-02 9.75808868e-05 9.99821313e-01 -2.05171643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75538475 meters 0.05396093130013541 Centerline is valid? [True, True] Translation: X:140.14, Y:-38.83, Z:-2.05 [[ 8.70324337e-01 4.92291831e-01 -1.35757614e-02 1.40143665e+02] [-4.92232910e-01 8.70430210e-01 7.61659365e-03 -3.88313566e+01] [ 1.55663397e-02 5.35297190e-05 9.99878836e-01 -2.04684981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81538475 meters 0.05361900884108273 Centerline is valid? [True, True] Translation: X:140.20, Y:-38.86, Z:-2.04 [[ 8.70691022e-01 4.91742714e-01 -9.28697986e-03 1.40195400e+02] [-4.91715099e-01 8.70740549e-01 5.21134464e-03 -3.88637579e+01] [ 1.06491907e-02 2.90772343e-05 9.99943295e-01 -2.04304364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87538475 meters 0.05358801039610817 Centerline is valid? [True, True] Translation: X:140.25, Y:-38.89, Z:-2.04 [[ 8.70853525e-01 4.91468004e-01 -8.56383660e-03 1.40247676e+02] [-4.91444468e-01 8.70895631e-01 4.80987457e-03 -3.88947593e+01] [ 9.82210734e-03 1.99539008e-05 9.99951762e-01 -2.04341992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93538475 meters 0.05413985217560234 Centerline is valid? [True, True] Translation: X:140.30, Y:-38.92, Z:-2.05 [[ 8.70527692e-01 4.91955014e-01 -1.27201268e-02 1.40301292e+02] [-4.91903108e-01 8.70620620e-01 7.14627734e-03 -3.89245806e+01] [ 1.45900517e-02 3.60375934e-05 9.99893559e-01 -2.04910276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99538475 meters 0.05417374878284385 Centerline is valid? [True, True] Translation: X:140.35, Y:-38.96, Z:-2.05 [[ 8.71104953e-01 4.90890466e-01 -1.42376843e-02 1.40353615e+02] [-4.90825217e-01 8.71221298e-01 8.00350480e-03 -3.89576811e+01] [ 1.63330180e-02 1.63218317e-05 9.99866607e-01 -2.04976188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05538475 meters 0.05446473365735877 Centerline is valid? [True, True] Translation: X:140.41, Y:-38.99, Z:-2.05 [[ 8.71062839e-01 4.90906345e-01 -1.61397497e-02 1.40407060e+02] [-4.90822411e-01 8.71212351e-01 9.07746242e-03 -3.89887776e+01] [ 1.85173332e-02 1.47106814e-05 9.99828539e-01 -2.05273088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11538475 meters 0.0544430991353865 Centerline is valid? [True, True] Translation: X:140.46, Y:-39.02, Z:-2.05 [[ 8.70997866e-01 4.91023955e-01 -1.60684128e-02 1.40460847e+02] [-4.90940659e-01 8.71146070e-01 9.04398142e-03 -3.90202816e+01] [ 1.84387462e-02 1.13486541e-05 9.99829992e-01 -2.05482477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17538475 meters 0.05401083228702137 Centerline is valid? [True, True] Translation: X:140.51, Y:-39.05, Z:-2.05 [[ 8.71874020e-01 4.89603475e-01 -1.11413615e-02 1.40513703e+02] [-4.89563261e-01 8.71945203e-01 6.27508345e-03 -3.90527106e+01] [ 1.27869594e-02 -1.66809799e-05 9.99918243e-01 -2.05025492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23538475 meters 0.053615010501993354 Centerline is valid? [True, True] Translation: X:140.57, Y:-39.09, Z:-2.04 [[ 8.73162464e-01 4.87353637e-01 -8.58746620e-03 1.40565707e+02] [-4.87329601e-01 8.73204690e-01 4.84041773e-03 -3.90868306e+01] [ 9.85761095e-03 -4.15445925e-05 9.99951412e-01 -2.04480541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29538475 meters 0.05384382904248651 Centerline is valid? [True, True] Translation: X:140.62, Y:-39.12, Z:-2.05 [[ 8.73289855e-01 4.87076699e-01 -1.10054251e-02 1.40621334e+02] [-4.87037155e-01 8.73359196e-01 6.20679717e-03 -3.91155464e+01] [ 1.26348755e-02 -6.02820867e-05 9.99920175e-01 -2.04917921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35538475 meters 0.054485228402394184 Centerline is valid? [True, True] Translation: X:140.68, Y:-39.14, Z:-2.05 [[ 8.71727812e-01 4.89777018e-01 -1.44600863e-02 1.40678495e+02] [-4.89709054e-01 8.71847734e-01 8.15911746e-03 -3.91414043e+01] [ 1.66031417e-02 -3.12944487e-05 9.99862158e-01 -2.05308564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41538475000002 meters 0.054285672065478977 Centerline is valid? [True, True] Translation: X:140.73, Y:-39.17, Z:-2.05 [[ 8.69752589e-01 4.93308509e-01 -1.33097606e-02 1.40733782e+02] [-4.93251255e-01 8.69854421e-01 7.51565776e-03 -3.91702130e+01] [ 1.52850920e-02 2.82933165e-05 9.99883176e-01 -2.05295852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47538475000002 meters 0.05431990159513948 Centerline is valid? [True, True] Translation: X:140.79, Y:-39.19, Z:-2.05 [[ 8.68383916e-01 4.95759734e-01 -1.14743742e-02 1.40791209e+02] [-4.95717346e-01 8.68459719e-01 6.48301769e-03 -3.91947126e+01] [ 1.31790509e-02 5.82980366e-05 9.99913151e-01 -2.05360631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53538475 meters 0.054614697738249667 Centerline is valid? [True, True] Translation: X:140.85, Y:-39.22, Z:-2.06 [[ 8.67320773e-01 4.97563965e-01 -1.35933099e-02 1.40847648e+02] [-4.97504630e-01 8.67427283e-01 7.68451228e-03 -3.92215060e+01] [ 1.56147442e-02 9.77974682e-05 9.99878078e-01 -2.05696857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59538475 meters 0.054612387212766476 Centerline is valid? [True, True] Translation: X:140.90, Y:-39.25, Z:-2.06 [[ 8.66910439e-01 4.98336948e-01 -1.12505924e-02 1.40902023e+02] [-4.98296378e-01 8.66983435e-01 6.35941459e-03 -3.92524990e+01] [ 1.29232085e-02 9.30865304e-05 9.99916488e-01 -2.05538373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65538475 meters 0.05427959826229637 Centerline is valid? [True, True] Translation: X:140.95, Y:-39.29, Z:-2.06 [[ 8.68850936e-01 4.94971211e-01 -1.00772949e-02 1.40952411e+02] [-4.94938372e-01 8.68909374e-01 5.70161502e-03 -3.92869402e+01] [ 1.15783913e-02 3.37863820e-05 9.99932968e-01 -2.05592572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71538475 meters 0.05405884283468454 Centerline is valid? [True, True] Translation: X:141.00, Y:-39.33, Z:-2.05 [[ 8.74745340e-01 4.84498315e-01 -9.05390779e-03 1.40999510e+02] [-4.84471191e-01 8.74792188e-01 5.12758188e-03 -3.93307577e+01] [ 1.04045926e-02 -9.89708614e-05 9.99945866e-01 -2.04972734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77538475 meters 0.055306806107207444 Centerline is valid? [True, True] Translation: X:141.05, Y:-39.37, Z:-2.06 [[ 8.77468799e-01 4.79518277e-01 -1.05228301e-02 1.41050516e+02] [-4.79481246e-01 8.77531873e-01 5.96213262e-03 -3.93663019e+01] [ 1.20930703e-02 -1.86085680e-04 9.99926859e-01 -2.05837209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83538475 meters 0.05489061899462405 Centerline is valid? [True, True] Translation: X:141.11, Y:-39.40, Z:-2.06 [[ 8.77374537e-01 4.79716326e-01 -9.28267751e-03 1.41105176e+02] [-4.79687488e-01 8.77423626e-01 5.26254160e-03 -3.93953162e+01] [ 1.06693677e-02 -1.64435750e-04 9.99943067e-01 -2.05733929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89538475 meters 0.054395351090972606 Centerline is valid? [True, True] Translation: X:141.16, Y:-39.42, Z:-2.06 [[ 8.75680755e-01 4.82797813e-01 -9.45979737e-03 1.41161063e+02] [-4.82768009e-01 8.75731839e-01 5.36607359e-03 -3.94233084e+01] [ 1.08749743e-02 -1.32079829e-04 9.99940857e-01 -2.05526623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95538475 meters 0.05439340553559249 Centerline is valid? [True, True] Translation: X:141.22, Y:-39.45, Z:-2.06 [[ 8.73441807e-01 4.86775625e-01 -1.22024702e-02 1.41217983e+02] [-4.86726405e-01 8.73527034e-01 6.92296517e-03 -3.94455731e+01] [ 1.40291183e-02 -1.07542774e-04 9.99901581e-01 -2.06034379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01538475 meters 0.054080401542584706 Centerline is valid? [True, True] Translation: X:141.28, Y:-39.47, Z:-2.06 [[ 8.72060615e-01 4.89280201e-01 -1.07316945e-02 1.41275631e+02] [-4.89242260e-01 8.72126643e-01 6.09337720e-03 -3.94702995e+01] [ 1.23407655e-02 -6.33957967e-05 9.99923848e-01 -2.05907795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07538475 meters 0.05398673460046454 Centerline is valid? [True, True] Translation: X:141.33, Y:-39.49, Z:-2.06 [[ 8.69306544e-01 4.94187017e-01 -9.23713478e-03 1.41333506e+02] [-4.94159147e-01 8.69355619e-01 5.24837810e-03 -3.94940854e+01] [ 1.06240353e-02 2.16521658e-06 9.99943563e-01 -2.05867656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13538475000001 meters 0.054383307997062674 Centerline is valid? [True, True] Translation: X:141.39, Y:-39.52, Z:-2.06 [[ 8.65621825e-01 5.00605572e-01 -9.63939016e-03 1.41391840e+02] [-5.00575621e-01 8.65675490e-01 5.47661024e-03 -3.95162230e+01] [ 1.10862054e-02 8.45703719e-05 9.99938543e-01 -2.05999612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19538475000002 meters 0.05515763600849402 Centerline is valid? [True, True] Translation: X:141.45, Y:-39.54, Z:-2.06 [[ 8.63521453e-01 5.04233178e-01 -8.92201407e-03 1.41449022e+02] [-5.04207658e-01 8.63567536e-01 5.07438766e-03 -3.95413618e+01] [ 1.02634363e-02 1.16705212e-04 9.99947323e-01 -2.06231255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25538475 meters 0.055289690525807816 Centerline is valid? [True, True] Translation: X:141.50, Y:-39.57, Z:-2.06 [[ 8.63293826e-01 5.04599505e-01 -1.01543236e-02 1.41503958e+02] [-5.04566446e-01 8.63353532e-01 5.77757748e-03 -3.95699654e+01] [ 1.16821339e-02 1.35783989e-04 9.99931752e-01 -2.06462258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31538475 meters 0.05491445316832681 Centerline is valid? [True, True] Translation: X:141.56, Y:-39.60, Z:-2.06 [[ 8.63897146e-01 5.03584121e-01 -9.20620786e-03 1.41556571e+02] [-5.03556849e-01 8.63946192e-01 5.24189468e-03 -3.96037227e+01] [ 1.05934031e-02 1.07391174e-04 9.99943883e-01 -2.06184381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37538475 meters 0.05455998631223557 Centerline is valid? [True, True] Translation: X:141.61, Y:-39.64, Z:-2.06 [[ 8.65627602e-01 5.00613361e-01 -8.66704206e-03 1.41607582e+02] [-5.00589010e-01 8.65670988e-01 4.93802978e-03 -3.96394466e+01] [ 9.97485054e-03 6.41311258e-05 9.99950248e-01 -2.06126376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43538475 meters 0.054472665485870216 Centerline is valid? [True, True] Translation: X:141.66, Y:-39.68, Z:-2.06 [[ 8.66150993e-01 4.99732606e-01 -7.05550317e-03 1.41660831e+02] [-4.99716392e-01 8.66179728e-01 4.02570577e-03 -3.96758185e+01] [ 8.12311025e-03 3.88815354e-05 9.99967006e-01 -2.06108002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49538475 meters 0.05437511192073453 Centerline is valid? [True, True] Translation: X:141.71, Y:-39.71, Z:-2.06 [[ 8.65899847e-01 5.00177945e-01 -6.28314240e-03 1.41712530e+02] [-5.00165096e-01 8.65922642e-01 3.58548292e-03 -3.97083805e+01] [ 7.23409474e-03 3.79394076e-05 9.99973833e-01 -2.06320281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55538475 meters 0.0542869752564462 Centerline is valid? [True, True] Translation: X:141.76, Y:-39.75, Z:-2.06 [[ 8.66809386e-01 4.98600606e-01 -6.23897209e-03 1.41762350e+02] [-4.98587878e-01 8.66831838e-01 3.56271272e-03 -3.97471915e+01] [ 7.18451036e-03 2.24830289e-05 9.99974191e-01 -2.06241394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61538475 meters 0.05395230408970174 Centerline is valid? [True, True] Translation: X:141.81, Y:-39.79, Z:-2.06 [[ 8.73573343e-01 4.86684840e-01 -2.73510911e-03 1.41807600e+02] [-4.86682325e-01 8.73577624e-01 1.56499525e-03 -3.97928030e+01] [ 3.15098958e-03 -3.60088727e-05 9.99995035e-01 -2.05604996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67538475 meters 0.05486377774626088 Centerline is valid? [True, True] Translation: X:141.86, Y:-39.82, Z:-2.07 [[ 8.73940971e-01 4.85975340e-01 -7.42613670e-03 1.41862095e+02] [-4.85956816e-01 8.73972516e-01 4.24432731e-03 -3.98199135e+01] [ 8.55287778e-03 -1.00509790e-04 9.99963418e-01 -2.06838973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73538475 meters 0.05470216857725482 Centerline is valid? [True, True] Translation: X:141.92, Y:-39.85, Z:-2.07 [[ 8.72774609e-01 4.88037873e-01 -9.13870071e-03 1.41917891e+02] [-4.88009907e-01 8.72822447e-01 5.22553991e-03 -3.98478056e+01] [ 1.05267245e-02 -1.00942069e-04 9.99944587e-01 -2.06895814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79538475 meters 0.05473417526711532 Centerline is valid? [True, True] Translation: X:141.97, Y:-39.87, Z:-2.07 [[ 8.71104770e-01 4.91023130e-01 -8.53029666e-03 1.41972525e+02] [-4.90998882e-01 8.71146533e-01 4.88015228e-03 -3.98748932e+01] [ 9.82740601e-03 -6.27578017e-05 9.99951708e-01 -2.07112867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85538475 meters 0.054457337961284887 Centerline is valid? [True, True] Translation: X:142.03, Y:-39.90, Z:-2.07 [[ 8.70205681e-01 4.92641293e-01 -6.82855818e-03 1.42029849e+02] [-4.92625810e-01 8.70232472e-01 3.90591061e-03 -3.99009717e+01] [ 7.86664592e-03 -3.50216028e-05 9.99969057e-01 -2.06927829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91538475000002 meters 0.05458287284136833 Centerline is valid? [True, True] Translation: X:142.09, Y:-39.93, Z:-2.07 [[ 8.68379990e-01 4.95850915e-01 -6.93274469e-03 1.42085804e+02] [-4.95835017e-01 8.68407664e-01 3.97061301e-03 -3.99274020e+01] [ 7.98928071e-03 -1.05033068e-05 9.99968085e-01 -2.07291704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97538475000002 meters 0.05484731597653567 Centerline is valid? [True, True] Translation: X:142.14, Y:-39.95, Z:-2.07 [[ 8.66113633e-01 4.99774633e-01 -8.51417200e-03 1.42142862e+02] [-4.99750830e-01 8.66155480e-01 4.87780924e-03 -3.99528814e+01] [ 9.81240206e-03 3.02274411e-05 9.99951857e-01 -2.07301939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03538475 meters 0.05533827396353178 Centerline is valid? [True, True] Translation: X:142.20, Y:-39.98, Z:-2.08 [[ 8.63458148e-01 5.04338235e-01 -9.10891543e-03 1.42200035e+02] [-5.04311216e-01 8.63506189e-01 5.22111374e-03 -3.99771231e+01] [ 1.04988121e-02 8.55150146e-05 9.99944882e-01 -2.07592889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09538475 meters 0.05611636462243302 Centerline is valid? [True, True] Translation: X:142.26, Y:-40.00, Z:-2.08 [[ 8.61248187e-01 5.08080587e-01 -1.02799306e-02 1.42256204e+02] [-5.08046415e-01 8.61309524e-01 5.89449856e-03 -4.00023816e+01] [ 1.18490824e-02 1.46055683e-04 9.99929786e-01 -2.07860424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15538475 meters 0.05655438747718337 Centerline is valid? [True, True] Translation: X:142.31, Y:-40.03, Z:-2.08 [[ 8.58588846e-01 5.12572947e-01 -9.70395689e-03 1.42312971e+02] [-5.12542744e-01 8.58643661e-01 5.56765171e-03 -4.00270471e+01] [ 1.11860687e-02 1.93369037e-04 9.99937415e-01 -2.07724485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21538475 meters 0.056204865627233674 Centerline is valid? [True, True] Translation: X:142.37, Y:-40.06, Z:-2.07 [[ 8.59112124e-01 5.11728374e-01 -7.77366074e-03 1.42365939e+02] [-5.11708926e-01 8.59147281e-01 4.46370542e-03 -4.00590095e+01] [ 8.96292420e-03 1.43028147e-04 9.99959822e-01 -2.07462255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27538475 meters 0.0563941855456477 Centerline is valid? [True, True] Translation: X:142.42, Y:-40.09, Z:-2.08 [[ 8.58258555e-01 5.13164675e-01 -7.36674256e-03 1.42420405e+02] [-5.13147240e-01 8.58290158e-01 4.23262867e-03 -4.00891127e+01] [ 8.49483815e-03 1.47533843e-04 9.99963907e-01 -2.07654492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33538475 meters 0.056290029551726344 Centerline is valid? [True, True] Translation: X:142.47, Y:-40.12, Z:-2.08 [[ 8.59535151e-01 5.11024017e-01 -7.33329227e-03 1.42471686e+02] [-5.11006643e-01 8.59566425e-01 4.21577708e-03 -4.01246182e+01] [ 8.45781515e-03 1.23752474e-04 9.99964224e-01 -2.07734420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39538475 meters 0.05544057805000268 Centerline is valid? [True, True] Translation: X:142.52, Y:-40.16, Z:-2.08 [[ 8.61389942e-01 5.07879900e-01 -8.08549797e-03 1.42521415e+02] [-5.07858645e-01 8.61427882e-01 4.64759999e-03 -4.01637268e+01] [ 9.32549601e-03 1.02894159e-04 9.99956511e-01 -2.07646023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45538475 meters 0.05555867540906889 Centerline is valid? [True, True] Translation: X:142.57, Y:-40.20, Z:-2.08 [[ 8.62691484e-01 5.05647329e-01 -9.17511726e-03 1.42573303e+02] [-5.05619779e-01 8.62740269e-01 5.27897069e-03 -4.01977395e+01] [ 1.05850406e-02 8.49977077e-05 9.99943973e-01 -2.08177373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51538475 meters 0.055698017234243856 Centerline is valid? [True, True] Translation: X:142.62, Y:-40.23, Z:-2.08 [[ 8.63910857e-01 5.03523170e-01 -1.10656550e-02 1.42622539e+02] [-5.03482912e-01 8.63981720e-01 6.36753185e-03 -4.02336692e+01] [ 1.27667234e-02 7.03882797e-05 9.99918500e-01 -2.08396832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57538475 meters 0.055441053413678075 Centerline is valid? [True, True] Translation: X:142.67, Y:-40.27, Z:-2.08 [[ 8.64488148e-01 5.02563169e-01 -9.51327987e-03 1.42673568e+02] [-5.02533309e-01 8.64540490e-01 5.47854108e-03 -4.02694120e+01] [ 1.09779286e-02 4.46061841e-05 9.99939740e-01 -2.08314101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63538475000001 meters 0.05515354939019517 Centerline is valid? [True, True] Translation: X:142.73, Y:-40.30, Z:-2.08 [[ 8.64402930e-01 5.02740892e-01 -7.69214414e-03 1.42725979e+02] [-5.02721350e-01 8.64437154e-01 4.43289381e-03 -4.03014928e+01] [ 8.87797218e-03 3.51986862e-05 9.99960589e-01 -2.08283464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69538475000002 meters 0.055362710860716376 Centerline is valid? [True, True] Translation: X:142.78, Y:-40.33, Z:-2.09 [[ 8.65061987e-01 5.01578136e-01 -9.33444630e-03 1.42778823e+02] [-5.01549266e-01 8.65112347e-01 5.38158434e-03 -4.03339868e+01] [ 1.07746298e-02 2.62806472e-05 9.99941952e-01 -2.08692163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75538475 meters 0.05550939617971544 Centerline is valid? [True, True] Translation: X:142.83, Y:-40.36, Z:-2.09 [[ 8.64723259e-01 5.02152797e-01 -9.81090174e-03 1.42831487e+02] [-5.02120945e-01 8.64778912e-01 5.65592842e-03 -4.03643426e+01] [ 1.13244012e-02 3.54463940e-05 9.99935876e-01 -2.09016718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81538475 meters 0.05510611787355647 Centerline is valid? [True, True] Translation: X:142.89, Y:-40.40, Z:-2.09 [[ 8.64907343e-01 5.01859974e-01 -8.47676697e-03 1.42885433e+02] [-5.01836132e-01 8.64948881e-01 4.89187749e-03 -4.03950123e+01] [ 9.78700761e-03 2.29271907e-05 9.99952106e-01 -2.08599632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87538475 meters 0.0549578128708074 Centerline is valid? [True, True] Translation: X:142.94, Y:-40.43, Z:-2.09 [[ 8.65168674e-01 5.01412374e-01 -8.29441392e-03 1.42939252e+02] [-5.01389488e-01 8.65208432e-01 4.79058648e-03 -4.04268500e+01] [ 9.57845620e-03 1.40665969e-05 9.99954125e-01 -2.08537333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93538475 meters 0.055235063533254136 Centerline is valid? [True, True] Translation: X:142.99, Y:-40.46, Z:-2.09 [[ 8.64982598e-01 5.01709511e-01 -9.62659074e-03 1.42991143e+02] [-5.01678693e-01 8.65036165e-01 5.56079254e-03 -4.04581465e+01] [ 1.11172516e-02 1.94666836e-05 9.99938201e-01 -2.08698728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99538475 meters 0.05515204399757725 Centerline is valid? [True, True] Translation: X:143.05, Y:-40.49, Z:-2.09 [[ 8.64795655e-01 5.02056620e-01 -8.22346104e-03 1.43045417e+02] [-5.02034138e-01 8.64834753e-01 4.75129026e-03 -4.04892988e+01] [ 9.49735163e-03 1.95629979e-05 9.99954899e-01 -2.08735836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05538475 meters 0.055158396794010786 Centerline is valid? [True, True] Translation: X:143.10, Y:-40.52, Z:-2.09 [[ 8.65047829e-01 5.01603974e-01 -9.25783580e-03 1.43100036e+02] [-5.01575408e-01 8.65097366e-01 5.35319503e-03 -4.05186137e+01] [ 1.06941133e-02 1.27330303e-05 9.99942816e-01 -2.08994162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11538475 meters 0.055362186063316866 Centerline is valid? [True, True] Translation: X:143.15, Y:-40.55, Z:-2.09 [[ 8.64862819e-01 5.01880790e-01 -1.13127165e-02 1.43153622e+02] [-5.01838120e-01 8.64936803e-01 6.54436322e-03 -4.05493724e+01] [ 1.30692750e-02 1.71759593e-05 9.99914593e-01 -2.09248956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17538475 meters 0.05515103190446248 Centerline is valid? [True, True] Translation: X:143.21, Y:-40.58, Z:-2.09 [[ 8.65142291e-01 5.01437621e-01 -9.44078210e-03 1.43205822e+02] [-5.01407831e-01 8.65193800e-01 5.46580124e-03 -4.05831184e+01] [ 1.09088645e-02 4.98626645e-06 9.99940497e-01 -2.09162216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23538475 meters 0.055039257084497674 Centerline is valid? [True, True] Translation: X:143.26, Y:-40.61, Z:-2.09 [[ 8.65583393e-01 5.00697042e-01 -8.23788435e-03 1.43259876e+02] [-5.00674298e-01 8.65622592e-01 4.77228919e-03 -4.06141107e+01] [ 9.52036988e-03 -6.31729988e-06 9.99954680e-01 -2.09286407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29538475 meters 0.05507538627770571 Centerline is valid? [True, True] Translation: X:143.31, Y:-40.65, Z:-2.10 [[ 8.65091460e-01 5.01539354e-01 -8.66269241e-03 1.43314897e+02] [-5.01514211e-01 8.65134831e-01 5.02191331e-03 -4.06451859e+01] [ 1.00130841e-02 4.90344536e-08 9.99949868e-01 -2.09506970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35538475 meters 0.055171420095164965 Centerline is valid? [True, True] Translation: X:143.37, Y:-40.68, Z:-2.09 [[ 8.65331613e-01 5.01081560e-01 -1.08843463e-02 1.43366633e+02] [-5.01041803e-01 8.65400064e-01 6.31201197e-03 -4.06788874e+01] [ 1.25821468e-02 -8.47098958e-06 9.99920842e-01 -2.09442896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41538475000002 meters 0.054668922569278085 Centerline is valid? [True, True] Translation: X:143.42, Y:-40.71, Z:-2.09 [[ 8.67884389e-01 4.96719183e-01 -6.83667992e-03 1.43417064e+02] [-4.96703337e-01 8.67911315e-01 3.96788907e-03 -4.07134188e+01] [ 7.90455847e-03 -4.78672536e-05 9.99968757e-01 -2.09309366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47538475000002 meters 0.054815137653928064 Centerline is valid? [True, True] Translation: X:143.47, Y:-40.75, Z:-2.09 [[ 8.70251164e-01 4.92588268e-01 -4.43959879e-03 1.43468527e+02] [-4.92581517e-01 8.70262486e-01 2.57961363e-03 -4.07488639e+01] [ 5.13430369e-03 -5.80474576e-05 9.99986818e-01 -2.09199817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53538475 meters 0.0550696361075892 Centerline is valid? [True, True] Translation: X:143.52, Y:-40.78, Z:-2.10 [[ 8.70928189e-01 4.91352655e-01 -7.52714552e-03 1.43522564e+02] [-4.91333197e-01 8.70960708e-01 4.37424243e-03 -4.07803899e+01] [ 8.70514363e-03 -1.11314559e-04 9.99962103e-01 -2.09762863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59538475 meters 0.05487961179512602 Centerline is valid? [True, True] Translation: X:143.58, Y:-40.81, Z:-2.10 [[ 8.69399357e-01 4.94044221e-01 -8.06627208e-03 1.43578187e+02] [-4.94021974e-01 8.69436771e-01 4.68936517e-03 -4.08087423e+01] [ 9.32986731e-03 -9.20154073e-05 9.99956472e-01 -2.09884535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65538475 meters 0.05464564254349201 Centerline is valid? [True, True] Translation: X:143.63, Y:-40.84, Z:-2.10 [[ 8.67549971e-01 4.97302690e-01 -6.86166948e-03 1.43632977e+02] [-4.97286671e-01 8.67577105e-01 3.99176607e-03 -4.08364201e+01] [ 7.93814334e-03 -5.08397615e-05 9.99968491e-01 -2.10092971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71538475 meters 0.05462526744048499 Centerline is valid? [True, True] Translation: X:143.69, Y:-40.86, Z:-2.10 [[ 8.65816768e-01 5.00314929e-01 -6.80415372e-03 1.43688590e+02] [-5.00299254e-01 8.65843503e-01 3.96043368e-03 -4.08636202e+01] [ 7.87279639e-03 -2.48968541e-05 9.99969009e-01 -2.10171821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77538475 meters 0.05451677762113628 Centerline is valid? [True, True] Translation: X:143.74, Y:-40.89, Z:-2.10 [[ 8.65085842e-01 5.01583001e-01 -6.40151712e-03 1.43743123e+02] [-5.01569164e-01 8.65109526e-01 3.72573972e-03 -4.08944211e+01] [ 7.40678116e-03 -1.22810894e-05 9.99972569e-01 -2.09882219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83538475 meters 0.054953079177057246 Centerline is valid? [True, True] Translation: X:143.80, Y:-40.92, Z:-2.11 [[ 8.63983100e-01 5.03421118e-01 -1.00190029e-02 1.43798116e+02] [-5.03387305e-01 8.64041190e-01 5.83466054e-03 -4.09214518e+01] [ 1.15941225e-02 2.39074846e-06 9.99932786e-01 -2.10591926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89538475 meters 0.05460894677362941 Centerline is valid? [True, True] Translation: X:143.85, Y:-40.95, Z:-2.10 [[ 8.63823550e-01 5.03747000e-01 -6.91620992e-03 1.43853182e+02] [-5.03730868e-01 8.63851237e-01 4.03149139e-03 -4.09505920e+01] [ 8.00542819e-03 1.41122381e-06 9.99967956e-01 -2.10429402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95538475 meters 0.054428740489542646 Centerline is valid? [True, True] Translation: X:143.91, Y:-40.98, Z:-2.10 [[ 8.63324820e-01 5.04630821e-01 -4.24144651e-03 1.43907375e+02] [-5.04624761e-01 8.63335239e-01 2.47299220e-03 -4.09787510e+01] [ 4.90973832e-03 5.34338302e-06 9.99987947e-01 -2.10127261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01538475 meters 0.054803093006721974 Centerline is valid? [True, True] Translation: X:143.96, Y:-41.00, Z:-2.10 [[ 8.59663335e-01 5.10841785e-01 -4.42963751e-03 1.43963558e+02] [-5.10835245e-01 8.59674746e-01 2.58524613e-03 -4.10028460e+01] [ 5.12869925e-03 4.03736541e-05 9.99986847e-01 -2.10249460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07538475 meters 0.05488800332015216 Centerline is valid? [True, True] Translation: X:144.02, Y:-41.03, Z:-2.10 [[ 8.58467151e-01 5.12853757e-01 -3.89545672e-03 1.44019466e+02] [-5.12848706e-01 8.58475988e-01 2.27645221e-03 -4.10321959e+01] [ 4.51164312e-03 4.35204951e-05 9.99989822e-01 -2.10219492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13538475000001 meters 0.055152191252869735 Centerline is valid? [True, True] Translation: X:144.07, Y:-41.06, Z:-2.11 [[ 8.57120466e-01 5.15090179e-01 -5.15881987e-03 1.44074937e+02] [-5.15081361e-01 8.57135988e-01 3.01494322e-03 -4.10619481e+01] [ 5.97477781e-03 7.30424203e-05 9.99982148e-01 -2.10545562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19538475000002 meters 0.05532296699474622 Centerline is valid? [True, True] Translation: X:144.13, Y:-41.09, Z:-2.11 [[ 8.57160119e-01 5.15003301e-01 -6.93756953e-03 1.44127293e+02] [-5.14987351e-01 8.57188188e-01 4.05436905e-03 -4.10938635e+01] [ 8.03481610e-03 9.75171002e-05 9.99967716e-01 -2.10850104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25538475 meters 0.05532555114856851 Centerline is valid? [True, True] Translation: X:144.18, Y:-41.13, Z:-2.11 [[ 8.57014709e-01 5.15238018e-01 -7.45471703e-03 1.44180569e+02] [-5.15219581e-01 8.57047125e-01 4.35994951e-03 -4.11269989e+01] [ 8.63545554e-03 1.04275324e-04 9.99962708e-01 -2.11110205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31538475 meters 0.05492077093010791 Centerline is valid? [True, True] Translation: X:144.23, Y:-41.17, Z:-2.11 [[ 8.58727264e-01 5.12349498e-01 -9.24549016e-03 1.44230488e+02] [-5.12320944e-01 8.58777028e-01 5.40984367e-03 -4.11652162e+01] [ 1.07115453e-02 9.10779930e-05 9.99942626e-01 -2.11204030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37538475 meters 0.054639399350583435 Centerline is valid? [True, True] Translation: X:144.28, Y:-41.20, Z:-2.11 [[ 8.61569088e-01 5.07523397e-01 -1.08953387e-02 1.44280442e+02] [-5.07483325e-01 8.61637975e-01 6.37764832e-03 -4.12021427e+01] [ 1.26246434e-02 3.44180839e-05 9.99920305e-01 -2.11442926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43538475 meters 0.054498476361979964 Centerline is valid? [True, True] Translation: X:144.33, Y:-41.24, Z:-2.12 [[ 8.62853438e-01 5.05357197e-01 -9.90193440e-03 1.44330609e+02] [-5.05323921e-01 8.62910252e-01 5.79922954e-03 -4.12374101e+01] [ 1.14751631e-02 -2.00825580e-07 9.99934158e-01 -2.11618600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49538475 meters 0.05399004994561383 Centerline is valid? [True, True] Translation: X:144.38, Y:-41.27, Z:-2.11 [[ 8.63114585e-01 5.04961894e-01 -6.83367249e-03 1.44382335e+02] [-5.04946003e-01 8.63141637e-01 4.00612236e-03 -4.12721661e+01] [ 7.92136640e-03 -7.10702941e-06 9.99968625e-01 -2.11130600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55538475 meters 0.05384906763865712 Centerline is valid? [True, True] Translation: X:144.43, Y:-41.31, Z:-2.11 [[ 8.63766599e-01 5.03862426e-01 -5.46966495e-03 1.44432625e+02] [-5.03852210e-01 8.63783917e-01 3.20870002e-03 -4.13079176e+01] [ 6.34135200e-03 -1.56651343e-05 9.99979893e-01 -2.11108580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61538475 meters 0.05385212537010929 Centerline is valid? [True, True] Translation: X:144.49, Y:-41.34, Z:-2.11 [[ 8.64030940e-01 5.03410655e-01 -5.31478624e-03 1.44485576e+02] [-5.03400981e-01 8.64047286e-01 3.12084562e-03 -4.13421004e+01] [ 6.16329356e-03 -2.10385686e-05 9.99981007e-01 -2.11124734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67538475 meters 0.05384093789164317 Centerline is valid? [True, True] Translation: X:144.54, Y:-41.37, Z:-2.11 [[ 8.63819043e-01 5.03785886e-01 -4.05486721e-03 1.44538075e+02] [-5.03780250e-01 8.63828560e-01 2.38296554e-03 -4.13745881e+01] [ 4.70321451e-03 -1.56889932e-05 9.99988940e-01 -2.11193973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73538475 meters 0.0541188421612689 Centerline is valid? [True, True] Translation: X:144.59, Y:-41.41, Z:-2.12 [[ 8.64215083e-01 5.03073198e-01 -7.04612562e-03 1.44589649e+02] [-5.03056166e-01 8.64243806e-01 4.13974079e-03 -4.14068388e+01] [ 8.17216306e-03 -3.30294933e-05 9.99966607e-01 -2.11768963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79538475 meters 0.05432310383796218 Centerline is valid? [True, True] Translation: X:144.64, Y:-41.44, Z:-2.12 [[ 8.64241352e-01 5.02991031e-01 -9.32244472e-03 1.44642896e+02] [-5.02961181e-01 8.64291629e-01 5.47994494e-03 -4.14400596e+01] [ 1.08136741e-02 -4.71672184e-05 9.99941529e-01 -2.11965811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85538475 meters 0.05428537882285801 Centerline is valid? [True, True] Translation: X:144.70, Y:-41.47, Z:-2.12 [[ 8.63507023e-01 5.04234688e-01 -1.01489111e-02 1.44696126e+02] [-5.04199366e-01 8.63566661e-01 5.96829111e-03 -4.14723257e+01] [ 1.17736807e-02 -3.65867387e-05 9.99930687e-01 -2.12088965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91538475000002 meters 0.053987117299994884 Centerline is valid? [True, True] Translation: X:144.75, Y:-41.50, Z:-2.12 [[ 8.63520297e-01 5.04249842e-01 -8.04938566e-03 1.44749445e+02] [-5.04227592e-01 8.63557812e-01 4.73709752e-03 -4.15035248e+01] [ 9.33979055e-03 -3.18575063e-05 9.99956383e-01 -2.11894036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97538475000002 meters 0.054060634914714446 Centerline is valid? [True, True] Translation: X:144.81, Y:-41.53, Z:-2.12 [[ 8.62831914e-01 5.05418788e-01 -8.54026479e-03 1.44805066e+02] [-5.05393763e-01 8.62874178e-01 5.02957594e-03 -4.15331536e+01] [ 9.91121614e-03 -2.34820755e-05 9.99950882e-01 -2.12132698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03538475 meters 0.054178067727152765 Centerline is valid? [True, True] Translation: X:144.86, Y:-41.56, Z:-2.12 [[ 8.60804011e-01 5.08849239e-01 -9.42907401e-03 1.44861428e+02] [-5.08818914e-01 8.60855651e-01 5.55525199e-03 -4.15603003e+01] [ 1.09438574e-02 1.57080083e-05 9.99940114e-01 -2.12145332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09538475 meters 0.05413962242159363 Centerline is valid? [True, True] Translation: X:144.92, Y:-41.59, Z:-2.12 [[ 8.60494559e-01 5.09388151e-01 -8.53377950e-03 1.44916174e+02] [-5.09363337e-01 8.60536874e-01 5.02784564e-03 -4.15905748e+01] [ 9.90475693e-03 2.03605880e-05 9.99950946e-01 -2.12207902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15538475 meters 0.05408289935412707 Centerline is valid? [True, True] Translation: X:144.97, Y:-41.62, Z:-2.12 [[ 8.60750376e-01 5.08962428e-01 -8.12624853e-03 1.44968776e+02] [-5.08939866e-01 8.60788735e-01 4.79238303e-03 -4.16232191e+01] [ 9.43412610e-03 1.07263354e-05 9.99955498e-01 -2.12121663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21538475 meters 0.05407791759619247 Centerline is valid? [True, True] Translation: X:145.02, Y:-41.65, Z:-2.12 [[ 8.60518687e-01 5.09359590e-01 -7.77161983e-03 1.45022750e+02] [-5.09338945e-01 8.60553780e-01 4.58594632e-03 -4.16542677e+01] [ 9.02379256e-03 1.20961403e-05 9.99959285e-01 -2.12268062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27538475 meters 0.054055465273740784 Centerline is valid? [True, True] Translation: X:145.08, Y:-41.68, Z:-2.12 [[ 8.59674666e-01 5.10787444e-01 -7.46028816e-03 1.45078079e+02] [-5.10768443e-01 8.59707035e-01 4.40576275e-03 -4.16842547e+01] [ 8.66407051e-03 2.29571572e-05 9.99962466e-01 -2.12407482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33538475 meters 0.05381269619098011 Centerline is valid? [True, True] Translation: X:145.13, Y:-41.72, Z:-2.12 [[ 8.58928012e-01 5.12063287e-01 -5.81903697e-03 1.45131661e+02] [-5.12051738e-01 8.58947722e-01 3.43912522e-03 -4.17154140e+01] [ 6.75929832e-03 2.56870085e-05 9.99977155e-01 -2.11985180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39538475 meters 0.0538368477291674 Centerline is valid? [True, True] Translation: X:145.19, Y:-41.75, Z:-2.12 [[ 8.58731739e-01 5.12381897e-01 -6.67770722e-03 1.45185273e+02] [-5.12366686e-01 8.58757702e-01 3.94824527e-03 -4.17461693e+01] [ 7.75754191e-03 3.09511846e-05 9.99969909e-01 -2.12203197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45538475 meters 0.05392709623327108 Centerline is valid? [True, True] Translation: X:145.24, Y:-41.78, Z:-2.13 [[ 8.58232119e-01 5.13205958e-01 -7.56797819e-03 1.45238307e+02] [-5.13186458e-01 8.58265485e-01 4.47399571e-03 -4.17766140e+01] [ 8.79141572e-03 4.40570995e-05 9.99961354e-01 -2.12592267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51538475 meters 0.05411865040193563 Centerline is valid? [True, True] Translation: X:145.29, Y:-41.81, Z:-2.13 [[ 8.59065745e-01 5.11792212e-01 -8.64741144e-03 1.45290801e+02] [-5.11766627e-01 8.59109266e-01 5.11739697e-03 -4.18101388e+01] [ 1.00481152e-02 2.92761491e-05 9.99949516e-01 -2.12677748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57538475 meters 0.05415366934305892 Centerline is valid? [True, True] Translation: X:145.34, Y:-41.84, Z:-2.13 [[ 8.58832989e-01 5.12160594e-01 -9.87029092e-03 1.45344041e+02] [-5.12127259e-01 8.58889705e-01 5.84347005e-03 -4.18417572e+01] [ 1.14702863e-02 3.62801828e-05 9.99934213e-01 -2.12977904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63538475000001 meters 0.05403744966903319 Centerline is valid? [True, True] Translation: X:145.40, Y:-41.88, Z:-2.13 [[ 8.58846288e-01 5.12154212e-01 -9.00651369e-03 1.45398621e+02] [-5.12126396e-01 8.58893510e-01 5.33782714e-03 -4.18754121e+01] [ 1.04694268e-02 2.81003759e-05 9.99945194e-01 -2.13008174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69538475000002 meters 0.05420986549062581 Centerline is valid? [True, True] Translation: X:145.45, Y:-41.91, Z:-2.13 [[ 8.58747186e-01 5.12276917e-01 -1.12085311e-02 1.45452495e+02] [-5.12233835e-01 8.58820330e-01 6.64379926e-03 -4.19056950e+01] [ 1.30295793e-02 3.60449299e-05 9.99915111e-01 -2.13330823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75538475 meters 0.05422800698438874 Centerline is valid? [True, True] Translation: X:145.50, Y:-41.94, Z:-2.14 [[ 8.58969838e-01 5.11908061e-01 -1.09979200e-02 1.45504429e+02] [-5.11866512e-01 8.59040242e-01 6.52202999e-03 -4.19368368e+01] [ 1.27863355e-02 2.72398868e-05 9.99918251e-01 -2.13515352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81538475 meters 0.05381041892134709 Centerline is valid? [True, True] Translation: X:145.56, Y:-41.97, Z:-2.13 [[ 8.57508589e-01 5.14365495e-01 -1.03516393e-02 1.45561182e+02] [-5.14328785e-01 8.57571067e-01 6.14543746e-03 -4.19667267e+01] [ 1.20382673e-02 5.43806543e-05 9.99927536e-01 -2.13039142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87538475 meters 0.053998294597087076 Centerline is valid? [True, True] Translation: X:145.62, Y:-42.00, Z:-2.14 [[ 8.57565993e-01 5.14268764e-01 -1.04022007e-02 1.45615831e+02] [-5.14231653e-01 8.57629078e-01 6.17830576e-03 -4.19959245e+01] [ 1.20985394e-02 5.08359165e-05 9.99926809e-01 -2.13539670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93538475 meters 0.05400543404632032 Centerline is valid? [True, True] Translation: X:145.67, Y:-42.03, Z:-2.14 [[ 8.57346579e-01 5.14651040e-01 -9.54724588e-03 1.45669060e+02] [-5.14619761e-01 8.57399735e-01 5.67425451e-03 -4.20274926e+01] [ 1.11060671e-02 4.83986922e-05 9.99938325e-01 -2.13669627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99538475 meters 0.0539731709867624 Centerline is valid? [True, True] Translation: X:145.72, Y:-42.06, Z:-2.14 [[ 8.56503834e-01 5.16053920e-01 -9.46228398e-03 1.45722708e+02] [-5.16023236e-01 8.56556097e-01 5.62777654e-03 -4.20610047e+01] [ 1.10092132e-02 6.25462184e-05 9.99939395e-01 -2.13527188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05538475 meters 0.05410763242013206 Centerline is valid? [True, True] Translation: X:145.78, Y:-42.09, Z:-2.14 [[ 8.56774331e-01 5.15571634e-01 -1.11191615e-02 1.45776894e+02] [-5.15529180e-01 8.56846477e-01 6.61657494e-03 -4.20929893e+01] [ 1.29387327e-02 6.33406181e-05 9.99916289e-01 -2.13893969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11538475 meters 0.0540515801841786 Centerline is valid? [True, True] Translation: X:145.83, Y:-42.12, Z:-2.14 [[ 8.56158874e-01 5.16616382e-01 -9.97476187e-03 1.45830481e+02] [-5.16582257e-01 8.56216975e-01 5.93820956e-03 -4.21228476e+01] [ 1.16083368e-02 6.87341902e-05 9.99932619e-01 -2.14049121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17538475 meters 0.05410105704658072 Centerline is valid? [True, True] Translation: X:145.88, Y:-42.15, Z:-2.14 [[ 8.55138667e-01 5.18325048e-01 -8.77519399e-03 1.45884374e+02] [-5.18298692e-01 8.55183687e-01 5.22752845e-03 -4.21535349e+01] [ 1.02139617e-02 7.79098641e-05 9.99947833e-01 -2.13765835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23538475 meters 0.05406407074896141 Centerline is valid? [True, True] Translation: X:145.94, Y:-42.18, Z:-2.14 [[ 8.54235811e-01 5.19826427e-01 -7.85274288e-03 1.45937679e+02] [-5.19805384e-01 8.54271899e-01 4.67812108e-03 -4.21825660e+01] [ 9.14018854e-03 8.56794744e-05 9.99958224e-01 -2.13660778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29538475 meters 0.054121687153270585 Centerline is valid? [True, True] Translation: X:145.99, Y:-42.21, Z:-2.14 [[ 8.54103041e-01 5.20051549e-01 -7.37435177e-03 1.45993527e+02] [-5.20032955e-01 8.54134872e-01 4.39836613e-03 -4.22122464e+01] [ 8.58606812e-03 7.82480525e-05 9.99963136e-01 -2.13764629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35538475 meters 0.054451419016248954 Centerline is valid? [True, True] Translation: X:146.05, Y:-42.24, Z:-2.14 [[ 8.53084799e-01 5.21706903e-01 -8.26037079e-03 1.46048678e+02] [-5.21683625e-01 8.53124784e-01 4.92941607e-03 -4.22427242e+01] [ 9.61883743e-03 1.04090262e-04 9.99953732e-01 -2.13883105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41538475000002 meters 0.05446642107165874 Centerline is valid? [True, True] Translation: X:146.10, Y:-42.28, Z:-2.14 [[ 8.52101966e-01 5.23321531e-01 -7.53750694e-03 1.46102151e+02] [-5.23302181e-01 8.52135296e-01 4.50156597e-03 -4.22759337e+01] [ 8.77874211e-03 1.08600607e-04 9.99961460e-01 -2.13523792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47538475000002 meters 0.05407441966290688 Centerline is valid? [True, True] Translation: X:146.15, Y:-42.31, Z:-2.14 [[ 8.52870513e-01 5.22071365e-01 -7.30600602e-03 1.46154663e+02] [-5.22053120e-01 8.52901801e-01 4.36555284e-03 -4.23097465e+01] [ 8.51043582e-03 9.08719503e-05 9.99963781e-01 -2.13518004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53538475 meters 0.05428618009621391 Centerline is valid? [True, True] Translation: X:146.21, Y:-42.34, Z:-2.14 [[ 8.52756862e-01 5.22229340e-01 -9.06925099e-03 1.46206391e+02] [-5.22201218e-01 8.52805080e-01 5.42065710e-03 -4.23413506e+01] [ 1.05651295e-02 1.13471376e-04 9.99944181e-01 -2.13869421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59538475 meters 0.054203004429422566 Centerline is valid? [True, True] Translation: X:146.26, Y:-42.37, Z:-2.14 [[ 8.53724437e-01 5.20657441e-01 -8.39134678e-03 1.46258711e+02] [-5.20633263e-01 8.53765672e-01 5.01824511e-03 -4.23734426e+01] [ 9.77703048e-03 8.46157745e-05 9.99952200e-01 -2.14031293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65538475 meters 0.054209151331302656 Centerline is valid? [True, True] Translation: X:146.31, Y:-42.41, Z:-2.14 [[ 8.54047133e-01 5.20114634e-01 -9.17942970e-03 1.46310881e+02] [-5.20085636e-01 8.54096459e-01 5.49271398e-03 -4.24069067e+01] [ 1.06969593e-02 8.30529125e-05 9.99942782e-01 -2.14058155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71538475 meters 0.05381890697754224 Centerline is valid? [True, True] Translation: X:146.36, Y:-42.44, Z:-2.14 [[ 8.55094747e-01 5.18442649e-01 -5.49493074e-03 1.46362874e+02] [-5.18432202e-01 8.55112401e-01 3.29131631e-03 -4.24393870e+01] [ 6.40514217e-03 3.43617597e-05 9.99979486e-01 -2.13797699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77538475 meters 0.05411301966447858 Centerline is valid? [True, True] Translation: X:146.42, Y:-42.47, Z:-2.14 [[ 8.54424195e-01 5.19528130e-01 -7.05814845e-03 1.46417168e+02] [-5.19510922e-01 8.54453345e-01 4.22882189e-03 -4.24692830e+01] [ 8.22785049e-03 5.35774700e-05 9.99966149e-01 -2.14164028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83538475 meters 0.054454207356524245 Centerline is valid? [True, True] Translation: X:146.47, Y:-42.50, Z:-2.15 [[ 8.53579718e-01 5.20885645e-01 -8.93363137e-03 1.46471707e+02] [-5.20858130e-01 8.53626463e-01 5.35441503e-03 -4.24993406e+01] [ 1.04150221e-02 8.27344585e-05 9.99945759e-01 -2.14664600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89538475 meters 0.05468888581162846 Centerline is valid? [True, True] Translation: X:146.53, Y:-42.53, Z:-2.15 [[ 8.52207292e-01 5.23127010e-01 -8.99237490e-03 1.46526119e+02] [-5.23099225e-01 8.52254727e-01 5.39269189e-03 -4.25297439e+01] [ 1.04848568e-02 1.08212989e-04 9.99945027e-01 -2.14669931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95538475 meters 0.054538312401313904 Centerline is valid? [True, True] Translation: X:146.58, Y:-42.56, Z:-2.15 [[ 8.51755844e-01 5.23877850e-01 -7.99875456e-03 1.46579273e+02] [-5.23855859e-01 8.51793395e-01 4.80108794e-03 -4.25628485e+01] [ 9.32846993e-03 1.00839736e-04 9.99956484e-01 -2.14564722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01538475 meters 0.054741535490172 Centerline is valid? [True, True] Translation: X:146.63, Y:-42.60, Z:-2.15 [[ 8.52507079e-01 5.22651155e-01 -8.21280695e-03 1.46632000e+02] [-5.22627895e-01 8.52546634e-01 4.93157022e-03 -4.25950033e+01] [ 9.57929179e-03 8.80434824e-05 9.99954114e-01 -2.15029255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07538475 meters 0.05433433848504584 Centerline is valid? [True, True] Translation: X:146.68, Y:-42.63, Z:-2.15 [[ 8.53649114e-01 5.20797578e-01 -7.28515584e-03 1.46682383e+02] [-5.20779184e-01 8.53680198e-01 4.37744229e-03 -4.26313309e+01] [ 8.49895462e-03 5.71577770e-05 9.99963882e-01 -2.14920641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13538475000001 meters 0.054337477601325984 Centerline is valid? [True, True] Translation: X:146.74, Y:-42.66, Z:-2.15 [[ 8.53580756e-01 5.20912538e-01 -7.07256982e-03 1.46735979e+02] [-5.20895178e-01 8.53610054e-01 4.25310724e-03 -4.26649948e+01] [ 8.25271359e-03 5.36970273e-05 9.99965944e-01 -2.14962091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19538475000002 meters 0.05425108951647377 Centerline is valid? [True, True] Translation: X:146.79, Y:-42.70, Z:-2.15 [[ 8.52788376e-01 5.22218652e-01 -6.29801779e-03 1.46789461e+02] [-5.22204901e-01 8.52811630e-01 3.79021867e-03 -4.26979019e+01] [ 7.35034570e-03 5.66013280e-05 9.99972984e-01 -2.14968182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25538475 meters 0.05437311437281586 Centerline is valid? [True, True] Translation: X:146.84, Y:-42.73, Z:-2.15 [[ 8.52578775e-01 5.22563913e-01 -6.03242950e-03 1.46844160e+02] [-5.22551287e-01 8.52600114e-01 3.63289232e-03 -4.27295200e+01] [ 7.04166850e-03 5.49269232e-05 9.99975206e-01 -2.15218304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31538475 meters 0.054410002309894706 Centerline is valid? [True, True] Translation: X:146.90, Y:-42.76, Z:-2.15 [[ 8.51888298e-01 5.23682893e-01 -6.52346895e-03 1.46896923e+02] [-5.23668151e-01 8.51913272e-01 3.92999505e-03 -4.27615362e+01] [ 7.61550096e-03 6.82161299e-05 9.99970999e-01 -2.15301498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37538475 meters 0.05412352406072372 Centerline is valid? [True, True] Translation: X:146.95, Y:-42.79, Z:-2.15 [[ 8.51688526e-01 5.24019279e-01 -5.51824427e-03 1.46948305e+02] [-5.24008724e-01 8.51706400e-01 3.32639379e-03 -4.27946099e+01] [ 6.44301844e-03 5.85567127e-05 9.99979242e-01 -2.15111243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43538475 meters 0.05370164693395415 Centerline is valid? [True, True] Translation: X:147.00, Y:-42.83, Z:-2.15 [[ 8.52843821e-01 5.22146807e-01 -4.48649483e-03 1.47002097e+02] [-5.22139782e-01 8.52855622e-01 2.70858822e-03 -4.28290209e+01] [ 5.24061303e-03 3.25747113e-05 9.99986267e-01 -2.15061141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49538475 meters 0.05407703202328387 Centerline is valid? [True, True] Translation: X:147.06, Y:-42.86, Z:-2.15 [[ 8.52130626e-01 5.23300754e-01 -5.45141974e-03 1.47055314e+02] [-5.23290409e-01 8.52148062e-01 3.29079789e-03 -4.28595646e+01] [ 6.36749378e-03 4.84859953e-05 9.99979726e-01 -2.15420286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55538475 meters 0.05383261366564885 Centerline is valid? [True, True] Translation: X:147.11, Y:-42.89, Z:-2.15 [[ 8.52607688e-01 5.22528984e-01 -4.85706381e-03 1.47106605e+02] [-5.22520748e-01 8.52621522e-01 2.93396378e-03 -4.28942541e+01] [ 5.67431825e-03 3.63965415e-05 9.99983900e-01 -2.15265371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61538475 meters 0.05387787128223162 Centerline is valid? [True, True] Translation: X:147.16, Y:-42.93, Z:-2.16 [[ 8.53414805e-01 5.21196997e-01 -6.07127264e-03 1.47157588e+02] [-5.21184092e-01 8.53436400e-01 3.66794705e-03 -4.29274888e+01] [ 7.09316805e-03 3.39703995e-05 9.99974843e-01 -2.15517885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67538475 meters 0.05405447698293636 Centerline is valid? [True, True] Translation: X:147.21, Y:-42.96, Z:-2.16 [[ 8.55669470e-01 5.17419801e-01 -1.03202612e-02 1.47209153e+02] [-5.17382204e-01 8.55731704e-01 6.23736185e-03 -4.29642047e+01] [ 1.20587092e-02 2.39937751e-06 9.99927291e-01 -2.16005888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73538475 meters 0.05438346668991405 Centerline is valid? [True, True] Translation: X:147.26, Y:-43.00, Z:-2.16 [[ 8.55107662e-01 5.18312458e-01 -1.19617136e-02 1.47262947e+02] [-5.18261999e-01 8.55191321e-01 7.23217822e-03 -4.29955650e+01] [ 1.39780817e-02 1.50105796e-05 9.99902302e-01 -2.16197875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79538475 meters 0.054218779390507246 Centerline is valid? [True, True] Translation: X:147.32, Y:-43.03, Z:-2.16 [[ 8.54207713e-01 5.19823689e-01 -1.06073335e-02 1.47316085e+02] [-5.19784077e-01 8.54273569e-01 6.41734230e-03 -4.30271978e+01] [ 1.23974512e-02 3.17797562e-05 9.99923148e-01 -2.15840700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85538475 meters 0.05439066197823524 Centerline is valid? [True, True] Translation: X:147.37, Y:-43.06, Z:-2.16 [[ 8.52830433e-01 5.22053164e-01 -1.18637099e-02 1.47371438e+02] [-5.22003778e-01 8.52912944e-01 7.18095502e-03 -4.30557860e+01] [ 1.38675520e-02 6.87643926e-05 9.99903839e-01 -2.15956270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91538475000002 meters 0.05474902778045114 Centerline is valid? [True, True] Translation: X:147.43, Y:-43.08, Z:-2.16 [[ 8.51125350e-01 5.24799415e-01 -1.30848153e-02 1.47427159e+02] [-5.24739602e-01 8.51225915e-01 7.92407282e-03 -4.30833596e+01] [ 1.52966826e-02 1.21741519e-04 9.99882991e-01 -2.16179003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97538475000002 meters 0.05447991135126205 Centerline is valid? [True, True] Translation: X:147.48, Y:-43.12, Z:-2.16 [[ 8.50566953e-01 5.25726078e-01 -1.21634695e-02 1.47480082e+02] [-5.25674423e-01 8.50653910e-01 7.37056270e-03 -4.31156364e+01] [ 1.42217999e-02 1.24867739e-04 9.99898857e-01 -2.16002892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03538475 meters 0.054349477888992775 Centerline is valid? [True, True] Translation: X:147.53, Y:-43.15, Z:-2.16 [[ 8.52284735e-01 5.22953944e-01 -1.13975116e-02 1.47531636e+02] [-5.22908288e-01 8.52360937e-01 6.91044889e-03 -4.31500613e+01] [ 1.33286402e-02 7.01832017e-05 9.99911167e-01 -2.16141820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09538475 meters 0.05463338412620647 Centerline is valid? [True, True] Translation: X:147.58, Y:-43.18, Z:-2.17 [[ 8.51560256e-01 5.24086968e-01 -1.33409269e-02 1.47584913e+02] [-5.24024498e-01 8.51664746e-01 8.09230617e-03 -4.31818168e+01] [ 1.56030693e-02 9.98862104e-05 9.99878260e-01 -2.16556959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15538475 meters 0.0541326677042198 Centerline is valid? [True, True] Translation: X:147.64, Y:-43.22, Z:-2.16 [[ 8.53044720e-01 5.21699772e-01 -1.20022121e-02 1.47635812e+02] [-5.21648883e-01 8.53129150e-01 7.28676047e-03 -4.32202708e+01] [ 1.40409383e-02 4.50080080e-05 9.99901420e-01 -2.16038282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21538475 meters 0.054297329594421455 Centerline is valid? [True, True] Translation: X:147.69, Y:-43.25, Z:-2.16 [[ 8.53467236e-01 5.21017748e-01 -1.15837731e-02 1.47690393e+02] [-5.20970229e-01 8.53545843e-01 7.03669028e-03 -4.32503061e+01] [ 1.35535219e-02 2.92163015e-05 9.99908146e-01 -2.16353838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27538475 meters 0.054823689339510075 Centerline is valid? [True, True] Translation: X:147.75, Y:-43.28, Z:-2.17 [[ 8.51512394e-01 5.24172351e-01 -1.30380399e-02 1.47746382e+02] [-5.24112479e-01 8.51612200e-01 7.92279123e-03 -4.32762984e+01] [ 1.52562619e-02 8.70444806e-05 9.99883613e-01 -2.16812617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33538475 meters 0.054828894075728406 Centerline is valid? [True, True] Translation: X:147.80, Y:-43.31, Z:-2.17 [[ 8.49883434e-01 5.26814157e-01 -1.28449369e-02 1.47800755e+02] [-5.26756277e-01 8.49980487e-01 7.81005410e-03 -4.33071652e+01] [ 1.50323928e-02 1.28515559e-04 9.99886999e-01 -2.16586633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39538475 meters 0.05495109792434564 Centerline is valid? [True, True] Translation: X:147.86, Y:-43.33, Z:-2.17 [[ 8.48483006e-01 5.29087849e-01 -1.19430572e-02 1.47857756e+02] [-5.29037963e-01 8.48567042e-01 7.26695493e-03 -4.33341679e+01] [ 1.39793423e-02 1.52442886e-04 9.99902273e-01 -2.16760911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45538475 meters 0.05521097234284131 Centerline is valid? [True, True] Translation: X:147.91, Y:-43.36, Z:-2.17 [[ 8.48182466e-01 5.29566506e-01 -1.20756189e-02 1.47912164e+02] [-5.29515501e-01 8.48268407e-01 7.35143379e-03 -4.33630939e+01] [ 1.41364391e-02 1.58870182e-04 9.99900063e-01 -2.16864626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51538475 meters 0.05436521850590202 Centerline is valid? [True, True] Translation: X:147.96, Y:-43.40, Z:-2.16 [[ 8.50930581e-01 5.25180456e-01 -1.01309214e-02 1.47962934e+02] [-5.25144194e-01 8.50990884e-01 6.17185562e-03 -4.33998342e+01] [ 1.18626597e-02 6.83738899e-05 9.99929634e-01 -2.16443753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57538475 meters 0.054205225850238105 Centerline is valid? [True, True] Translation: X:148.02, Y:-43.43, Z:-2.16 [[ 8.53108821e-01 5.21672661e-01 -7.93567010e-03 1.48016192e+02] [-5.21650218e-01 8.53145729e-01 4.83901834e-03 -4.34340217e+01] [ 9.29466663e-03 1.14348045e-05 9.99956804e-01 -2.16384207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63538475000001 meters 0.05431783434494666 Centerline is valid? [True, True] Translation: X:148.07, Y:-43.47, Z:-2.17 [[ 8.55187249e-01 5.18235236e-01 -9.32790109e-03 1.48068017e+02] [-5.18204000e-01 8.55238118e-01 5.68995723e-03 -4.34691053e+01] [ 1.09263129e-02 -3.22232114e-05 9.99940306e-01 -2.16632212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69538475000002 meters 0.05482484193328272 Centerline is valid? [True, True] Translation: X:148.12, Y:-43.50, Z:-2.17 [[ 8.57147213e-01 5.14948247e-01 -1.12676075e-02 1.48120613e+02] [-5.14902354e-01 8.57221264e-01 6.87543151e-03 -4.35017251e+01] [ 1.31993241e-02 -9.15393378e-05 9.99912881e-01 -2.17236442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75538475 meters 0.05517221555037186 Centerline is valid? [True, True] Translation: X:148.17, Y:-43.54, Z:-2.17 [[ 8.59803232e-01 5.10479237e-01 -1.22209272e-02 1.48171457e+02] [-5.10424748e-01 8.59890061e-01 7.46053648e-03 -4.35364318e+01] [ 1.43171028e-02 -1.76729666e-04 9.99897489e-01 -2.17030526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81538475 meters 0.055253930740547234 Centerline is valid? [True, True] Translation: X:148.23, Y:-43.57, Z:-2.17 [[ 8.60637786e-01 5.09048316e-01 -1.31305883e-02 1.48225095e+02] [-5.08985175e-01 8.60737918e-01 8.02047170e-03 -4.35673249e+01] [ 1.53848029e-02 -2.19446217e-04 9.99881623e-01 -2.17002963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87538475 meters 0.0554620821986782 Centerline is valid? [True, True] Translation: X:148.28, Y:-43.59, Z:-2.17 [[ 8.58477630e-01 5.12645596e-01 -1.45138275e-02 1.48282729e+02] [-5.12568866e-01 8.58600292e-01 8.87107556e-03 -4.35924971e+01] [ 1.70092943e-02 -1.76283845e-04 9.99855316e-01 -2.17296038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93538475 meters 0.05512776097055277 Centerline is valid? [True, True] Translation: X:148.34, Y:-43.62, Z:-2.17 [[ 8.56521979e-01 5.15957933e-01 -1.25503151e-02 1.48338964e+02] [-5.15900857e-01 8.56613916e-01 7.67493553e-03 -4.36193063e+01] [ 1.47107185e-02 -9.90326367e-05 9.99891787e-01 -2.16846210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99538475 meters 0.0549622381154884 Centerline is valid? [True, True] Translation: X:148.39, Y:-43.65, Z:-2.17 [[ 8.55883789e-01 5.17054711e-01 -1.08335188e-02 1.48392519e+02] [-5.17012215e-01 8.55952347e-01 6.62940547e-03 -4.36500856e+01] [ 1.27007412e-02 -7.29390994e-05 9.99919340e-01 -2.16752543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05538475 meters 0.05506780749888908 Centerline is valid? [True, True] Translation: X:148.45, Y:-43.67, Z:-2.17 [[ 8.53405000e-01 5.21135554e-01 -1.08462279e-02 1.48450039e+02] [-5.21093249e-01 8.53473921e-01 6.64020129e-03 -4.36732037e+01] [ 1.27174176e-02 -1.48848546e-05 9.99919130e-01 -2.16980553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11538475 meters 0.05532768074075213 Centerline is valid? [True, True] Translation: X:148.51, Y:-43.70, Z:-2.17 [[ 8.51985020e-01 5.23431350e-01 -1.18805645e-02 1.48506323e+02] [-5.23380758e-01 8.52067851e-01 7.27737075e-03 -4.37003529e+01] [ 1.39322511e-02 1.78479948e-05 9.99902941e-01 -2.17122913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17538475 meters 0.0554772047694935 Centerline is valid? [True, True] Translation: X:148.56, Y:-43.73, Z:-2.17 [[ 8.51025935e-01 5.25014596e-01 -1.07019338e-02 1.48560255e+02] [-5.24973628e-01 8.51093222e-01 6.55877213e-03 -4.37284064e+01] [ 1.25517944e-02 3.65478359e-05 9.99921222e-01 -2.17128448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23538475 meters 0.055412780660327864 Centerline is valid? [True, True] Translation: X:148.61, Y:-43.76, Z:-2.17 [[ 8.50816904e-01 5.25375639e-01 -9.54120840e-03 1.48613362e+02] [-5.25343054e-01 8.50870400e-01 5.85141035e-03 -4.37600544e+01] [ 1.11925203e-02 3.39287228e-05 9.99937361e-01 -2.17007497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29538475 meters 0.05555580300795362 Centerline is valid? [True, True] Translation: X:148.67, Y:-43.79, Z:-2.17 [[ 8.49982994e-01 5.26712708e-01 -1.01307954e-02 1.48666788e+02] [-5.26676027e-01 8.50043364e-01 6.21626081e-03 -4.37911819e+01] [ 1.18857990e-02 5.19310862e-05 9.99929360e-01 -2.17031781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35538475 meters 0.056735230965163405 Centerline is valid? [True, True] Translation: X:148.72, Y:-43.82, Z:-2.17 [[ 8.44925275e-01 5.34748059e-01 -1.20744663e-02 1.48722145e+02] [-5.34696780e-01 8.45011523e-01 7.40802153e-03 -4.38169361e+01] [ 1.41644883e-02 1.96953600e-04 9.99899659e-01 -2.17399519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41538475000002 meters 0.057426558243683416 Centerline is valid? [True, True] Translation: X:148.78, Y:-43.85, Z:-2.17 [[ 8.41779492e-01 5.39628496e-01 -1.44351684e-02 1.48776158e+02] [-5.39555796e-01 8.41903189e-01 8.86359839e-03 -4.38485432e+01] [ 1.69360646e-02 3.27383452e-04 9.99856521e-01 -2.17333515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47538475000002 meters 0.05832900425683053 Centerline is valid? [True, True] Translation: X:148.83, Y:-43.88, Z:-2.18 [[ 8.39817362e-01 5.42712402e-01 -1.30401958e-02 1.48830484e+02] [-5.42653367e-01 8.39918525e-01 8.01217801e-03 -4.38772156e+01] [ 1.53010104e-02 3.47539975e-04 9.99882872e-01 -2.17717662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53538475 meters 0.05861713329795033 Centerline is valid? [True, True] Translation: X:148.88, Y:-43.91, Z:-2.18 [[ 8.37843995e-01 5.45714876e-01 -1.45847391e-02 1.48881864e+02] [-5.45641400e-01 8.37970808e-01 8.96588344e-03 -4.39126236e+01] [ 1.71144016e-02 4.46025859e-04 9.99853438e-01 -2.17676837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59538475 meters 0.05919862271917853 Centerline is valid? [True, True] Translation: X:148.93, Y:-43.95, Z:-2.18 [[ 8.36577705e-01 5.47638270e-01 -1.51680492e-02 1.48933200e+02] [-5.47559032e-01 8.36715050e-01 9.32906073e-03 -4.39467820e+01] [ 1.78002857e-02 5.00918117e-04 9.99841437e-01 -2.17753579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65538475 meters 0.06013864057576756 Centerline is valid? [True, True] Translation: X:148.99, Y:-43.98, Z:-2.18 [[ 8.34122749e-01 5.51450256e-01 -1.19102392e-02 1.48986203e+02] [-5.51401715e-01 8.34207654e-01 7.33064199e-03 -4.39784444e+01] [ 1.39780971e-02 4.52671084e-04 9.99902199e-01 -2.17583235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.71538475 meters 0.05965449628344251 Centerline is valid? [True, True] Translation: X:149.03, Y:-44.02, Z:-2.17 [[ 8.35841469e-01 5.48854763e-01 -1.12910956e-02 1.49033119e+02] [-5.48810894e-01 8.35917639e-01 6.95005137e-03 -4.40189619e+01] [ 1.32529948e-02 3.87535117e-04 9.99912100e-01 -2.17284313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77538475 meters 0.05909590333271084 Centerline is valid? [True, True] Translation: X:149.08, Y:-44.06, Z:-2.18 [[ 8.37657748e-01 5.46074399e-01 -1.14999453e-02 1.49082728e+02] [-5.46028556e-01 8.37736613e-01 7.08409577e-03 -4.40558988e+01] [ 1.35023686e-02 3.45250815e-04 9.99908779e-01 -2.17581356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83538475 meters 0.058101023568493 Centerline is valid? [True, True] Translation: X:149.13, Y:-44.10, Z:-2.18 [[ 8.40448223e-01 5.41801317e-01 -9.90537379e-03 1.49130331e+02] [-5.41766970e-01 8.40506560e-01 6.10518238e-03 -4.40961297e+01] [ 1.16333275e-02 2.35314657e-04 9.99932303e-01 -2.17832038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89538475 meters 0.05741979261933156 Centerline is valid? [True, True] Translation: X:149.18, Y:-44.14, Z:-2.18 [[ 8.42401621e-01 5.38801460e-01 -7.24536036e-03 1.49178235e+02] [-5.38782945e-01 8.42432767e-01 4.46887364e-03 -4.41355814e+01] [ 8.51156461e-03 1.39090196e-04 9.99963766e-01 -2.17642783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95538475 meters 0.05673509748120423 Centerline is valid? [True, True] Translation: X:149.22, Y:-44.18, Z:-2.17 [[ 8.44542118e-01 5.35433804e-01 -7.69751951e-03 1.49224348e+02] [-5.35412740e-01 8.44577190e-01 4.75065706e-03 -4.41788154e+01] [ 9.04481178e-03 1.09220032e-04 9.99959089e-01 -2.17435822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01538475 meters 0.056511848764035984 Centerline is valid? [True, True] Translation: X:149.27, Y:-44.22, Z:-2.18 [[ 8.46979153e-01 5.31548155e-01 -9.10341134e-03 1.49272905e+02] [-5.31518441e-01 8.47028071e-01 5.62094534e-03 -4.42176336e+01] [ 1.06986481e-02 7.78074786e-05 9.99942765e-01 -2.17913457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07538475 meters 0.05643543595857551 Centerline is valid? [True, True] Translation: X:149.32, Y:-44.26, Z:-2.18 [[ 8.49638538e-01 5.27291404e-01 -8.83908787e-03 1.49323793e+02] [-5.27263115e-01 8.49684515e-01 5.46197934e-03 -4.42550410e+01] [ 1.03904908e-02 1.98168615e-05 9.99946017e-01 -2.18056265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13538475000001 meters 0.05689328471760475 Centerline is valid? [True, True] Translation: X:149.38, Y:-44.29, Z:-2.18 [[ 8.47192842e-01 5.31163391e-01 -1.13903579e-02 1.49378541e+02] [-5.31116724e-01 8.47269405e-01 7.04132408e-03 -4.42854410e+01] [ 1.33907953e-02 8.42502228e-05 9.99910336e-01 -2.18208181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19538475000002 meters 0.05755558246162051 Centerline is valid? [True, True] Translation: X:149.43, Y:-44.31, Z:-2.19 [[ 8.45352003e-01 5.34097699e-01 -1.09379849e-02 1.49434322e+02] [-5.34054910e-01 8.45422754e-01 6.76171148e-03 -4.43118089e+01] [ 1.28586358e-02 1.25458189e-04 9.99917316e-01 -2.18595247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25538475 meters 0.057223162740114804 Centerline is valid? [True, True] Translation: X:149.49, Y:-44.34, Z:-2.18 [[ 8.44628243e-01 5.35250216e-01 -1.05041714e-02 1.49490627e+02] [-5.35210757e-01 8.44693547e-01 6.50051181e-03 -4.43407316e+01] [ 1.23522061e-02 1.31429657e-04 9.99923700e-01 -2.18290366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31538475 meters 0.05774416221301005 Centerline is valid? [True, True] Translation: X:149.55, Y:-44.37, Z:-2.19 [[ 8.43451814e-01 5.37103802e-01 -1.04184234e-02 1.49546106e+02] [-5.37065095e-01 8.43516142e-01 6.44991605e-03 -4.43675605e+01] [ 1.22523828e-02 1.55178182e-04 9.99924925e-01 -2.18679414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37538475 meters 0.05746430540431838 Centerline is valid? [True, True] Translation: X:149.60, Y:-44.40, Z:-2.18 [[ 8.44009751e-01 5.36205830e-01 -1.14388782e-02 1.49597293e+02] [-5.36159035e-01 8.44087249e-01 7.08552517e-03 -4.44032382e+01] [ 1.34547111e-02 1.52805554e-04 9.99909470e-01 -2.18469449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43538475 meters 0.05839891140192092 Centerline is valid? [True, True] Translation: X:149.65, Y:-44.43, Z:-2.19 [[ 8.42148533e-01 5.39063425e-01 -1.40168801e-02 1.49652248e+02] [-5.38993550e-01 8.42265139e-01 8.68260036e-03 -4.44301050e+01] [ 1.64864018e-02 2.42968813e-04 9.99864061e-01 -2.19299594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49538475 meters 0.05787906193906407 Centerline is valid? [True, True] Translation: X:149.70, Y:-44.46, Z:-2.19 [[ 8.42264104e-01 5.38929552e-01 -1.20878644e-02 1.49704167e+02] [-5.38877482e-01 8.42350816e-01 7.49412574e-03 -4.44635404e+01] [ 1.42210282e-02 2.01844809e-04 9.99898856e-01 -2.18926014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55538475 meters 0.05860128930670126 Centerline is valid? [True, True] Translation: X:149.76, Y:-44.49, Z:-2.19 [[ 8.40073300e-01 5.42372831e-01 -1.04193536e-02 1.49759763e+02] [-5.42334351e-01 8.40137884e-01 6.46436060e-03 -4.44909616e+01] [ 1.22597872e-02 2.20236627e-04 9.99924822e-01 -2.19199886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61538475 meters 0.05908632165397995 Centerline is valid? [True, True] Translation: X:149.81, Y:-44.52, Z:-2.19 [[ 8.38728648e-01 5.44448470e-01 -1.04936965e-02 1.49814281e+02] [-5.44409562e-01 8.38794254e-01 6.51364545e-03 -4.45210873e+01] [ 1.23483966e-02 2.49687658e-04 9.99923724e-01 -2.19325109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67538475 meters 0.05873449245482094 Centerline is valid? [True, True] Translation: X:149.87, Y:-44.55, Z:-2.19 [[ 8.38240956e-01 5.45210593e-01 -9.87471152e-03 1.49867582e+02] [-5.45176134e-01 8.38299082e-01 6.13448853e-03 -4.45548995e+01] [ 1.16225497e-02 2.41277517e-04 9.99932427e-01 -2.19182576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73538475 meters 0.05858986360730248 Centerline is valid? [True, True] Translation: X:149.92, Y:-44.59, Z:-2.19 [[ 8.39121934e-01 5.43865116e-01 -9.22581845e-03 1.49919389e+02] [-5.43834930e-01 8.39172624e-01 5.73374744e-03 -4.45873962e+01] [ 1.08604395e-02 2.06009097e-04 9.99941002e-01 -2.19336033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79538475 meters 0.05875669173765003 Centerline is valid? [True, True] Translation: X:149.97, Y:-44.62, Z:-2.20 [[ 8.40164269e-01 5.42223540e-01 -1.08459001e-02 1.49970445e+02] [-5.42181638e-01 8.40234245e-01 6.74423091e-03 -4.46226813e+01] [ 1.27699774e-02 2.14186031e-04 9.99918438e-01 -2.19774181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85538475 meters 0.0581917139309578 Centerline is valid? [True, True] Translation: X:150.02, Y:-44.66, Z:-2.20 [[ 8.41360528e-01 5.40385968e-01 -9.77078078e-03 1.50020800e+02] [-5.40351795e-01 8.41417244e-01 6.07941216e-03 -4.46596614e+01] [ 1.15065325e-02 1.64681507e-04 9.99933784e-01 -2.19604649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91538475000002 meters 0.05796223919985686 Centerline is valid? [True, True] Translation: X:150.07, Y:-44.69, Z:-2.20 [[ 8.41826587e-01 5.39676642e-01 -8.78174872e-03 1.50071526e+02] [-5.39648969e-01 8.41872379e-01 5.46695446e-03 -4.46942103e+01] [ 1.03434993e-02 1.36834030e-04 9.99946495e-01 -2.19610936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97538475000002 meters 0.05763840222662488 Centerline is valid? [True, True] Translation: X:150.13, Y:-44.73, Z:-2.20 [[ 8.42664573e-01 5.38386260e-01 -7.52677421e-03 1.50125052e+02] [-5.38365835e-01 8.42698182e-01 4.69068162e-03 -4.47311370e+01] [ 8.86819747e-03 9.94868548e-05 9.99960672e-01 -2.19663824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03538475 meters 0.05735361853953094 Centerline is valid? [True, True] Translation: X:150.18, Y:-44.77, Z:-2.20 [[ 8.43694177e-01 5.36767237e-01 -7.81459889e-03 1.50175587e+02] [-5.36745136e-01 8.43730363e-01 4.87166628e-03 -4.47672538e+01] [ 9.20836521e-03 8.42514675e-05 9.99957599e-01 -2.19663650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09538475 meters 0.05710122951033726 Centerline is valid? [True, True] Translation: X:150.23, Y:-44.80, Z:-2.20 [[ 8.44164281e-01 5.36041494e-01 -6.79581974e-03 1.50228751e+02] [-5.36024729e-01 8.44191633e-01 4.23997958e-03 -4.47999424e+01] [ 8.00977916e-03 6.34881181e-05 9.99967919e-01 -2.20017101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15538475 meters 0.05714214218735721 Centerline is valid? [True, True] Translation: X:150.28, Y:-44.83, Z:-2.20 [[ 8.43611141e-01 5.36891538e-01 -8.22918135e-03 1.50280781e+02] [-5.36866973e-01 8.43651272e-01 5.13652176e-03 -4.48341117e+01] [ 9.70031438e-03 8.47487075e-05 9.99952947e-01 -2.19994503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21538475 meters 0.05715871067114498 Centerline is valid? [True, True] Translation: X:150.33, Y:-44.87, Z:-2.20 [[ 8.43264360e-01 5.37440552e-01 -7.92918912e-03 1.50334118e+02] [-5.37417737e-01 8.43301634e-01 4.95274390e-03 -4.48666364e+01] [ 9.34850356e-03 8.48144607e-05 9.99956298e-01 -2.20060707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27538475 meters 0.0568017518864636 Centerline is valid? [True, True] Translation: X:150.39, Y:-44.90, Z:-2.20 [[ 8.43848346e-01 5.36525954e-01 -7.73759512e-03 1.50387155e+02] [-5.36504163e-01 8.43883817e-01 4.83598235e-03 -4.49004457e+01] [ 9.12426134e-03 7.04162923e-05 9.99958371e-01 -2.20132935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33538475 meters 0.056655704244922396 Centerline is valid? [True, True] Translation: X:150.44, Y:-44.93, Z:-2.20 [[ 8.44196841e-01 5.35989050e-01 -6.88700566e-03 1.50438860e+02] [-5.35971772e-01 8.44224931e-01 4.30401439e-03 -4.49333243e+01] [ 8.12108646e-03 5.78052788e-05 9.99967022e-01 -2.20073685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39538475 meters 0.0566034671291308 Centerline is valid? [True, True] Translation: X:150.49, Y:-44.96, Z:-2.20 [[ 8.42934698e-01 5.37968190e-01 -7.16387627e-03 1.50494563e+02] [-5.37949523e-01 8.42965136e-01 4.48212984e-03 -4.49627359e+01] [ 8.45014121e-03 7.56610632e-05 9.99964294e-01 -2.20122521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45538475 meters 0.05691455146607814 Centerline is valid? [True, True] Translation: X:150.55, Y:-44.99, Z:-2.20 [[ 8.41498979e-01 5.40185498e-01 -8.89362665e-03 1.50547860e+02] [-5.40156844e-01 8.41545966e-01 5.56514399e-03 -4.49929159e+01] [ 1.04906057e-02 1.20890316e-04 9.99944965e-01 -2.20288011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51538475 meters 0.05643589448384798 Centerline is valid? [True, True] Translation: X:150.60, Y:-45.03, Z:-2.20 [[ 8.41827761e-01 5.39680110e-01 -8.44986126e-03 1.50600142e+02] [-5.39654177e-01 8.41870161e-01 5.29166343e-03 -4.50272023e+01] [ 9.96949156e-03 1.05333749e-04 9.99950298e-01 -2.20167986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57538475 meters 0.05636406768588516 Centerline is valid? [True, True] Translation: X:150.65, Y:-45.06, Z:-2.20 [[ 8.41532793e-01 5.40139095e-01 -8.50390810e-03 1.50654088e+02] [-5.40112816e-01 8.41575752e-01 5.32914774e-03 -4.50601450e+01] [ 1.00351639e-02 1.08417170e-04 9.99949641e-01 -2.20402168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63538475000001 meters 0.055605475541006866 Centerline is valid? [True, True] Translation: X:150.70, Y:-45.10, Z:-2.20 [[ 8.44021800e-01 5.36280324e-01 -5.53317534e-03 1.50704275e+02] [-5.36269096e-01 8.44039936e-01 3.47040616e-03 -4.50967602e+01] [ 6.53133149e-03 3.81724850e-05 9.99978670e-01 -2.19849715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69538475000002 meters 0.05655779012618755 Centerline is valid? [True, True] Translation: X:150.76, Y:-45.12, Z:-2.21 [[ 8.41790244e-01 5.39673498e-01 -1.19037789e-02 1.50761148e+02] [-5.39621919e-01 8.41874394e-01 7.46249396e-03 -4.51217470e+01] [ 1.40487969e-02 1.41685391e-04 9.99901301e-01 -2.21070400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75538475 meters 0.05725444883323792 Centerline is