+ python -m lidar_slam --no-model /working/197d2497-ff6d-4d0f-ba1b-d7e88356d32c Lidar SLAM 0.0.9 ===================================================== The recording path: /working/197d2497-ff6d-4d0f-ba1b-d7e88356d32c 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 0.019072329 Adjusted end_distance from 9.223372036854776e+18 to 452.009072329 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019072329 meters 0.24400757632653697 Centerline is valid? [0, False] SLAMing on 0.079072329 meters 0.2404758455629862 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.00 [[ 9.99997350e-01 4.35101565e-04 -2.26065828e-03 2.99166470e-03] [-4.38014348e-04 9.99999074e-01 -1.28813156e-03 1.35411913e-02] [ 2.26009572e-03 1.28911835e-03 9.99996615e-01 2.68876693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139072329 meters 0.22883041220131742 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:0.00 [[ 0.99998967 -0.00134486 -0.00434183 0.00735257] [ 0.00131883 0.99998117 -0.00599324 0.03674894] [ 0.0043498 0.00598745 0.99997261 0.00221105] [ 0. 0. 0. 1. ]] SLAMing on 0.199072329 meters 0.22945273529067642 Centerline is valid? [False, False] Translation: X:0.01, Y:0.07, Z:-0.00 [[ 9.99976741e-01 -2.59017252e-04 -6.81545708e-03 1.34040363e-02] [ 1.72708224e-04 9.99919828e-01 -1.26612608e-02 6.75184342e-02] [ 6.81819016e-03 1.26597892e-02 9.99896616e-01 -4.58484323e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.259072329 meters 0.22766063739209624 Centerline is valid? [False, False] Translation: X:0.03, Y:0.09, Z:0.00 [[ 0.99990916 -0.00372933 -0.01295262 0.02623103] [ 0.0036222 0.99995912 -0.0082846 0.09420938] [ 0.01298298 0.00823693 0.99988179 0.00380642] [ 0. 0. 0. 1. ]] SLAMing on 0.319072329 meters 0.2277447638051358 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:0.01 [[ 0.99990413 -0.00647049 -0.01224198 0.02292384] [ 0.00627643 0.99985508 -0.01582468 0.12669185] [ 0.0123426 0.01574632 0.99979984 0.00507127] [ 0. 0. 0. 1. ]] SLAMing on 0.379072329 meters 0.23063869275444313 Centerline is valid? [False, False] Translation: X:0.04, Y:0.16, Z:0.00 [[ 9.99745131e-01 -1.56450404e-02 -1.62758976e-02 4.08583982e-02] [ 1.53980772e-02 9.99766057e-01 -1.51898034e-02 1.60834931e-01] [ 1.65097351e-02 1.49353145e-02 9.99752152e-01 7.57300262e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.439072329 meters 0.23287765663263327 Centerline is valid? [False, False] Translation: X:0.06, Y:0.18, Z:-0.01 [[ 0.99972553 -0.02008304 -0.0120642 0.05739815] [ 0.01999172 0.99977093 -0.00764307 0.18224015] [ 0.01221493 0.00739979 0.99989801 -0.00976276] [ 0. 0. 0. 1. ]] SLAMing on 0.499072329 meters 0.2351876757609999 Centerline is valid? [False, False] Translation: X:0.08, Y:0.21, Z:-0.02 [[ 0.99958421 -0.02426224 -0.01558041 0.07778772] [ 0.02423255 0.99970416 -0.00209141 0.21427291] [ 0.01562655 0.00171299 0.99987643 -0.0174612 ] [ 0. 0. 0. 