valid? [True, True] Translation: X:150.81, Y:-45.15, Z:-2.22 [[ 8.40014924e-01 5.42327598e-01 -1.59907633e-02 1.50814171e+02] [-5.42234896e-01 8.40167076e-01 1.00300016e-02 -4.51529880e+01] [ 1.88744595e-02 2.45398844e-04 9.99821831e-01 -2.21652164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81538475 meters 0.05674215096691846 Centerline is valid? [True, True] Translation: X:150.87, Y:-45.19, Z:-2.21 [[ 8.38968812e-01 5.43966578e-01 -1.52215261e-02 1.50866992e+02] [-5.43882720e-01 8.39106843e-01 9.55473409e-03 -4.51867946e+01] [ 1.79699427e-02 2.62601093e-04 9.99838493e-01 -2.21368950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87538475 meters 0.05691356898208686 Centerline is valid? [True, True] Translation: X:150.92, Y:-45.22, Z:-2.22 [[ 8.38907025e-01 5.44133486e-01 -1.23996784e-02 1.50919494e+02] [-5.44077809e-01 8.38998631e-01 7.78684075e-03 -4.52169689e+01] [ 1.46403940e-02 2.13954445e-04 9.99892801e-01 -2.21513646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93538475 meters 0.056344628878805966 Centerline is valid? [True, True] Translation: X:150.97, Y:-45.25, Z:-2.21 [[ 8.38715833e-01 5.44427677e-01 -1.24199412e-02 1.50971988e+02] [-5.44371764e-01 8.38807760e-01 7.80543692e-03 -4.52507633e+01] [ 1.46674390e-02 2.14521782e-04 9.99892404e-01 -2.21194710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99538475 meters 0.05590221843373127 Centerline is valid? [True, True] Translation: X:151.02, Y:-45.28, Z:-2.21 [[ 8.37942611e-01 5.45672298e-01 -9.69141382e-03 1.51024824e+02] [-5.45638292e-01 8.37998634e-01 6.09461452e-03 -4.52838045e+01] [ 1.14470538e-02 1.81069278e-04 9.99934464e-01 -2.20852020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05538475 meters 0.0549936316955344 Centerline is valid? [True, True] Translation: X:151.08, Y:-45.32, Z:-2.21 [[ 8.40388574e-01 5.41916861e-01 -8.55332349e-03 1.51075852e+02] [-5.41890111e-01 8.40432093e-01 5.38558252e-03 -4.53236257e+01] [ 1.01070255e-02 1.08979395e-04 9.99948917e-01 -2.20506113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11538475 meters 0.05482003641643209 Centerline is valid? [True, True] Translation: X:151.13, Y:-45.36, Z:-2.21 [[ 8.41918887e-01 5.39512418e-01 -9.94675536e-03 1.51127823e+02] [-5.39476060e-01 8.41977638e-01 6.26408443e-03 -4.53571615e+01] [ 1.17544969e-02 9.21854021e-05 9.99930909e-01 -2.20903872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17538475 meters 0.055242291037036866 Centerline is valid? [True, True] Translation: X:151.18, Y:-45.39, Z:-2.21 [[ 8.40536848e-01 5.41601373e-01 -1.28747895e-02 1.51181413e+02] [-5.41540661e-01 8.40635432e-01 8.11069115e-03 -4.53888282e+01] [ 1.52157657e-02 1.54887248e-04 9.99884222e-01 -2.21310117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23538475 meters 0.054762380289739475 Centerline is valid? [True, True] Translation: X:151.23, Y:-45.42, Z:-2.21 [[ 8.39263271e-01 5.43626101e-01 -1.03838904e-02 1.51233732e+02] [-5.43586705e-01 8.39327493e-01 6.54632192e-03 -4.54226398e+01] [ 1.22742362e-02 1.50457248e-04 9.99924657e-01 -2.20729763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29538475 meters 0.05512760896512028 Centerline is valid? [True, True] Translation: X:151.29, Y:-45.45, Z:-2.21 [[ 8.38938944e-01 5.44120834e-01 -1.06754626e-02 1.51286170e+02] [-5.44079192e-01 8.39006849e-01 6.73349709e-03 -4.54547457e+01] [ 1.26206223e-02 1.59304118e-04 9.99920344e-01 -2.21099585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35538475 meters 0.054783156598721516 Centerline is valid? [True, True] Translation: X:151.34, Y:-45.49, Z:-2.21 [[ 8.38740326e-01 5.44418535e-01 -1.10961844e-02 1.51337719e+02] [-5.44373518e-01 8.38813705e-01 7.00296668e-03 -4.54891870e+01] [ 1.31201764e-02 1.66798393e-04 9.99913913e-01 -2.21137532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41538475000002 meters 0.055118587296426734 Centerline is valid? [True, True] Translation: X:151.39, Y:-45.52, Z:-2.21 [[ 8.37793733e-01 5.45873703e-01 -1.11157865e-02 1.51390103e+02] [-5.45828612e-01 8.37867451e-01 7.01862749e-03 -4.55208282e+01] [ 1.31448399e-02 1.87152208e-04 9.99913585e-01 -2.21447810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47538475000002 meters 0.054823765779803316 Centerline is valid? [True, True] Translation: X:151.44, Y:-45.56, Z:-2.22 [[ 8.39363988e-01 5.43410483e-01 -1.31584018e-02 1.51440354e+02] [-5.43346928e-01 8.39467103e-01 8.31254378e-03 -4.55574995e+01] [ 1.55631689e-02 1.72327312e-04 9.99878872e-01 -2.21669292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53538475 meters 0.054907703956022326 Centerline is valid? [True, True] Translation: X:151.49, Y:-45.59, Z:-2.22 [[ 8.39333546e-01 5.43423067e-01 -1.45109864e-02 1.51492618e+02] [-5.43345694e-01 8.39458954e-01 9.17175715e-03 -4.55911770e+01] [ 1.71655218e-02 1.86318504e-04 9.99852644e-01 -2.22020664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59538475 meters 0.05434297237994774 Centerline is valid? [True, True] Translation: X:151.54, Y:-45.63, Z:-2.22 [[ 8.41581239e-01 5.39966800e-01 -1.32993596e-02 1.51539015e+02] [-5.39901300e-01 8.41686310e-01 8.41079996e-03 -4.56330391e+01] [ 1.57354416e-02 1.01970062e-04 9.99876185e-01 -2.22079887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65538475 meters 0.05393151254047709 Centerline is valid? [True, True] Translation: X:151.59, Y:-45.67, Z:-2.22 [[ 8.43551722e-01 5.36911240e-01 -1.21166503e-02 1.51589060e+02] [-5.36856487e-01 8.43638737e-01 7.66766726e-03 -4.56700568e+01] [ 1.43389323e-02 3.68284144e-05 9.99897192e-01 -2.21874257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71538475 meters 0.0541180249823747 Centerline is valid? [True, True] Translation: X:151.64, Y:-45.71, Z:-2.22 [[ 8.45152003e-01 5.34364849e-01 -1.31262852e-02 1.51637549e+02] [-5.34300227e-01 8.45253931e-01 8.31018819e-03 -4.57081342e+01] [ 1.55357166e-02 -9.99503269e-06 9.99879313e-01 -2.22186432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77538475 meters 0.0537483123443606 Centerline is valid? [True, True] Translation: X:151.69, Y:-45.74, Z:-2.22 [[ 8.44691049e-01 5.35125098e-01 -1.17541820e-02 1.51690605e+02] [-5.35073280e-01 8.44772827e-01 7.44683160e-03 -4.57419157e+01] [ 1.39146000e-02 -9.23294887e-07 9.99903187e-01 -2.21799411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83538475 meters 0.053622781198926724 Centerline is valid? [True, True] Translation: X:151.74, Y:-45.77, Z:-2.22 [[ 8.44610011e-01 5.35273939e-01 -1.07582643e-02 1.51742677e+02] [-5.35230494e-01 8.44678525e-01 6.81967679e-03 -4.57747677e+01] [ 1.27376701e-02 -1.81616287e-06 9.99918873e-01 -2.21858255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89538475 meters 0.053600241412361256 Centerline is valid? [True, True] Translation: X:151.80, Y:-45.81, Z:-2.22 [[ 8.45245315e-01 5.34286354e-01 -9.92220213e-03 1.51795019e+02] [-5.34249288e-01 8.45303550e-01 6.29336860e-03 -4.58083005e+01] [ 1.17497336e-02 -1.85108987e-05 9.99930969e-01 -2.21988278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95538475 meters 0.053654977033282224 Centerline is valid? [True, True] Translation: X:151.85, Y:-45.84, Z:-2.22 [[ 8.44852889e-01 5.34912316e-01 -9.61308254e-03 1.51850080e+02] [-5.34877502e-01 8.44907577e-01 6.10273188e-03 -4.58410365e+01] [ 1.13865927e-02 -1.40890785e-05 9.99935171e-01 -2.22004211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01538475 meters 0.053663985346034504 Centerline is valid? [True, True] Translation: X:151.91, Y:-45.87, Z:-2.22 [[ 8.42111036e-01 5.39237837e-01 -8.45916474e-03 1.51905456e+02] [-5.39211067e-01 8.42153521e-01 5.37322034e-03 -4.58698987e+01] [ 1.00213591e-02 3.64271025e-05 9.99949784e-01 -2.21840169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07538475 meters 0.05377016250105545 Centerline is valid? [True, True] Translation: X:151.96, Y:-45.90, Z:-2.22 [[ 8.39931975e-01 5.42624894e-01 -8.51482011e-03 1.51961357e+02] [-5.42597915e-01 8.39975130e-01 5.41144773e-03 -4.58979573e+01] [ 1.00886234e-02 7.48756633e-05 9.99949106e-01 -2.21848865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13538475000001 meters 0.05430445997324427 Centerline is valid? [True, True] Translation: X:152.02, Y:-45.93, Z:-2.22 [[ 8.39034561e-01 5.43971910e-01 -1.07501948e-02 1.52015673e+02] [-5.43928978e-01 8.39103419e-01 6.83513783e-03 -4.59275045e+01] [ 1.27386482e-02 1.12425620e-04 9.99918854e-01 -2.22330775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19538475000002 meters 0.054598443867210765 Centerline is valid? [True, True] Translation: X:152.07, Y:-45.96, Z:-2.22 [[ 8.37745376e-01 5.45937121e-01 -1.16337702e-02 1.52069659e+02] [-5.45886982e-01 8.37826138e-01 7.40035998e-03 -4.59582585e+01] [ 1.37872080e-02 1.51106373e-04 9.99904941e-01 -2.22298272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25538475 meters 0.054195571591438445 Centerline is valid? [True, True] Translation: X:152.12, Y:-45.99, Z:-2.22 [[ 8.37413942e-01 5.46459953e-01 -1.09274625e-02 1.52122030e+02] [-5.46415694e-01 8.37485223e-01 6.95635904e-03 -4.59919714e+01] [ 1.29529600e-02 1.45584934e-04 9.99916096e-01 -2.22160795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31538475 meters 0.0540356034726867 Centerline is valid? [True, True] Translation: X:152.17, Y:-46.03, Z:-2.22 [[ 8.37866111e-01 5.45825586e-01 -7.40342322e-03 1.52173670e+02] [-5.45805215e-01 8.37898814e-01 4.71650677e-03 -4.60255025e+01] [ 8.77770960e-03 8.90258188e-05 9.99961471e-01 -2.22112990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37538475 meters 0.0540866409307192 Centerline is valid? [True, True] Translation: X:152.23, Y:-46.06, Z:-2.22 [[ 8.37812375e-01 5.45936141e-01 -4.91480848e-03 1.52225923e+02] [-5.45927147e-01 8.37826788e-01 3.13413930e-03 -4.60578355e+01] [ 5.82879811e-03 5.73066792e-05 9.99983011e-01 -2.22129562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43538475 meters 0.05371810130668915 Centerline is valid? [True, True] Translation: X:152.28, Y:-46.10, Z:-2.22 [[ 8.40001166e-01 5.42536921e-01 -7.19237339e-03 1.52275051e+02] [-5.42517530e-01 8.40031956e-01 4.58715721e-03 -4.60958138e+01] [ 8.53052563e-03 4.87712430e-05 9.99963613e-01 -2.22261354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49538475 meters 0.05450606743984246 Centerline is valid? [True, True] Translation: X:152.33, Y:-46.12, Z:-2.23 [[ 8.38548702e-01 5.44727030e-01 -1.04180752e-02 1.52329702e+02] [-5.44686499e-01 8.38613410e-01 6.64570191e-03 -4.61244977e+01] [ 1.23568310e-02 1.01840196e-04 9.99923646e-01 -2.23219205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55538475 meters 0.05490863447887702 Centerline is valid? [True, True] Translation: X:152.38, Y:-46.16, Z:-2.23 [[ 8.37660144e-01 5.46065860e-01 -1.17285456e-02 1.52382113e+02] [-5.46014569e-01 8.37742239e-01 7.48548726e-03 -4.61581601e+01] [ 1.39130671e-02 1.33662400e-04 9.99903200e-01 -2.23361458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61538475 meters 0.0546393090022883 Centerline is valid? [True, True] Translation: X:152.43, Y:-46.19, Z:-2.23 [[ 8.36912026e-01 5.47260027e-01 -9.20455013e-03 1.52434324e+02] [-5.47228477e-01 8.36962633e-01 5.87750953e-03 -4.61925501e+01] [ 1.09203905e-02 1.18033547e-04 9.99940364e-01 -2.23001592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67538475 meters 0.05441198355783198 Centerline is valid? [True, True] Translation: X:152.49, Y:-46.23, Z:-2.23 [[ 8.37576224e-01 5.46259093e-01 -8.18979153e-03 1.52486337e+02] [-5.46234029e-01 8.37616258e-01 5.23362006e-03 -4.62263985e+01] [ 9.71881508e-03 8.99870980e-05 9.99952767e-01 -2.23104090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73538475 meters 0.05429795319011704 Centerline is valid? [True, True] Translation: X:152.54, Y:-46.26, Z:-2.23 [[ 8.38193348e-01 5.45297262e-01 -9.09983969e-03 1.52537814e+02] [-5.45266207e-01 8.38242739e-01 5.82022665e-03 -4.62643728e+01] [ 1.08016282e-02 8.33598077e-05 9.99941657e-01 -2.23072808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79538475 meters 0.05442431143194496 Centerline is valid? [True, True] Translation: X:152.59, Y:-46.30, Z:-2.23 [[ 8.38224933e-01 5.45258844e-01 -8.47080135e-03 1.52589753e+02] [-5.45231910e-01 8.38267730e-01 5.42000558e-03 -4.62990291e+01] [ 1.00561054e-02 7.53673805e-05 9.99949433e-01 -2.23243076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85538475 meters 0.05454969256786796 Centerline is valid? [True, True] Translation: X:152.64, Y:-46.33, Z:-2.23 [[ 8.37831926e-01 5.45876299e-01 -7.53187724e-03 1.52641541e+02] [-5.45855002e-01 8.37865777e-01 4.82245296e-03 -4.63323512e+01] [ 8.94316496e-03 7.09078107e-05 9.99960007e-01 -2.23217164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91538475000002 meters 0.054460297969804485 Centerline is valid? [True, True] Translation: X:152.69, Y:-46.37, Z:-2.23 [[ 8.37224620e-01 5.46812713e-01 -7.12685385e-03 1.52694133e+02] [-5.46793648e-01 8.37254950e-01 4.56676135e-03 -4.63659482e+01] [ 8.46415682e-03 7.35133809e-05 9.99964176e-01 -2.23290866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97538475000002 meters 0.05485742014805325 Centerline is valid? [True, True] Translation: X:152.75, Y:-46.40, Z:-2.24 [[ 8.36939910e-01 5.47232594e-01 -8.25076280e-03 1.52745611e+02] [-5.47207081e-01 8.36980573e-01 5.28500201e-03 -4.63978126e+01] [ 9.79785353e-03 9.16467193e-05 9.99951996e-01 -2.23711053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03538475 meters 0.05451104133062738 Centerline is valid? [True, True] Translation: X:152.80, Y:-46.43, Z:-2.23 [[ 8.37744880e-01 5.46027055e-01 -6.16214266e-03 1.52796242e+02] [-5.46012757e-01 8.37767541e-01 3.95180411e-03 -4.64342213e+01] [ 7.32023506e-03 5.40048401e-05 9.99973205e-01 -2.23392228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09538475 meters 0.054080791813079725 Centerline is valid? [True, True] Translation: X:152.85, Y:-46.47, Z:-2.23 [[ 8.40197905e-01 5.42251617e-01 -5.53744035e-03 1.52847027e+02] [-5.42239988e-01 8.40216153e-01 3.55138851e-03 -4.64710473e+01] [ 6.57839299e-03 1.87524020e-05 9.99978362e-01 -2.23176765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15538475 meters 0.05431656991805804 Centerline is valid? [True, True] Translation: X:152.90, Y:-46.50, Z:-2.24 [[ 8.40654468e-01 5.41526315e-01 -7.02254647e-03 1.52899971e+02] [-5.41507553e-01 8.40683799e-01 4.50782254e-03 -4.65039227e+01] [ 8.34484557e-03 1.32407919e-05 9.99965181e-01 -2.23678496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21538475 meters 0.05464602579917109 Centerline is valid? [True, True] Translation: X:152.95, Y:-46.54, Z:-2.24 [[ 8.40184696e-01 5.42254232e-01 -7.07287297e-03 1.52953999e+02] [-5.42235182e-01 8.40214465e-01 4.54529160e-03 -4.65395495e+01] [ 8.40743379e-03 1.62761247e-05 9.99964657e-01 -2.23828978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27538475 meters 0.054617219308640566 Centerline is valid? [True, True] Translation: X:153.01, Y:-46.57, Z:-2.24 [[ 8.39213433e-01 5.43760667e-01 -6.71944553e-03 1.53008641e+02] [-5.43743492e-01 8.39240333e-01 4.32193432e-03 -4.65730188e+01] [ 7.98932760e-03 2.66294412e-05 9.99968084e-01 -2.23866929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33538475 meters 0.055100385423872335 Centerline is valid? [True, True] Translation: X:153.06, Y:-46.60, Z:-2.24 [[ 8.37741666e-01 5.45996160e-01 -8.78038932e-03 1.53062861e+02] [-5.45966972e-01 8.37787676e-01 5.64589447e-03 -4.66004114e+01] [ 1.04387387e-02 6.40015269e-05 9.99945513e-01 -2.24369168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39538475 meters 0.05571161189734013 Centerline is valid? [True, True] Translation: X:153.12, Y:-46.63, Z:-2.25 [[ 8.34923727e-01 5.50263461e-01 -1.06062683e-02 1.53118608e+02] [-5.50221168e-01 8.34991080e-01 6.82360423e-03 -4.66287257e+01] [ 1.26109195e-02 1.38604273e-04 9.99920470e-01 -2.24563412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45538475 meters 0.056252453331930866 Centerline is valid? [True, True] Translation: X:153.17, Y:-46.66, Z:-2.24 [[ 8.32758079e-01 5.53555076e-01 -9.52678841e-03 1.53172117e+02] [-5.53521133e-01 8.32812554e-01 6.13227244e-03 -4.66581438e+01] [ 1.13285795e-02 1.66579291e-04 9.99935816e-01 -2.24463439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51538475 meters 0.05632926645740725 Centerline is valid? [True, True] Translation: X:153.23, Y:-46.69, Z:-2.25 [[ 8.32369185e-01 5.54141034e-01 -9.44741432e-03 1.53225588e+02] [-5.54107641e-01 8.32422780e-01 6.08582544e-03 -4.66904828e+01] [ 1.12366485e-02 1.69230898e-04 9.99936853e-01 -2.24774539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57538475 meters 0.05577431788753325 Centerline is valid? [True, True] Translation: X:153.28, Y:-46.73, Z:-2.25 [[ 8.33294452e-01 5.52776517e-01 -7.64710932e-03 1.53275116e+02] [-5.52754592e-01 8.33329531e-01 4.92475995e-03 -4.67289820e+01] [ 9.09485368e-03 1.23199652e-04 9.99958633e-01 -2.24771816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63538475000001 meters 0.055595794585078434 Centerline is valid? [True, True] Translation: X:153.33, Y:-46.77, Z:-2.25 [[ 8.33164986e-01 5.52980815e-01 -6.95149118e-03 1.53327102e+02] [-5.52962647e-01 8.33193979e-01 4.48383606e-03 -4.67655088e+01] [ 8.27141591e-03 1.08139751e-04 9.99965785e-01 -2.24709061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69538475000002 meters 0.055652738534887156 Centerline is valid? [True, True] Translation: X:153.38, Y:-46.80, Z:-2.25 [[ 8.33139727e-01 5.52997150e-01 -8.50571528e-03 1.53379460e+02] [-5.52969935e-01 8.33183134e-01 5.48776487e-03 -4.67998345e+01] [ 1.01215368e-02 1.31329894e-04 9.99948767e-01 -2.24930710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75538475 meters 0.05580867191234381 Centerline is valid? [True, True] Translation: X:153.43, Y:-46.83, Z:-2.25 [[ 8.32800027e-01 5.53502041e-01 -8.92218377e-03 1.53432025e+02] [-5.53472099e-01 8.32847807e-01 5.75894470e-03 -4.68331971e+01] [ 1.06184088e-02 1.42130476e-04 9.99943613e-01 -2.25095425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81538475 meters 0.055391004933589096 Centerline is valid? [True, True] Translation: X:153.48, Y:-46.87, Z:-2.25 [[ 8.34288517e-01 5.51227362e-01 -1.05388071e-02 1.53482663e+02] [-5.51185350e-01 8.34355068e-01 6.80665743e-03 -4.68702743e+01] [ 1.25451229e-02 1.30119966e-04 9.99921298e-01 -2.25326743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87538475 meters 0.05571986171518142 Centerline is valid? [True, True] Translation: X:153.53, Y:-46.90, Z:-2.26 [[ 8.33513417e-01 5.52349304e-01 -1.28697179e-02 1.53534793e+02] [-5.52286744e-01 8.33612749e-01 8.31488343e-03 -4.69036614e+01] [ 1.53210810e-02 1.77207727e-04 9.99882610e-01 -2.25691297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.93538475 meters 0.05529973344467015 Centerline is valid? [True, True] Translation: X:153.58, Y:-46.94, Z:-2.26 [[ 8.34694182e-01 5.50539586e-01 -1.38486997e-02 1.53584176e+02] [-5.50466797e-01 8.34809045e-01 8.95337331e-03 -4.69426262e+01] [ 1.64902062e-02 1.49920733e-04 9.99864016e-01 -2.25611856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99538475 meters 0.05547082312993052 Centerline is valid? [True, True] Translation: X:153.63, Y:-46.98, Z:-2.26 [[ 8.35759104e-01 5.48918068e-01 -1.39884017e-02 1.53634192e+02] [-5.48843517e-01 8.35876152e-01 9.04723270e-03 -4.69768623e+01] [ 1.66587609e-02 1.16136492e-04 9.99861226e-01 -2.25953789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05538475 meters 0.05537224394840203 Centerline is valid? [True, True] Translation: X:153.68, Y:-47.01, Z:-2.26 [[ 8.36785244e-01 5.47365940e-01 -1.34530004e-02 1.53683864e+02] [-5.47296702e-01 8.36893375e-01 8.70625546e-03 -4.70135083e+01] [ 1.60242346e-02 7.75166173e-05 9.99871601e-01 -2.25889131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11538475 meters 0.05532791748003881 Centerline is valid? [True, True] Translation: X:153.73, Y:-47.05, Z:-2.26 [[ 8.37508681e-01 5.46268910e-01 -1.30187323e-02 1.53732605e+02] [-5.46203875e-01 8.37609859e-01 8.42921136e-03 -4.70511695e+01] [ 1.55092346e-02 5.13443551e-05 9.99879723e-01 -2.26029248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17538475 meters 0.05524076758752393 Centerline is valid? [True, True] Translation: X:153.78, Y:-47.09, Z:-2.26 [[ 8.38362272e-01 5.44878937e-01 -1.59889105e-02 1.53782378e+02] [-5.44780578e-01 8.38514725e-01 1.03527112e-02 -4.70875289e+01] [ 1.90479111e-02 3.11254277e-05 9.99818572e-01 -2.26261700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23538475 meters 0.054972816499629484 Centerline is valid? [True, True] Translation: X:153.83, Y:-47.13, Z:-2.26 [[ 8.40066509e-01 5.42301078e-01 -1.40642161e-02 1.53832326e+02] [-5.42224493e-01 8.40184230e-01 9.11368768e-03 -4.71251143e+01] [ 1.67588953e-02 -3.01413281e-05 9.99859559e-01 -2.26311720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.29538475 meters 0.05461352013946717 Centerline is valid? [True, True] Translation: X:153.88, Y:-47.16, Z:-2.26 [[ 8.40469548e-01 5.41715390e-01 -1.24649583e-02 1.53882303e+02] [-5.41655086e-01 8.40561976e-01 8.08285126e-03 -4.71633668e+01] [ 1.48561749e-02 -4.16823047e-05 9.99889640e-01 -2.26035030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35538475 meters 0.05429241350798107 Centerline is valid? [True, True] Translation: X:153.93, Y:-47.20, Z:-2.26 [[ 8.40649596e-01 5.41463997e-01 -1.11801903e-02 1.53933686e+02] [-5.41415396e-01 8.40723937e-01 7.25470877e-03 -4.71989506e+01] [ 1.33276172e-02 -4.55408653e-05 9.99911182e-01 -2.25888093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41538475000002 meters 0.054397089046425165 Centerline is valid? [True, True] Translation: X:153.98, Y:-47.24, Z:-2.26 [[ 8.41297385e-01 5.40483740e-01 -9.79979365e-03 1.53983656e+02] [-5.40446290e-01 8.41354458e-01 6.36270598e-03 -4.72352750e+01] [ 1.16840392e-02 -5.66657852e-05 9.99931738e-01 -2.25861547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47538475000002 meters 0.05440539717001225 Centerline is valid? [True, True] Translation: X:154.04, Y:-47.27, Z:-2.26 [[ 8.41566698e-01 5.40099919e-01 -7.58745891e-03 1.54036019e+02] [-5.40077423e-01 8.41600900e-01 4.92979807e-03 -4.72688970e+01] [ 9.04819579e-03 -5.09386241e-05 9.99959063e-01 -2.25855441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53538475 meters 0.054578663782488865 Centerline is valid? [True, True] Translation: X:154.09, Y:-47.30, Z:-2.26 [[ 8.41198915e-01 5.40633244e-01 -1.00040512e-02 1.54087187e+02] [-5.40594153e-01 8.41258398e-01 6.50153046e-03 -4.73026771e+01] [ 1.19309356e-02 -6.09487642e-05 9.99928822e-01 -2.26338483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59538475 meters 0.05500472373628668 Centerline is valid? [True, True] Translation: X:154.14, Y:-47.34, Z:-2.27 [[ 8.41277234e-01 5.40482243e-01 -1.14699488e-02 1.54139843e+02] [-5.40430789e-01 8.41355418e-01 7.45806709e-03 -4.73356754e+01] [ 1.36812564e-02 -7.55885756e-05 9.99906404e-01 -2.26646619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65538475 meters 0.055351989538913376 Centerline is valid? [True, True] Translation: X:154.19, Y:-47.36, Z:-2.27 [[ 8.40725376e-01 5.41347004e-01 -1.11473902e-02 1.54194838e+02] [-5.41298424e-01 8.40799273e-01 7.25247222e-03 -4.73647722e+01] [ 1.32988217e-02 -6.32726879e-05 9.99911565e-01 -2.26866127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.71538475 meters 0.05529752193969332 Centerline is valid? [True, True] Translation: X:154.25, Y:-47.39, Z:-2.27 [[ 8.37984520e-01 5.45608027e-01 -9.68633709e-03 1.54249519e+02] [-5.45571592e-01 8.38040501e-01 6.30524759e-03 -4.73920768e+01] [ 1.15577365e-02 8.90472046e-07 9.99933207e-01 -2.26678806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77538475 meters 0.054774753356099784 Centerline is valid? [True, True] Translation: X:154.30, Y:-47.42, Z:-2.26 [[ 8.37180152e-01 5.46903996e-01 -5.04094463e-03 1.54303804e+02] [-5.46894131e-01 8.37195329e-01 3.28495846e-03 -4.74209853e+01] [ 6.01681220e-03 6.76100513e-06 9.99981899e-01 -2.26446042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83538475 meters 0.054671670219656326 Centerline is valid? [True, True] Translation: X:154.36, Y:-47.45, Z:-2.26 [[ 8.36639701e-01 5.47749830e-01 -2.03355315e-03 1.54358521e+02] [-5.47748219e-01 8.36642172e-01 1.32850667e-03 -4.74504244e+01] [ 2.42904562e-03 2.39369327e-06 9.99997050e-01 -2.26239630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89538475 meters 0.05478783341623198 Centerline is valid? [True, True] Translation: X:154.41, Y:-47.48, Z:-2.26 [[ 8.35135162e-01 5.50037008e-01 -2.92439714e-03 1.54411431e+02] [-5.50033694e-01 8.35140282e-01 1.90926934e-03 -4.74810197e+01] [ 3.49245065e-03 1.40190036e-05 9.99993901e-01 -2.26349579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95538475 meters 0.055203121709875604 Centerline is valid? [True, True] Translation: X:154.47, Y:-47.51, Z:-2.27 [[ 8.33829103e-01 5.52007894e-01 -4.03893637e-03 1.54465308e+02] [-5.52001595e-01 8.33838884e-01 2.63714763e-03 -4.75120743e+01] [ 4.82354851e-03 3.05688744e-05 9.99988366e-01 -2.26714128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.01538475 meters 0.05523494291773279 Centerline is valid? [True, True] Translation: X:154.52, Y:-47.54, Z:-2.27 [[ 8.33135497e-01 5.53054575e-01 -3.98515799e-03 1.54518183e+02] [-5.53048446e-01 8.33145027e-01 2.60384349e-03 -4.75444855e+01] [ 4.76028212e-03 3.46310007e-05 9.99988669e-01 -2.26921112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07538475 meters 0.05555445293900522 Centerline is valid? [True, True] Translation: X:154.57, Y:-47.57, Z:-2.27 [[ 8.31895040e-01 5.54921122e-01 -3.63188168e-03 1.54573377e+02] [-5.54916040e-01 8.31902967e-01 2.37508058e-03 -4.75742355e+01] [ 4.33935553e-03 3.95716483e-05 9.99990584e-01 -2.27165148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13538475000001 meters 0.05591991125028186 Centerline is valid? [True, True] Translation: X:154.63, Y:-47.61, Z:-2.27 [[ 8.30575630e-01 5.56881505e-01 -5.20691835e-03 1.54626729e+02] [-5.56871103e-01 8.30591948e-01 3.40445524e-03 -4.76066038e+01] [ 6.22070261e-03 7.19248081e-05 9.99980649e-01 -2.27244207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19538475000002 meters 0.055716682180082314 Centerline is valid? [True, True] Translation: X:154.68, Y:-47.64, Z:-2.27 [[ 8.31113813e-01 5.56093805e-01 -3.08385576e-03 1.54678914e+02] [-5.56090140e-01 8.31119534e-01 2.01911594e-03 -4.76407306e+01] [ 3.68587063e-03 3.67866405e-05 9.99993206e-01 -2.27003891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25538475 meters 0.0553503148751212 Centerline is valid? [True, True] Translation: X:154.73, Y:-47.68, Z:-2.27 [[ 8.33049299e-01 5.53197676e-01 -1.09353186e-03 1.54729087e+02] [-5.53197209e-01 8.33050017e-01 7.19005751e-04 -4.76771146e+01] [ 1.30871905e-03 5.97153687e-06 9.99999144e-01 -2.26803010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31538475 meters 0.05530230744638975 Centerline is valid? [True, True] Translation: X:154.78, Y:-47.71, Z:-2.27 [[ 8.33935960e-01 5.51860564e-01 -8.56158856e-04 1.54779496e+02] [-5.51860276e-01 8.33936399e-01 5.63741051e-04 -4.77122895e+01] [ 1.02508849e-03 2.35612848e-06 9.99999475e-01 -2.27124712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37538475 meters 0.0552974567820614 Centerline is valid? [True, True] Translation: X:154.83, Y:-47.75, Z:-2.27 [[ 8.33953429e-01 5.51834822e-01 8.27920565e-05 1.54830736e+02] [-5.51834820e-01 8.33953433e-01 -4.94990022e-05 -4.77476617e+01] [-9.63599931e-05 -4.40767694e-06 9.99999995e-01 -2.27027168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43538475 meters 0.05534404310459871 Centerline is valid? [True, True] Translation: X:154.88, Y:-47.78, Z:-2.27 [[ 8.33040142e-01 5.53209668e-01 -1.78455670e-03 1.54882036e+02] [-5.53208426e-01 8.33042053e-01 1.17247087e-03 -4.77803230e+01] [ 2.13523300e-03 1.05165042e-05 9.99997720e-01 -2.27353845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49538475 meters 0.05548302719983898 Centerline is valid? [True, True] Translation: X:154.93, Y:-47.82, Z:-2.28 [[ 8.32709165e-01 5.53705545e-01 -2.36997953e-03 1.54934186e+02] [-5.53703354e-01 8.32712537e-01 1.55773880e-03 -4.78156141e+01] [ 2.83604028e-03 1.51222422e-05 9.99995978e-01 -2.27558622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55538475 meters 0.0554477517525202 Centerline is valid? [True, True] Translation: X:154.99, Y:-47.85, Z:-2.28 [[ 8.33096300e-01 5.53125892e-01 -1.51717312e-03 1.54985575e+02] [-5.53124990e-01 8.33097682e-01 9.98929574e-04 -4.78502291e+01] [ 1.81648723e-03 6.98183743e-06 9.99998350e-01 -2.27700101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61538475 meters 0.05545422493621032 Centerline is valid? [True, True] Translation: X:155.04, Y:-47.89, Z:-2.28 [[ 8.34562807e-01 5.50910424e-01 -1.62046853e-03 1.55036195e+02] [-5.50909387e-01 8.34564381e-01 1.06891566e-03 -4.78883587e+01] [ 1.94126209e-03 6.54066613e-07 9.99998116e-01 -2.27992327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67538475 meters 0.05545410532976663 Centerline is valid? [True, True] Translation: X:155.09, Y:-47.92, Z:-2.28 [[ 8.34506018e-01 5.50997104e-01 -1.37748712e-03 1.55087516e+02] [-5.50996354e-01 8.34507155e-01 9.09052383e-04 -4.79238369e+01] [ 1.65040809e-03 3.80696768e-07 9.99998638e-01 -2.27963297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.73538475 meters 0.05541356170504422 Centerline is valid? [True, True] Translation: X:155.14, Y:-47.96, Z:-2.28 [[ 8.34114452e-01 5.51591297e-01 3.50858279e-04 1.55139380e+02] [-5.51591250e-01 8.34114525e-01 -2.26417207e-04 -4.79585325e+01] [-4.17545747e-04 -4.67249238e-06 9.99999913e-01 -2.27987007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.79538475 meters 0.055470798306812334 Centerline is valid? [True, True] Translation: X:155.19, Y:-47.99, Z:-2.28 [[ 8.34474336e-01 5.51046317e-01 7.33790366e-04 1.55191462e+02] [-5.51046110e-01 8.34474659e-01 -4.77703027e-04 -4.79929886e+01] [-8.75565960e-04 -5.72141050e-06 9.99999617e-01 -2.28241201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85538475 meters 0.05568660714385133 Centerline is valid? [True, True] Translation: X:155.24, Y:-48.03, Z:-2.29 [[ 8.34242351e-01 5.51391667e-01 -2.63237018e-03 1.55242973e+02] [-5.51388936e-01 8.34246504e-01 1.73519745e-03 -4.80281150e+01] [ 3.15281904e-03 3.88459527e-06 9.99995030e-01 -2.28578645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91538475000002 meters 0.05606080017575972 Centerline is valid? [True, True] Translation: X:155.30, Y:-48.06, Z:-2.29 [[ 8.33300218e-01 5.52809277e-01 -3.55675932e-03 1.55295874e+02] [-5.52804305e-01 8.33307808e-01 2.34440020e-03 -4.80602610e+01] [ 4.25988150e-03 1.26026683e-05 9.99990927e-01 -2.28861261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97538475000002 meters 0.056452422392243504 Centerline is valid? [True, True] Translation: X:155.35, Y:-48.09, Z:-2.29 [[ 8.32286068e-01 5.54333085e-01 -3.83823184e-03 1.55348593e+02] [-5.54327307e-01 8.32294918e-01 2.53103965e-03 -4.80932174e+01] [ 4.59757987e-03 2.10876837e-05 9.99989431e-01 -2.28958618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03538475 meters 0.056789227452758204 Centerline is valid? [True, True] Translation: X:155.40, Y:-48.13, Z:-2.29 [[ 8.32011838e-01 5.54735580e-01 -4.97363863e-03 1.55399395e+02] [-5.54725882e-01 8.32026703e-01 3.28042546e-03 -4.81279880e+01] [ 5.95796888e-03 2.96532565e-05 9.99982251e-01 -2.29171210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09538475 meters 0.0565294250047213 Centerline is valid? [True, True] Translation: X:155.45, Y:-48.17, Z:-2.29 [[ 8.33088162e-01 5.53131203e-01 -3.16007055e-03 1.55449256e+02] [-5.53127265e-01 8.33094155e-01 2.08742796e-03 -4.81659797e+01] [ 3.78725784e-03 8.90965133e-06 9.99992828e-01 -2.28898670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15538475 meters 0.056646242179601486 Centerline is valid? [True, True] Translation: X:155.50, Y:-48.20, Z:-2.29 [[ 8.33643706e-01 5.52300301e-01 -1.59679049e-03 1.55499802e+02] [-5.52299288e-01 8.33645235e-01 1.05759673e-03 -4.82014621e+01] [ 1.91526778e-03 2.47393829e-07 9.99998166e-01 -2.29137917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21538475 meters 0.056985299230167374 Centerline is valid? [True, True] Translation: X:155.55, Y:-48.24, Z:-2.29 [[ 8.33566906e-01 5.52403419e-01 -4.08373580e-03 1.55554356e+02] [-5.52396809e-01 8.33576909e-01 2.70228699e-03 -4.82376707e+01] [ 4.89686044e-03 3.30562285e-06 9.99988010e-01 -2.29436556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27538475 meters 0.05756764936776271 Centerline is valid? [True, True] Translation: X:155.61, Y:-48.27, Z:-2.30 [[ 8.31882610e-01 5.54894660e-01 -7.95232476e-03 1.55608244e+02] [-5.54869760e-01 8.31920618e-01 5.25686699e-03 -4.82691457e+01] [ 9.53271035e-03 3.94082940e-05 9.99954562e-01 -2.29873959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33538475 meters 0.058136867616492886 Centerline is valid? [True, True] Translation: X:155.66, Y:-48.30, Z:-2.30 [[ 8.30541319e-01 5.56892970e-01 -8.44618699e-03 1.55661850e+02] [-5.56864966e-01 8.30584262e-01 5.58513689e-03 -4.82982674e+01] [ 1.01255935e-02 6.46986801e-05 9.99948733e-01 -2.30130971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39538475 meters 0.05847251417537287 Centerline is valid? [True, True] Translation: X:155.72, Y:-48.33, Z:-2.30 [[ 8.28859280e-01 5.59407920e-01 -7.42107254e-03 1.55716991e+02] [-5.59386363e-01 8.28892498e-01 4.91163717e-03 -4.83283643e+01] [ 8.89888009e-03 8.01907303e-05 9.99960401e-01 -2.29930136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45538475 meters 0.05857000911220609 Centerline is valid? [True, True] Translation: X:155.77, Y:-48.36, Z:-2.30 [[ 8.27163710e-01 5.61908000e-01 -7.71987061e-03 1.55771596e+02] [-5.61884751e-01 8.27199727e-01 5.11255625e-03 -4.83597870e+01] [ 9.25866111e-03 1.08756581e-04 9.99957132e-01 -2.29515942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.51538475 meters 0.059119955738988685 Centerline is valid? [True, True] Translation: X:155.83, Y:-48.39, Z:-2.30 [[ 8.24519814e-01 5.65792564e-01 -6.77132011e-03 1.55826737e+02] [-5.65774791e-01 8.24547607e-01 4.48653937e-03 -4.83880555e+01] [ 8.12172641e-03 1.31801618e-04 9.99967010e-01 -2.29609645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57538475 meters 0.059546375775036624 Centerline is valid? [True, True] Translation: X:155.88, Y:-48.42, Z:-2.30 [[ 8.23847853e-01 5.66779529e-01 -5.97333166e-03 1.55879963e+02] [-5.66765700e-01 8.23869498e-01 3.96120387e-03 -4.84203342e+01] [ 7.16637502e-03 1.22050197e-04 9.99974314e-01 -2.29612509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63538475000001 meters 0.05893625183779837 Centerline is valid? [True, True] Translation: X:155.93, Y:-48.46, Z:-2.30 [[ 8.26858148e-01 5.62383740e-01 -5.48929466e-03 1.55928940e+02] [-5.62371953e-01 8.26876365e-01 3.64193407e-03 -4.84573632e+01] [ 6.58713252e-03 7.56624967e-05 9.99978302e-01 -2.29600893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69538475000002 meters 0.05940098624918074 Centerline is valid? [True, True] Translation: X:155.98, Y:-48.49, Z:-2.30 [[ 8.26820817e-01 5.62368266e-01 -1.04532653e-02 1.55981135e+02] [-5.62325565e-01 8.26886880e-01 6.93157597e-03 -4.84898952e+01] [ 1.25417663e-02 1.46967010e-04 9.99921338e-01 -2.30325214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75538475 meters 0.05987665503926937 Centerline is valid? [True, True] Translation: X:156.03, Y:-48.52, Z:-2.30 [[ 8.24965723e-01 5.65048055e-01 -1.23389940e-02 1.56033689e+02] [-5.64988776e-01 8.25057966e-01 8.18745858e-03 -4.85221732e+01] [ 1.48066928e-02 2.17020431e-04 9.99890351e-01 -2.30456977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81538475 meters 0.0594986570809142 Centerline is valid? [True, True] Translation: X:156.08, Y:-48.56, Z:-2.30 [[ 8.24757506e-01 5.65363359e-01 -1.18037274e-02 1.56082680e+02] [-5.65309088e-01 8.24841941e-01 7.83624625e-03 -4.85581226e+01] [ 1.41665359e-02 2.09751463e-04 9.99899628e-01 -2.30288694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87538475 meters 0.05878166261334605 Centerline is valid? [True, True] Translation: X:156.13, Y:-48.60, Z:-2.30 [[ 8.26504778e-01 5.62792789e-01 -1.24148507e-02 1.56132227e+02] [-5.62732397e-01 8.26597996e-01 8.24636729e-03 -4.85950393e+01] [ 1.49030867e-02 1.70576714e-04 9.99888928e-01 -2.30256641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93538475 meters 0.059342874289305576 Centerline is valid? [True, True] Translation: X:156.18, Y:-48.63, Z:-2.31 [[ 8.25610653e-01 5.64078907e-01 -1.34920679e-02 1.56184961e+02] [-5.64007731e-01 8.25720863e-01 8.96308544e-03 -4.86264715e+01] [ 1.61965694e-02 2.09611784e-04 9.99868805e-01 -2.30721406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99538475 meters 0.05932055737293941 Centerline is valid? [True, True] Translation: X:156.24, Y:-48.66, Z:-2.31 [[ 8.23496751e-01 5.67155008e-01 -1.37221534e-02 1.56238055e+02] [-5.67081716e-01 8.23611027e-01 9.12160269e-03 -4.86579443e+01] [ 1.64750795e-02 2.69972116e-04 9.99864240e-01 -2.30512164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05538475 meters 0.059512245770031294 Centerline is valid? [True, True] Translation: X:156.29, Y:-48.69, Z:-2.30 [[ 8.21262108e-01 5.70369443e-01 -1.43961226e-02 1.56291734e+02] [-5.70289143e-01 8.21388202e-01 9.57674010e-03 -4.86908746e+01] [ 1.72870852e-02 3.44938672e-04 9.99850508e-01 -2.30270068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11538475 meters 0.05996439494589156 Centerline is valid? [True, True] Translation: X:156.34, Y:-48.72, Z:-2.31 [[ 8.20884991e-01 5.70882212e-01 -1.55348786e-02 1.56344268e+02] [-5.70788738e-01 8.21031884e-01 1.03373589e-02 -4.87211520e+01] [ 1.86560450e-02 3.81351012e-04 9.99825888e-01 -2.30779545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17538475 meters 0.059890222385866575 Centerline is valid? [True, True] Translation: X:156.40, Y:-48.75, Z:-2.31 [[ 8.19589765e-01 5.72730336e-01 -1.58927716e-02 1.56396335e+02] [-5.72632728e-01 8.19743728e-01 1.05820230e-02 -4.87549347e+01] [ 1.90886454e-02 4.27803415e-04 9.99817704e-01 -2.30727680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23538475 meters 0.05936544103916937 Centerline is valid? [True, True] Translation: X:156.44, Y:-48.79, Z:-2.31 [[ 8.21452371e-01 5.70044729e-01 -1.62790938e-02 1.56444685e+02] [-5.69941761e-01 8.21613576e-01 1.08407196e-02 -4.87925275e+01] [ 1.95548195e-02 3.73000548e-04 9.99808717e-01 -2.30649299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29538475 meters 0.05963148140229304 Centerline is valid? [True, True] Translation: X:156.50, Y:-48.83, Z:-2.31 [[ 8.21569368e-01 5.69867150e-01 -1.65892902e-02 1.56496737e+02] [-5.69760021e-01 8.21736755e-01 1.10554776e-02 -4.88266612e+01] [ 1.99321830e-02 3.69072558e-04 9.99801266e-01 -2.31063932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35538475 meters 0.058463430868431795 Centerline is valid? [True, True] Translation: X:156.54, Y:-48.87, Z:-2.31 [[ 8.23990207e-01 5.66429379e-01 -1.40676183e-02 1.56544810e+02] [-5.66351807e-01 8.24110248e-01 9.37705035e-03 -4.88669842e+01] [ 1.69047052e-02 2.40623415e-04 9.99857076e-01 -2.30661732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41538475000002 meters 0.05847471355665358 Centerline is valid? [True, True] Translation: X:156.59, Y:-48.90, Z:-2.31 [[ 8.24365334e-01 5.65898994e-01 -1.34210455e-02 1.56594837e+02] [-5.65828225e-01 8.24474550e-01 8.95191025e-03 -4.89014185e+01] [ 1.61311875e-02 2.14361889e-04 9.99869861e-01 -2.30823427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47538475000002 meters 0.058180690305147845 Centerline is valid? [True, True] Translation: X:156.64, Y:-48.94, Z:-2.31 [[ 8.24452577e-01 5.65766201e-01 -1.36584974e-02 1.56644268e+02] [-5.65692778e-01 8.24565680e-01 9.11700221e-03 -4.89398145e+01] [ 1.64204199e-02 2.09977362e-04 9.99865154e-01 -2.30653590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53538475 meters 0.05832311445190177 Centerline is valid? [True, True] Translation: X:156.70, Y:-48.97, Z:-2.31 [[ 8.24066061e-01 5.66321037e-01 -1.39860942e-02 1.56696041e+02] [-5.66244056e-01 8.24184709e-01 9.33997485e-03 -4.89739877e+01] [ 1.68165492e-02 2.22786434e-04 9.99858567e-01 -2.30786376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59538475 meters 0.058708027488885324 Centerline is valid? [True, True] Translation: X:156.75, Y:-49.01, Z:-2.31 [[ 8.22658393e-01 5.68374476e-01 -1.35507712e-02 1.56747215e+02] [-5.68302476e-01 8.22769950e-01 9.05014059e-03 -4.90075379e+01] [ 1.62930362e-02 2.55762697e-04 9.99867227e-01 -2.31132476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65538475 meters 0.0581972083050919 Centerline is valid? [True, True] Translation: X:156.80, Y:-49.05, Z:-2.31 [[ 8.24685538e-01 5.65382996e-01 -1.53567989e-02 1.56795040e+02] [-5.65289869e-01 8.24828480e-01 1.02636636e-02 -4.90471800e+01] [ 1.84696260e-02 2.16747866e-04 9.99829398e-01 -2.31264804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.71538475 meters 0.05773114233442088 Centerline is valid? [True, True] Translation: X:156.85, Y:-49.09, Z:-2.31 [[ 8.25418006e-01 5.64332798e-01 -1.46153892e-02 1.56846923e+02] [-5.64248055e-01 8.25547372e-01 9.78107726e-03 -4.90881000e+01] [ 1.75854788e-02 1.73227616e-04 9.99845349e-01 -2.31250733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77538475 meters 0.05757867999347335 Centerline is valid? [True, True] Translation: X:156.90, Y:-49.12, Z:-2.31 [[ 8.26204257e-01 5.63218657e-01 -1.30870153e-02 1.56896341e+02] [-5.63150535e-01 8.26307888e-01 8.76059187e-03 -4.91247828e+01] [ 1.57480328e-02 1.31921389e-04 9.99875983e-01 -2.31357551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83538475 meters 0.05712388465178938 Centerline is valid? [True, True] Translation: X:156.95, Y:-49.16, Z:-2.31 [[ 8.26976361e-01 5.62114255e-01 -1.17330029e-02 1.56945949e+02] [-5.62059325e-01 8.27059584e-01 7.85874679e-03 -4.91622216e+01] [ 1.41214061e-02 9.56458952e-05 9.99900283e-01 -2.31164532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89538475 meters 0.05689544043244787 Centerline is valid? [True, True] Translation: X:157.00, Y:-49.20, Z:-2.31 [[ 8.27276712e-01 5.61701441e-01 -1.02338960e-02 1.56996757e+02] [-5.61659595e-01 8.27340006e-01 6.85661985e-03 -4.91986398e+01] [ 1.23182848e-02 7.56439721e-05 9.99924124e-01 -2.31009410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95538475 meters 0.05695148354827097 Centerline is valid? [True, True] Translation: X:157.05, Y:-49.23, Z:-2.31 [[ 8.27609526e-01 5.61204915e-01 -1.05601015e-02 1.57048189e+02] [-5.61160241e-01 8.27676893e-01 7.08131020e-03 -4.92348875e+01] [ 1.27144181e-02 6.53493394e-05 9.99919166e-01 -2.31267644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.01538475 meters 0.05707372810911082 Centerline is valid? [True, True] Translation: X:157.10, Y:-49.27, Z:-2.32 [[ 8.27322065e-01 5.61587314e-01 -1.25653937e-02 1.57099628e+02] [-5.61524058e-01 8.27417478e-01 8.42908748e-03 -4.92695502e+01] [ 1.51304949e-02 8.22007781e-05 9.99885524e-01 -2.31641301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07538475 meters 0.057587389156965936 Centerline is valid? [True, True] Translation: X:157.15, Y:-49.30, Z:-2.32 [[ 8.27023306e-01 5.61957768e-01 -1.53596317e-02 1.57149681e+02] [-5.61863242e-01 8.27165918e-01 1.03073516e-02 -4.93039371e+01] [ 1.84972602e-02 1.05592464e-04 9.99828905e-01 -2.32255584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13538475000001 meters 0.05762037199615362 Centerline is valid? [True, True] Translation: X:157.20, Y:-49.34, Z:-2.32 [[ 8.27205586e-01 5.61640617e-01 -1.70509962e-02 1.57200819e+02] [-5.61523934e-01 8.27381295e-01 1.14483710e-02 -4.93390348e+01] [ 2.05375454e-02 1.04386041e-04 9.99789077e-01 -2.32428493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19538475000002 meters 0.057792223675245995 Centerline is valid? [True, True] Translation: X:157.25, Y:-49.37, Z:-2.33 [[ 8.26449122e-01 5.62743989e-01 -1.73508327e-02 1.57252876e+02] [-5.62623273e-01 8.26631228e-01 1.16561509e-02 -4.93727419e+01] [ 2.09021690e-02 1.28766616e-04 9.99781518e-01 -2.32809618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25538475 meters 0.0573134390334808 Centerline is valid? [True, True] Translation: X:157.30, Y:-49.41, Z:-2.32 [[ 8.26604484e-01 5.62547130e-01 -1.63019511e-02 1.57302035e+02] [-5.62440413e-01 8.26765211e-01 1.09575276e-02 -4.94102433e+01] [ 1.96420118e-02 1.11334710e-04 9.99807071e-01 -2.32375245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31538475 meters 0.057010711859383625 Centerline is valid? [True, True] Translation: X:157.35, Y:-49.45, Z:-2.32 [[ 8.27924107e-01 5.60649009e-01 -1.46410901e-02 1.57350935e+02] [-5.60562533e-01 8.28053553e-01 9.84687962e-03 -4.94481057e+01] [ 1.76442500e-02 5.47775131e-05 9.99844327e-01 -2.32203589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37538475 meters 0.0569463872751668 Centerline is valid? [True, True] Translation: X:157.40, Y:-49.48, Z:-2.32 [[ 8.28493064e-01 5.59815890e-01 -1.43322334e-02 1.57400626e+02] [-5.59732822e-01 8.28617021e-01 9.64362484e-03 -4.94838132e+01] [ 1.72745870e-02 3.25451486e-05 9.99850783e-01 -2.32425122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.43538475 meters 0.05699079227477398 Centerline is valid? [True, True] Translation: X:157.45, Y:-49.52, Z:-2.32 [[ 8.28337759e-01 5.60045356e-01 -1.43441898e-02 1.57451552e+02] [-5.59962137e-01 8.28461947e-01 9.65436123e-03 -4.95188528e+01] [ 1.72904956e-02 3.51312082e-05 9.99850508e-01 -2.32399284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49538475 meters 0.0570309472907694 Centerline is valid? [True, True] Translation: X:157.51, Y:-49.55, Z:-2.32 [[ 8.26834216e-01 5.62259921e-01 -1.44554654e-02 1.57508375e+02] [-5.62175562e-01 8.26960565e-01 9.73969623e-03 -4.95490814e+01] [ 1.74303406e-02 7.33952740e-05 9.99848077e-01 -2.32418930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55538475 meters 0.057476067572735746 Centerline is valid? [True, True] Translation: X:157.56, Y:-49.58, Z:-2.33 [[ 8.25335457e-01 5.64412937e-01 -1.61065358e-02 1.57564430e+02] [-5.64308488e-01 8.25492593e-01 1.08586122e-02 -4.95802874e+01] [ 1.94245672e-02 1.27057163e-04 9.99811317e-01 -2.32667639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61538475 meters 0.05763917641537644 Centerline is valid? [True, True] Translation: X:157.62, Y:-49.61, Z:-2.33 [[ 8.22885849e-01 5.68025632e-01 -1.43443375e-02 1.57617894e+02] [-5.67943272e-01 8.23010842e-01 9.67438085e-03 -4.96103855e+01] [ 1.73008416e-02 1.85858863e-04 9.99850312e-01 -2.32577345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67538475 meters 0.05754317707030874 Centerline is valid? [True, True] Translation: X:157.67, Y:-49.64, Z:-2.32 [[ 8.22223586e-01 5.69036843e-01 -1.20601115e-02 1.57670407e+02] [-5.68978658e-01 8.22312011e-01 8.13906539e-03 -4.96439139e+01] [ 1.45486026e-02 1.69814514e-04 9.99894149e-01 -2.32280432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.73538475 meters 0.057795987961448636 Centerline is valid? [True, True] Translation: X:157.72, Y:-49.68, Z:-2.32 [[ 8.22292826e-01 5.68946083e-01 -1.16130198e-02 1.57722007e+02] [-5.68892113e-01 8.22374810e-01 7.83804092e-03 -4.96769945e+01] [ 1.40096776e-02 1.61390567e-04 9.99901847e-01 -2.32453291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.79538475 meters 0.057411692324797925 Centerline is valid? [True, True] Translation: X:157.77, Y:-49.72, Z:-2.33 [[ 8.24290617e-01 5.66065044e-01 -1.07398414e-02 1.57771309e+02] [-5.66018568e-01 8.24360574e-01 7.25432059e-03 -4.97150821e+01] [ 1.29599191e-02 9.92812675e-05 9.99916012e-01 -2.32527960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85538475 meters 0.05743038214070829 Centerline is valid? [True, True] Translation: X:157.82, Y:-49.75, Z:-2.33 [[ 8.25607572e-01 5.64118240e-01 -1.19477410e-02 1.57821021e+02] [-5.64060450e-01 8.25694015e-01 8.07482242e-03 -4.97528954e+01] [ 1.44203328e-02 7.26136335e-05 9.99896019e-01 -2.32737835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91538475000002 meters 0.05791849200856002 Centerline is valid? [True, True] Translation: X:157.88, Y:-49.78, Z:-2.33 [[ 8.21499389e-01 5.70086928e-01 -1.18173043e-02 1.57875314e+02] [-5.70030957e-01 8.21584363e-01 7.99018122e-03 -4.97823023e+01] [ 1.42640102e-02 1.72300265e-04 9.99898249e-01 -2.32747852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97538475000002 meters 0.05841695250547536 Centerline is valid? [True, True] Translation: X:157.93, Y:-49.81, Z:-2.33 [[ 8.20514945e-01 5.71516241e-01 -1.11540114e-02 1.57928447e+02] [-5.71466440e-01 8.20590735e-01 7.54679676e-03 -4.98138300e+01] [ 1.34659953e-02 1.81883646e-04 9.99909313e-01 -2.33068345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03538475 meters 0.05835305527935634 Centerline is valid? [True, True] Translation: X:158.72, Y:-48.74, Z:-1.58 [[ 8.74742851e-01 -4.83351390e-01 -3.45887014e-02 1.58718192e+02] [-4.82901593e-01 -8.75424993e-01 2.09077250e-02 -4.87382872e+01] [-4.03855916e-02 -1.58594394e-03 -9.99182911e-01 -1.57615417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09538475 meters 0.05747498105733197 Centerline is valid? [True, True] Translation: X:158.74, Y:-48.72, Z:-1.58 [[ 9.08467494e-01 -4.16576862e-01 -3.39194542e-02 1.58739607e+02] [-4.16227356e-01 -9.09099366e-01 1.71210740e-02 -4.87191943e+01] [-3.79683976e-02 -1.43573447e-03 -9.99277909e-01 -1.58187233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15538475 meters 0.057347479374709374 Centerline is valid? [True, True] Translation: X:158.76, Y:-48.70, Z:-1.58 [[ 9.38196603e-01 -3.44381853e-01 -3.44713592e-02 1.58757821e+02] [-3.44093701e-01 -9.38828591e-01 1.41563489e-02 -4.86989477e+01] [-3.72378873e-02 -1.42006092e-03 -9.99305420e-01 -1.58484160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.21538475 meters 0.0572698946177957 Centerline is valid? [True, True] Translation: X:158.77, Y:-48.68, Z:-1.59 [[ 9.62132278e-01 -2.70281491e-01 -3.53467774e-02 1.58769578e+02] [-2.70045621e-01 -9.62780326e-01 1.13756893e-02 -4.86818715e+01] [-3.71058202e-02 -1.39967542e-03 -9.99310362e-01 -1.58646520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27538475 meters 0.057233886584284875 Centerline is valid? [True, True] Translation: X:158.78, Y:-48.66, Z:-1.58 [[ 9.79645514e-01 -1.96999842e-01 -3.85451657e-02 1.58780513e+02] [-1.96795229e-01 -9.80402658e-01 9.07004509e-03 -4.86610334e+01] [-3.95765804e-02 -1.29992428e-03 -9.99215695e-01 -1.58445081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33538475 meters 0.057320602364383244 Centerline is valid? [True, True] Translation: X:158.56, Y:-49.98, Z:-2.33 [[ 9.78192247e-01 2.07214327e-01 -1.42179922e-02 1.58556149e+02] [-2.07193468e-01 9.78295568e-01 2.94093387e-03 -4.99818224e+01] [ 1.45188024e-02 6.90763911e-05 9.99894594e-01 -2.33400422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39538475 meters 0.05732835881373449 Centerline is valid? [True, True] Translation: X:158.62, Y:-50.00, Z:-2.34 [[ 9.78275514e-01 2.06785759e-01 -1.47196553e-02 1.58616135e+02] [-2.06763264e-01 9.78386246e-01 3.05055949e-03 -4.99958743e+01] [ 1.50323205e-02 5.91963214e-05 9.99887007e-01 -2.33580770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45538475 meters 0.05761129945344447 Centerline is valid? [True, True] Translation: X:158.68, Y:-50.01, Z:-2.34 [[ 9.78282772e-01 2.06771383e-01 -1.44364899e-02 1.58675532e+02] [-2.06749676e-01 9.78389285e-01 2.99652036e-03 -5.00074888e+01] [ 1.47441017e-02 5.32953579e-05 9.99891298e-01 -2.34009779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.51538475 meters 0.05734546422829063 Centerline is valid? [True, True] Translation: X:158.74, Y:-50.02, Z:-2.33 [[ 9.77780326e-01 2.09151431e-01 -1.41884839e-02 1.58737756e+02] [-2.09130639e-01 9.77883261e-01 2.95020966e-03 -5.00196141e+01] [ 1.44917215e-02 8.25897437e-05 9.99894986e-01 -2.33423330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57538475 meters 0.05736773503232299 Centerline is valid? [True, True] Translation: X:158.80, Y:-50.03, Z:-2.34 [[ 9.77164443e-01 2.12220422e-01 -1.05897630e-02 1.58799001e+02] [-2.12208986e-01 9.77221819e-01 2.20511819e-03 -5.00264358e+01] [ 1.08165185e-02 9.24797690e-05 9.99941495e-01 -2.33530306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63538475000001 meters 0.057153626863424956 Centerline is valid? [True, True] Translation: X:158.86, Y:-50.04, Z:-2.33 [[ 9.77009401e-01 2.12952763e-01 -1.01857848e-02 1.58860143e+02] [-2.12942185e-01 9.77062491e-01 2.12464171e-03 -5.00391261e+01] [ 1.04045966e-02 9.31883490e-05 9.99945866e-01 -2.33367146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69538475000002 meters 0.05708147575786518 Centerline is valid? [True, True] Translation: X:158.92, Y:-50.06, Z:-2.33 [[ 9.77227205e-01 2.11905929e-01 -1.10845501e-02 1.58920881e+02] [-2.11893300e-01 9.77290064e-01 2.31509147e-03 -5.00553115e+01] [ 1.13234023e-02 8.63715228e-05 9.99935884e-01 -2.33272250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75538475 meters 0.05700058407485529 Centerline is valid? [True, True] Translation: X:158.98, Y:-50.07, Z:-2.34 [[ 9.77105485e-01 2.12405674e-01 -1.21943105e-02 1.58981673e+02] [-2.12390399e-01 9.77181570e-01 2.54922130e-03 -5.00685434e+01] [ 1.24575245e-02 9.90963582e-05 9.99922397e-01 -2.33501029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81538475 meters 0.05713212366230439 Centerline is valid? [True, True] Translation: X:159.04, Y:-50.08, Z:-2.34 [[ 9.77053985e-01 2.12581164e-01 -1.32196560e-02 1.59042669e+02] [-2.12563185e-01 9.77143407e-01 2.76680480e-03 -5.00801504e+01] [ 1.35056703e-02 1.06694531e-04 9.99908789e-01 -2.33670078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87538475 meters 0.056877966336937806 Centerline is valid? [True, True] Translation: X:159.10, Y:-50.10, Z:-2.34 [[ 9.77443740e-01 2.10776860e-01 -1.32985377e-02 1.59103116e+02] [-2.10758452e-01 9.77534198e-01 2.78668708e-03 -5.00953667e+01] [ 1.35871445e-02 7.89493800e-05 9.99907687e-01 -2.33616088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93538475 meters 0.05682504603128577 Centerline is valid? [True, True] Translation: X:159.16, Y:-50.11, Z:-2.33 [[ 9.76831629e-01 2.13712352e-01 -1.12693658e-02 1.59164853e+02] [-2.13699290e-01 9.76896628e-01 2.36489157e-03 -5.01052786e+01] [ 1.15144120e-02 9.81545911e-05 9.99933702e-01 -2.33344070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99538475 meters 0.05661819291878747 Centerline is valid? [True, True] Translation: X:159.23, Y:-50.11, Z:-2.33 [[ 9.76680406e-01 2.14556427e-01 -7.80537597e-03 1.59225085e+02] [-2.14550167e-01 9.76711592e-01 1.64058167e-03 -5.01144899e+01] [ 7.97559853e-03 7.23207522e-05 9.99968192e-01 -2.33243637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05538475 meters 0.05685705881390871 Centerline is valid? [True, True] Translation: X:159.29, Y:-50.12, Z:-2.33 [[ 9.75954562e-01 2.17848514e-01 -7.39720250e-03 1.59286338e+02] [-2.17842967e-01 9.75982590e-01 1.55728896e-03 -5.01240203e+01] [ 7.55879394e-03 9.15852779e-05 9.99971428e-01 -2.33197944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11538475 meters 0.05715188045782538 Centerline is valid? [True, True] Translation: X:159.35, Y:-50.13, Z:-2.33 [[ 9.75552468e-01 2.19624925e-01 -7.89139157e-03 1.59346703e+02] [-2.19618659e-01 9.75584379e-01 1.66271557e-03 -5.01349053e+01] [ 8.06389213e-03 1.11030553e-04 9.99967480e-01 -2.33385348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17538475 meters 0.057150256907536855 Centerline is valid? [True, True] Translation: X:159.41, Y:-50.15, Z:-2.34 [[ 9.75627784e-01 2.19255223e-01 -8.80759060e-03 1.59407636e+02] [-2.19247377e-01 9.75667532e-01 1.85865318e-03 -5.01486818e+01] [ 9.00079961e-03 1.17687453e-04 9.99959485e-01 -2.33556300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23538475 meters 0.05697350409750775 Centerline is valid? [True, True] Translation: X:159.47, Y:-50.16, Z:-2.34 [[ 9.75903881e-01 2.18044347e-01 -8.26306588e-03 1.59468430e+02] [-2.18037382e-01 9.75938857e-01 1.74559388e-03 -5.01621472e+01] [ 8.44486395e-03 9.81254093e-05 9.99964337e-01 -2.33703449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.29538475 meters 0.05706687661475719 Centerline is valid? [True, True] Translation: X:159.53, Y:-50.17, Z:-2.34 [[ 9.75922852e-01 2.17897416e-01 -9.76228883e-03 1.59529132e+02] [-2.17887668e-01 9.75971671e-01 2.06412435e-03 -5.01746111e+01] [ 9.97748471e-03 1.12656224e-04 9.99950217e-01 -2.34086731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35538475 meters 0.05667663120760485 Centerline is valid? [True, True] Translation: X:159.59, Y:-50.19, Z:-2.34 [[ 9.75877844e-01 2.18191625e-01 -7.40600685e-03 1.59589036e+02] [-2.18186002e-01 9.75905942e-01 1.56867472e-03 -5.01909758e+01] [ 7.56983778e-03 8.50521248e-05 9.99971345e-01 -2.33596520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41538475000002 meters 0.05663201143226656 Centerline is valid? [True, True] Translation: X:159.65, Y:-50.20, Z:-2.33 [[ 9.75868817e-01 2.18327111e-01 -3.65017468e-03 1.59649415e+02] [-2.18325736e-01 9.75875643e-01 7.75871107e-04 -5.02044219e+01] [ 3.73151026e-03 3.97786530e-05 9.99993037e-01 -2.33359261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47538475000002 meters 0.056683300933885176 Centerline is valid? [True, True] Translation: X:159.71, Y:-50.22, Z:-2.34 [[ 9.76285479e-01 2.16440754e-01 -4.47914374e-03 1.59708928e+02] [-2.16438671e-01 9.76295753e-01 9.50407731e-04 -5.02184124e+01] [ 4.57867598e-03 4.15906538e-05 9.99989517e-01 -2.33746058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53538475 meters 0.056588356681080115 Centerline is valid? [True, True] Translation: X:159.77, Y:-50.23, Z:-2.34 [[ 9.76611037e-01 2.14976202e-01 -4.01430313e-03 1.59768687e+02] [-2.14974506e-01 9.76619287e-01 8.54425660e-04 -5.02340928e+01] [ 4.10412704e-03 2.85312998e-05 9.99991578e-01 -2.33826662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59538475 meters 0.05641434820237969 Centerline is valid? [True, True] Translation: X:159.83, Y:-50.25, Z:-2.34 [[ 9.76655149e-01 2.14791434e-01 -3.05932608e-03 1.59829454e+02] [-2.14790443e-01 9.76659941e-01 6.52837268e-04 -5.02480309e+01] [ 3.12814508e-03 1.95171248e-05 9.99995107e-01 -2.33642017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65538475 meters 0.05645363130907061 Centerline is valid? [True, True] Translation: X:159.89, Y:-50.26, Z:-2.34 [[ 9.76491157e-01 2.15517458e-01 -4.15286219e-03 1.59889877e+02] [-2.15515638e-01 9.76499987e-01 8.86094781e-04 -5.02604281e+01] [ 4.24623877e-03 2.97430279e-05 9.99990984e-01 -2.33878423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71538475 meters 0.05663782102634568 Centerline is valid? [True, True] Translation: X:159.95, Y:-50.27, Z:-2.34 [[ 9.76353961e-01 2.16128050e-01 -4.64846216e-03 1.59949417e+02] [-2.16125783e-01 9.76365026e-01 9.90491416e-04 -5.02731518e+01] [ 4.75266886e-03 3.75823084e-05 9.99988705e-01 -2.34087758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77538475 meters 0.05671756177841385 Centerline is valid? [True, True] Translation: X:160.01, Y:-50.29, Z:-2.34 [[ 9.76244778e-01 2.16621714e-01 -4.60060179e-03 1.60010672e+02] [-2.16619483e-01 9.76255618e-01 9.83925330e-04 -5.02862320e+01] [ 4.70450293e-03 3.60280145e-05 9.99988933e-01 -2.34114401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83538475 meters 0.05646685324655471 Centerline is valid? [True, True] Translation: X:160.07, Y:-50.30, Z:-2.34 [[ 9.76440797e-01 2.15741078e-01 -4.37683211e-03 1.60070582e+02] [-2.15739045e-01 9.76450606e-01 9.36852061e-04 -5.03008688e+01] [ 4.47587784e-03 2.94730091e-05 9.99989983e-01 -2.34056266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89538475 meters 0.05664507868171185 Centerline is valid? [True, True] Translation: X:160.13, Y:-50.31, Z:-2.34 [[ 9.76490218e-01 2.15510166e-01 -4.71412506e-03 1.60130967e+02] [-2.15507808e-01 9.76501596e-01 1.00864469e-03 -5.03135618e+01] [ 4.82072383e-03 3.09990830e-05 9.99988380e-01 -2.34149710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95538475 meters 0.05637029128465127 Centerline is valid? [True, True] Translation: X:160.19, Y:-50.32, Z:-2.34 [[ 9.76260409e-01 2.16573244e-01 -3.41245987e-03 1.60192047e+02] [-2.16572006e-01 9.76266372e-01 7.32582624e-04 -5.03238691e+01] [ 3.49012761e-03 2.38518666e-05 9.99993909e-01 -2.34254600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.01538475 meters 0.05649146278929335 Centerline is valid? [True, True] Translation: X:160.25, Y:-50.33, Z:-2.34 [[ 9.75570980e-01 2.19646628e-01 -4.07696387e-03 1.60253049e+02] [-2.19644886e-01 9.75579498e-01 8.75742831e-04 -5.03341250e+01] [ 4.16975632e-03 4.11349734e-05 9.99991306e-01 -2.34228986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07538475 meters 0.0563783967578045 Centerline is valid? [True, True] Translation: X:160.31, Y:-50.35, Z:-2.34 [[ 9.76023258e-01 2.17623406e-01 -4.31897409e-03 1.60313599e+02] [-2.17621427e-01 9.76032813e-01 9.28687963e-04 -5.03482115e+01] [ 4.41756467e-03 3.34802522e-05 9.99990242e-01 -2.34260963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13538475000001 meters 0.056600194235760536 Centerline is valid? [True, True] Translation: X:160.37, Y:-50.36, Z:-2.35 [[ 9.76037468e-01 2.17519452e-01 -6.01233527e-03 1.60373809e+02] [-2.17515616e-01 9.76055985e-01 1.29256162e-03 -5.03592089e+01] [ 6.14953312e-03 4.61882412e-05 9.99981090e-01 -2.34867975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19538475000002 meters 0.05653745823445553 Centerline is valid? [True, True] Translation: X:160.43, Y:-50.37, Z:-2.35 [[ 9.75773839e-01 2.18723849e-01 -5.02926838e-03 1.60434505e+02] [-2.18721170e-01 9.75786799e-01 1.08327761e-03 -5.03740355e+01] [ 5.14443234e-03 4.29735094e-05 9.99986766e-01 -2.34605116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25538475 meters 0.05639759629356836 Centerline is valid? [True, True] Translation: X:160.49, Y:-50.39, Z:-2.35 [[ 9.75878265e-01 2.18285721e-01 -3.59956635e-03 1.60494666e+02] [-2.18284339e-01 9.75884903e-01 7.77186907e-04 -5.03899928e+01] [ 3.68241126e-03 2.72891523e-05 9.99993220e-01 -2.34569546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31538475 meters 0.05644902128773085 Centerline is valid? [True, True] Translation: X:160.56, Y:-50.41, Z:-2.35 [[ 9.76066327e-01 2.17421251e-01 -4.74605841e-03 1.60555680e+02] [-2.17418834e-01 9.76077865e-01 1.02565509e-03 -5.04052816e+01] [ 4.85552177e-03 3.07750900e-05 9.99988211e-01 -2.34903410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37538475 meters 0.05638035095976147 Centerline is valid? [True, True] Translation: X:160.62, Y:-50.42, Z:-2.35 [[ 9.76643452e-01 2.14790891e-01 -5.69559609e-03 1.60615601e+02] [-2.14787360e-01 9.76660060e-01 1.23179540e-03 -5.04236684e+01] [ 5.82723965e-03 2.03171303e-05 9.99983021e-01 -2.34936092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.43538475 meters 0.05630989895616088 Centerline is valid? [True, True] Translation: X:160.68, Y:-50.44, Z:-2.35 [[ 9.77086727e-01 2.12786526e-01 -4.83975673e-03 1.60675501e+02] [-2.12783945e-01 9.77098713e-01 1.04814193e-03 -5.04384566e+01] [ 4.95195056e-03 5.69695784e-06 9.99987739e-01 -2.34971191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49538475 meters 0.05637860613664165 Centerline is valid? [True, True] Translation: X:160.74, Y:-50.45, Z:-2.35 [[ 9.76916078e-01 2.13554581e-01 -5.42376139e-03 1.60735212e+02] [-2.13551347e-01 9.76931134e-01 1.17521874e-03 -5.04493044e+01] [ 5.54961471e-03 1.01614685e-05 9.99984601e-01 -2.35051363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55538475 meters 0.056724341278327886 Centerline is valid? [True, True] Translation: X:160.80, Y:-50.46, Z:-2.35 [[ 9.76127834e-01 2.17086565e-01 -6.91911992e-03 1.60797074e+02] [-2.17081383e-01 9.76152356e-01 1.50034112e-03 -5.04567559e+01] [ 7.07981911e-03 3.74873991e-05 9.99974937e-01 -2.35338017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61538475 meters 0.05682962781085322 Centerline is valid? [True, True] Translation: X:160.86, Y:-50.47, Z:-2.35 [[ 9.75305874e-01 2.20763005e-01 -6.49211794e-03 1.60858163e+02] [-2.20758511e-01 9.75327480e-01 1.40975658e-03 -5.04657776e+01] [ 6.64316312e-03 5.82464118e-05 9.99977932e-01 -2.35038816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67538475 meters 0.05704522575742956 Centerline is valid? [True, True] Translation: X:160.92, Y:-50.47, Z:-2.35 [[ 9.74779545e-01 2.23053555e-01 -7.20759060e-03 1.60919274e+02] [-2.23048071e-01 9.74806188e-01 1.56621397e-03 -5.04739465e+01] [ 7.37535351e-03 8.09258390e-05 9.99972798e-01 -2.35332937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73538475 meters 0.05749225512598198 Centerline is valid? [True, True] Translation: X:160.98, Y:-50.48, Z:-2.36 [[ 9.74562689e-01 2.23948698e-01 -8.63400654e-03 1.60978825e+02] [-2.23940858e-01 9.74600929e-01 1.87676797e-03 -5.04846326e+01] [ 8.83501054e-03 1.04478794e-04 9.99960965e-01 -2.35777682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.79538475 meters 0.057521033253899054 Centerline is valid? [True, True] Translation: X:161.04, Y:-50.50, Z:-2.36 [[ 9.74240066e-01 2.25390038e-01 -7.45823090e-03 1.61039042e+02] [-2.25384206e-01 9.74268608e-01 1.62428076e-03 -5.04981101e+01] [ 7.63241694e-03 9.85280532e-05 9.99970868e-01 -2.35642554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85538475 meters 0.05752873396144827 Centerline is valid? [True, True] Translation: X:161.10, Y:-50.51, Z:-2.36 [[ 9.74162443e-01 2.25744079e-01 -6.86629495e-03 1.61099003e+02] [-2.25739134e-01 9.74186636e-01 1.49700369e-03 -5.05110253e+01] [ 7.02699250e-03 9.16667040e-05 9.99975306e-01 -2.35732875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91538475000002 meters 0.057441600952529794 Centerline is valid? [True, True] Translation: X:161.16, Y:-50.53, Z:-2.36 [[ 9.74415144e-01 2.24620656e-01 -7.79028912e-03 1.61160448e+02] [-2.24614233e-01 9.74446280e-01 1.70120055e-03 -5.05262052e+01] [ 7.97334303e-03 9.21342352e-05 9.99968208e-01 -2.35861125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97538475 meters 0.05711605194889169 Centerline is valid? [True, True] Translation: X:161.22, Y:-50.54, Z:-2.36 [[ 9.74918894e-01 2.22472698e-01 -6.24889160e-03 1.61220301e+02] [-2.22468509e-01 9.74938919e-01 1.36654834e-03 -5.05417177e+01] [ 6.39630732e-03 5.79077966e-05 9.99979542e-01 -2.35762011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03538475 meters 0.057110512720518945 Centerline is valid? [True, True] Translation: X:161.28, Y:-50.56, Z:-2.36 [[ 9.75058170e-01 2.21886449e-01 -5.28847239e-03 1.61279652e+02] [-2.21883432e-01 9.75072511e-01 1.15801655e-03 -5.05560428e+01] [ 5.41359223e-03 4.42909068e-05 9.99985345e-01 -2.35975361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09538475 meters 0.056853126201706454 Centerline is valid? [True, True] Translation: X:161.34, Y:-50.57, Z:-2.36 [[ 9.75489811e-01 2.19997462e-01 -4.55465098e-03 1.61339527e+02] [-2.19995194e-01 9.75500444e-01 9.99191636e-04 -5.05720743e+01] [ 4.66288368e-03 2.73000680e-05 9.99989128e-01 -2.36018211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15538475 meters 0.05721697130368716 Centerline is valid? [True, True] Translation: X:161.40, Y:-50.59, Z:-2.36 [[ 9.75561763e-01 2.19621156e-01 -6.76709338e-03 1.61399681e+02] [-2.19616141e-01 9.75585233e-01 1.48470806e-03 -5.05868930e+01] [ 6.92794967e-03 3.77385174e-05 9.99976001e-01 -2.36426488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21538475 meters 0.057201281391759805 Centerline is valid? [True, True] Translation: X:161.46, Y:-50.60, Z:-2.37 [[ 9.75644633e-01 2.19165862e-01 -9.15835368e-03 1.61459583e+02] [-2.19156645e-01 9.75687615e-01 2.01044082e-03 -5.06034402e+01] [ 9.37631226e-03 4.56382697e-05 9.99956040e-01 -2.36763968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27538475 meters 0.05703796620289998 Centerline is valid? [True, True] Translation: X:161.52, Y:-50.62, Z:-2.37 [[ 9.75969661e-01 2.17687709e-01 -9.76122567e-03 1.61520001e+02] [-2.17677132e-01 9.76018474e-01 2.14603868e-03 -5.06212314e+01] [ 9.99430282e-03 3.03269697e-05 9.99950055e-01 -2.36711783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33538475 meters 0.05691750386393315 Centerline is valid? [True, True] Translation: X:161.58, Y:-50.64, Z:-2.37 [[ 9.76848228e-01 2.13745020e-01 -8.97808500e-03 1.61579260e+02] [-2.13735886e-01 9.76889485e-01 1.97602968e-03 -5.06399377e+01] [ 9.19296333e-03 -1.13421398e-05 9.99957744e-01 -2.36978125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39538475 meters 0.056793392740530704 Centerline is valid? [True, True] Translation: X:161.64, Y:-50.66, Z:-2.37 [[ 9.77621891e-01 2.10213947e-01 -8.09538392e-03 1.61639364e+02] [-2.10206371e-01 9.77655407e-01 1.78524650e-03 -5.06604994e+01] [ 8.28977958e-03 -4.35947802e-05 9.99965638e-01 -2.36883306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45538475 meters 0.056603354975525474 Centerline is valid? [True, True] Translation: X:161.70, Y:-50.68, Z:-2.37 [[ 9.78084533e-01 2.08149344e-01 -4.94947201e-03 1.61697719e+02] [-2.08146476e-01 9.78097055e-01 1.09349478e-03 -5.06784662e+01] [ 5.06867422e-03 -3.93151768e-05 9.99987153e-01 -2.36679711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.51538475 meters 0.05676553245130718 Centerline is valid? [True, True] Translation: X:161.76, Y:-50.69, Z:-2.37 [[ 9.78490797e-01 2.06247344e-01 -4.21819223e-03 1.61759104e+02] [-2.06245233e-01 9.78499888e-01 9.34413477e-04 -5.06923658e+01] [ 4.32022092e-03 -4.43329509e-05 9.99990667e-01 -2.36986999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57538475 meters 0.056856015420985985 Centerline is valid? [True, True] Translation: X:161.82, Y:-50.70, Z:-2.37 [[ 9.78364806e-01 2.06794229e-01 -6.20102186e-03 1.61820315e+02] [-2.06789680e-01 9.78384456e-01 1.37293234e-03 -5.07044733e+01] [ 6.35089789e-03 -6.09213556e-05 9.99979831e-01 -2.37287964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63538475000001 meters 0.056859692501680624 Centerline is valid? [True, True] Translation: X:161.88, Y:-50.72, Z:-2.38 [[ 9.78058152e-01 2.08173556e-01 -8.12536041e-03 1.61880729e+02] [-2.08165788e-01 9.78091901e-01 1.79963619e-03 -5.07162629e+01] [ 8.32198587e-03 -6.87267922e-05 9.99965369e-01 -2.37625142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69538475000002 meters 0.05695052189891275 Centerline is valid? [True, True] Translation: X:161.94, Y:-50.73, Z:-2.38 [[ 9.77964848e-01 2.08543682e-01 -9.71020020e-03 1.61940381e+02] [-2.08532590e-01 9.78013050e-01 2.15231103e-03 -5.07284939e+01] [ 9.94555338e-03 -7.99913342e-05 9.99950539e-01 -2.38002370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75538475 meters 0.05710689026383843 Centerline is valid? [True, True] Translation: X:162.00, Y:-50.74, Z:-2.38 [[ 9.77448849e-01 2.10932349e-01 -1.00643685e-02 