1. ]] SLAMing on 0.559072329 meters 0.24081510480799356 Centerline is valid? [False, False] Translation: X:0.11, Y:0.24, Z:-0.02 [[ 9.99400263e-01 -2.79288332e-02 -2.04718010e-02 1.09341286e-01] [ 2.79130084e-02 9.99609796e-01 -1.05840168e-03 2.44320224e-01] [ 2.04933727e-02 4.86337368e-04 9.99789870e-01 -2.44649067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.619072329 meters 0.24062913535359245 Centerline is valid? [False, False] Translation: X:0.11, Y:0.26, Z:-0.02 [[ 9.99422255e-01 -2.58606851e-02 -2.20540347e-02 1.11941533e-01] [ 2.58507075e-02 9.99665543e-01 -7.37437527e-04 2.56903417e-01] [ 2.20657292e-02 1.66899076e-04 9.99756508e-01 -2.34539541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6790723289999999 meters 0.2445910365260545 Centerline is valid? [False, False] Translation: X:0.13, Y:0.28, Z:-0.02 [[ 9.99353884e-01 -3.07561934e-02 -1.85975956e-02 1.29472246e-01] [ 3.07782584e-02 9.99525831e-01 9.01318015e-04 2.79854900e-01] [ 1.85610561e-02 -1.47313726e-03 9.99826644e-01 -2.25984222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.739072329 meters 0.2484596697529947 Centerline is valid? [False, False] Translation: X:0.14, Y:0.30, Z:-0.02 [[ 9.99315276e-01 -3.00252620e-02 -2.16208655e-02 1.35678831e-01] [ 3.00346638e-02 9.99548852e-01 1.10184156e-04 2.95408005e-01] [ 2.16078030e-02 -7.59484138e-04 9.99766236e-01 -2.24367267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.799072329 meters 0.2526100374495136 Centerline is valid? [False, False] Translation: X:0.17, Y:0.30, Z:-0.02 [[ 0.99948259 -0.02288749 -0.02259885 0.16597957] [ 0.02277814 0.99972762 -0.00508424 0.30152325] [ 0.02270906 0.00456685 0.99973169 -0.01818441] [ 0. 0. 0. 1. ]] SLAMing on 0.859072329 meters 0.2549982296434757 Centerline is valid? [False, False] Translation: X:0.18, Y:0.31, Z:-0.01 [[ 0.99940998 -0.02952219 -0.01755394 0.17871929] [ 0.02947182 0.99956074 -0.00312146 0.31389103] [ 0.01763838 0.00260227 0.99984105 -0.01470037] [ 0. 0. 0. 1. ]] SLAMing on 0.9190723289999999 meters 0.25675380462146424 Centerline is valid? [False, False] Translation: X:0.18, Y:0.32, Z:-0.01 [[ 0.99930952 -0.03159697 -0.0195476 0.18184976] [ 0.03150788 0.99949174 -0.00484869 0.31837633] [ 0.01969087 0.00422944 0.99979717 -0.01326606] [ 0. 0. 0. 1. ]] SLAMing on 0.979072329 meters 0.2608188124760589 Centerline is valid? [False, False] Translation: X:0.19, Y:0.32, Z:-0.02 [[ 0.9990569 -0.03839106 -0.02028375 0.18553972] [ 0.03816626 0.99920688 -0.01135578 0.32213563] [ 0.02070362 0.01057091 0.99972977 -0.01565986] [ 0. 0. 0. 1. ]] SLAMing on 1.0390723290000001 meters 0.2597874243705314 Centerline is valid? [False, False] Translation: X:0.19, Y:0.33, Z:-0.01 [[ 0.99896791 -0.03976666 -0.02194839 0.18784817] [ 0.03948186 0.99913229 -0.01326059 0.32923969] [ 0.02245667 0.01238034 0.99967116 -0.01339269] [ 0. 0. 0. 1. ]] SLAMing on 1.0990723290000002 meters 0.26175668184281786 Centerline is valid? [False, False] Translation: X:0.19, Y:0.33, Z:-0.02 [[ 0.9989506 -0.03972264 -0.02279933 0.1915768 ] [ 0.03942285 0.99913207 -0.01345137 0.33132146] [ 0.02331387 0.01253844 0.99964956 -0.01574022] [ 0. 0. 0. 1. ]] SLAMing on 1.1590723289999998 meters 0.26092173543590474 Centerline is valid? [False, False] Translation: X:0.19, Y:0.33, Z:-0.02 [[ 0.99894003 -0.03947175 -0.02368134 0.19426587] [ 0.03916455 0.99914428 -0.01329867 0.33234057] [ 0.02418599 0.0123571 0.9996311 -0.0165434 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2190723289999998 meters 0.2601830966609765 Centerline is valid? [False, False] Translation: X:0.20, Y:0.33, Z:-0.02 [[ 0.99892403 -0.03926678 -0.02467612 0.19730002] [ 0.0389501 0.99915416 -0.01318565 0.33379905] [ 0.02517301 0.01221032 0.99960854 -0.01753751] [ 0. 0. 0. 