1.62001684e+02] [-2.10920528e-01 9.77500660e-01 2.23388315e-03 -5.07379525e+01] [ 1.03091251e-02 -6.07245939e-05 9.99946858e-01 -2.38328845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81538475 meters 0.056421602361161914 Centerline is valid? [True, True] Translation: X:162.06, Y:-50.75, Z:-2.38 [[ 9.76980259e-01 2.13232471e-01 -6.44105487e-03 1.62062094e+02] [-2.13227682e-01 9.77001491e-01 1.42940140e-03 -5.07497318e+01] [ 6.59771500e-03 -2.30857505e-05 9.99978235e-01 -2.37674036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87538475 meters 0.05622347542315072 Centerline is valid? [True, True] Translation: X:162.12, Y:-50.77, Z:-2.38 [[ 9.77333515e-01 2.11688844e-01 -2.65229389e-03 1.62122189e+02] [-2.11688017e-01 9.77337113e-01 5.92219230e-04 -5.07652363e+01] [ 2.71755146e-03 -1.73368690e-05 9.99996307e-01 -2.37590379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.93538475 meters 0.05665849560268691 Centerline is valid? [True, True] Translation: X:162.18, Y:-50.79, Z:-2.38 [[ 9.79113761e-01 2.03313137e-01 1.01705307e-04 1.62180820e+02] [-2.03313136e-01 9.79113767e-01 -1.91055995e-05 -5.07884498e+01] [-1.03465485e-04 -1.97146945e-06 9.99999995e-01 -2.37658603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99538475 meters 0.05723473510195457 Centerline is valid? [True, True] Translation: X:162.24, Y:-50.81, Z:-2.38 [[ 9.80085586e-01 1.98570052e-01 -1.47578251e-03 1.62239533e+02] [-1.98569781e-01 9.80086697e-01 3.29780925e-04 -5.08081466e+01] [ 1.51187942e-03 -3.01677214e-05 9.99998857e-01 -2.37692881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05538475 meters 0.059572685093213076 Centerline is valid? [True, True] Translation: X:162.30, Y:-50.83, Z:-2.38 [[ 9.82363606e-01 1.86946851e-01 -3.55261173e-03 1.62296938e+02] [-1.86945212e-01 9.82370023e-01 7.90877341e-04 -5.08324736e+01] [ 3.63783129e-03 -1.12785363e-04 9.99993377e-01 -2.37983463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11538475 meters 0.06132096644672414 Centerline is valid? [True, True] Translation: X:162.36, Y:-50.85, Z:-2.38 [[ 9.83441443e-01 1.81178054e-01 -4.17616694e-03 1.62355295e+02] [-1.81175726e-01 9.83450297e-01 9.32216978e-04 -5.08495803e+01] [ 4.27594988e-03 -1.60160732e-04 9.99990845e-01 -2.38380324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17538475 meters 0.061162461529332426 Centerline is valid? [True, True] Translation: X:162.42, Y:-50.86, Z:-2.38 [[ 9.83793278e-01 1.79252579e-01 -4.39303379e-03 1.62416609e+02] [-1.79249990e-01 9.83803071e-01 9.79222874e-04 -5.08595835e+01] [ 4.49740836e-03 -1.75901616e-04 9.99989871e-01 -2.38394749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23538475 meters 0.06059813157804883 Centerline is valid? [True, True] Translation: X:162.48, Y:-50.87, Z:-2.38 [[ 9.82940472e-01 1.83906764e-01 -2.51630304e-03 1.62476654e+02] [-1.83905931e-01 9.82943688e-01 5.60345277e-04 -5.08653427e+01] [ 2.57643548e-03 -8.80229971e-05 9.99996677e-01 -2.38366007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.29538475 meters 0.05929806445862739 Centerline is valid? [True, True] Translation: X:162.54, Y:-50.87, Z:-2.38 [[ 9.82040836e-01 1.88648969e-01 -2.71352794e-03 1.62538602e+02] [-1.88648016e-01 9.82044581e-01 6.05122920e-04 -5.08708915e+01] [ 2.77896122e-03 -8.23537560e-05 9.99996135e-01 -2.38321997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35538475 meters 0.05793575839844962 Centerline is valid? [True, True] Translation: X:162.60, Y:-50.87, Z:-2.38 [[ 9.81183557e-01 1.93063225e-01 -2.32780832e-03 1.62601084e+02] [-1.93062536e-01 9.81186316e-01 5.19078715e-04 -5.08720997e+01] [ 2.38422869e-03 -5.98989205e-05 9.99997156e-01 -2.38333440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41538475000002 meters 0.05800668656510861 Centerline is valid? [True, True] Translation: X:162.66, Y:-50.88, Z:-2.39 [[ 9.80869036e-01 1.94602847e-01 -5.06626608e-03 1.62661805e+02] [-1.94599589e-01 9.80882111e-01 1.13303981e-03 -5.08795402e+01] [ 5.18990255e-03 -1.25470364e-04 9.99986524e-01 -2.38661287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47538475 meters 0.05845475194083786 Centerline is valid? [True, True] Translation: X:162.72, Y:-50.89, Z:-2.39 [[ 9.80924487e-01 1.94249012e-01 -7.38046962e-03 1.62722507e+02] [-1.94242103e-01 9.80952235e-01 1.64867030e-03 -5.08889691e+01] [ 7.56014074e-03 -1.83623135e-04 9.99971405e-01 -2.38976278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53538475 meters 0.05850053884953413 Centerline is valid? [True, True] Translation: X:162.79, Y:-50.89, Z:-2.39 [[ 9.80414667e-01 1.96717799e-01 -9.44391361e-03 1.62785413e+02] [-1.96706558e-01 9.80460127e-01 2.11388161e-03 -5.08946519e+01] [ 9.67521888e-03 -2.14800796e-04 9.99953171e-01 -2.39367808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59538475 meters 0.056630428168276105 Centerline is valid? [True, True] Translation: X:162.85, Y:-50.89, Z:-2.39 [[ 9.78274239e-01 2.07133399e-01 -8.67572617e-03 1.62849326e+02] [-2.07124344e-01 9.78312703e-01 1.93929107e-03 -5.08906000e+01] [ 8.88926507e-03 -1.00204406e-04 9.99960485e-01 -2.39244736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65538475 meters 0.05621680332716653 Centerline is valid? [True, True] Translation: X:162.91, Y:-50.89, Z:-2.40 [[ 9.74890641e-01 2.22527261e-01 -8.35803369e-03 1.62912180e+02] [-2.22519380e-01 9.74926467e-01 1.87310089e-03 -5.08875083e+01] [ 8.56528427e-03 3.37559524e-05 9.99963317e-01 -2.39655336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71538475 meters 0.057417116303826565 Centerline is valid? [True, True] Translation: X:162.97, Y:-50.89, Z:-2.39 [[ 9.71411490e-01 2.37289583e-01 -7.30553649e-03 1.62974434e+02] [-2.37283977e-01 9.71438950e-01 1.63730265e-03 -5.08870237e+01] [ 7.48539756e-03 1.42992146e-04 9.99971974e-01 -2.39488132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77538475 meters 0.060540035799170604 Centerline is valid? [True, True] Translation: X:163.04, Y:-50.89, Z:-2.40 [[ 9.69309025e-01 2.45731429e-01 -7.48863176e-03 1.63035002e+02] [-2.45725789e-01 9.69337928e-01 1.67842445e-03 -5.08903440e+01] [ 7.67145643e-03 2.13237979e-04 9.99970551e-01 -2.40073777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83538475 meters 0.059537986258084666 Centerline is valid? [True, True] Translation: X:163.09, Y:-50.91, Z:-2.40 [[ 9.68864678e-01 2.47526842e-01 -5.63020580e-03 1.63094389e+02] [-2.47523657e-01 9.68881022e-01 1.26657666e-03 -5.09137254e+01] [ 5.76851127e-03 1.66467740e-04 9.99983348e-01 -2.39699094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89538475 meters 0.05864872348572522 Centerline is valid? [True, True] Translation: X:163.15, Y:-50.94, Z:-2.40 [[ 9.69726119e-01 2.44129672e-01 -5.65308740e-03 1.63151967e+02] [-2.44126419e-01 9.69742585e-01 1.26917691e-03 -5.09391297e+01] [ 5.79188333e-03 1.49313983e-04 9.99983216e-01 -2.39734663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95538475 meters 0.056840631354156124 Centerline is valid? [True, True] Translation: X:163.21, Y:-50.97, Z:-2.40 [[ 9.71742807e-01 2.35974645e-01 -5.64661545e-03 1.63208843e+02] [-2.35971261e-01 9.71759207e-01 1.26770522e-03 -5.09684049e+01] [ 5.78629684e-03 1.00555544e-04 9.99983254e-01 -2.39849614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.01538475 meters 0.05618239076371714 Centerline is valid? [True, True] Translation: X:163.27, Y:-50.99, Z:-2.40 [[ 9.73260939e-01 2.29656182e-01 -4.60242795e-03 1.63266513e+02] [-2.29653861e-01 9.73271820e-01 1.03373462e-03 -5.09934809e+01] [ 4.71681697e-03 5.08718228e-05 9.99988874e-01 -2.39994705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07538475 meters 0.05576572846786423 Centerline is valid? [True, True] Translation: X:163.32, Y:-51.02, Z:-2.40 [[ 9.74109646e-01 2.26030811e-01 -4.52437185e-03 1.63324737e+02] [-2.26028511e-01 9.74120153e-01 1.02009843e-03 -5.10179005e+01] [ 4.63785547e-03 2.89493130e-05 9.99989245e-01 -2.39935080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13538475000001 meters 0.055553077075140116 Centerline is valid? [True, True] Translation: X:163.38, Y:-51.04, Z:-2.40 [[ 9.75268974e-01 2.20921594e-01 -6.63906957e-03 1.63382511e+02] [-2.20916521e-01 9.75291572e-01 1.49708915e-03 -5.10428663e+01] [ 6.80576791e-03 6.61555052e-06 9.99976840e-01 -2.40113022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19538475000002 meters 0.055519565258895634 Centerline is valid? [True, True] Translation: X:163.44, Y:-51.06, Z:-2.40 [[ 9.75923829e-01 2.17982049e-01 -7.51707497e-03 1.63441998e+02] [-2.17975448e-01 9.75952779e-01 1.69655893e-03 -5.10615793e+01] [ 7.70612959e-03 -1.71745085e-05 9.99970307e-01 -2.40319550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25538475 meters 0.05583470772991604 Centerline is valid? [True, True] Translation: X:163.50, Y:-51.08, Z:-2.41 [[ 9.76313164e-01 2.16207898e-01 -8.17015244e-03 1.63500788e+02] [-2.16200026e-01 9.76347348e-01 1.84533614e-03 -5.10770827e+01] [ 8.37588291e-03 -3.52387961e-05 9.99964921e-01 -2.40727171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31538475 meters 0.055696426800550695 Centerline is valid? [True, True] Translation: X:163.56, Y:-51.09, Z:-2.41 [[ 9.76059521e-01 2.17346214e-01 -8.27254274e-03 1.63562256e+02] [-2.17338157e-01 9.76094577e-01 1.87161542e-03 -5.10906735e+01] [ 8.48157263e-03 -2.88688604e-05 9.99964030e-01 -2.40814961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37538475 meters 0.05555765658506662 Centerline is valid? [True, True] Translation: X:163.62, Y:-51.11, Z:-2.41 [[ 9.75977259e-01 2.17721496e-01 -8.10797526e-03 1.63623297e+02] [-2.17713748e-01 9.76010937e-01 1.83692474e-03 -5.11064570e+01] [ 8.31341053e-03 -2.75790841e-05 9.99965443e-01 -2.40734599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43538475 meters 0.05550580462643697 Centerline is valid? [True, True] Translation: X:163.69, Y:-51.12, Z:-2.41 [[ 9.75846570e-01 2.18294267e-01 -8.43113093e-03 1.63685048e+02] [-2.18285890e-01 9.75882991e-01 1.91253815e-03 -5.11180134e+01] [ 8.64529339e-03 -2.59468769e-05 9.99962628e-01 -2.40995078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49538475 meters 0.05566331647359232 Centerline is valid? [True, True] Translation: X:163.75, Y:-51.13, Z:-2.41 [[ 9.75295171e-01 2.20613514e-01 -1.13581526e-02 1.63746293e+02] [-2.20598460e-01 9.75361306e-01 2.57720942e-03 -5.11264682e+01] [ 1.16468698e-02 -7.94893015e-06 9.99932173e-01 -2.41384616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55538475 meters 0.05573490817635216 Centerline is valid? [True, True] Translation: X:163.81, Y:-51.14, Z:-2.42 [[ 9.74707806e-01 2.23109890e-01 -1.29100384e-02 1.63806162e+02] [-2.23090625e-01 9.74793299e-01 2.93198929e-03 -5.11371507e+01] [ 1.32387747e-02 2.22756825e-05 9.99912363e-01 -2.41597062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61538475 meters 0.05571965402137201 Centerline is valid? [True, True] Translation: X:163.87, Y:-51.15, Z:-2.42 [[ 9.74034822e-01 2.25999930e-01 -1.34237180e-02 1.63867472e+02] [-2.25979327e-01 9.74127316e-01 3.05216532e-03 -5.11460790e+01] [ 1.37661995e-02 6.05674555e-05 9.99905240e-01 -2.41670697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67538475 meters 0.05557841976404149 Centerline is valid? [True, True] Translation: X:163.93, Y:-51.16, Z:-2.42 [[ 9.73801712e-01 2.27164053e-01 -1.03304652e-02 1.63929154e+02] [-2.27151922e-01 9.73856504e-01 2.34838195e-03 -5.11571076e+01] [ 1.05938587e-02 5.97266617e-05 9.99943882e-01 -2.41642903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73538475 meters 0.05524481109920331 Centerline is valid? [True, True] Translation: X:163.99, Y:-51.17, Z:-2.41 [[ 9.73832363e-01 2.27164349e-01 -6.84739709e-03 1.63989457e+02] [-2.27158989e-01 9.73856436e-01 1.56101596e-03 -5.11732978e+01] [ 7.02298890e-03 3.52799373e-05 9.99975338e-01 -2.41082807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.79538475 meters 0.05503898038350501 Centerline is valid? [True, True] Translation: X:164.05, Y:-51.19, Z:-2.41 [[ 9.73865532e-01 2.27077833e-01 -4.64585825e-03 1.64050321e+02] [-2.27075352e-01 9.73876613e-01 1.06165730e-03 -5.11870179e+01] [ 4.76557154e-03 2.10484438e-05 9.99988644e-01 -2.40957554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85538475 meters 0.055222157045412265 Centerline is valid? [True, True] Translation: X:164.11, Y:-51.20, Z:-2.41 [[ 9.73922233e-01 2.26850623e-01 -3.77871858e-03 1.64110470e+02] [-2.26848974e-01 9.73929563e-01 8.65134408e-04 -5.12013857e+01] [ 3.87646202e-03 1.46247989e-05 9.99992486e-01 -2.41302572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91538475000002 meters 0.05533036814845102 Centerline is valid? [True, True] Translation: X:164.17, Y:-51.22, Z:-2.42 [[ 9.74314754e-01 2.25091137e-01 -6.68875615e-03 1.64168654e+02] [-2.25085937e-01 9.74337713e-01 1.53001200e-03 -5.12193065e+01] [ 6.86149951e-03 1.48316772e-05 9.99976460e-01 -2.41629882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97538475 meters 0.05540692243844582 Centerline is valid? [True, True] Translation: X:164.23, Y:-51.24, Z:-2.42 [[ 9.75000930e-01 2.22037729e-01 -8.51076115e-03 1.64228577e+02] [-2.22029180e-01 9.75038075e-01 1.94839545e-03 -5.12369763e+01] [ 8.73093347e-03 -1.00500551e-05 9.99961885e-01 -2.41939050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03538475 meters 0.05540173145672372 Centerline is valid? [True, True] Translation: X:164.29, Y:-51.25, Z:-2.42 [[ 9.75267425e-01 2.20852055e-01 -8.82158160e-03 1.64288341e+02] [-2.20842799e-01 9.75307320e-01 2.02207338e-03 -5.12534711e+01] [ 9.05033218e-03 -2.38795223e-05 9.99959045e-01 -2.42192576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09538475 meters 0.05528132145614786 Centerline is valid? [True, True] Translation: X:164.35, Y:-51.27, Z:-2.42 [[ 9.75296484e-01 2.20763339e-01 -7.76638350e-03 1.64348152e+02] [-2.20756145e-01 9.75327405e-01 1.78233042e-03 -5.12715011e+01] [ 7.96823988e-03 -2.38237070e-05 9.99968253e-01 -2.41850451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15538475 meters 0.05515667479255719 Centerline is valid? [True, True] Translation: X:164.41, Y:-51.29, Z:-2.42 [[ 9.75161208e-01 2.21383168e-01 -7.07888874e-03 1.64408549e+02] [-2.21377193e-01 9.75186901e-01 1.62666315e-03 -5.12854643e+01] [ 7.26335541e-03 -1.91542841e-05 9.99973621e-01 -2.41941889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21538475 meters 0.05524653406855529 Centerline is valid? [True, True] Translation: X:164.47, Y:-51.30, Z:-2.42 [[ 9.74885018e-01 2.22550276e-01 -8.40090871e-03 1.64468358e+02] [-2.22541915e-01 9.74921214e-01 1.92917042e-03 -5.12954768e+01] [ 8.61956153e-03 -1.11650276e-05 9.99962851e-01 -2.42460224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27538475 meters 0.055024606044638956 Centerline is valid? [True, True] Translation: X:164.53, Y:-51.31, Z:-2.42 [[ 9.75448538e-01 2.20152790e-01 -5.73573282e-03 1.64528006e+02] [-2.20148829e-01 9.75465401e-01 1.32092319e-03 -5.13114470e+01] [ 5.88581384e-03 -2.57777251e-05 9.99982678e-01 -2.42090927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33538475 meters 0.05517464202317342 Centerline is valid? [True, True] Translation: X:164.59, Y:-51.33, Z:-2.42 [[ 9.75607473e-01 2.19498209e-01 -3.25509252e-03 1.64588447e+02] [-2.19496922e-01 9.75612903e-01 7.52036882e-04 -5.13260456e+01] [ 3.34078101e-03 -1.92100133e-05 9.99994419e-01 -2.41948430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39538475 meters 0.055047155184271446 Centerline is valid? [True, True] Translation: X:164.65, Y:-51.34, Z:-2.42 [[ 9.75372982e-01 2.20559274e-01 -1.07395233e-03 1.64649440e+02] [-2.20559133e-01 9.75373573e-01 2.48977921e-04 -5.13396969e+01] [ 1.10241911e-03 -5.97634080e-06 9.99999392e-01 -2.42024274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45538475 meters 0.0548300331837451 Centerline is valid? [True, True] Translation: X:164.71, Y:-51.35, Z:-2.42 [[ 9.75116286e-01 2.21688251e-01 1.59656470e-03 1.64709493e+02] [-2.21687952e-01 9.75117593e-01 -3.64321396e-04 -5.13540500e+01] [-1.63760410e-03 1.31656845e-06 9.99998659e-01 -2.41757712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.51538475 meters 0.05500758558680715 Centerline is valid? [True, True] Translation: X:164.77, Y:-51.37, Z:-2.42 [[ 9.74977661e-01 2.22300263e-01 1.07390195e-03 1.64769847e+02] [-2.22300129e-01 9.74978253e-01 -2.44006392e-04 -5.13674438e+01] [-1.10127373e-03 -8.27761649e-07 9.99999394e-01 -2.42163441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57538475 meters 0.055038364804238654 Centerline is valid? [True, True] Translation: X:164.83, Y:-51.38, Z:-2.42 [[ 9.75334615e-01 2.20707233e-01 -3.27201044e-03 1.64829375e+02] [-2.20705928e-01 9.75340103e-01 7.59203272e-04 -5.13835788e+01] [ 3.35888465e-03 -1.83251303e-05 9.99994359e-01 -2.42486395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63538475000001 meters 0.055792371610331196 Centerline is valid? [True, True] Translation: X:164.89, Y:-51.41, Z:-2.43 [[ 9.76776489e-01 2.14166878e-01 -6.34339981e-03 1.64886930e+02] [-2.14161850e-01 9.76797083e-01 1.46964560e-03 -5.14052413e+01] [ 6.51096384e-03 -7.70010318e-05 9.99978800e-01 -2.43002597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69538475000002 meters 0.05589441101527076 Centerline is valid? [True, True] Translation: X:164.95, Y:-51.42, Z:-2.43 [[ 9.77091761e-01 2.12718921e-01 -6.50773095e-03 1.64945501e+02] [-2.12713600e-01 9.77113429e-01 1.50717529e-03 -5.14246965e+01] [ 6.67939600e-03 -8.83656841e-05 9.99977689e-01 -2.43033429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75538475 meters 0.05530344247859784 Centerline is valid? [True, True] Translation: X:165.01, Y:-51.44, Z:-2.43 [[ 9.76222451e-01 2.16757760e-01 -2.40808348e-03 1.65005874e+02] [-2.16757044e-01 9.76225421e-01 5.57610396e-04 -5.14355611e+01] [ 2.47169869e-03 -2.23827317e-05 9.99996945e-01 -2.42690050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81538475 meters 0.05512001811173437 Centerline is valid? [True, True] Translation: X:165.07, Y:-51.44, Z:-2.43 [[ 9.75196002e-01 2.21342909e-01 -2.73633954e-04 1.65066700e+02] [-2.21342899e-01 9.75196040e-01 6.65889105e-05 -5.14418736e+01] [ 2.81585732e-04 -4.37030640e-06 9.99999960e-01 -2.42901982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87538475 meters 0.055401794282993716 Centerline is valid? [True, True] Translation: X:165.13, Y:-51.45, Z:-2.43 [[ 9.74117039e-01 2.26028715e-01 -2.64847236e-03 1.65128481e+02] [-2.26027872e-01 9.74120639e-01 6.17442271e-04 -5.14501735e+01] [ 2.71949127e-03 -2.83246379e-06 9.99996302e-01 -2.43198295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93538475 meters 0.05526585816026921 Centerline is valid? [True, True] Translation: X:165.19, Y:-51.46, Z:-2.43 [[ 9.73956324e-01 2.26731296e-01 -1.41357928e-03 1.65188879e+02] [-2.26731054e-01 9.73957350e-01 3.31469669e-04 -5.14636423e+01] [ 1.45192048e-03 -2.33465937e-06 9.99998946e-01 -2.43263497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99538475 meters 0.05543654667311856 Centerline is valid? [True, True] Translation: X:165.25, Y:-51.48, Z:-2.43 [[ 9.74007041e-01 2.26515964e-01 -8.95355126e-04 1.65248968e+02] [-2.26515865e-01 9.74007453e-01 2.11619290e-04 -5.14789538e+01] [ 9.20017713e-04 -3.30653770e-06 9.99999577e-01 -2.43112089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05538475 meters 0.05586783870290645 Centerline is valid? [True, True] Translation: X:165.31, Y:-51.49, Z:-2.43 [[ 9.73543655e-01 2.28501069e-01 1.15929502e-04 1.65310461e+02] [-2.28501067e-01 9.73543662e-01 -2.35806666e-05 -5.14901642e+01] [-1.18250640e-04 -3.53320665e-06 9.99999993e-01 -2.43301755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11538475 meters 0.056148140107921816 Centerline is valid? [True, True] Translation: X:165.37, Y:-51.50, Z:-2.43 [[ 9.72849748e-01 2.31435095e-01 -1.07946925e-03 1.65370629e+02] [-2.31434954e-01 9.72850347e-01 2.54876264e-04 -5.15038553e+01] [ 1.10914935e-03 1.87060734e-06 9.99999385e-01 -2.43157776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17538475 meters 0.05673046670422657 Centerline is valid? [True, True] Translation: X:165.43, Y:-51.51, Z:-2.44 [[ 9.72075944e-01 2.34653157e-01 -2.50092032e-03 1.65430461e+02] [-2.34652425e-01 9.72079161e-01 5.86186243e-04 -5.15144510e+01] [ 2.56864298e-03 1.70294722e-05 9.99996701e-01 -2.43548048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23538475 meters 0.05751573235463424 Centerline is valid? [True, True] Translation: X:165.49, Y:-51.52, Z:-2.44 [[ 9.71112116e-01 2.38585320e-01 -4.27826302e-03 1.65491742e+02] [-2.38583222e-01 9.71121539e-01 1.00158890e-03 -5.15220587e+01] [ 4.39367778e-03 4.80666639e-05 9.99990347e-01 -2.43998045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29538475 meters 0.058265674482367094 Centerline is valid? [True, True] Translation: X:165.55, Y:-51.53, Z:-2.44 [[ 9.70033605e-01 2.42868683e-01 -7.04328496e-03 1.65552322e+02] [-2.42863114e-01 9.70059168e-01 1.64858129e-03 -5.15336114e+01] [ 7.23279192e-03 1.11374867e-04 9.99973837e-01 -2.44454705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35538475 meters 0.058916463240708906 Centerline is valid? [True, True] Translation: X:165.61, Y:-51.55, Z:-2.44 [[ 9.69531739e-01 2.44855343e-01 -7.35315476e-03 1.65612547e+02] [-2.44849317e-01 9.69559613e-01 1.72274443e-03 -5.15467104e+01] [ 7.55114506e-03 1.30159519e-04 9.99971481e-01 -2.44385470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41538475000002 meters 0.060939693753096456 Centerline is valid? [True, True] Translation: X:165.67, Y:-51.55, Z:-2.45 [[ 9.67743284e-01 2.51822829e-01 -7.62880087e-03 1.65674739e+02] [-2.51816576e-01 9.67773334e-01 1.78508483e-03 -5.15519016e+01] [ 7.83247516e-03 1.93554657e-04 9.99969307e-01 -2.44888262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47538475 meters 0.06080543847448914 Centerline is valid? [True, True] Translation: X:165.73, Y:-51.57, Z:-2.44 [[ 9.67753372e-01 2.51842823e-01 -5.34824487e-03 1.65733903e+02] [-2.51839725e-01 9.67768141e-01 1.25600389e-03 -5.15709543e+01] [ 5.49217657e-03 1.31398517e-04 9.99984909e-01 -2.44451600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53538475 meters 0.060833348259442324 Centerline is valid? [True, True] Translation: X:165.79, Y:-51.59, Z:-2.44 [[ 9.68664098e-01 2.48369617e-01 -1.54857763e-03 1.65792409e+02] [-2.48369352e-01 9.68665336e-01 3.64021827e-04 -5.15878054e+01] [ 1.59046543e-03 3.20043490e-05 9.99998735e-01 -2.44325099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59538475 meters 0.06083297963618591 Centerline is valid? [True, True] Translation: X:165.85, Y:-51.60, Z:-2.45 [[ 9.69344837e-01 2.45701596e-01 -1.14526161e-03 1.65851338e+02] [-2.45701447e-01 9.69345514e-01 2.71707026e-04 -5.16033841e+01] [ 1.17691305e-03 1.80146313e-05 9.99999307e-01 -2.44514142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65538475 meters 0.0601982254685281 Centerline is valid? [True, True] Translation: X:165.91, Y:-51.63, Z:-2.45 [[ 9.71242599e-01 2.38086458e-01 -1.62879134e-03 1.65908932e+02] [-2.38086149e-01 9.71243964e-01 3.83680135e-04 -5.16250030e+01] [ 1.67330281e-03 1.51461674e-05 9.99998600e-01 -2.44931000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71538475 meters 0.06032461966524791 Centerline is valid? [True, True] Translation: X:165.97, Y:-51.65, Z:-2.45 [[ 9.73074220e-01 2.30449720e-01 -4.41468689e-03 1.65968119e+02] [-2.30447368e-01 9.73084234e-01 1.04101915e-03 -5.16473609e+01] [ 4.53576478e-03 4.36407931e-06 9.99989713e-01 -2.45229521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77538475 meters 0.06049215565099926 Centerline is valid? [True, True] Translation: X:166.03, Y:-51.67, Z:-2.45 [[ 9.74110405e-01 2.26052714e-01 -3.01480882e-03 1.66026006e+02] [-2.26051593e-01 9.74115070e-01 7.12075101e-04 -5.16658174e+01] [ 3.09773722e-03 -1.21374275e-05 9.99995202e-01 -2.45405702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83538475 meters 0.06085428676436147 Centerline is valid? [True, True] Translation: X:166.09, Y:-51.68, Z:-2.46 [[ 9.73815838e-01 2.27306735e-01 -3.78963797e-03 1.66087214e+02] [-2.27304969e-01 9.73823212e-01 8.96059127e-04 -5.16776502e+01] [ 3.89411770e-03 -1.11930289e-05 9.99992418e-01 -2.45998837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89538475 meters 0.061030440843486265 Centerline is valid? [True, True] Translation: X:166.15, Y:-51.69, Z:-2.46 [[ 9.71804288e-01 2.35720466e-01 -5.68231475e-03 1.66147961e+02] [-2.35716647e-01 9.71820900e-01 1.34222931e-03 -5.16866087e+01] [ 5.83858315e-03 3.50319836e-05 9.99982955e-01 -2.46395900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95538475 meters 0.061937172825189124 Centerline is valid? [True, True] Translation: X:166.21, Y:-51.69, Z:-2.46 [[ 9.69586617e-01 2.44683125e-01 -5.65339157e-03 1.66208231e+02] [-2.44679501e-01 9.69603094e-01 1.33467657e-03 -5.16949951e+01] [ 5.80811879e-03 8.91844907e-05 9.99983129e-01 -2.46486316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.01538475 meters 0.062274957421219156 Centerline is valid? [True, True] Translation: X:166.27, Y:-51.71, Z:-2.47 [[ 9.68464246e-01 2.49055296e-01 -6.96165040e-03 1.66268175e+02] [-2.49049893e-01 9.68489257e-01 1.64637097e-03 -5.17088134e+01] [ 7.15232103e-03 1.39346867e-04 9.99974412e-01 -2.46549807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07538475 meters 0.061919165788679446 Centerline is valid? [True, True] Translation: X:166.33, Y:-51.72, Z:-2.47 [[ 9.68689104e-01 2.48185260e-01 -6.74510583e-03 1.66327994e+02] [-2.48180152e-01 9.68712579e-01 1.59732370e-03 -5.17244412e+01] [ 6.93050106e-03 1.26691321e-04 9.99975976e-01 -2.46557992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13538475000001 meters 0.060717705932727385 Centerline is valid? [True, True] Translation: X:166.39, Y:-51.74, Z:-2.46 [[ 9.71023012e-01 2.38982510e-01 -1.29217104e-03 1.66386097e+02] [-2.38982313e-01 9.71023872e-01 3.07419853e-04 -5.17433590e+01] [ 1.32819690e-03 1.02942732e-05 9.99999118e-01 -2.46233156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19538475000002 meters 0.06070478354142639 Centerline is valid? [True, True] Translation: X:166.44, Y:-51.78, Z:-2.46 [[ 9.76433260e-01 2.15815857e-01 1.26690597e-03 1.66441786e+02] [-2.15815654e-01 9.76434082e-01 -2.96537743e-04 -5.17794236e+01] [-1.30104771e-03 1.61311745e-05 9.99999154e-01 -2.45620169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25538475 meters 0.06388571745773204 Centerline is valid? [True, True] Translation: X:166.50, Y:-51.81, Z:-2.46 [[ 9.80071488e-01 1.98644397e-01 -5.30925032e-04 1.66496800e+02] [-1.98644357e-01 9.80071632e-01 1.27084301e-04 -5.18077767e+01] [ 5.45589146e-04 -1.90864380e-05 9.99999851e-01 -2.45841853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31538475 meters 0.06483883926863787 Centerline is valid? [True, True] Translation: X:166.56, Y:-51.82, Z:-2.46 [[ 9.81688959e-01 1.90489167e-01 -8.15834308e-04 1.66555610e+02] [-1.90489072e-01 9.81689297e-01 1.94254682e-04 -5.18233330e+01] [ 8.37899221e-04 -3.52901565e-05 9.99999648e-01 -2.45801816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37538475 meters 0.06621723296072649 Centerline is valid? [True, True] Translation: X:166.61, Y:-51.84, Z:-2.46 [[ 9.82667974e-01 1.85365319e-01 -1.83057709e-03 1.66614646e+02] [-1.85364831e-01 9.82669675e-01 4.34374742e-04 -5.18418718e+01] [ 1.87937061e-03 -8.75215345e-05 9.99998230e-01 -2.45765520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.43538475 meters 0.06387881552065407 Centerline is valid? [True, True] Translation: X:166.68, Y:-51.85, Z:-2.46 [[ 9.80903668e-01 1.94485018e-01 -1.88996015e-03 1.66675598e+02] [-1.94484515e-01 9.80905486e-01 4.48197302e-04 -5.18491785e+01] [ 1.94103994e-03 -7.20703942e-05 9.99998114e-01 -2.45909908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49538475 meters 0.06110258640925229 Centerline is valid? [True, True] Translation: X:166.74, Y:-51.85, Z:-2.46 [[ 9.78338243e-01 2.06992071e-01 -2.92642709e-03 1.66736934e+02] [-2.06990921e-01 9.78342617e-01 6.93885799e-04 -5.18541707e+01] [ 3.00667720e-03 -7.31111751e-05 9.99995477e-01 -2.45984537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55538475 meters 0.05964614273622771 Centerline is valid? [True, True] Translation: X:166.80, Y:-51.86, Z:-2.46 [[ 9.76406359e-01 2.15918657e-01 -3.12335860e-03 1.66798076e+02] [-2.15917392e-01 9.76411354e-01 7.40643639e-04 -5.18615052e+01] [ 3.20960157e-03 -4.87817172e-05 9.99994848e-01 -2.46046097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61538475 meters 0.05893986585009711 Centerline is valid? [True, True] Translation: X:166.86, Y:-51.86, Z:-2.47 [[ 9.73080624e-01 2.30394361e-01 -5.70420191e-03 1.66859924e+02] [-2.30390369e-01 9.73097343e-01 1.35640748e-03 -5.18645721e+01] [ 5.86325235e-03 -5.70065368e-06 9.99982811e-01 -2.46836935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67538475 meters 0.05906979634439897 Centerline is valid? [True, True] Translation: X:166.92, Y:-51.88, Z:-2.47 [[ 9.71877288e-01 2.35358864e-01 -7.79368006e-03 1.66920830e+02] [-2.35351581e-01 9.71908537e-01 1.85188100e-03 -5.18750529e+01] [ 8.01060079e-03 3.44538372e-05 9.99967914e-01 -2.46943762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73538475 meters 0.058871810449002894 Centerline is valid? [True, True] Translation: X:166.98, Y:-51.89, Z:-2.47 [[ 9.72124252e-01 2.34304521e-01 -8.70808740e-03 1.66979922e+02] [-2.34295354e-01 9.72163253e-01 2.07280678e-03 -5.18929476e+01] [ 8.95135058e-03 2.52386764e-05 9.99959936e-01 -2.46783198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.79538475 meters 0.05870650944607993 Centerline is valid? [True, True] Translation: X:167.04, Y:-51.91, Z:-2.47 [[ 9.72974793e-01 2.30719049e-01 -9.42194508e-03 1.67039943e+02] [-2.30708120e-01 9.73020411e-01 2.24562323e-03 -5.19110074e+01] [ 9.68585293e-03 -1.12155565e-05 9.99953091e-01 -2.46837626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85538475 meters 0.058983931774931234 Centerline is valid? [True, True] Translation: X:167.10, Y:-51.93, Z:-2.47 [[ 9.75648846e-01 2.19126634e-01 -9.63577948e-03 1.67098248e+02] [-2.19114659e-01 9.75696419e-01 2.29433261e-03 -5.19334228e+01] [ 9.90434492e-03 -1.27122419e-04 9.99950943e-01 -2.46747303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91538475000002 meters 0.059573114315787205 Centerline is valid? [True, True] Translation: X:167.16, Y:-51.95, Z:-2.47 [[ 9.77282804e-01 2.11839940e-01 -6.49307056e-03 1.67156855e+02] [-2.11834313e-01 9.77304364e-01 1.55036170e-03 -5.19535660e+01] [ 6.67413472e-03 -1.39686687e-04 9.99977718e-01 -2.46528209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97538475 meters 0.05965647777543653 Centerline is valid? [True, True] Translation: X:167.22, Y:-51.97, Z:-2.46 [[ 9.77966980e-01 2.08714347e-01 -4.34822410e-03 1.67216914e+02] [-2.08711782e-01 9.77976641e-01 1.04046438e-03 -5.19709112e+01] [ 4.46962144e-03 -1.10014208e-04 9.99990005e-01 -2.46291293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03538475 meters 0.05940806722144107 Centerline is valid? [True, True] Translation: X:167.28, Y:-51.98, Z:-2.47 [[ 9.77628685e-01 2.10286637e-01 -4.65678578e-03 1.67278399e+02] [-2.10283723e-01 9.77639769e-01 1.11232738e-03 -5.19830025e+01] [ 4.78656656e-03 -1.08196908e-04 9.99988538e-01 -2.46638782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09538475 meters 0.05859330906623684 Centerline is valid? [True, True] Translation: X:167.34, Y:-52.00, Z:-2.47 [[ 9.76545940e-01 2.15271573e-01 -4.02193616e-03 1.67338338e+02] [-2.15269443e-01 9.76554220e-01 9.60274257e-04 -5.19956434e+01] [ 4.13435848e-03 -7.19519695e-05 9.99991451e-01 -2.46645404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15538475 meters 0.05752991096293809 Centerline is valid? [True, True] Translation: X:167.40, Y:-52.00, Z:-2.47 [[ 9.73915408e-01 2.26837775e-01 -5.77946227e-03 1.67400166e+02] [-2.26833580e-01 9.73932556e-01 1.37989504e-03 -5.20014102e+01] [ 5.94181877e-03 -3.29249218e-05 9.99982347e-01 -2.46949670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21538475 meters 0.05767952669904602 Centerline is valid? [True, True] Translation: X:167.46, Y:-52.01, Z:-2.47 [[ 9.73597967e-01 2.28116715e-01 -8.35248260e-03 1.67461146e+02] [-2.28107959e-01 9.73633793e-01 1.99904620e-03 -5.20138602e+01] [ 8.58827517e-03 -4.09995539e-05 9.99963119e-01 -2.47260420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27538475 meters 0.05802037114836439 Centerline is valid? [True, True] Translation: X:167.52, Y:-52.03, Z:-2.48 [[ 9.73686672e-01 2.27596079e-01 -1.15883169e-02 1.67520183e+02] [-2.27579175e-01 9.73755627e-01 2.77460953e-03 -5.20286750e+01] [ 1.19156791e-02 -6.43407112e-05 9.99929004e-01 -2.47813772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33538475 meters 0.05785624576070256 Centerline is valid? [True, True] Translation: X:167.58, Y:-52.04, Z:-2.48 [[ 9.73777089e-01 2.27226099e-01 -1.12463501e-02 1.67581680e+02] [-2.27210105e-01 9.73842028e-01 2.69686358e-03 -5.20421463e+01] [ 1.15649662e-02 -7.08595745e-05 9.99933121e-01 -2.47832326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39538475 meters 0.057558744811730844 Centerline is valid? [True, True] Translation: X:167.64, Y:-52.06, Z:-2.47 [[ 9.74075646e-01 2.26033524e-01 -9.24561423e-03 1.67641605e+02] [-2.26022635e-01 9.74119521e-01 2.21983863e-03 -5.20566840e+01] [ 9.50809125e-03 -7.25726627e-05 9.99954794e-01 -2.47365150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45538475 meters 0.05736561863210063 Centerline is valid? [True, True] Translation: X:167.70, Y:-52.07, Z:-2.47 [[ 9.74297461e-01 2.25214165e-01 -4.79981834e-03 1.67699522e+02] [-2.25211220e-01 9.74309283e-01 1.15256557e-03 -5.20724273e+01] [ 4.93608165e-03 -4.19687665e-05 9.99987817e-01 -2.47109871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.51538475 meters 0.057164165312428905 Centerline is valid? [True, True] Translation: X:167.76, Y:-52.09, Z:-2.47 [[ 9.74477087e-01 2.24468368e-01 -2.89105557e-03 1.67760080e+02] [-2.24467292e-01 9.74481375e-01 6.95555979e-04 -5.20884387e+01] [ 2.97341012e-03 -2.88559494e-05 9.99995579e-01 -2.46887276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57538475 meters 0.05753477951729641 Centerline is valid? [True, True] Translation: X:167.82, Y:-52.10, Z:-2.47 [[ 9.74612451e-01 2.23860181e-01 -4.14612534e-03 1.67819837e+02] [-2.23857956e-01 9.74621269e-01 9.99270138e-04 -5.21046408e+01] [ 4.26459873e-03 -4.57579762e-05 9.99990906e-01 -2.47189582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63538475000001 meters 0.05742061537687652 Centerline is valid? [True, True] Translation: X:167.88, Y:-52.12, Z:-2.47 [[ 9.74486303e-01 2.24378275e-01 -5.55298694e-03 1.67878973e+02] [-2.24374292e-01 9.74502122e-01 1.33821811e-03 -5.21186776e+01] [ 5.71166463e-03 -5.81277071e-05 9.99983687e-01 -2.47462353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69538475000002 meters 0.0579093507499639 Centerline is valid? [True, True] Translation: X:167.94, Y:-52.13, Z:-2.48 [[ 9.74274039e-01 2.25240698e-01 -7.53155600e-03 1.67940673e+02] [-2.25233387e-01 9.74303147e-01 1.81623876e-03 -5.21285680e+01] [ 7.74710960e-03 -7.31564110e-05 9.99969988e-01 -2.47744944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75538475 meters 0.05857705848698073 Centerline is valid? [True, True] Translation: X:168.00, Y:-52.14, Z:-2.48 [[ 9.74640998e-01 2.23503203e-01 -1.10110377e-02 1.68000742e+02] [-2.23487502e-01 9.74703187e-01 2.65215059e-03 -5.21431729e+01] [ 1.13252577e-02 -1.24065391e-04 9.99935860e-01 -2.48112184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81538475 meters 0.05850473336466441 Centerline is valid? [True, True] Translation: X:168.06, Y:-52.16, Z:-2.48 [[ 9.74677370e-01 2.23428537e-01 -9.14950505e-03 1.68060654e+02] [-2.23417646e-01 9.74720307e-01 2.20872465e-03 -5.21589570e+01] [ 9.41170048e-03 -1.08633052e-04 9.99955703e-01 -2.47724316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87538475 meters 0.058642949387041676 Centerline is valid? [True, True] Translation: X:168.12, Y:-52.17, Z:-2.48 [[ 9.75081729e-01 2.21780468e-01 -5.38934435e-03 1.68119716e+02] [-2.21776661e-01 9.75096620e-01 1.30170963e-03 -5.21735342e+01] [ 5.54382523e-03 -7.40424810e-05 9.99984630e-01 -2.47581061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93538475 meters 0.05873174037020709 Centerline is valid? [True, True] Translation: X:168.18, Y:-52.19, Z:-2.48 [[ 9.74974365e-01 2.22258066e-01 -5.13219788e-03 1.68181123e+02] [-2.22254601e-01 9.74987870e-01 1.24301540e-03 -5.21874239e+01] [ 5.28010088e-03 -7.12535553e-05 9.99986058e-01 -2.47773370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99538475 meters 0.058862670418369206 Centerline is valid? [True, True] Translation: X:168.24, Y:-52.20, Z:-2.48 [[ 9.75150429e-01 2.21483345e-01 -5.17386612e-03 1.68241301e+02] [-2.21479809e-01 9.75164151e-01 1.25394763e-03 -5.22030627e+01] [ 5.32309728e-03 -7.68806910e-05 9.99985829e-01 -2.47907051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05538475 meters 0.05978625739684554 Centerline is valid? [True, True] Translation: X:168.30, Y:-52.23, Z:-2.48 [[ 9.76018887e-01 2.17654482e-01 -3.69578324e-03 1.68298151e+02] [-2.17652647e-01 9.76025882e-01 8.96640372e-04 -5.22258405e+01] [ 3.80233789e-03 -7.07409348e-05 9.99992769e-01 -2.47711041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11538475 meters 0.059561929491594695 Centerline is valid? [True, True] Translation: X:168.36, Y:-52.24, Z:-2.48 [[ 9.75352684e-01 2.20575907e-01 -5.78017259e-03 1.68360501e+02] [-2.20571461e-01 9.75369807e-01 1.40377318e-03 -5.22362943e+01] [ 5.94744437e-03 -9.42328324e-05 9.99982309e-01 -2.47846178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17538475 meters 0.05942371351103242 Centerline is valid? [True, True] Translation: X:168.42, Y:-52.24, Z:-2.49 [[ 9.73834272e-01 2.27084021e-01 -8.92512033e-03 1.68423443e+02] [-2.27073693e-01 9.73875167e-01 2.16734646e-03 -5.22414542e+01] [ 9.18412280e-03 -8.39762277e-05 9.99957822e-01 -2.48557841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23538475 meters 0.05961571303439114 Centerline is valid? [True, True] Translation: X:168.49, Y:-52.25, Z:-2.49 [[ 9.71962976e-01 2.34846219e-01 -1.16287471e-02 1.68485256e+02] [-2.34829218e-01 9.72032537e-01 2.82575870e-03 -5.22482487e+01] [ 1.19671393e-02 -1.57632371e-05 9.99928391e-01 -2.48968175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.29538475 meters 0.06048273007658461 Centerline is valid? [True, True] Translation: X:168.55, Y:-52.26, Z:-2.49 [[ 9.70726184e-01 2.39650518e-01 -1.60718619e-02 1.68545881e+02] [-2.39618679e-01 9.70859220e-01 3.90676727e-03 -5.22578072e+01] [ 1.65397741e-02 5.87170332e-05 9.99863207e-01 -2.49460611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35538475 meters 0.060892099435473516 Centerline is valid? [True, True] Translation: X:168.61, Y:-52.27, Z:-2.50 [[ 9.70103696e-01 2.42184728e-01 -1.56645274e-02 1.68607595e+02] [-2.42154721e-01 9.70230152e-01 3.81346517e-03 -5.22703430e+01] [ 1.61217598e-02 9.37826020e-05 9.99870032e-01 -2.49552873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41538475000002 meters 0.060765831000672024 Centerline is valid? [True, True] Translation: X:168.67, Y:-52.29, Z:-2.49 [[ 9.70801581e-01 2.39488488e-01 -1.37678575e-02 1.68667686e+02] [-2.39464985e-01 9.70899203e-01 3.35538944e-03 -5.22866236e+01] [ 1.41707790e-02 3.95024156e-05 9.99899589e-01 -2.49379369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47538475 meters 0.06111246551166343 Centerline is valid? [True, True] Translation: X:168.72, Y:-52.31, Z:-2.49 [[ 9.73643031e-01 2.27869004e-01 -9.74497242e-03 1.68723972e+02] [-2.27856615e-01 9.73691793e-01 2.37798129e-03 -5.23126558e+01] [ 1.00304679e-02 -9.48484833e-05 9.99949689e-01 -2.49209404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53538475 meters 0.062444220335269154 Centerline is valid? [True, True] Translation: X:168.78, Y:-52.34, Z:-2.49 [[ 9.76142172e-01 2.17076659e-01 -4.91763485e-03 1.68779731e+02] [-2.17073354e-01 9.76154554e-01 1.20264083e-03 -5.23409348e+01] [ 5.06143691e-03 -1.06460939e-04 9.99987185e-01 -2.48920787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59538475 meters 0.06345450286489232 Centerline is valid? [True, True] Translation: X:168.84, Y:-52.36, Z:-2.49 [[ 9.77182274e-01 2.12399280e-01 -1.16128658e-03 1.68838701e+02] [-2.12399090e-01 9.77182964e-01 2.86574858e-04 -5.23589536e+01] [ 1.19565775e-03 -3.33796601e-05 9.99999285e-01 -2.48881001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.65538475 meters 0.06331002776602243 Centerline is valid? [True, True] Translation: X:168.90, Y:-52.38, Z:-2.49 [[ 9.77282878e-01 2.11937937e-01 6.97750163e-04 1.68899070e+02] [-2.11937872e-01 9.77283127e-01 -1.66779180e-04 -5.23764715e+01] [-7.17246297e-04 1.51107518e-05 9.99999743e-01 -2.49134927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71538475 meters 0.06301816597398747 Centerline is valid? [True, True] Translation: X:168.96, Y:-52.39, Z:-2.50 [[ 9.76148409e-01 2.17096631e-01 -1.82656307e-03 1.68958453e+02] [-2.17096168e-01 9.76150117e-01 4.50204133e-04 -5.23926777e+01] [ 1.88073756e-03 -4.29262046e-05 9.99998230e-01 -2.49577271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77538475 meters 0.061786888705302495 Centerline is valid? [True, True] Translation: X:169.02, Y:-52.40, Z:-2.50 [[ 9.74155098e-01 2.25867120e-01 -2.42687465e-03 1.69019957e+02] [-2.25866340e-01 9.74158120e-01 5.94653426e-04 -5.24010959e+01] [ 2.49847231e-03 -3.11353714e-05 9.99996878e-01 -2.49969441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83538475 meters 0.06130956463599116 Centerline is valid? [True, True] Translation: X:169.08, Y:-52.41, Z:-2.51 [[ 9.71685535e-01 2.36222235e-01 -5.12605904e-03 1.69082503e+02] [-2.36218880e-01 9.71699056e-01 1.25904587e-03 -5.24056117e+01] [ 5.27840136e-03 -1.25247335e-05 9.99986069e-01 -2.50511573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89538475 meters 0.06162857497385951 Centerline is valid? [True, True] Translation: X:169.14, Y:-52.41, Z:-2.51 [[ 9.69518355e-01 2.44971372e-01 -4.81521566e-03 1.69144879e+02] [-2.44968512e-01 9.69530312e-01 1.18420452e-03 -5.24132236e+01] [ 4.95859374e-03 3.14681918e-05 9.99987706e-01 -2.50761758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95538475 meters 0.06239277698339578 Centerline is valid? [True, True] Translation: X:169.21, Y:-52.42, Z:-2.51 [[ 9.67312158e-01 2.53563889e-01 -3.54169834e-03 1.69206039e+02] [-2.53562394e-01 9.67318640e-01 8.72429622e-04 -5.24210971e+01] [ 3.64716747e-03 5.41297293e-05 9.99993348e-01 -2.50834215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.01538475 meters 0.06333370226816218 Centerline is valid? [True, True] Translation: X:169.27, Y:-52.43, Z:-2.51 [[ 9.65067859e-01 2.61995278e-01 -1.58187238e-03 1.69266317e+02] [-2.61994988e-01 9.65069154e-01 3.91638178e-04 -5.24317403e+01] [ 1.62922359e-03 3.64852168e-05 9.99998672e-01 -2.50599224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07538475 meters 0.06464336623218507 Centerline is valid? [True, True] Translation: X:169.33, Y:-52.44, Z:-2.51 [[ 9.64058866e-01 2.65687594e-01 -7.78497606e-04 1.69325980e+02] [-2.65687525e-01 9.64059180e-01 1.93054541e-04 -5.24425131e+01] [ 8.01809960e-04 2.07211603e-05 9.99999678e-01 -2.50742375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13538475000001 meters 0.06412340682258615 Centerline is valid? [True, True] Translation: X:169.39, Y:-52.46, Z:-2.51 [[ 9.64641109e-01 2.63566853e-01 2.11340351e-04 1.69385208e+02] [-2.63566848e-01 9.64641132e-01 -4.87162330e-05 -5.24601135e+01] [-2.16707580e-04 -8.70862930e-06 9.99999976e-01 -2.50799293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19538475000002 meters 0.0637049046087685 Centerline is valid? [True, True] Translation: X:169.45, Y:-52.48, Z:-2.51 [[ 9.65011458e-01 2.62207266e-01 -4.85232977e-04 1.69445814e+02] [-2.62207237e-01 9.65011580e-01 1.22798066e-04 -5.24750643e+01] [ 5.00453986e-04 8.73005759e-06 9.99999875e-01 -2.51058729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25538475 meters 0.062296539524425744 Centerline is valid? [True, True] Translation: X:169.50, Y:-52.49, Z:-2.51 [[ 9.65699239e-01 2.59659884e-01 1.31288219e-03 1.69504918e+02] [-2.59659688e-01 9.65700131e-01 -3.20235896e-04 -5.24946161e+01] [-1.35100292e-03 -3.16510189e-05 9.99999087e-01 -2.50833821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31538475 meters 0.061724024724829914 Centerline is valid? [True, True] Translation: X:169.56, Y:-52.51, Z:-2.51 [[ 9.66576275e-01 2.56378070e-01 7.68557524e-04 1.69564885e+02] [-2.56378001e-01 9.66576580e-01 -1.88352114e-04 -5.25129856e+01] [-7.91159055e-04 -1.49845567e-05 9.99999687e-01 -2.50971345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37538475 meters 0.06188678732268215 Centerline is valid? [True, True] Translation: X:169.62, Y:-52.53, Z:-2.51 [[ 9.67002507e-01 2.54766474e-01 -4.42604318e-04 1.69624063e+02] [-2.54766450e-01 9.67002608e-01 1.12474501e-04 -5.25265124e+01] [ 4.56654262e-04 3.99760586e-06 9.99999896e-01 -2.51390753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43538475 meters 0.06044065737308466 Centerline is valid? [True, True] Translation: X:169.68, Y:-52.55, Z:-2.51 [[ 9.68681581e-01 2.48296017e-01 -2.25464454e-03 1.69682098e+02] [-2.48295384e-01 9.68684204e-01 5.60697470e-04 -5.25488015e+01] [ 2.32325750e-03 1.66805210e-05 9.99997301e-01 -2.51380579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49538475 meters 0.05981901530575843 Centerline is valid? [True, True] Translation: X:169.74, Y:-52.57, Z:-2.51 [[ 9.70451339e-01 2.41283959e-01 -2.49983159e-03 1.69741348e+02] [-2.41283157e-01 9.70454559e-01 6.22026435e-04 -5.25690189e+01] [ 2.57605797e-03 -4.79127278e-07 9.99996682e-01 -2.51304986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55538475 meters 0.05965131437369379 Centerline is valid? [True, True] Translation: X:169.80, Y:-52.59, Z:-2.51 [[ 9.72543843e-01 2.32719641e-01 -2.05522884e-04 1.69800716e+02] [-2.32719634e-01 9.72543865e-01 5.48117965e-05 -5.25927289e+01] [ 2.12635801e-04 -5.47766478e-06 9.99999977e-01 -2.50998458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61538475 meters 0.06018001943137631 Centerline is valid? [True, True] Translation: X:169.86, Y:-52.61, Z:-2.51 [[ 9.73812881e-01 2.27346632e-01 1.40771345e-03 1.69857566e+02] [-2.27346369e-01 9.73813898e-01 -3.46387435e-04 -5.26149853e+01] [-1.44960094e-03 1.72780030e-05 9.99998949e-01 -2.50955922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67538475 meters 0.05990667695161584 Centerline is valid? [True, True] Translation: X:169.92, Y:-52.63, Z:-2.51 [[ 9.73996448e-01 2.26553799e-01 2.07238654e-03 1.69918551e+02] [-2.26553225e-01 9.73998653e-01 -5.10609374e-04 -5.26284291e+01] [-2.13418219e-03 2.78258630e-05 9.99997722e-01 -2.50820468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73538475 meters 0.059648515986128164 Centerline is valid? [True, True] Translation: X:169.98, Y:-52.64, Z:-2.51 [[ 9.73464325e-01 2.28830865e-01 1.90847462e-03 1.69978617e+02] [-2.28830382e-01 9.73466196e-01 -4.70862650e-04 -5.26436498e+01] [-1.96558344e-03 2.16510164e-05 9.99998068e-01 -2.50813845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.79538475 meters 0.05921736713645469 Centerline is valid? [True, True] Translation: X:170.04, Y:-52.66, Z:-2.51 [[ 9.73082696e-01 2.30453408e-01 1.13748135e-03 1.70038957e+02] [-2.30453239e-01 9.73083361e-01 -2.79406564e-04 -5.26577122e+01] [-1.17125437e-03 9.74943077e-06 9.99999314e-01 -2.50909607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85538475 meters 0.059433348947760194 Centerline is valid? [True, True] Translation: X:170.10, Y:-52.67, Z:-2.51 [[ 9.73126955e-01 2.30267982e-01 -7.65952489e-04 1.70098388e+02] [-2.30267901e-01 9.73127256e-01 1.93755939e-04 -5.26713156e+01] [ 7.89985033e-04 -1.21748548e-05 9.99999688e-01 -2.51286498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91538475000002 meters 0.05952690144916328 Centerline is valid? [True, True] Translation: X:170.16, Y:-52.69, Z:-2.51 [[ 9.73623619e-01 2.28156491e-01 -1.28957897e-03 1.70157761e+02] [-2.28156262e-01 9.73624473e-01 3.24553200e-04 -5.26878158e+01] [ 1.32961457e-03 -2.17671445e-05 9.99999116e-01 -2.51342350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97538475 meters 0.060806733593870725 Centerline is valid? [True, True] Translation: X:170.22, Y:-52.71, Z:-2.52 [[ 9.74793434e-01 2.23102934e-01 -1.68549803e-03 1.70215099e+02] [-2.23102538e-01 9.74794891e-01 4.21886405e-04 -5.27093059e+01] [ 1.73713896e-03 -3.52132098e-05 9.99998491e-01 -2.51582345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03538475 meters 0.061614880222711804 Centerline is valid? [True, True] Translation: X:170.27, Y:-52.73, Z:-2.51 [[ 9.76337505e-01 2.16252060e-01 -3.49608844e-04 1.70273647e+02] [-2.16252042e-01 9.76337568e-01 8.79695225e-05 -5.27297979e+01] [ 3.60359839e-04 -1.02843176e-05 9.99999935e-01 -2.51340597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09538475 meters 0.06253975720581291 Centerline is valid? [True, True] Translation: X:170.33, Y:-52.75, Z:-2.52 [[ 9.77031337e-01 2.13092675e-01 -1.13040975e-03 1.70333133e+02] [-2.13092488e-01 9.77031990e-01 2.85256096e-04 -5.27462746e+01] [ 1.16523248e-03 -3.78223183e-05 9.99999320e-01 -2.51515823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.15538475 meters 0.061206396632927186 Centerline is valid? [True, True] Translation: X:170.39, Y:-52.76, Z:-2.52 [[ 9.76082330e-01 2.17392791e-01 -1.91303260e-03 1.70394445e+02] [-2.17392270e-01 9.76084203e-01 4.78759299e-04 -5.27560148e+01] [ 1.97135972e-03 -5.14299944e-05 9.99998056e-01 -2.51560064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21538475 meters 0.05990158381010467 Centerline is valid? [True, True] Translation: X:170.46, Y:-52.76, Z:-2.52 [[ 9.74265271e-01 2.25382574e-01 -3.14265331e-03 1.70456156e+02] [-2.25381213e-01 9.74270338e-01 7.85397072e-04 -5.27614316e+01] [ 3.23880872e-03 -5.68900750e-05 9.99994753e-01 -2.51892199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27538475 meters 0.06054680016839874 Centerline is valid? [True, True] Translation: X:170.51, Y:-52.78, Z:-2.52 [[ 9.75102665e-01 2.21726637e-01 -3.47734224e-03 1.70514492e+02] [-2.21724944e-01 9.75108862e-01 8.69721696e-04 -5.27831693e+01] [ 3.58362770e-03 -7.70544291e-05 9.99993576e-01 -2.51856136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33538475 meters 0.06132350432380115 Centerline is valid? [True, True] Translation: X:170.57, Y:-52.80, Z:-2.52 [[ 9.75997333e-01 2.17694345e-01 -6.19502806e-03 1.70573139e+02] [-2.17688897e-01 9.76016980e-01 1.54870010e-03 -5.28032617e+01] [ 6.38359583e-03 -1.62938338e-04 9.99979611e-01 -2.52003519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39538475 meters 0.0622865130900688 Centerline is valid? [True, True] Translation: X:170.63, Y:-52.82, Z:-2.52 [[ 9.76748900e-01 2.14295997e-01 -6.22989218e-03 1.70632814e+02] [-2.14290414e-01 9.76768750e-01 1.55813976e-03 -5.28205647e+01] [ 6.41906711e-03 -1.86905126e-04 9.99979380e-01 -2.52158851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45538475 meters 0.06279940295951544 Centerline is valid? [True, True] Translation: X:170.69, Y:-52.84, Z:-2.52 [[ 9.77223675e-01 2.12147115e-01 -5.24316452e-03 1.70692396e+02] [-2.12143110e-01 9.77237725e-01 1.31488379e-03 -5.28358687e+01] [ 5.40276697e-03 -1.72634346e-04 9.99985390e-01 -2.52215027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.51538475 meters 0.06310756866296917 Centerline is valid? [True, True] Translation: X:170.75, Y:-52.85, Z:-2.52 [[ 9.77406923e-01 2.11231656e-01 -7.54279831e-03 1.70752182e+02] [-2.11223338e-01 9.77435994e-01 1.89197895e-03 -5.28507848e+01] [ 7.77224841e-03 -2.56018295e-04 9.99969763e-01 -2.52273952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57538475 meters 0.06289676347063813 Centerline is valid? [True, True] Translation: X:170.81, Y:-52.86, Z:-2.52 [[ 9.76737243e-01 2.14283074e-01 -8.19280180e-03 1.70813886e+02] [-2.14273351e-01 9.76771570e-01 2.05698317e-03 -5.28603874e+01] [ 8.44327256e-03 -2.53632969e-04 9.99964323e-01 -2.52439408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63538475000001 meters 0.061320065293507864 Centerline is valid? [True, True] Translation: X:170.88, Y:-52.87, Z:-2.52 [[ 9.74862312e-01 2.22534911e-01 -1.10311810e-02 1.70875617e+02] [-2.22517850e-01 9.74924692e-01 2.76610330e-03 -5.28654351e+01] [ 1.13701253e-02 -2.41935175e-04 9.99935329e-01 -2.52451847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69538475000002 meters 0.06014428239683228 Centerline is valid? [True, True] Translation: X:170.94, Y:-52.87, Z:-2.53 [[ 9.72618778e-01 2.32048784e-01 -1.28869707e-02 1.70937954e+02] [-2.32026328e-01 9.72704137e-01 3.23183927e-03 -5.28686747e+01] [ 1.32851541e-02 -1.53231075e-04 9.99911737e-01 -2.52511079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75538475 meters 0.060040451748550286 Centerline is valid? [True, True] Translation: X:171.00, Y:-52.87, Z:-2.53 [[ 9.69321299e-01 2.45369671e-01 -1.44894303e-02 1.71002777e+02] [-2.45342669e-01 9.69429587e-01 3.64012092e-03 -5.28662584e+01] [ 1.49396577e-02 2.64287704e-05 9.99888397e-01 -2.52937686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81538475 meters 0.06020973609069195 Centerline is valid? [True, True] Translation: X:171.06, Y:-52.88, Z:-2.53 [[ 9.68053180e-01 2.50399485e-01 -1.31582216e-02 1.71064894e+02] [-2.50377629e-01 9.68142598e-01 3.30956596e-03 -5.28752641e+01] [ 1.35677485e-02 9.06884868e-05 9.99907950e-01 -2.52723757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87538475 meters 0.06119356558222669 Centerline is valid? [True, True] Translation: X:171.13, Y:-52.88, Z:-2.53 [[ 9.66304731e-01 2.57089732e-01 -1.26505504e-02 1.71126906e+02] [-2.57070058e-01 9.66387520e-01 3.18525355e-03 -5.28842420e+01] [ 1.30442300e-02 1.74152164e-04 9.99914905e-01 -2.52842407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93538475 meters 0.06144035775887275 Centerline is valid? [True, True] Translation: X:171.19, Y:-52.90, Z:-2.53 [[ 9.66057525e-01 2.58111999e-01 -1.05382489e-02 1.71185385e+02] [-2.58098378e-01 9.66114989e-01 2.65617918e-03 -5.29013372e+01] [ 1.08667520e-02 1.53883070e-04 9.99940943e-01 -2.52535553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99538475 meters 0.062130320916040406 Centerline is valid? [True, True] Translation: X:171.25, Y:-52.91, Z:-2.53 [[ 9.65152941e-01 2.61442802e-01 -1.12898810e-02 1.71245794e+02] [-2.61427368e-01 9.65218949e-01 2.84806117e-03 -5.29138916e+01] [ 1.16418122e-02 2.02669269e-04 9.99932211e-01 -2.52638687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05538475 meters 0.06321017065617576 Centerline is valid? [True, True] Translation: X:171.31, Y:-52.92, Z:-2.53 [[ 9.64120669e-01 2.65133975e-01 -1.32405298e-02 1.71306609e+02] [-2.65113125e-01 9.64211538e-01 3.33783559e-03 -5.29241978e+01] [ 1.36516453e-02 2.92161964e-04 9.99906769e-01 -2.53135341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11538475 meters 0.06680430672505867 Centerline is valid? [True, True] Translation: X:171.37, Y:-52.93, Z:-2.54 [[ 9.61358387e-01 2.74727554e-01 -1.77432710e-02 1.71367594e+02] [-2.74691746e-01 9.61521940e-01 4.47251539e-03 -5.29268401e+01] [ 1.82892676e-02 5.74239914e-04 9.99832572e-01 -2.54215776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17538475 meters 0.06937072883435388 Centerline is valid? [True, True] Translation: X:171.43, Y:-52.94, Z:-2.55 [[ 9.59822010e-01 2.79938149e-01 -1.93995208e-02 1.71425750e+02] [-2.79896370e-01 9.60017757e-01 4.89175067e-03 -5.29412646e+01] [ 1.99932721e-02 7.34645497e-04 9.99799845e-01 -2.54524290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23538475 meters 0.06862838036412557 Centerline is valid? [True, True] Translation: X:171.48, Y:-52.97, Z:-2.55 [[ 9.60739743e-01 2.76912472e-01 -1.72808914e-02 1.71482089e+02] [-2.76878820e-01 9.60894961e-01 4.35812684e-03 -5.29688985e+01] [ 1.78119412e-02 5.97687166e-04 9.99841176e-01 -2.54745385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.29538475 meters 0.06903701453586854 Centerline is valid? [True, True] Translation: X:171.54, Y:-52.99, Z:-2.54 [[ 9.59355329e-01 2.81750565e-01 -1.59364689e-02 1.71540710e+02] [-2.81722592e-01 9.59487477e-01 4.02026967e-03 -5.29900724e+01] [ 1.64235556e-02 6.32796190e-04 9.99864924e-01 -2.54204760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35538475 meters 0.07037069469687778 Centerline is valid? [True, True] Translation: X:171.60, Y:-53.00, Z:-2.54 [[ 9.57406471e-01 2.88502486e-01 -1.17968210e-02 1.71601831e+02] [-2.88487656e-01 9.57478987e-01 2.97694760e-03 -5.30015446e+01] [ 1.21540650e-02 5.53088351e-04 9.99925984e-01 -2.54078925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41538475000002 meters 0.07413507837272053 Centerline is valid? [True, True] Translation: X:171.66, Y:-53.01, Z:-2.55 [[ 9.56259161e-01 2.92290361e-01 -1.16086997e-02 1.71662222e+02] [-2.92276254e-01 9.56329440e-01 2.93153638e-03 -5.30079667e+01] [ 1.19586011e-02 5.89638740e-04 9.99928320e-01 -2.54825179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47538475 meters 0.07698094265515797 Centerline is valid? [True, True] Translation: X:171.72, Y:-53.02, Z:-2.56 [[ 9.56055836e-01 2.92888919e-01 -1.31650637e-02 1.71722502e+02] [-2.92870774e-01 9.56146238e-01 3.32890445e-03 -5.30193993e+01] [ 1.35627254e-02 6.73043882e-04 9.99907795e-01 -2.55568842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53538475 meters 0.07146361767957567 Centerline is valid? [True, True] Translation: X:171.78, Y:-53.05, Z:-2.55 [[ 9.57634287e-01 2.87748950e-01 -1.17095293e-02 1.71777973e+02] [-2.87734176e-01 9.57705727e-01 2.96383443e-03 -5.30505884e+01] [ 1.20671236e-02 5.30962304e-04 9.99927049e-01 -2.55243976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59538475 meters 0.06987797230174002 Centerline is valid? [True, True] Translation: X:171.84, Y:-53.07, Z:-2.55 [[ 9.59202681e-01 2.82579128e-01 -8.90238333e-03 1.71836794e+02] [-2.82570341e-01 9.59243928e-01 2.25601944e-03 -5.30684497e+01] [ 9.17706116e-03 3.51569597e-04 9.99957828e-01 -2.55142780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65538475 meters 0.07032182082113712 Centerline is valid? [True, True] Translation: X:171.90, Y:-53.08, Z:-2.56 [[ 9.60187051e-01 2.79254814e-01 -7.58790918e-03 1.71896061e+02] [-2.79248329e-01 9.60216993e-01 1.92252914e-03 -5.30810868e+01] [ 7.82291486e-03 2.72923378e-04 9.99969363e-01 -2.55662458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71538475 meters 0.06731796623795852 Centerline is valid? [True, True] Translation: X:171.95, Y:-53.11, Z:-2.55 [[ 9.61163661e-01 2.75915724e-01 -5.91018007e-03 1.71953486e+02] [-2.75911727e-01 9.61181812e-01 1.49743172e-03 -5.31066616e+01] [ 6.09392255e-03 1.91411042e-04 9.99981414e-01 -2.55192400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77538475 meters 0.0660591049045165 Centerline is valid? [True, True] Translation: X:172.01, Y:-53.13, Z:-2.55 [[ 9.61925416e-01 2.73282323e-01 -4.03314249e-03 1.72011715e+02] [-2.73280426e-01 9.61933864e-01 1.02475343e-03 -5.31264100e+01] [ 4.15966334e-03 1.16442532e-04 9.99991342e-01 -2.55210467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83538475 meters 0.0662631123005588 Centerline is valid? [True, True] Translation: X:172.07, Y:-53.14, Z:-2.55 [[ 9.61994560e-01 2.73047920e-01 -3.36152263e-03 1.72070944e+02] [-2.73046595e-01 9.62000428e-01 8.55921377e-04 -5.31424767e+01] [ 3.46749376e-03 9.44606008e-05 9.99993984e-01 -2.55429484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89538475 meters 0.06570897182633684 Centerline is valid? [True, True] Translation: X:172.13, Y:-53.16, Z:-2.55 [[ 9.61808015e-01 2.73723914e-01 7.49250728e-04 1.72130298e+02] [-2.73723851e-01 9.61808307e-01 -1.86835060e-04 -5.31591848e+01] [-7.71776798e-04 -2.53883369e-05 9.99999702e-01 -2.55160867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95538475 meters 0.06475033166679259 Centerline is valid? [True, True] Translation: X:172.19, Y:-53.18, Z:-2.55 [[ 9.63008037e-01 2.69465022e-01 2.03050940e-03 1.72188491e+02] [-2.69464538e-01 9.63010176e-01 -5.13475854e-04 -5.31770642e+01] [-2.09376500e-03 -5.26689036e-05 9.99997807e-01 -2.55322275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.01538475 meters 0.06361217756616801 Centerline is valid? [True, True] Translation: X:172.25, Y:-53.20, Z:-2.56 [[ 9.64746690e-01 2.63180003e-01 -3.31387058e-04 1.72246166e+02] [-2.63179989e-01 9.64746747e-01 8.67941423e-05 -5.31981243e+01] [ 3.42547068e-04 3.48008064e-06 9.99999941e-01 -2.55624421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07538475 meters 0.06286330357715145 Centerline is valid? [True, True] Translation: X:172.30, Y:-53.22, Z:-2.56 [[ 9.66933358e-01 2.55025893e-01 -1.29387196e-03 1.72303134e+02] [-2.55025677e-01 9.66934224e-01 3.32067888e-04 -5.32198169e+01] [ 1.33577499e-03 8.88305376e-06 9.99999108e-01 -2.55860332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13538475000001 meters 0.06189799664093869 Centerline is valid? [True, True] Translation: X:172.36, Y:-53.24, Z:-2.55 [[ 9.69559744e-01 2.44848384e-01 1.78071879e-03 1.72362056e+02] [-2.44847967e-01 9.69561380e-01 -4.52196761e-04 -5.32427741e+01] [-1.83723581e-03 2.42640174e-06 9.99998312e-01 -2.55381980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19538475000002 meters 0.062298150447507555 Centerline is valid? [True, True] Translation: X:172.42, Y:-53.26, Z:-2.55 [[ 9.71688861e-01 2.36163280e-01 6.90381980e-03 1.72420079e+02] [-2.36156761e-01 9.71713383e-01 -1.75642867e-03 -5.32634712e+01] [-7.12333806e-03 7.63184543e-05 9.99974626e-01 -2.55339639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25538475 meters 0.06290629777907317 Centerline is valid? [True, True] Translation: X:172.48, Y:-53.28, Z:-2.55 [[ 9.73012098e-01 2.30618267e-01 7.91663634e-03 1.72479461e+02] [-2.30609484e-01 9.73044293e-01 -2.01731409e-03 -5.32833691e+01] [-8.16846729e-03 1.37219596e-04 9.99966628e-01 -2.55316209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31538475 meters 0.06261770493183817 Centerline is valid? [True, True] Translation: X:172.54, Y:-53.30, Z:-2.56 [[ 9.73022405e-01 2.30587772e-01 7.52855278e-03 1.72540566e+02] [-2.30579835e-01 9.73051521e-01 -1.91767809e-03 -5.32989634e+01] [-7.76786285e-03 1.30011287e-04 9.99969821e-01 -2.55517952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37538475 meters 0.062147773508213516 Centerline is valid? [True, True] Translation: X:172.60, Y:-53.32, Z:-2.56 [[ 9.72487218e-01 2.32880140e-01 5.95410339e-03 1.72600296e+02] [-2.32875211e-01 9.72505441e-01 -1.51785533e-03 -5.33151827e+01] [-6.14387630e-03 8.95318235e-05 9.99981122e-01 -2.55721689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43538475 meters 0.06237234512235141 Centerline is valid? [True, True] Translation: X:172.66, Y:-53.33, Z:-2.56 [[ 9.73329616e-01 2.29363642e-01 4.66675877e-03 1.72659456e+02] [-2.29360564e-01 9.73340799e-01 -1.19169502e-03 -5.33349047e+01] [-4.81567822e-03 8.95416339e-05 9.99988401e-01 -2.55806372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49538475 meters 0.0627072409387885 Centerline is valid? [True, True] Translation: X:172.72, Y:-53.35, Z:-2.56 [[ 9.73846920e-01 2.27187809e-01 2.80634987e-03 1.72719185e+02] [-2.27186692e-01 9.73850962e-01 -7.14807930e-04 -5.33496790e+01] [-2.89536217e-03 5.85481589e-05 9.99995807e-01 -2.56080059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55538475 meters 0.06298158101571286 Centerline is valid? [True, True] Translation: X:172.78, Y:-53.36, Z:-2.56 [[ 9.74452970e-01 2.24572100e-01 2.96323699e-03 1.72779467e+02] [-2.24570841e-01 9.74457473e-01 -7.55405637e-04 -5.33632754e+01] [-3.05719146e-03 7.06506453e-05 9.99995324e-01 -2.56337070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61538475 meters 0.0636533869624016 Centerline is valid? [True, True] Translation: X:172.84, Y:-53.38, Z:-2.56 [[ 9.75112544e-01 2.21685957e-01 3.29596621e-03 1.72837289e+02] [-2.21684374e-01 9.75118110e-01 -8.42692572e-04 -5.33819418e+01] [-3.40076945e-03 9.10558913e-05 9.99994213e-01 -2.56447558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67538475 meters 0.0645690279163022 Centerline is valid? [True, True] Translation: X:172.89, Y:-53.40, Z:-2.56 [[ 9.76470742e-01 2.15544892e-01 6.72979685e-03 1.72894971e+02] [-2.15538133e-01 9.76493905e-01 -1.72254360e-03 -5.34035695e+01] [-6.94289107e-03 2.31485578e-04 9.99975871e-01 -2.56077951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73538475 meters 0.0651706978499043 Centerline is valid? [True, True] Translation: X:172.95, Y:-53.42, Z:-2.56 [[ 9.77033396e-01 2.13029939e-01 4.89776283e-03 1.72954016e+02] [-2.13026327e-01 9.77045655e-01 -1.25383625e-03 -5.34218846e+01] [-5.05244256e-03 1.81687460e-04 9.99987220e-01 -2.56175987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.79538475 meters 0.0652251890962099 Centerline is valid? [True, True] Translation: X:173.01, Y:-53.44, Z:-2.57 [[ 9.77055873e-01 2.12971049e-01 2.26985711e-03 1.73013888e+02] [-2.12970276e-01 9.77058507e-01 -5.79770067e-04 -5.34363809e+01] [-2.34125743e-03 8.30556542e-05 9.99997256e-01 -2.56514884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85538475 meters 0.06602458659765095 Centerline is valid? [True, True] Translation: X:173.07, Y:-53.45, Z:-2.57 [[ 9.77604241e-01 2.10450713e-01 -6.66866810e-04 1.73073469e+02] [-2.10450644e-01 9.77604468e-01 1.71967895e-04 -5.34523728e+01] [ 6.88122739e-04 -2.77739934e-05 9.99999763e-01 -2.56881010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91538475000002 meters 0.06661661076991368 Centerline is valid? [True, True] Translation: X:173.13, Y:-53.47, Z:-2.57 [[ 9.78013757e-01 2.08538169e-01 -9.60341191e-04 1.73133453e+02] [-2.08538026e-01 9.78014228e-01 2.47748101e-04 -5.34673341e+01] [ 9.90892284e-04 -4.20333949e-05 9.99999508e-01 -2.56955823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97538475 meters 0.06544175282587626 Centerline is valid? [True, True] Translation: X:173.19, Y:-53.48, Z:-2.57 [[ 9.77304927e-01 2.11831928e-01 1.52098484e-03 1.73194275e+02] [-2.11831577e-01 9.77306109e-01 -3.90589052e-04 -5.34765194e+01] [-1.56920701e-03 5.95319887e-05 9.99998767e-01 -2.56790593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03538475 meters 0.06319066342107114 Centerline is valid? [True, True] Translation: X:173.26, Y:-53.48, Z:-2.57 [[ 9.75825096e-01 2.18530393e-01 3.13828408e-03 1.73256521e+02] [-2.18528934e-01 9.75830138e-01 -8.04640500e-04 -5.34814040e+01] [-3.23827059e-03 9.93825182e-05 9.99994752e-01 -2.56723685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09538475 meters 0.061264210160597965 Centerline is valid? [True, True] Translation: X:173.32, Y:-53.49, Z:-2.57 [[ 9.73540716e-01 2.28501282e-01 2.37450167e-03 1.73318477e+02] [-2.28500473e-01 9.73543610e-01 -6.10184294e-04 -5.34860185e+01] [-2.45110882e-03 5.14644989e-05 9.99996995e-01 -2.57064586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15538475 meters 0.059904848115155375 Centerline is valid? [True, True] Translation: X:173.38, Y:-53.49, Z:-2.58 [[ 9.70420290e-01 2.41412302e-01 -2.13548996e-03 1.73381252e+02] [-2.41411677e-01 9.70422640e-01 5.49970939e-04 -5.34877235e+01] [ 2.20509756e-03 -1.81707458e-05 9.99997569e-01 -2.57688125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21538475 meters 0.05986302538417607 Centerline is valid? [True, True] Translation: X:173.44, Y:-53.49, Z:-2.58 [[ 9.66806667e-01 2.55451053e-01 -5.44311215e-03 1.73444153e+02] [-2.55447191e-01 9.66821989e-01 1.40499285e-03 -5.34902667e+01] [ 5.62142742e-03 3.20712505e-05 9.99984199e-01 -2.58134661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27538475 meters 0.06013078030042174 Centerline is valid? [True, True] Translation: X:173.50, Y:-53.51, Z:-2.58 [[ 9.65933074e-01 2.58746376e-01 -4.85893065e-03 1.73502568e+02] [-2.58743334e-01 9.65945294e-01 1.25563398e-03 -5.35080751e+01] [ 5.01835193e-03 4.43575251e-05 9.99987407e-01 -2.57877797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33538475 meters 0.060072992408656885 Centerline is valid? [True, True] Translation: X:173.56, Y:-53.53, Z:-2.58 [[ 9.66799697e-01 2.55433366e-01 -7.22083904e-03 1.73560460e+02] [-2.55426553e-01 9.66826662e-01 1.86611437e-03 -5.35279137e+01] [ 7.45796758e-03 4.02352152e-05 9.99972188e-01 -2.58197774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39538475 meters 0.05970332844226905 Centerline is valid? [True, True] Translation: X:173.62, Y:-53.55, Z:-2.58 [[ 9.68063519e-01 2.50648906e-01 -5.30552155e-03 1.73619297e+02] [-2.50645144e-01 9.68078058e-01 1.37340747e-03 -5.35491081e+01] [ 5.48040208e-03 2.57544285e-07 9.99984982e-01 -2.58162603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45538475 meters 0.059802017203363034 Centerline is valid? [True, True] Translation: X:173.68, Y:-53.57, Z:-2.58 [[ 9.69726872e-01 2.44162217e-01 -3.82162658e-03 1.73678203e+02] [-2.44160204e-01 9.69734402e-01 9.91930250e-04 -5.35719727e+01] [ 3.94815465e-03 -2.88122954e-05 9.99992206e-01 -2.57732316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51538475 meters 0.06016527296947981 Centerline is valid? [True, True] Translation: X:173.74, Y:-53.58, Z:-2.58 [[ 9.69319959e-01 2.45708424e-01 -6.79611355e-03 1.73738561e+02] [-2.45702111e-01 9.69343783e-01 1.76182388e-03 -5.35843149e+01] [ 7.02066538e-03 -3.79516052e-05 9.99975354e-01 -2.58214538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57538475 meters 0.06044178389124085 Centerline is valid? [True, True] Translation: X:173.80, Y:-53.60, Z:-2.58 [[ 9.68249577e-01 2.49829336e-01 -8.83515221e-03 1.73799382e+02] [-2.49818823e-01 9.68289886e-01 2.29195514e-03 -5.35980667e+01] [ 9.12758615e-03 -1.19972745e-05 9.99958343e-01 -2.58405414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63538475000001 meters 0.060613722256588745 Centerline is valid? [True, True] Translation: X:173.86, Y:-53.61, Z:-2.58 [[ 9.67499803e-01 2.52658352e-01 -1.03869479e-02 1.73859704e+02] [-2.52643961e-01 9.67555558e-01 2.69666668e-03 -5.36115453e+01] [ 1.07312846e-02 1.51751928e-05 9.99942418e-01 -2.58360983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69538475000002 meters 0.06127488080271631 Centerline is valid? [True, True] Translation: X:173.92, Y:-53.62, Z:-2.59 [[ 9.66455924e-01 2.56455642e-01 -1.39086322e-02 1.73919715e+02] [-2.56430246e-01 9.66555998e-01 3.60988076e-03 -5.36221692e+01] [ 1.43692461e-02 7.78033247e-05 9.99896754e-01 -2.58967675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75538475 meters 0.06167754794582804 Centerline is valid? [True, True] Translation: X:173.98, Y:-53.63, Z:-2.59 [[ 9.65550128e-01 2.59642300e-01 -1.72866225e-02 1.73980536e+02] [-2.59603582e-01 9.65704847e-01 4.48647333e-03 -5.36337733e+01] [ 1.78586534e-02 1.55754207e-04 9.99840509e-01 -2.59161719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81538475 meters 0.061893907407930625 Centerline is valid? [True, True] Translation: X:174.04, Y:-53.65, Z:-2.59 [[ 9.65089779e-01 2.61399430e-01 -1.64941546e-02 1.74040907e+02] [-2.61364320e-01 9.65230702e-01 4.28769848e-03 -5.36480628e+01] [ 1.70414664e-02 1.72969522e-04 9.99854769e-01 -2.58910555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87538475 meters 0.062229251876425876 Centerline is valid? [True, True] Translation: X:174.10, Y:-53.66, Z:-2.59 [[ 9.64371875e-01 2.64030328e-01 -1.65792594e-02 1.74100518e+02] [-2.63995181e-01 9.64514354e-01 4.31346088e-03 -5.36625153e+01] [ 1.71298182e-02 2.17064219e-04 9.99853250e-01 -2.58842248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93538475 meters 0.06284237669779368 Centerline is valid? [True, True] Translation: X:174.16, Y:-53.68, Z:-2.59 [[ 9.63768482e-01 2.66285076e-01 -1.55747117e-02 1.74162698e+02] [-2.66254266e-01 9.63894290e-01 4.05753609e-03 -5.36750258e+01] [ 1.60928370e-02 2.36308043e-04 9.99870474e-01 -2.58918604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99538475 meters 0.06335565499646914 Centerline is valid? [True, True] Translation: X:174.22, Y:-53.69, Z:-2.59 [[ 9.63425214e-01 2.67423413e-01 -1.72213334e-02 1.74222578e+02] [-2.67385863e-01 9.63579078e-01 4.48996413e-03 -5.36906266e+01] [ 1.77948381e-02 2.78996441e-04 9.99841620e-01 -2.59053797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05538475 meters 0.06403785621057294 Centerline is valid? [True, True] Translation: X:174.28, Y:-53.71, Z:-2.59 [[ 9.63077773e-01 2.68545431e-01 -1.90932907e-02 1.74280953e+02] [-2.68499480e-01 9.63266963e-01 4.97874208e-03 -5.37064465e+01] [ 1.97289545e-02 3.31622777e-04 9.99805310e-01 -2.59418320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11538475 meters 0.06538847097195037 Centerline is valid? [True, True] Translation: X:174.34, Y:-53.72, Z:-2.60 [[ 9.62494836e-01 2.70364371e-01 -2.25121429e-02 1.74339188e+02] [-2.70300947e-01 9.62757975e-01 5.87190971e-03 -5.37215985e+01] [ 2.32613003e-02 4.33370747e-04 9.99729325e-01 -2.59992971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17538475 meters 0.06792675083464346 Centerline is valid? [True, True] Translation: X:174.40, Y:-53.73, Z:-2.60 [[ 9.60414081e-01 2.77479243e-01 -2.46994248e-02 1.74399179e+02] [-2.77405080e-01 9.60731407e-01 6.44867220e-03 -5.37334525e+01] [ 2.55188858e-02 6.58350341e-04 9.99674123e-01 -2.60446064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23538475 meters 0.06868828407899313 Centerline is valid? [True, True] Translation: X:174.46, Y:-53.75, Z:-2.60 [[ 9.59608946e-01 2.80233008e-01 -2.49024562e-02 1.74459229e+02] [-2.80158550e-01 9.59931725e-01 6.50155612e-03 -5.37491341e+01] [ 2.57266083e-02 7.37684585e-04 9.99668744e-01 -2.60428606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.29538475 meters 0.06859739560850982 Centerline is valid? [True, True] Translation: X:174.52, Y:-53.76, Z:-2.60 [[ 9.58719613e-01 2.83557799e-01 -2.12527194e-02 1.74519320e+02] [-2.83504217e-01 9.58954893e-01 5.55625029e-03 -5.37644571e+01] [ 2.19559174e-02 6.98349439e-04 9.99758696e-01 -2.59721571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35538475 meters 0.07107849241997173 Centerline is valid? [True, True] Translation: X:174.58, Y:-53.77, Z:-2.60 [[ 9.57822498e-01 2.86684289e-01 -1.97022937e-02 1.74580631e+02] [-2.86638911e-01 9.58024847e-01 5.15039135e-03 -5.37697351e+01] [ 2.03518232e-02 7.14283288e-04 9.99792625e-01 -2.60239094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41538475000002 meters 0.06940806538462663 Centerline is valid? [True, True] Translation: X:174.64, Y:-53.79, Z:-2.60 [[ 9.57372778e-01 2.88171813e-01 -1.98587795e-02 1.74639323e+02] [-2.88125964e-01 9.57578428e-01 5.19454359e-03 -5.37895078e+01] [ 2.05132599e-02 7.48715368e-04 9.99789301e-01 -2.59870785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47538475 meters 0.06969519810707579 Centerline is valid? [True, True] Translation: X:174.70, Y:-53.81, Z:-2.60 [[ 9.56904775e-01 2.89659956e-01 -2.07451787e-02 1.74699315e+02] [-2.89610256e-01 9.57129273e-01 5.42707940e-03 -5.38057433e+01] [ 2.14278254e-02 8.14818335e-04 9.99770066e-01 -2.59956564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53538475 meters 0.06950088364780682 Centerline is valid? [True, True] Translation: X:174.76, Y:-53.82, Z:-2.61 [[ 9.57209064e-01 2.88550744e-01 -2.21195638e-02 1.74759763e+02] [-2.88493739e-01 9.57464241e-01 5.79564995e-03 -5.38234544e+01] [ 2.28510305e-02 8.33707007e-04 9.99738533e-01 -2.60533178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59538475 meters 0.0707494716667922 Centerline is valid? [True, True] Translation: X:174.82, Y:-53.84, Z:-2.61 [[ 9.56073764e-01 2.92240326e-01 -2.27716993e-02 1.74819111e+02] [-2.92180859e-01 9.56344446e-01 5.97051965e-03 -5.38376205e+01] [ 2.35224148e-02 9.45197468e-04 9.99722863e-01 -2.60751026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65538475 meters 0.06862270574583404 Centerline is valid? [True, True] Translation: X:174.88, Y:-53.86, Z:-2.60 [[ 9.57756663e-01 2.86904136e-01 -1.97025833e-02 1.74876429e+02] [-2.86858494e-01 9.57959039e-01 5.16562707e-03 -5.38626459e+01] [ 2.03563076e-02 7.04439647e-04 9.99792541e-01 -2.60361963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71538475 meters 0.06711034610604935 Centerline is valid? [True, True] Translation: X:174.94, Y:-53.88, Z:-2.60 [[ 9.59018686e-01 2.82668345e-01 -1.95388336e-02 1.74935075e+02] [-2.82622551e-01 9.59217513e-01 5.12409245e-03 -5.38821774e+01] [ 2.01904101e-02 6.08014570e-04 9.99795968e-01 -2.60479837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77538475 meters 0.06646228186167162 Centerline is valid? [True, True] Translation: X:174.99, Y:-53.90, Z:-2.61 [[ 9.60147881e-01 2.78793752e-01 -1.97507041e-02 1.74993249e+02] [-2.78746137e-01 9.60350853e-01 5.17981353e-03 -5.38980931e+01] [ 2.04117052e-02 5.32045471e-04 9.99791518e-01 -2.61055921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83538475 meters 0.06294707659126746 Centerline is valid? [True, True] Translation: X:175.05, Y:-53.93, Z:-2.61 [[ 9.62805931e-01 2.69550018e-01 -1.86420824e-02 1.75048871e+02] [-2.69505735e-01 9.62986340e-01 4.89567129e-03 -5.39285107e+01] [ 1.92716990e-02 3.10566775e-04 9.99814235e-01 -2.60511917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89538475 meters 0.0623175500314552 Centerline is valid? [True, True] Translation: X:175.11, Y:-53.95, Z:-2.61 [[ 9.65294335e-01 2.60562344e-01 -1.77232169e-02 1.75105008e+02] [-2.60520800e-01 9.65457016e-01 4.65439497e-03 -5.39527490e+01] [ 1.83237642e-02 1.24405551e-04 9.99832098e-01 -2.61021556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95538475 meters 0.06147139041791536 Centerline is valid? [True, True] Translation: X:175.16, Y:-53.98, Z:-2.61 [[ 9.67148315e-01 2.53653139e-01 -1.68589038e-02 1.75163753e+02] [-2.53614472e-01 9.67295242e-01 4.42886291e-03 -5.39761054e+01] [ 1.74309324e-02 -7.70532235e-06 9.99848070e-01 -2.60591024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01538475 meters 0.06172019890017884 Centerline is valid? [True, True] Translation: X:175.22, Y:-53.99, Z:-2.61 [[ 9.68283589e-01 2.49283067e-01 -1.68773062e-02 1.75222423e+02] [-2.49243555e-01 9.68430660e-01 4.43917062e-03 -5.39948577e+01] [ 1.74511109e-02 -9.18162615e-05 9.99847714e-01 -2.60778671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07538475 meters 0.06151265296729634 Centerline is valid? [True, True] Translation: X:175.28, Y:-54.01, Z:-2.61 [[ 9.68394664e-01 2.48919851e-01 -1.58329763e-02 1.75283415e+02] [-2.48885013e-01 9.68524083e-01 4.16542730e-03 -5.40090130e+01] [ 1.63714764e-02 -9.31870592e-05 9.99865974e-01 -2.60945800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13538475000001 meters 0.06117446607083853 Centerline is valid? [True, True] Translation: X:175.34, Y:-54.02, Z:-2.61 [[ 9.68187002e-01 2.49800935e-01 -1.46089687e-02 1.75344407e+02] [-2.49771296e-01 9.68297210e-01 3.84876230e-03 -5.40213573e+01] [ 1.51072481e-02 -7.74205790e-05 9.99885876e-01 -2.60578350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19538475000002 meters 0.06061311952166912 Centerline is valid? [True, True] Translation: X:175.40, Y:-54.03, Z:-2.60 [[ 9.67471379e-01 2.52600410e-01 -1.38623398e-02 1.75404806e+02] [-2.52573960e-01 9.67570686e-01 3.65558263e-03 -5.40347857e+01] [ 1.43361953e-02 -3.54055177e-05 9.99897231e-01 -2.60445517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25538475 meters 0.060481703591435114 Centerline is valid? [True, True] Translation: X:175.47, Y:-54.05, Z:-2.61 [[ 9.66058375e-01 2.57932197e-01 -1.42196120e-02 1.75466252e+02] [-2.57904889e-01 9.66163020e-01 3.75338901e-03 -5.40459720e+01] [ 1.47065831e-02 4.13145522e-05 9.99891852e-01 -2.60573931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31538475 meters 0.06030321002951945 Centerline is valid? [True, True] Translation: X:175.52, Y:-54.07, Z:-2.60 [[ 9.68289933e-01 2.49531415e-01 -1.21934002e-02 1.75522017e+02] [-2.49510629e-01 9.68366701e-01 3.22160539e-03 -5.40737905e+01] [ 1.26115745e-02 -7.70651039e-05 9.99920468e-01 -2.60461748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37538475 meters 0.06100956030614971 Centerline is valid? [True, True] Translation: X:175.58, Y:-54.10, Z:-2.61 [[ 9.70205730e-01 2.41928961e-01 -1.30850771e-02 1.75580370e+02] [-2.41904352e-01 9.70293946e-01 3.45573150e-03 -5.40960989e+01] [ 1.35324126e-02 -1.87433417e-04 9.99908415e-01 -2.60801301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43538475 meters 0.06093268390928591 Centerline is valid? [True, True] Translation: X:175.64, Y:-54.11, Z:-2.61 [[ 9.71143296e-01 2.38171574e-01 -1.24498637e-02 1.75640333e+02] [-2.38148916e-01 9.71223068e-01 3.29349465e-03 -5.41111891e+01] [ 1.28760116e-02 -2.33533720e-04 9.99917073e-01 -2.60596820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49538475 meters 0.061103919295302844 Centerline is valid? [True, True] Translation: X:175.70, Y:-54.13, Z:-2.61 [[ 9.70516153e-01 2.40682833e-01 -1.30449794e-02 1.75699516e+02] [-2.40658180e-01 9.70603797e-01 3.45117471e-03 -5.41252664e+01] [ 1.34921450e-02 -2.10039810e-04 9.99908955e-01 -2.60889457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55538475 meters 0.060995017184366125 Centerline is valid? [True, True] Translation: X:175.76, Y:-54.14, Z:-2.61 [[ 9.70286677e-01 2.41584674e-01 -1.34391316e-02 1.75761040e+02] [-2.41558523e-01 9.70379720e-01 3.56064384e-03 -5.41396997e+01] [ 1.39012577e-02 -2.08508505e-04 9.99903351e-01 -2.61106066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61538475 meters 0.05968753714567862 Centerline is valid? [True, True] Translation: X:175.82, Y:-54.15, Z:-2.61 [[ 9.69199547e-01 2.45955246e-01 -1.25799621e-02 1.75823153e+02] [-2.45932658e-01 9.69281176e-01 3.33622595e-03 -5.41480228e+01] [ 1.30140828e-02 -1.39645163e-04 9.99915303e-01 -2.60608490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67538475 meters 0.060015019489788206 Centerline is valid? [True, True] Translation: X:175.88, Y:-54.17, Z:-2.61 [[ 9.69576999e-01 2.44483429e-01 -1.21777093e-02 1.75881066e+02] [-2.44462101e-01 9.69653458e-01 3.23311316e-03 -5.41713004e+01] [ 1.25986005e-02 -1.57763749e-04 9.99920622e-01 -2.60782939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73538475 meters 0.06080175042747058 Centerline is valid? [True, True] Translation: X:175.94, Y:-54.19, Z:-2.61 [[ 9.70649204e-01 2.40134573e-01 -1.32479921e-02 1.75937797e+02] [-2.40108936e-01 9.70739580e-01 3.51654535e-03 -5.41937266e+01] [ 1.37047944e-02 -2.32370657e-04 9.99906058e-01 -2.61062593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.79538475 meters 0.06106563430494541 Centerline is valid? [True, True] Translation: X:176.00, Y:-54.21, Z:-2.61 [[ 9.70877026e-01 2.39204741e-01 -1.33750517e-02 1.75995773e+02] [-2.39178464e-01 9.70969118e-01 3.55440132e-03 -5.42129488e+01] [ 1.38369918e-02 -2.51862248e-04 9.99904233e-01 -2.61100522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85538475 meters 0.06076178675656273 Centerline is valid? [True, True] Translation: X:176.06, Y:-54.23, Z:-2.61 [[ 9.71612585e-01 2.36242582e-01 -1.25868033e-02 1.76055625e+02] [-2.36219015e-01 9.71694069e-01 3.34855641e-03 -5.42281903e+01] [ 1.30215937e-02 -2.80257279e-04 9.99915176e-01 -2.60746668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91538475000002 meters 0.060406113863080625 Centerline is valid? [True, True] Translation: X:176.12, Y:-54.24, Z:-2.61 [[ 9.71140884e-01 2.38163550e-01 -1.27869569e-02 1.76116572e+02] [-2.38139355e-01 9.71225028e-01 3.40478758e-03 -5.42393287e+01] [ 1.32299089e-02 -2.61450752e-04 9.99912447e-01 -2.60891532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97538475 meters 0.0628710288085034 Centerline is valid? [True, True] Translation: X:176.17, Y:-54.27, Z:-2.61 [[ 9.73698838e-01 2.27628354e-01 -9.79316451e-03 1.76170928e+02] [-2.27613630e-01 9.73748036e-01 2.60749597e-03 -5.42686131e+01] [ 1.01296147e-02 -3.09858074e-04 9.99948646e-01 -2.60976555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03538475 meters 0.06485524172006464 Centerline is valid? [True, True] Translation: X:176.23, Y:-54.29, Z:-2.61 [[ 9.74385891e-01 2.24482024e-01 -1.34147490e-02 1.76227222e+02] [-2.24454089e-01 9.74478117e-01 3.57238537e-03 -5.42906410e+01] [ 1.38743156e-02 -4.69886645e-04 9.99903637e-01 -2.61102278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09538475 meters 0.06800170115002165 Centerline is valid? [True, True] Translation: X:176.28, Y:-54.32, Z:-2.61 [[ 9.75941752e-01 2.17629669e-01 -1.32296805e-02 1.76284070e+02] [-2.17601867e-01 9.76031257e-01 3.52332499e-03 -5.43159935e+01] [ 1.36793617e-02 -5.59756801e-04 9.99906276e-01 -2.61090748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15538475 meters 0.06586814730704267 Centerline is valid? [True, True] Translation: X:176.35, Y:-54.32, Z:-2.61 [[ 9.75763506e-01 2.18347352e-01 -1.44918940e-02 1.76346287e+02] [-2.18313979e-01 9.75870926e-01 3.86548718e-03 -5.43226761e+01] [ 1.49862369e-02 -6.08018284e-04 9.99887515e-01 -2.60778514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21538475 meters 0.06820459277223669 Centerline is valid? [True, True] Translation: X:176.40, Y:-54.34, Z:-2.62 [[ 9.74926194e-01 2.21977986e-01 -1.56425858e-02 1.76404931e+02] [-2.21939618e-01 9.75051497e-01 4.16945070e-03 -5.43368452e+01] [ 1.61778530e-02 -5.93197188e-04 9.99868954e-01 -2.61646597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27538475 meters 0.06538542057410016 Centerline is valid? [True, True] Translation: X:176.47, Y:-54.34, Z:-2.61 [[ 9.73123007e-01 2.29776693e-01 -1.53063349e-02 1.76466186e+02] [-2.29740906e-01 9.73243271e-01 4.08057657e-03 -5.43422397e+01] [ 1.58344088e-02 -4.54411710e-04 9.99874525e-01 -2.61452922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33538475 meters 0.06155205664854774 Centerline is valid? [True, True] Translation: X:176.53, Y:-54.34, Z:-2.61 [[ 9.70316524e-01 2.41205258e-01 -1.74890305e-02 1.76531417e+02] [-2.41160375e-01 9.70474074e-01 4.66306813e-03 -5.43373036e+01] [ 1.80974072e-02 -3.06990907e-04 9.99836181e-01 -2.61377041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39538475 meters 0.06004266756096879 Centerline is valid? [True, True] Translation: X:176.60, Y:-54.34, Z:-2.61 [[ 9.66215031e-01 2.56970931e-01 -1.98608856e-02 1.76596239e+02] [-2.56916282e-01 9.66419133e-01 5.29937028e-03 -5.43368087e+01] [ 2.05557239e-02 -1.77463319e-05 9.99788709e-01 -2.61186029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45538475 meters 0.06167940177880965 Centerline is valid? [True, True] Translation: X:176.66, Y:-54.34, Z:-2.62 [[ 9.62150353e-01 2.71676211e-01 -2.14180821e-02 1.76658534e+02] [-2.71616170e-01 9.62388663e-01 5.71998977e-03 -5.43381037e+01] [ 2.21665045e-02 3.14007249e-04 9.99754244e-01 -2.61654542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51538475 meters 0.06686010285258642 Centerline is valid? [True, True] Translation: X:176.72, Y:-54.33, Z:-2.62 [[ 9.57179016e-01 2.88791493e-01 -2.01941985e-02 1.76722605e+02] [-2.88741916e-01 9.57391783e-01 5.39260876e-03 -5.43327214e+01] [ 2.08910993e-02 6.69219637e-04 9.99781533e-01 -2.62140658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57538475 meters 0.07371752307938553 Centerline is valid? [True, True] Translation: X:176.79, Y:-54.33, Z:-2.62 [[ 9.52366599e-01 3.04283513e-01 -2.02337688e-02 1.76785184e+02] [-3.04237190e-01 9.52580981e-01 5.40431487e-03 -5.43338700e+01] [ 2.09187472e-02 1.00897599e-03 9.99780670e-01 -2.62276016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63538475000001 meters 0.07786998293401476 Centerline is valid? [True, True] Translation: X:176.85, Y:-54.34, Z:-2.62 [[ 9.50056976e-01 3.11481681e-01 -1.92588962e-02 1.76845573e+02] [-3.11441117e-01 9.50251512e-01 5.14735127e-03 -5.43437719e+01] [ 1.99041008e-02 1.10773516e-03 9.99801280e-01 -2.62222556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69538475000002 meters 0.07727962193638903 Centerline is valid? [True, True] Translation: X:176.91, Y:-54.36, Z:-2.63 [[ 9.50029451e-01 3.11449515e-01 -2.10533284e-02 1.76905005e+02] [-3.11400891e-01 9.50261938e-01 5.63339995e-03 -5.43621550e+01] [ 2.17606963e-02 1.20412935e-03 9.99762483e-01 -2.62684764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75538475 meters 0.07781619252808017 Centerline is valid? [True, True] Translation: X:176.96, Y:-54.38, Z:-2.63 [[ 9.50317853e-01 3.10521909e-01 -2.17283660e-02 1.76964455e+02] [-3.10469762e-01 9.50565445e-01 5.81908127e-03 -5.43794005e+01] [ 2.24611861e-02 1.21602380e-03 9.99746976e-01 -2.63099098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81538475 meters 0.08172169470362323 Centerline is valid? [True, True] Translation: X:177.02, Y:-54.39, Z:-2.63 [[ 9.49315066e-01 3.13668882e-01 -2.03159409e-02 1.77023590e+02] [-3.13624009e-01 9.49531662e-01 5.44095382e-03 -5.43914659e+01] [ 2.09972870e-02 1.20638738e-03 9.99778805e-01 -2.63330056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87538475 meters 0.08170992315894376 Centerline is valid? [True, True] Translation: X:177.08, Y:-54.41, Z:-2.63 [[ 9.48669388e-01 3.15769272e-01 -1.77808416e-02 1.77083571e+02] [-3.15735150e-01 9.48835380e-01 4.76834762e-03 -5.44074636e+01] [ 1.83767893e-02 1.09045128e-03 9.99830538e-01 -2.63242090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93538475 meters 0.07866901646070579 Centerline is valid? [True, True] Translation: X:177.14, Y:-54.43, Z:-2.63 [[ 9.48890172e-01 3.15178901e-01 -1.64225742e-02 1.77140352e+02] [-3.15149727e-01 9.49031751e-01 4.40280409e-03 -5.44341899e+01] [ 1.69732153e-02 9.97792252e-04 9.99855447e-01 -2.62854634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99538475 meters 0.08023940817620494 Centerline is valid? [True, True] Translation: X:177.20, Y:-54.45, Z:-2.63 [[ 9.48298239e-01 3.17012975e-01 -1.52716266e-02 1.77200473e+02] [-3.16987883e-01 9.48420722e-01 4.10068888e-03 -5.44497287e+01] [ 1.57838987e-02 9.52244538e-04 9.99874973e-01 -2.63066477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05538475 meters 0.07752096522071707 Centerline is valid? [True, True] Translation: X:177.26, Y:-54.48, Z:-2.63 [[ 9.50318862e-01 3.10862152e-01 -1.60867180e-02 1.77256506e+02] [-3.10833382e-01 9.50454589e-01 4.32236007e-03 -5.44774882e+01] [ 1.66333531e-02 8.92668667e-04 9.99861258e-01 -2.63391507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11538475 meters 0.0731169395679406 Centerline is valid? [True, True] Translation: X:177.31, Y:-54.51, Z:-2.63 [[ 9.52298806e-01 3.04779168e-01 -1.53832198e-02 1.77312056e+02] [-3.04752007e-01 9.52422752e-01 4.13711478e-03 -5.45064121e+01] [ 1.59122349e-02 7.48297633e-04 9.99873112e-01 -2.63162669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17538475 meters 0.07153392351681813 Centerline is valid? [True, True] Translation: X:177.37, Y:-54.53, Z:-2.63 [[ 9.54536055e-01 2.97923949e-01 -1.01114114e-02 1.77369190e+02] [-2.97911819e-01 9.54589518e-01 2.72039025e-03 -5.45257453e+01] [ 1.04627167e-02 4.15598381e-04 9.99945178e-01 -2.63259241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23538475 meters 0.06922566856496036 Centerline is valid? [True, True] Translation: X:177.43, Y:-54.55, Z:-2.63 [[ 9.57301531e-01 2.88988828e-01 -7.69645039e-03 1.77425443e+02] [-2.88981510e-01 9.57332439e-01 2.07078824e-03 -5.45518519e+01] [ 7.96649629e-03 2.41763104e-04 9.99968238e-01 -2.63300625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.29538475 meters 0.06765712070016813 Centerline is valid? [True, True] Translation: X:177.48, Y:-54.57, Z:-2.63 [[ 9.58959265e-01 2.83497084e-01 -5.15095251e-03 1.77483581e+02] [-2.83493711e-01 9.58973090e-01 1.38872141e-03 -5.45740675e+01] [ 5.33332331e-03 1.28535383e-04 9.99985769e-01 -2.63208075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35538475 meters 0.06637868080367033 Centerline is valid? [True, True] Translation: X:177.54, Y:-54.59, Z:-2.63 [[ 9.60461395e-01 2.78382890e-01 -4.10799363e-03 1.77540747e+02] [-2.78380699e-01 9.60470177e-01 1.10739332e-03 -5.45931799e+01] [ 4.25388472e-03 7.99776055e-05 9.99990949e-01 -2.63430773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41538475000002 meters 0.06603607712242973 Centerline is valid? [True, True] Translation: X:177.60, Y:-54.61, Z:-2.64 [[ 9.60129984e-01 2.79512607e-01 -4.80797474e-03 1.77600400e+02] [-2.79509615e-01 9.60142017e-01 1.29696512e-03 -5.46085759e+01] [ 4.97885666e-03 9.86200676e-05 9.99987601e-01 -2.63537136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47538475 meters 0.06599057839203863 Centerline is valid? [True, True] Translation: X:177.66, Y:-54.62, Z:-2.64 [[ 9.59927718e-01 2.80214243e-01 -4.33055218e-03 1.77661368e+02] [-2.80211807e-01 9.59937483e-01 1.17163270e-03 -5.46228551e+01] [ 4.48536752e-03 8.87891505e-05 9.99989937e-01 -2.63745659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53538475 meters 0.06659146480174767 Centerline is valid? [True, True] Translation: X:177.72, Y:-54.63, Z:-2.64 [[ 9.59109147e-01 2.83015731e-01 -3.42631244e-03 1.77721880e+02] [-2.83014222e-01 9.59115264e-01 9.27828391e-04 -5.46339846e+01] [ 3.54881859e-03 7.98064508e-05 9.99993700e-01 -2.64044791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59538475 meters 0.06574316206594429 Centerline is valid? [True, True] Translation: X:177.78, Y:-54.65, Z:-2.64 [[ 9.59852670e-01 2.80481721e-01 -3.58554780e-03 1.77780178e+02] [-2.80480047e-01 9.59859364e-01 9.71939187e-04 -5.46548621e+01] [ 3.71423280e-03 7.27561897e-05 9.99993100e-01 -2.64141330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65538475 meters 0.0642196522044607 Centerline is valid? [True, True] Translation: X:177.84, Y:-54.68, Z:-2.64 [[ 9.61675165e-01 2.74157429e-01 -4.31059515e-03 1.77836279e+02] [-2.74154946e-01 9.61684824e-01 1.16825192e-03 -5.46816089e+01] [ 4.46571888e-03 5.82921217e-05 9.99990027e-01 -2.63939973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71538475 meters 0.0634963172985048 Centerline is valid? [True, True] Translation: X:177.89, Y:-54.70, Z:-2.64 [[ 9.63026265e-01 2.69406481e-01 -7.48810545e-04 1.77894031e+02] [-2.69406404e-01 9.63026556e-01 2.04090404e-04 -5.46986880e+01] [ 7.76107717e-04 5.18993640e-06 9.99999699e-01 -2.64034758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77538475 meters 0.06330594319208145 Centerline is valid? [True, True] Translation: X:177.95, Y:-54.72, Z:-2.64 [[ 9.63404215e-01 2.68049700e-01 1.29516847e-03 1.77953174e+02] [-2.68049475e-01 9.63405085e-01 -3.47330729e-04 -5.47165889e+01] [-1.34087379e-03 -1.25493409e-05 9.99999101e-01 -2.63928915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83538475 meters 0.06311594772285928 Centerline is valid? [True, True] Translation: X:178.01, Y:-54.75, Z:-2.64 [[ 9.66821946e-01 2.55355450e-01 6.99426864e-03 1.78007535e+02] [-2.55348443e-01 9.66847243e-01 -1.89220903e-03 -5.47486896e+01] [-7.24557525e-03 4.34536041e-05 9.99973750e-01 -2.63585419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89538475 meters 0.06443924867236224 Centerline is valid? [True, True] Translation: X:178.06, Y:-54.78, Z:-2.64 [[ 9.70499560e-01 2.40956020e-01 8.41428434e-03 1.78063582e+02] [-2.40945306e-01 9.70536018e-01 -2.27973957e-03 -5.47786651e+01] [-8.71568299e-03 1.85103934e-04 9.99962001e-01 -2.63582437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95538475 meters 0.0666183326386227 Centerline is valid? [True, True] Translation: X:178.12, Y:-54.80, Z:-2.64 [[ 9.72689414e-01 2.32011996e-01 6.76300899e-03 1.78119299e+02] [-2.32004857e-01 9.72712901e-01 -1.83241985e-03 -5.48020753e+01] [-7.00360949e-03 2.13324456e-04 9.99975452e-01 -2.63932040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01538475 meters 0.06698926805877946 Centerline is valid? [True, True] Translation: X:178.18, Y:-54.82, Z:-2.64 [[ 9.74115321e-01 2.25987012e-01 5.40479082e-03 1.78177720e+02] [-2.25982364e-01 9.74130294e-01 -1.46366940e-03 -5.48193656e+01] [-5.59574074e-03 2.04395376e-04 9.99984323e-01 -2.64044945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07538475 meters 0.06915908909231222 Centerline is valid? [True, True] Translation: X:178.24, Y:-54.84, Z:-2.65 [[ 9.74170306e-01 2.25796385e-01 2.86500974e-03 1.78235706e+02] [-2.25795080e-01 9.74174513e-01 -7.75024095e-04 -5.48398310e+01] [-2.96601711e-03 1.08100354e-04 9.99995596e-01 -2.64515685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13538475000001 meters 0.06728471782282722 Centerline is valid? [True, True] Translation: X:178.30, Y:-54.84, Z:-2.65 [[ 9.72434649e-01 2.33161689e-01 2.54572635e-03 1.78297216e+02] [-2.33160679e-01 9.72437978e-01 -6.90756415e-04 -5.48437357e+01] [-2.63661892e-03 7.81521869e-05 9.99996521e-01 -2.65036924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19538475000002 meters 0.064024224419309 Centerline is valid? [True, True] Translation: X:178.36, Y:-54.85, Z:-2.65 [[ 9.70412107e-01 2.41398732e-01 5.19557935e-03 1.78360618e+02] [-2.41394643e-01 9.70426009e-01 -1.40970205e-03 -5.48454558e+01] [-5.38222562e-03 1.13806917e-04 9.99985509e-01 -2.64719550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25538475 meters 0.06241657065073372 Centerline is valid? [True, True] Translation: X:178.42, Y:-54.85, Z:-2.64 [[ 9.68453399e-01 2.49070473e-01 7.86845135e-03 1.78422444e+02] [-2.49061314e-01 9.68485357e-01 -2.13886565e-03 -5.48535466e+01] [-8.15320819e-03 1.11664881e-04 9.99966756e-01 -2.64485665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31538475 meters 0.061743146888200734 Centerline is valid? [True, True] Translation: X:178.48, Y:-54.87, Z:-2.65 [[ 9.66502747e-01 2.56479947e-01 9.51192199e-03 1.78481320e+02] [-2.56466917e-01 9.66549550e-01 -2.58605747e-03 -5.48653549e+01] [-9.85701580e-03 5.99383479e-05 9.99951417e-01 -2.64763409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37538475 meters 0.06218365148916019 Centerline is valid? [True, True] Translation: X:178.54, Y:-54.89, Z:-2.65 [[ 9.67528146e-01 2.52606557e-01 8.90017320e-03 1.78537829e+02] [-2.52594982e-01 9.67569077e-01 -2.42002891e-03 -5.48941160e+01] [-9.22284754e-03 9.33069948e-05 9.99957464e-01 -2.64991549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43538475 meters 0.06199282360091396 Centerline is valid? [True, True] Translation: X:178.60, Y:-54.92, Z:-2.65 [[ 9.67959811e-01 2.50964991e-01 8.38913052e-03 1.78596028e+02] [-2.50954629e-01 9.67996158e-01 -2.28287831e-03 -5.49162515e+01] [-8.69356865e-03 1.04443320e-04 9.99962205e-01 -2.64811708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49538475 meters 0.06213726432781477 Centerline is valid? [True, True] Translation: X:178.66, Y:-54.93, Z:-2.65 [[ 9.68144419e-01 2.50265804e-01 7.96306110e-03 1.78657108e+02] [-2.50256430e-01 9.68177161e-01 -2.16874838e-03 -5.49293056e+01] [-8.25241745e-03 1.06854405e-04 9.99965943e-01 -2.65310512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55538475 meters 0.06237705807964057 Centerline is valid? [True, True] Translation: X:178.72, Y:-54.94, Z:-2.65 [[ 9.68418336e-01 2.49249622e-01 6.36806789e-03 1.78717402e+02] [-2.49243599e-01 9.68439269e-01 -1.73526500e-03 -5.49440927e+01] [-6.59960115e-03 9.32622823e-05 9.99978218e-01 -2.65489465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61538475 meters 0.062293774299406295 Centerline is valid? [True, True] Translation: X:178.78, Y:-54.96, Z:-2.65 [[ 9.68590944e-01 2.48557771e-01 7.11456927e-03 1.78776430e+02] [-2.48550219e-01 9.68617067e-01 -1.94072915e-03 -5.49643465e+01] [-7.37367653e-03 1.11444931e-04 9.99972808e-01 -2.65217673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67538475 meters 0.06181604498779047 Centerline is valid? [True, True] Translation: X:178.84, Y:-54.98, Z:-2.65 [[ 9.68727142e-01 2.48038719e-01 6.67214032e-03 1.78837345e+02] [-2.48032055e-01 9.68750113e-01 -1.82159016e-03 -5.49782701e+01] [-6.91546158e-03 1.09719157e-04 9.99976082e-01 -2.65332883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73538475 meters 0.06303588879286202 Centerline is valid? [True, True] Translation: X:178.89, Y:-55.00, Z:-2.65 [[ 9.69706426e-01 2.44080079e-01 9.71403442e-03 1.78894674e+02] [-2.44065712e-01 9.69755058e-01 -2.65611805e-03 -5.50003787e+01] [-1.00685395e-02 2.04792016e-04 9.99949290e-01 -2.65252499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.79538475 meters 0.06301592038367673 Centerline is valid? [True, True] Translation: X:178.95, Y:-55.01, Z:-2.66 [[ 9.69349801e-01 2.45604011e-01 6.29542350e-03 1.78953923e+02] [-2.45598006e-01 9.69370236e-01 -1.72186174e-03 -5.50133553e+01] [-6.52549231e-03 1.22942872e-04 9.99978701e-01 -2.65856623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85538475 meters 0.06347825173458935 Centerline is valid? [True, True] Translation: X:179.01, Y:-55.03, Z:-2.66 [[ 9.69614732e-01 2.44592778e-01 4.65242067e-03 1.79012136e+02] [-2.44589485e-01 9.69625889e-01 -1.27278385e-03 -5.50314806e+01] [-4.82242127e-03 9.61767964e-05 9.99988367e-01 -2.65951550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91538475000002 meters 0.06416389947285052 Centerline is valid? [True, True] Translation: X:179.07, Y:-55.05, Z:-2.66 [[ 9.70106765e-01 2.42625894e-01 5.05369969e-03 1.79071181e+02] [-2.42621975e-01 9.70119922e-01 -1.38387263e-03 -5.50490573e+01] [-5.23845808e-03 1.16365600e-04 9.99986272e-01 -2.65927424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97538475 meters 0.06396952378097907 Centerline is valid? [True, True] Translation: X:179.13, Y:-55.07, Z:-2.66 [[ 9.70225809e-01 2.42170096e-01 3.93998083e-03 1.79130998e+02] [-2.42167710e-01 9.70233805e-01 -1.07892609e-03 -5.50656408e+01] [-4.08398623e-03 9.26657967e-05 9.99991656e-01 -2.65886787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03538475 meters 0.06277668458685097 Centerline is valid? [True, True] Translation: X:179.19, Y:-55.07, Z:-2.66 [[ 9.68500043e-01 2.49013179e-01 -3.22600975e-04 1.79193382e+02] [-2.49013163e-01 9.68500096e-01 8.92695738e-05 -5.50718666e+01] [ 3.34668375e-04 -6.12569679e-06 9.99999944e-01 -2.66477295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.09538475 meters 0.061805787773709396 Centerline is valid? [True, True] Translation: X:179.26, Y:-55.07, Z:-2.67 [[ 9.64643349e-01 2.63534648e-01 -3.56358238e-03 1.79258034e+02] [-2.63532815e-01 9.64649931e-01 9.82992959e-04 -5.50700504e+01] [ 3.69666220e-03 -9.11672455e-06 9.99993167e-01 -2.66650095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15538475 meters 0.0618831138810803 Centerline is valid? [True, True] Translation: X:179.32, Y:-55.08, Z:-2.66 [[ 9.63678350e-01 2.67050471e-01 -2.84297430e-03 1.79318102e+02] [-2.67049316e-01 9.63682544e-01 7.85545096e-04 -5.50845899e+01] [ 2.94950490e-03 2.20154133e-06 9.99995650e-01 -2.66446078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21538475 meters 0.06213632186894975 Centerline is valid? [True, True] Translation: X:179.38, Y:-55.11, Z:-2.66 [[ 9.64787464e-01 2.63008784e-01 -3.39540644e-03 1.79375612e+02] [-2.63007112e-01 9.64793439e-01 9.38058952e-04 -5.51059107e+01] [ 3.52258360e-03 -1.20114766e-05 9.99993796e-01 -2.66481604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27538475 meters 0.06253862559416111 Centerline is valid? [True, True] Translation: X:179.44, Y:-55.12, Z:-2.67 [[ 9.64031964e-01 2.65749457e-01 -4.42703874e-03 1.79436831e+02] [-2.65746641e-01 9.64042129e-01 1.22344703e-03 -5.51165932e+01] [ 4.59298223e-03 -2.97136602e-06 9.99989452e-01 -2.66927521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33538475 meters 0.06299810504353916 Centerline is valid? [True, True] Translation: X:179.49, Y:-55.14, Z:-2.67 [[ 9.64616786e-01 2.63587007e-01 -6.02877714e-03 1.79494416e+02] [-2.63581743e-01 9.64635625e-01 1.66602082e-03 -5.51377697e+01] [ 6.25471465e-03 -1.79960685e-05 9.99980439e-01 -2.67406880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39538475 meters 0.06285486838052527 Centerline is valid? [True, True] Translation: X:179.55, Y:-55.16, Z:-2.67 [[ 9.64689790e-01 2.63325773e-01 -5.75736384e-03 1.79554177e+02] [-2.63320953e-01 9.64706969e-01 1.59334427e-03 -5.51558117e+01] [ 5.97373764e-03 -2.10484124e-05 9.99982157e-01 -2.67092921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45538475 meters 0.06325233332378896 Centerline is valid? [True, True] Translation: X:179.61, Y:-55.17, Z:-2.67 [[ 9.64086021e-01 2.65439034e-01 -8.95904012e-03 1.79614103e+02] [-2.65427458e-01 9.64127647e-01 2.47894539e-03 -5.51711654e+01] [ 9.29566714e-03 -1.19413508e-05 9.99956794e-01 -2.67355668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51538475 meters 0.06377594445361082 Centerline is valid? [True, True] Translation: X:179.68, Y:-55.18, Z:-2.68 [[ 9.61374464e-01 2.75069306e-01 -9.79885747e-03 1.79677668e+02] [-2.75055933e-01 9.61424396e-01 2.71367535e-03 -5.51754217e+01] [ 1.01673094e-02 8.63756965e-05 9.99948308e-01 -2.67505371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57538475 meters 0.06560040284897582 Centerline is valid? [True, True] Translation: X:179.74, Y:-55.18, Z:-2.68 [[ 9.58596549e-01 2.84570838e-01 -1.05874984e-02 1.79738724e+02] [-2.84555814e-01 9.58654994e-01 2.93115229e-03 -5.51808540e+01] [ 1.09838787e-02 2.02941767e-04 9.99939655e-01 -2.67970430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63538475000001 meters 0.06737393794494584 Centerline is valid? [True, True] Translation: X:179.80, Y:-55.19, Z:-2.68 [[ 9.56588530e-01 2.91189829e-01 -1.21188914e-02 1.79798961e+02] [-2.91170629e-01 9.56665241e-01 3.35879554e-03 -5.51923876e+01] [ 1.25717693e-02 3.15679944e-04 9.99920922e-01 -2.68174939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69538475000002 meters 0.07004961154063728 Centerline is valid? [True, True] Translation: X:179.86, Y:-55.20, Z:-2.68 [[ 9.54290273e-01 2.98624222e-01 -1.23955322e-02 1.79859527e+02] [-2.98604767e-01 9.54370680e-01 3.43489362e-03 -5.52010072e+01] [ 1.28556750e-02 4.23479440e-04 9.99917273e-01 -2.68420202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75538475 meters 0.07253380253317254 Centerline is valid? [True, True] Translation: X:179.92, Y:-55.21, Z:-2.68 [[ 9.52165728e-01 3.05312356e-01 -1.28371569e-02 1.79919526e+02] [-3.05292046e-01 9.52252113e-01 3.56097221e-03 -5.52136233e+01] [ 1.33114186e-02 5.28446199e-04 9.99911260e-01 -2.68470228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81538475 meters 0.06809493228683304 Centerline is valid? [True, True] Translation: X:179.97, Y:-55.25, Z:-2.68 [[ 9.55524786e-01 2.94662576e-01 -1.20974800e-02 1.79973457e+02] [-2.94643697e-01 9.55601296e-01 3.35477665e-03 -5.52502530e+01] [ 1.25488947e-02 3.58873983e-04 9.99921195e-01 -2.67874235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87538475 meters 0.06529893420354027 Centerline is valid? [True, True] Translation: X:180.03, Y:-55.28, Z:-2.68 [[ 9.59278664e-01 2.82226524e-01 -1.15167214e-02 1.80028005e+02] [-2.82208460e-01 9.59347776e-01 3.19825515e-03 -5.52810784e+01] [ 1.19511735e-02 1.82098284e-04 9.99928566e-01 -2.67888723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93538475 meters 0.06451386282251513 Centerline is valid? [True, True] Translation: X:180.09, Y:-55.30, Z:-2.68 [[ 9.61278598e-01 2.75339014e-01 -1.14841272e-02 1.80086037e+02] [-2.75320533e-01 9.61347189e-01 3.19148238e-03 -5.53006916e+01] [ 1.19189730e-02 9.39123055e-05 9.99928962e-01 -2.68324730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99538475 meters 0.06425726381118863 Centerline is valid? [True, True] Translation: X:180.15, Y:-55.32, Z:-2.69 [[ 9.62023812e-01 2.72726631e-01 -1.14179596e-02 1.80145040e+02] [-2.72708146e-01 9.62091566e-01 3.17577686e-03 -5.53164304e+01] [ 1.18512416e-02 5.85976513e-05 9.99929770e-01 -2.68726018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05538475 meters 0.06369038665276011 Centerline is valid? [True, True] Translation: X:180.20, Y:-55.33, Z:-2.68 [[ 9.62325683e-01 2.71694081e-01 -1.05643541e-02 1.80204624e+02] [-2.71678160e-01 9.62383668e-01 2.94159053e-03 -5.53340956e+01] [ 1.09661746e-02 3.93361535e-05 9.99939869e-01 -2.68422786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11538475 meters 0.06354837939885062 Centerline is valid? [True, True] Translation: X:180.26, Y:-55.35, Z:-2.69 [[ 9.61851629e-01 2.73336632e-01 -1.13370500e-02 1.80264629e+02] [-2.73318380e-01 9.61918438e-01 3.15925646e-03 -5.53504313e+01] [ 1.17688579e-02 5.98881539e-05 9.99930743e-01 -2.68569311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17538475 meters 0.06376137312997104 Centerline is valid? [True, True] Translation: X:180.32, Y:-55.36, Z:-2.69 [[ 9.60982177e-01 2.76377697e-01 -1.13412322e-02 1.80324468e+02] [-2.76359617e-01 9.61049093e-01 3.16269962e-03 -5.53634983e+01] [ 1.17735805e-02 9.49606099e-05 9.99930684e-01 -2.69051694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23538475 meters 0.0642713149436971 Centerline is valid? [True, True] Translation: X:180.38, Y:-55.38, Z:-2.69 [[ 9.59537772e-01 2.81342935e-01 -1.15506065e-02 1.80384586e+02] [-2.81324505e-01 9.59607278e-01 3.22397304e-03 -5.53780853e+01] [ 1.19910881e-02 1.55944743e-04 9.99928092e-01 -2.69300721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.29538475 meters 0.06427772539535671 Centerline is valid? [True, True] Translation: X:180.44, Y:-55.39, Z:-2.69 [[ 9.58649938e-01 2.84488228e-01 -7.53289315e-03 1.80444168e+02] [-2.84480465e-01 9.58679525e-01 2.10538641e-03 -5.53944181e+01] [ 7.82058808e-03 1.24632387e-04 9.99969411e-01 -2.68601626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35538475 meters 0.062217424608996034 Centerline is valid? [True, True] Translation: X:180.50, Y:-55.42, Z:-2.68 [[ 9.61981573e-01 2.73092807e-01 -3.43116986e-03 1.80499492e+02] [-2.73091118e-01 9.61987692e-01 9.60433665e-04 -5.54247911e+01] [ 3.56303070e-03 1.31025274e-05 9.99993652e-01 -2.68131520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41538475000002 meters 0.06249320292782927 Centerline is valid? [True, True] Translation: X:180.55, Y:-55.45, Z:-2.69 [[ 9.65290253e-01 2.61156725e-01 -3.44852081e-03 1.80554460e+02] [-2.61154938e-01 9.65296412e-01 9.66783813e-04 -5.54538492e+01] [ 3.58132686e-03 -3.26287545e-05 9.99993586e-01 -2.68746212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47538475 meters 0.0637136570437725 Centerline is valid? [True, True] Translation: X:180.61, Y:-55.48, Z:-2.69 [[ 9.66622525e-01 2.56070888e-01 -8.28216816e-03 1.80611870e+02] [-2.56060416e-01 9.66657998e-01 2.31898626e-03 -5.54770275e+01] [ 8.59984897e-03 -1.20848935e-04 9.99963013e-01 -2.69327513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53538475 meters 0.06373083418131278 Centerline is valid? [True, True] Translation: X:180.67, Y:-55.49, Z:-2.69 [[ 9.66962100e-01 2.54687915e-01 -1.08794906e-02 1.80672345e+02] [-2.54669777e-01 9.67023286e-01 3.04448911e-03 -5.54906845e+01] [ 1.12961153e-02 -1.73228144e-04 9.99936182e-01 -2.69422848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59538475 meters 0.06359860175683082 Centerline is valid? [True, True] Translation: X:180.73, Y:-55.50, Z:-2.70 [[ 9.66650033e-01 2.55882815e-01 -1.05687466e-02 1.80733650e+02] [-2.55865745e-01 9.66707795e-01 2.95971976e-03 -5.55036927e+01] [ 1.09742312e-02 -1.56832970e-04 9.99939769e-01 -2.69639540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65538475 meters 0.06245265333580067 Centerline is valid? [True, True] Translation: X:180.79, Y:-55.51, Z:-2.69 [[ 9.65610091e-01 2.59870329e-01 -8.03515364e-03 1.80794680e+02] [-2.59860602e-01 9.65643519e-01 2.24996245e-03 -5.55138379e+01] [ 8.34379252e-03 -8.45665818e-05 9.99965186e-01 -2.69194706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71538475 meters 0.061888622703052044 Centerline is valid? [True, True] Translation: X:180.86, Y:-55.52, Z:-2.69 [[ 9.63266089e-01 2.68479448e-01 -6.10152783e-03 1.80856381e+02] [-2.68473992e-01 9.63285413e-01 1.71152708e-03 -5.55200347e+01] [ 6.33702260e-03 -1.05544628e-05 9.99979921e-01 -2.69243211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77538475 meters 0.06244289240896669 Centerline is valid? [True, True] Translation: X:180.92, Y:-55.52, Z:-2.70 [[ 9.60180730e-01 2.79300434e-01 -6.65077847e-03 1.80918201e+02] [-2.79294214e-01 9.60203761e-01 1.86520319e-03 -5.55241118e+01] [ 6.90705456e-03 6.65917797e-05 9.99976144e-01 -2.69707616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83538475 meters 0.061652777793814825 Centerline is valid? [True, True] Translation: X:180.97, Y:-55.55, Z:-2.69 [[ 9.61959316e-01 2.73162634e-01 -4.05577332e-03 1.80973172e+02] [-2.73160260e-01 9.61967866e-01 1.13875121e-03 -5.55512059e+01] [ 4.21258789e-03 1.24437583e-05 9.99991127e-01 -2.69360447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89538475 meters 0.061842863054016144 Centerline is valid? [True, True] Translation: X:181.03, Y:-55.59, Z:-2.69 [[ 9.65332978e-01 2.61013443e-01 -2.05541859e-03 1.81027185e+02] [-2.61012799e-01 9.65335166e-01 5.80116363e-04 -5.55860508e+01] [ 2.13558602e-03 -2.35148950e-05 9.99997719e-01 -2.69269867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95538475 meters 0.06261351884605477 Centerline is valid? [True, True] Translation: X:181.09, Y:-55.61, Z:-2.70 [[ 9.66380308e-01 2.57095619e-01 -3.30791289e-03 1.81085274e+02] [-2.57093935e-01 9.66385969e-01 9.31792952e-04 -5.56051233e+01] [ 3.43628049e-03 -5.00220163e-05 9.99994095e-01 -2.69686779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01538475 meters 0.06206772193908501 Centerline is valid? [True, True] Translation: X:181.15, Y:-55.62, Z:-2.70 [[ 9.66318227e-01 2.57340551e-01 -2.21941961e-03 1.81145932e+02] [-2.57339789e-01 9.66320775e-01 6.27034777e-04 -5.56186434e+01] [ 2.30603275e-03 -3.47701600e-05 9.99997340e-01 -2.69533422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07538475 meters 0.06306229772780168 Centerline is valid? [True, True] Translation: X:181.20, Y:-55.65, Z:-2.69 [[ 9.68248471e-01 2.49989202e-01 -5.44440546e-04 1.81201189e+02] [-2.49989154e-01 9.68248624e-01 1.56072209e-04 -5.56470082e+01] [ 5.66170176e-04 -1.50124462e-05 9.99999840e-01 -2.69219985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13538475000001 meters 0.06403997298548225 Centerline is valid? [True, True] Translation: X:181.26, Y:-55.67, Z:-2.69 [[ 9.70073554e-01 2.42807541e-01 -1.34063239e-03 1.81259888e+02] [-2.42807251e-01 9.70074480e-01 3.77955237e-04 -5.56671645e+01] [ 1.39228365e-03 -4.11291141e-05 9.99999030e-01 -2.69101866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19538475000002 meters 0.06806938372648609 Centerline is valid? [True, True] Translation: X:181.31, Y:-55.70, Z:-2.69 [[ 9.73406267e-01 2.29060289e-01 -3.40945580e-03 1.81314060e+02] [-2.29058325e-01 9.73412225e-01 9.60933530e-04 -5.56963942e+01] [ 3.53891767e-03 -1.54414485e-04 9.99993726e-01 -2.69140790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25538475 meters 0.07497347544434185 Centerline is valid? [True, True] Translation: X:181.37, Y:-55.73, Z:-2.69 [[ 9.75391428e-01 2.20476253e-01 -1.33600833e-03 1.81367777e+02] [-2.20475942e-01 9.75392340e-01 3.77523798e-04 -5.57278128e+01] [ 1.38636733e-03 -7.36757813e-05 9.99999036e-01 -2.69208856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31538475 meters 0.07164193999722263 Centerline is valid? [True, True] Translation: X:181.43, Y:-55.73, Z:-2.69 [[ 9.75179325e-01 2.21406877e-01 -2.06869027e-03 1.81430956e+02] [-2.21406130e-01 9.75181512e-01 5.86140300e-04 -5.57336807e+01] [ 2.14712400e-03 -1.13571194e-04 9.99997688e-01 -2.69455016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37538475 meters 0.06872804184947076 Centerline is valid? [True, True] Translation: X:181.49, Y:-55.74, Z:-2.70 [[ 9.73306112e-01 2.29500285e-01 -2.19820823e-03 1.81493581e+02] [-2.29499469e-01 9.73308589e-01 6.20152098e-04 -5.57372927e+01] [ 2.28186003e-03 -9.91102069e-05 9.99997392e-01 -2.69860298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43538475 meters 0.06480419356703156 Centerline is valid? [True, True] Translation: X:181.55, Y:-55.74, Z:-2.70 [[ 9.69932375e-01 2.43359961e-01 -2.66786563e-03 1.81553750e+02] [-2.43358811e-01 9.69936041e-01 7.52643029e-04 -5.57447118e+01] [ 2.77082220e-03 -8.07642351e-05 9.99996158e-01 -2.70158287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49538475 meters 0.06110758915372351 Centerline is valid? [True, True] Translation: X:181.62, Y:-55.75, Z:-2.70 [[ 9.65241398e-01 2.61343253e-01 -2.95768966e-03 1.81615808e+02] [-2.61341916e-01 9.65245929e-01 8.36580265e-04 -5.57490105e+01] [ 3.07353251e-03 -3.45336231e-05 9.99995276e-01 -2.69570480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55538475 meters 0.06070367834381698 Centerline is valid? [True, True] Translation: X:181.68, Y:-55.75, Z:-2.70 [[ 9.62218212e-01 2.72256974e-01 -3.50044801e-03 1.81677993e+02] [-2.72255170e-01 9.62224579e-01 9.91117297e-04 -5.57531781e+01] [ 3.63805571e-03 -6.56044285e-07 9.99993382e-01 -2.69929753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61538475 meters 0.06071936160750281 Centerline is valid? [True, True] Translation: X:181.74, Y:-55.77, Z:-2.70 [[ 9.63185458e-01 2.68829607e-01 -2.10131310e-03 1.81736438e+02] [-2.68828944e-01 9.63187750e-01 5.96985514e-04 -5.57729705e+01] [ 2.18444641e-03 -1.01139845e-05 9.99997614e-01 -2.69797874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67538475 meters 0.06137607834007749 Centerline is valid? [True, True] Translation: X:181.80, Y:-55.79, Z:-2.70 [[ 9.63468050e-01 2.67778192e-01 -4.91487535e-03 1.81796245e+02] [-2.67774570e-01 9.63480586e-01 1.39282138e-03 -5.57875416e+01] [ 5.10835417e-03 -2.58602638e-05 9.99986952e-01 -2.70367597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73538475 meters 0.061604374272562816 Centerline is valid? [True, True] Translation: X:181.86, Y:-55.81, Z:-2.70 [[ 9.63694361e-01 2.66947442e-01 -5.67826968e-03 1.81855210e+02] [-2.66942588e-01 9.63711088e-01 1.61025872e-03 -5.58055429e+01] [ 5.90206590e-03 -3.60252496e-05 9.99982582e-01 -2.70409138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.79538475 meters 0.06212244683101597 Centerline is valid? [True, True] Translation: X:181.91, Y:-55.83, Z:-2.71 [[ 9.64250316e-01 2.64894381e-01 -7.23155529e-03 1.81912817e+02] [-2.64886446e-01 9.64277431e-01 2.05122087e-03 -5.58255789e+01] [ 7.51658243e-03 -6.23493925e-05 9.99971748e-01 -2.70622664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85538475 meters 0.0623661960599325 Centerline is valid? [True, True] Translation: X:181.97, Y:-55.84, Z:-2.71 [[ 9.64429742e-01 2.64215388e-01 -8.09330630e-03 1.81972057e+02] [-2.64205409e-01 9.64463697e-01 2.29759382e-03 -5.58427955e+01] [ 8.41275976e-03 -7.75725176e-05 9.99964609e-01 -2.70616034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91538475000002 meters 0.0627032442218467 Centerline is valid? [True, True] Translation: X:182.03, Y:-55.86, Z:-2.70 [[ 9.64729738e-01 2.63072216e-01 -9.46266151e-03 1.82029667e+02] [-2.63058529e-01 9.64776139e-01 2.68545281e-03 -5.58628740e+01] [ 9.83581806e-03 -1.01502366e-04 9.99951622e-01 -2.70478384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97538475 meters 0.06343269275477996 Centerline is valid? [True, True] Translation: X:182.09, Y:-55.88, Z:-2.71 [[ 9.64986147e-01 2.62073626e-01 -1.09155831e-02 1.82088498e+02] [-2.62055310e-01 9.65047873e-01 3.10116664e-03 -5.58803611e+01] [ 1.13467942e-02 -1.32096338e-04 9.99935614e-01 -2.71039485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03538475 meters 0.06345556267305862 Centerline is valid? [True, True] Translation: X:182.15, Y:-55.89, Z:-2.71 [[ 9.64933750e-01 2.62257439e-01 -1.11307348e-02 1.82149641e+02] [-2.62238365e-01 9.64997936e-01 3.16589428e-03 -5.58942552e+01] [ 1.15714154e-02 -1.35972549e-04 9.99933040e-01 -2.71027628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09538475 meters 0.06437204647843918 Centerline is valid? [True, True] Translation: X:182.21, Y:-55.91, Z:-2.71 [[ 9.65516742e-01 2.60044052e-01 -1.24302475e-02 1.82207270e+02] [-2.60020060e-01 9.65596737e-01 3.53709151e-03 -5.59145382e+01] [ 1.29224060e-02 -1.83007380e-04 9.99916485e-01 -2.71134109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15538475 meters 0.06536680671040807 Centerline is valid? [True, True] Translation: X:182.26, Y:-55.94, Z:-2.71 [[ 9.66451371e-01 2.56484888e-01 -1.36839280e-02 1.82264539e+02] [-2.56455418e-01 9.66548207e-01 3.89636732e-03 -5.59358734e+01] [ 1.42255354e-02 -2.56332065e-04 9.99898779e-01 -2.71318454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21538475 meters 0.06633595549395219 Centerline is valid? [True, True] Translation: X:182.32, Y:-55.96, Z:-2.72 [[ 9.67012579e-01 2.54228597e-01 -1.59528387e-02 1.82322593e+02] [-2.54188253e-01 9.67144098e-01 4.54148676e-03 -5.59557805e+01] [ 1.65832696e-02 -3.36650637e-04 9.99862431e-01 -2.71528094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27538475 meters 0.06884512139576764 Centerline is valid? [True, True] Translation: X:182.38, Y:-55.98, Z:-2.72 [[ 9.68220832e-01 2.49527008e-01 -1.68728382e-02 1.82377665e+02] [-2.49481130e-01 9.68367738e-01 4.80520748e-03 -5.59815146e+01] [ 1.75381412e-02 -4.43047259e-04 9.99846097e-01 -2.72061350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33538475 meters 0.06854830459412986 Centerline is valid? [True, True] Translation: X:182.44, Y:-56.00, Z:-2.72 [[ 9.69195342e-01 2.45665169e-01 -1.75787942e-02 1.82436749e+02] [-2.45614729e-01 9.69354599e-01 5.00660722e-03 -5.60005052e+01] [ 1.82700340e-02 -5.34769619e-04 9.99832946e-01 -2.71575780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39538475 meters 0.07266997193549458 Centerline is valid? [True, True] Translation: X:182.49, Y:-56.04, Z:-2.71 [[ 9.73025338e-01 2.30203936e-01 -1.50943400e-02 1.82489528e+02] [-2.30164856e-01 9.73142149e-01 4.30072900e-03 -5.60377270e+01] [ 1.56789832e-02 -7.10531697e-04 9.99876825e-01 -2.71262687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45538475 meters 0.07329300914100043 Centerline is valid? [True, True] Translation: X:182.55, Y:-56.06, Z:-2.71 [[ 9.75270922e-01 2.20655028e-01 -1.25692916e-02 1.82546456e+02] [-2.20627077e-01 9.75351647e-01 3.58588707e-03 -5.60611456e+01] [ 1.30507232e-02 -7.24085336e-04 9.99914574e-01 -2.70630201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51538475 meters 0.07756925320127878 Centerline is valid? [True, True] Translation: X:182.60, Y:-56.09, Z:-2.71 [[ 9.77532737e-01 2.10431647e-01 -1.21766434e-02 1.82600903e+02] [-2.10404625e-01 9.77608218e-01 3.47371078e-03 -5.60904102e+01] [ 1.26349653e-02 -8.33643925e-04 9.99919828e-01 -2.70744886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57538475 meters 0.08191660419988209 Centerline is valid? [True, True] Translation: X:182.66, Y:-56.12, Z:-2.71 [[ 9.79546360e-01 2.00881902e-01 -1.16356993e-02 1.82656854e+02] [-2.00856510e-01 9.79615036e-01 3.32326609e-03 -5.61184037e+01] [ 1.20660900e-02 -9.18187250e-04 9.99926781e-01 -2.70791613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63538475000001 meters 0.08578903301901714 Centerline is valid? [True, True] Translation: X:182.71, Y:-56.15, Z:-2.71 [[ 9.81051250e-01 1.93282699e-01 -1.34254654e-02 1.82713071e+02] [-1.93248213e-01 9.81142416e-01 3.83253739e-03 -5.61457596e+01] [ 1.39130568e-02 -1.16546840e-03 9.99902530e-01 -2.71160530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69538475000002 meters 0.08219911161994135 Centerline is valid? [True, True] Translation: X:182.77, Y:-56.16, Z:-2.71 [[ 9.81341520e-01 1.91700393e-01 -1.48249657e-02 1.82772983e+02] [-1.91658087e-01 9.81452610e-01 4.23696514e-03 -5.61583498e+01] [ 1.53622291e-02 -1.31658525e-03 9.99881127e-01 -2.70934149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75538475 meters 0.08301966146826029 Centerline is valid? [True, True] Translation: X:182.83, Y:-56.17, Z:-2.71 [[ 9.80940191e-01 1.93785038e-01 -1.42723657e-02 1.82830843e+02] [-1.93746074e-01 9.81043239e-01 4.07711260e-03 -5.61744559e+01] [ 1.47918913e-02 -1.23418880e-03 9.99889832e-01 -2.71077501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81538475 meters 0.08136515477566185 Centerline is valid? [True, True] Translation: X:182.89, Y:-56.19, Z:-2.71 [[ 9.79931500e-01 1.98856998e-01 -1.37894459e-02 1.82890797e+02] [-1.98821111e-01 9.80027878e-01 3.94017912e-03 -5.61860210e+01] [ 1.42975736e-02 -1.11947269e-03 9.99897158e-01 -2.71160979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87538475 meters 0.07924590711958658 Centerline is valid? [True, True] Translation: X:182.95, Y:-56.20, Z:-2.71 [[ 9.77949236e-01 2.08296666e-01 -1.50927137e-02 1.82949672e+02] [-2.08254790e-01 9.78065103e-01 4.31248774e-03 -5.61997655e+01] [ 1.56599334e-02 -1.07426417e-03 9.99876799e-01 -2.71310941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93538475 meters 0.07400869218822644 Centerline is valid? [True, True] Translation: X:183.01, Y:-56.21, Z:-2.71 [[ 9.75174292e-01 2.20811953e-01 -1.66487909e-02 1.83010935e+02] [-2.20762707e-01 9.75315919e-01 4.76289766e-03 -5.62077224e+01] [ 1.72895355e-02 -9.69223205e-04 9.99850055e-01 -2.71332569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99538475 meters 0.06694220357432044 Centerline is valid? [True, True] Translation: X:183.07, Y:-56.21, Z:-2.71 [[ 9.71294101e-01 2.37299326e-01 -1.66373016e-02 1.83074830e+02] [-2.37252485e-01 9.71436343e-01 4.76342141e-03 -5.62062006e+01] [ 1.72924361e-02 -6.79441963e-04 9.99850244e-01 -2.71270691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05538475 meters 0.06418723370077775 Centerline is valid? [True, True] Translation: X:183.14, Y:-56.21, Z:-2.71 [[ 9.67342606e-01 2.52866256e-01 -1.75196749e-02 1.83137045e+02] [-2.52816885e-01 9.67501152e-01 5.01432011e-03 -5.62133758e+01] [ 1.82182580e-02 -4.21295859e-04 9.99833945e-01 -2.71477584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11538475 meters 0.06313693640529745 Centerline is valid? [True, True] Translation: X:183.20, Y:-56.23, Z:-2.72 [[ 9.64643283e-01 2.63137476e-01 -1.48998649e-02 1.83196878e+02] [-2.63102968e-01 9.64758328e-01 4.26584777e-03 -5.62250855e+01] [ 1.54972731e-02 -1.94822722e-04 9.99879891e-01 -2.71784638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17538475 meters 0.062183013133552116 Centerline is valid? [True, True] Translation: X:183.26, Y:-56.24, Z:-2.71 [[ 9.64324076e-01 2.64426788e-01 -1.25518919e-02 1.83257189e+02] [-2.64402400e-01 9.64405751e-01 3.59425911e-03 -5.62387867e+01] [ 1.30555352e-02 -1.47280244e-04 9.99914762e-01 -2.71142877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23538475 meters 0.0620561466070497 Centerline is valid? [True, True] Translation: X:183.32, Y:-56.26, Z:-2.71 [[ 9.64773332e-01 2.62863686e-01 -1.07284934e-02 1.83316187e+02] [-2.62845715e-01 9.64832970e-01 3.07731412e-03 -5.62582861e+01] [ 1.11601183e-02 -1.48972072e-04 9.99937713e-01 -2.70901448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.29538475 meters 0.06265862281372389 Centerline is valid? [True, True] Translation: X:183.37, Y:-56.28, Z:-2.71 [[ 9.66099921e-01 2.58006967e-01 -9.12943828e-03 1.83374627e+02] [-2.57993712e-01 9.66143040e-01 2.62126229e-03 -5.62804783e+01] [ 9.49664719e-03 -1.77063620e-04 9.99954890e-01 -2.70812425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35538475 meters 0.0660307060991543 Centerline is valid? [True, True] Translation: X:183.43, Y:-56.31, Z:-2.71 [[ 9.69449648e-01 2.45139360e-01 -8.60661334e-03 1.83429995e+02] [-2.45127060e-01 9.69487809e-01 2.47240288e-03 -5.63075705e+01] [ 8.95008997e-03 -2.87156274e-04 9.99959906e-01 -2.70968066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41538475000002 meters 0.07080768569251757 Centerline is valid? [True, True] Translation: X:183.48, Y:-56.34, Z:-2.71 [[ 9.72396193e-01 2.33202610e-01 -7.88582122e-03 1.83484411e+02] [-2.33191894e-01 9.72428100e-01 2.26498912e-03 -5.63362559e+01] [ 8.19659553e-03 -3.63557212e-04 9.99966341e-01 -2.70920409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47538475 meters 0.07194497688170087 Centerline is valid? [True, True] Translation: X:183.54, Y:-56.36, Z:-2.71 [[ 9.74798216e-01 2.23015311e-01 -5.71048539e-03 1.83542398e+02] [-2.23009498e-01 9.74814887e-01 1.64333105e-03 -5.63562020e+01] [ 5.93315415e-03 -3.28423692e-04 9.99982345e-01 -2.70616123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53538475 meters 0.07705160413795464 Centerline is valid? [True, True] Translation: X:183.60, Y:-56.38, Z:-2.71 [[ 9.75150616e-01 2.21447958e-01 -6.48673278e-03 1.83597006e+02] [-2.21440428e-01 9.75172116e-01 1.86588224e-03 -5.63842750e+01] [ 6.73887674e-03 -3.83091334e-04 9.99977220e-01 -2.70976659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59538475 meters 0.07491101792568038 Centerline is valid? [True, True] Translation: X:183.66, Y:-56.40, Z:-2.71 [[ 9.73870171e-01 2.27044599e-01 -5.25737038e-03 1.83656017e+02] [-2.27039735e-01 9.73884322e-01 1.51204561e-03 -5.63961095e+01] [ 5.46337237e-03 -2.78904143e-04 9.99985037e-01 -2.70753325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65538475 meters 0.07222364395798818 Centerline is valid? [True, True] Translation: X:183.72, Y:-56.41, Z:-2.71 [[ 9.72543020e-01 2.32669351e-01 -5.00464647e-03 1.83716877e+02] [-2.32665006e-01 9.72555868e-01 1.44154442e-03 -5.64052253e+01] [ 5.20270149e-03 -2.37557860e-04 9.99986438e-01 -2.70648261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71538475 meters 0.06860552951682322 Centerline is valid? [True, True] Translation: X:183.78, Y:-56.41, Z:-2.71 [[ 9.71723577e-01 2.36068951e-01 -4.97399876e-03 1.83779061e+02] [-2.36064711e-01 9.71736283e-01 1.43144327e-03 -5.64108056e+01] [ 5.17133438e-03 -2.16781596e-04 9.99986605e-01 -2.70882752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77538475 meters 0.06945278130319922 Centerline is valid? [True, True] Translation: X:183.84, Y:-56.43, Z:-2.71 [[ 9.71893080e-01 2.35363441e-01 -5.28125708e-03 1.83836875e+02] [-2.35358632e-01 9.71907400e-01 1.52310334e-03 -5.64300967e+01] [ 5.49137568e-03 -2.37304153e-04 9.99984894e-01 -2.71179317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83538475 meters 0.06976270839136225 Centerline is valid? [True, True] Translation: X:183.90, Y:-56.45, Z:-2.71 [[ 9.71788498e-01 2.35780975e-01 -5.86913164e-03 1.83895417e+02] [-2.35775035e-01 9.71806186e-01 1.69413166e-03 -5.64507746e+01] [ 6.10310245e-03 -2.62542950e-04 9.99981341e-01 -2.71275175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89538475 meters 0.06624307018439111 Centerline is valid? [True, True] Translation: X:183.96, Y:-56.46, Z:-2.71 [[ 9.71284500e-01 2.37781009e-01 -8.16158523e-03 1.83956902e+02] [-2.37769586e-01 9.71318728e-01 2.35661167e-03 -5.64624130e+01] [ 8.48785808e-03 -3.48363647e-04 9.99963917e-01 -2.71210381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95538475 meters 0.06448088453262658 Centerline is valid? [True, True] Translation: X:184.02, Y:-56.48, Z:-2.71 [[ 9.69676876e-01 2.44244996e-01 -8.43437022e-03 1.84016861e+02] [-2.44233030e-01 9.69713509e-01 2.43658363e-03 -5.64772791e+01] [ 8.77404610e-03 -3.02747007e-04 9.99961461e-01 -2.71369500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01538475 meters 0.06232702149804205 Centerline is valid? [True, True] Translation: X:184.08, Y:-56.49, Z:-2.71 [[ 9.67927194e-01 2.51130747e-01 -7.09186714e-03 1.84076457e+02] [-2.51122471e-01 9.67953153e-01 2.04876575e-03 -5.64893657e+01] [ 7.37910324e-03 -2.02128883e-04 9.99972754e-01 -2.71333577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07538475 meters 0.060493097208243994 Centerline is valid? [True, True] Translation: X:184.14, Y:-56.50, Z:-2.71 [[ 9.66457934e-01 2.56799089e-01 -3.64548422e-03 1.84137303e+02] [-2.56796941e-01 9.66464806e-01 1.05341477e-03 -5.65014054e+01] [ 3.79374815e-03 -8.19318667e-05 9.99992800e-01 -2.70933053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13538475000001 meters 0.06022086176033663 Centerline is valid? [True, True] Translation: X:184.20, Y:-56.52, Z:-2.71 [[ 9.66273497e-01 2.57516406e-01 -9.10873904e-04 1.84196807e+02] [-2.57516270e-01 9.66273926e-01 2.65959686e-04 -5.65162571e+01] [ 9.48642685e-04 -2.24249456e-05 9.99999550e-01 -2.70932093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19538475000002 meters 0.06267873602358472 Centerline is valid? [True, True] Translation: X:184.25, Y:-56.54, Z:-2.71 [[ 9.68282397e-01 2.49856613e-01 9.34222500e-04 1.84253441e+02] [-2.49856471e-01 9.68282847e-01 -2.67533725e-04 -5.65426353e+01] [-9.71436693e-04 2.56266595e-05 9.99999528e-01 -2.70564126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25538475 meters 0.06306595776290438 Centerline is valid? [True, True] Translation: X:184.31, Y:-56.56, Z:-2.71 [[ 9.69259715e-01 2.46036959e-01 -1.19149066e-03 1.84313306e+02] [-2.46036720e-01 9.69260447e-01 3.45323372e-04 -5.65581417e+01] [ 1.23982708e-03 -4.15575804e-05 9.99999231e-01 -2.70965164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31538475 meters 0.06267174340044061 Centerline is valid? [True, True] Translation: X:184.37, Y:-56.57, Z:-2.72 [[ 9.68413097e-01 2.49271502e-01 -6.30816340e-03 1.84374959e+02] [-2.49264867e-01 9.68433621e-01 1.82961946e-03 -5.65697234e+01] [ 6.56510951e-03 -1.99423933e-04 9.99978430e-01 -2.71768584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37538475 meters 0.06262298982847787 Centerline is valid? [True, True] Translation: X:184.43, Y:-56.59, Z:-2.72 [[ 9.67948759e-01 2.51058779e-01 -6.68503998e-03 1.84434098e+02] [-2.51051364e-01 9.67971823e-01 1.93980663e-03 -5.65875698e+01] [ 6.95793582e-03 -1.99345016e-04 9.99975773e-01 -2.71813463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43538475 meters 0.06085190207600578 Centerline is valid? [True, True] Translation: X:184.49, Y:-56.60, Z:-2.72 [[ 9.66180972e-01 2.57814640e-01 -5.09324284e-03 1.84493739e+02] [-2.57810430e-01 9.66194390e-01 1.47774856e-03 -5.65975494e+01] [ 5.30204787e-03 -1.14681411e-04 9.99985937e-01 -2.71567263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49538475 meters 0.06085413840484059 Centerline is valid? [True, True] Translation: X:184.55, Y:-56.61, Z:-2.72 [[ 9.65389434e-01 2.60766436e-01 -4.90985919e-03 1.84553536e+02] [-2.60762549e-01 9.65401915e-01 1.42711954e-03 -5.66127871e+01] [ 5.11213234e-03 -9.74187249e-05 9.99986928e-01 -2.71647897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55538475 meters 0.060690394387612145 Centerline is valid? [True, True] Translation: X:184.61, Y:-56.63, Z:-2.71 [[ 9.65941497e-01 2.58741181e-01 -3.16646171e-03 1.84613332e+02] [-2.58739547e-01 9.65946684e-01 9.22405138e-04 -5.66308961e+01] [ 3.29729739e-03 -7.17005296e-05 9.99994561e-01 -2.71028708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61538475 meters 0.06130816533414702 Centerline is valid? [True, True] Translation: X:184.67, Y:-56.65, Z:-2.71 [[ 9.66393695e-01 2.57030021e-01 -4.33515672e-03 1.84673031e+02] [-2.57026941e-01 9.66403413e-01 1.26266963e-03 -5.66488848e+01] [ 4.51405425e-03 -1.05983895e-04 9.99989806e-01 -2.71466439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67538475 meters 0.06286987204835585 Centerline is valid? [True, True] Translation: X:184.73, Y:-56.67, Z:-2.72 [[ 9.67444998e-01 2.52997052e-01 -6.53209461e-03 1.84731680e+02] [-2.52989972e-01 9.67467031e-01 1.90200465e-03 -5.66676818e+01] [ 6.80078775e-03 -1.87530451e-04 9.99976857e-01 -2.71967193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73538475 meters 0.06259808761157366 Centerline is valid? [True, True] Translation: X:184.79, Y:-56.68, Z:-2.72 [[ 9.67394506e-01 2.53191596e-01 -6.47183969e-03 1.84793346e+02] [-2.53184631e-01 9.67416136e-01 1.88728107e-03 -5.66809217e+01] [ 6.73880585e-03 -1.87174990e-04 9.99977276e-01 -2.71930444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.79538475 meters 0.06195167024063881 Centerline is valid? [True, True] Translation: X:184.86, Y:-56.69, Z:-2.72 [[ 9.65928538e-01 2.58609972e-01 -1.01459962e-02 1.84855298e+02] [-2.58593192e-01 9.65981796e-01 2.95495954e-03 -5.66922244e+01] [ 1.05650296e-02 -2.30594207e-04 9.99944162e-01 -2.72310749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85538475 meters 0.0619172072817416 Centerline is valid? [True, True] Translation: X:184.91, Y:-56.70, Z:-2.73 [[ 9.63973708e-01 2.65755168e-01 -1.13525660e-02 1.84914429e+02] [-2.65734659e-01 9.64040539e-01 3.30600263e-03 -5.67042462e+01] [ 1.18229211e-02 -1.70129370e-04 9.99930092e-01 -2.72900011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91538475000002 meters 0.06130005730319921 Centerline is valid? [True, True] Translation: X:184.98, Y:-56.72, Z:-2.73 [[ 9.62666797e-01 2.70461975e-01 -1.10886580e-02 1.84975914e+02] [-2.70442658e-01 9.62730651e-01 3.23451715e-03 -5.67151556e+01] [ 1.15502048e-02 -1.14916118e-04 9.99933288e-01 -2.72602007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97538475 meters 0.06147445150162446 Centerline is valid? [True, True] Translation: X:185.04, Y:-56.73, Z:-2.73 [[ 9.62539868e-01 2.70928016e-01 -1.07244317e-02 1.85035626e+02] [-2.70909946e-01 9.62599604e-01 3.13094432e-03 -5.67318730e+01] [ 1.11715943e-02 -1.08303503e-04 9.99937590e-01 -2.72623370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03538475 meters 0.06171985452303561 Centerline is valid? [True, True] Translation: X:185.10, Y:-56.75, Z:-2.73 [[ 9.62625899e-01 2.70610935e-01 -1.10045393e-02 1.85096450e+02] [-2.70591857e-01 9.62688791e-01 3.21544184e-03 -5.67462333e+01] [ 1.14640804e-02 -1.17528866e-04 9.99934278e-01 -2.72846629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09538475 meters 0.06219711379254007 Centerline is valid? [True, True] Translation: X:185.15, Y:-56.76, Z:-2.73 [[ 9.62584516e-01 2.70692066e-01 -1.25241975e-02 1.85154235e+02] [-2.70667368e-01 9.62665979e-01 3.65892971e-03 -5.67640385e+01] [ 1.30470621e-02 -1.32137501e-04 9.99914875e-01 -2.73429729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15538475 meters 0.06318269263224321 Centerline is valid? [True, True] Translation: X:185.21, Y:-56.79, Z:-2.73 [[ 9.64857406e-01 2.62480819e-01 -1.24099403e-02 1.85210784e+02] [-2.62455891e-01 9.64937180e-01 3.62544866e-03 -5.67913727e+01] [ 1.29264235e-02 -2.40979061e-04 9.99916421e-01 -2.73467927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21538475 meters 0.06378547958262427 Centerline is valid? [True, True] Translation: X:185.27, Y:-56.81, Z:-2.74 [[ 9.65511715e-01 2.60050834e-01 -1.26764545e-02 1.85268758e+02] [-2.60024583e-01 9.65594886e-01 3.70566705e-03 -5.68124865e+01] [ 1.32039815e-02 -2.81675144e-04 9.99912784e-01 -2.73706468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27538475 meters 0.06456433360252097 Centerline is valid? [True, True] Translation: X:185.33, Y:-56.83, Z:-2.74 [[ 9.66055248e-01 2.58036223e-01 -1.24323962e-02 1.85326349e+02] [-2.58010789e-01 9.66135195e-01 3.63565776e-03 -5.68314630e+01] [ 1.29495070e-02 -3.04553903e-04 9.99916105e-01 -2.73973625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33538475 meters 0.06667074081068823 Centerline is valid? [True, True] Translation: X:185.38, Y:-56.86, Z:-2.74 [[ 9.67682555e-01 2.51986827e-01 -9.64947606e-03 1.85384306e+02] [-2.51971201e-01 9.67730618e-01 2.82219583e-03 -5.68555510e+01] [ 1.00492496e-02 -2.99599595e-04 9.99949460e-01 -2.73940797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39538475 meters 0.07065318932856283 Centerline is valid? [True, True] Translation: X:185.44, Y:-56.88, Z:-2.74 [[ 9.69834385e-01 2.43691410e-01 -5.98011951e-03 1.85439636e+02] [-2.43685241e-01 9.69852792e-01 1.75069413e-03 -5.68822902e+01] [ 6.22646472e-03 -2.40616500e-04 9.99980586e-01 -2.73794014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45538475 meters 0.07308221176101015 Centerline is valid? [True, True] Translation: X:185.50, Y:-56.91, Z:-2.74 [[ 9.72841078e-01 2.31447421e-01 -3.51126947e-03 1.85496185e+02] [-2.31445212e-01 9.72847396e-01 1.02850992e-03 -5.69061844e+01] [ 3.65397533e-03 -1.87910198e-04 9.99993307e-01 -2.73540074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51538475 meters 0.07500742697875248 Centerline is valid? [True, True] Translation: X:185.55, Y:-56.93, Z:-2.73 [[ 9.73699150e-01 2.27837480e-01 -2.19911579e-04 1.85553915e+02] [-2.27837471e-01 9.73699174e-01 6.71524778e-05 -5.69281618e+01] [ 2.29427574e-04 -1.52822126e-05 9.99999974e-01 -2.73265351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57538475 meters 0.07531473065837314 Centerline is valid? [True, True] Translation: X:185.61, Y:-56.95, Z:-2.73 [[ 9.76434236e-01 2.15584441e-01 9.97652077e-03 1.85610051e+02] [-2.15565794e-01 9.76484950e-01 -2.92088758e-03 -5.69544737e+01] [-1.03716203e-02 7.01458009e-04 9.99945967e-01 -2.72781491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63538475000001 meters 0.0773210905549174 Centerline is valid? [True, True] Translation: X:185.67, Y:-56.98, Z:-2.72 [[ 9.76668843e-01 2.14037115e-01 1.74952586e-02 1.85667039e+02] [-2.13979482e-01 9.76824715e-01 -5.12427369e-03 -5.69802898e+01] [-1.81865858e-02 1.26109207e-03 9.99833815e-01 -2.72361104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69538475000002 meters 0.077770863011836 Centerline is valid? [True, True] Translation: X:185.73, Y:-57.00, Z:-2.72 [[ 9.76110477e-01 2.16071089e-01 2.28390430e-02 1.85725294e+02] [-2.15973374e-01 9.76376325e-01 -6.69130880e-03 -5.70011664e+01] [-2.37452992e-02 1.59883144e-03 9.99716762e-01 -2.71906111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75538475 meters 0.07973190202750922 Centerline is valid? [True, True] Translation: X:185.78, Y:-57.02, Z:-2.72 [[ 9.75995771e-01 2.15908621e-01 2.85608621e-02 1.85782927e+02] [-2.15755656e-01 9.76411511e-01 -8.37002623e-03 -5.70244191e+01] [-2.96943153e-02 2.00694268e-03 9.99557012e-01 -2.71577663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1494.61 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%| | 0/6460 [00:00