1. ]] SLAMing on 1.279072329 meters 0.25801278593271143 Centerline is valid? [False, False] Translation: X:0.20, Y:0.34, Z:-0.02 [[ 0.99873781 -0.04344591 -0.02520382 0.20098733] [ 0.04301265 0.99892151 -0.01748514 0.33507446] [ 0.02593629 0.01637899 0.99952941 -0.02018056] [ 0. 0. 0. 1. ]] SLAMing on 1.339072329 meters 0.2556298487997156 Centerline is valid? [False, False] Translation: X:0.20, Y:0.33, Z:-0.02 [[ 0.99875064 -0.04279886 -0.02579553 0.20371734] [ 0.04239483 0.99897262 -0.01601173 0.33147295] [ 0.02645431 0.01489813 0.999539 -0.02227546] [ 0. 0. 0. 1. ]] SLAMing on 1.399072329 meters 0.2517064656377433 Centerline is valid? [False, False] Translation: X:0.21, Y:0.33, Z:-0.02 [[ 0.99867028 -0.04354107 -0.02760159 0.20596229] [ 0.04312586 0.99894996 -0.01546416 0.32975603] [ 0.02824593 0.01425326 0.99949938 -0.02010393] [ 0. 0. 0. 1. ]] SLAMing on 1.459072329 meters 0.24550527652214268 Centerline is valid? [False, False] Translation: X:0.21, Y:0.32, Z:-0.02 [[ 0.99822886 -0.0524759 -0.02802534 0.20786329] [ 0.0518839 0.99842275 -0.02144924 0.32041776] [ 0.0291067 0.01995718 0.99937706 -0.02088773] [ 0. 0. 0. 1. ]] SLAMing on 1.519072329 meters 0.23761882545190283 Centerline is valid? [False, False] Translation: X:0.21, Y:0.31, Z:-0.02 [[ 0.99816795 -0.05309212 -0.02901683 0.20878952] [ 0.05252309 0.99841874 -0.02003347 0.31477257] [ 0.03003457 0.01847272 0.99937815 -0.01962757] [ 0. 0. 0. 1. ]] SLAMing on 1.5790723290000002 meters 0.2321331255867648 Centerline is valid? [False, False] Translation: X:0.21, Y:0.31, Z:-0.02 [[ 0.99767606 -0.06151557 -0.0292971 0.21134516] [ 0.06076299 0.99781559 -0.02592117 0.30585877] [ 0.03082766 0.02408075 0.99923459 -0.02101172] [ 0. 0. 0. 1. ]] SLAMing on 1.6390723289999998 meters 0.22251020751035716 Centerline is valid? [False, False] Translation: X:0.21, Y:0.29, Z:-0.02 [[ 0.99719869 -0.06881918 -0.02930334 0.2105096 ] [ 0.06797086 0.99726503 -0.02902447 0.29124844] [ 0.03122064 0.02695139 0.99914909 -0.01883714] [ 0. 0. 0. 1. ]] SLAMing on 1.6990723289999998 meters 0.2176858242426905 Centerline is valid? [False, False] Translation: X:0.21, Y:0.28, Z:-0.02 [[ 0.99722344 -0.06755656 -0.03132912 0.21271677] [ 0.06681427 0.99747276 -0.02416503 0.27962595] [ 0.03288245 0.0220047 0.99921696 -0.01709063] [ 0. 0. 0. 1. ]] SLAMing on 1.7590723289999999 meters 0.21365066439542152 Centerline is valid? [False, False] Translation: X:0.23, Y:0.27, Z:-0.02 [[ 0.99768581 -0.05927184 -0.03331488 0.22951562] [ 0.05807249 0.99766724 -0.0358839 0.27076536] [ 0.03536407 0.03386618 0.99880051 -0.01708037] [ 0. 0. 0. 1. ]] SLAMing on 1.819072329 meters 0.20886947602628286 Centerline is valid? [False, False] Translation: X:0.23, Y:0.26, Z:-0.02 [[ 0.9975267 -0.06202636 -0.03306368 0.23317857] [ 0.06083045 0.99749776 -0.0360261 0.26009606] [ 0.03521552 0.03392572 0.99880374 -0.02310348] [ 0. 0. 0. 1. ]] SLAMing on 1.879072329 meters 0.20701148983630577 Centerline is valid? [False, False] Translation: X:0.24, Y:0.25, Z:-0.03 [[ 0.99780798 -0.05671701 -0.03409411 0.23677121] [ 0.0557549 0.99803657 -0.02853771 0.25225938] [ 0.03564574 0.02657424 0.99901111 -0.02675184] [ 0. 0. 0. 1. ]] SLAMing on 1.939072329 meters 0.19984628010586464 Centerline is valid? [False, False] Translation: X:0.23, Y:0.24, Z:-0.03 [[ 0.99801701 -0.05627012 -0.02820863 0.22990324] [ 0.0553237 0.99791375 -0.03327816 0.23603979] [ 0.03002235 0.03165156 0.99904797 -0.03361825] [ 0. 0. 0. 1. ]] SLAMing on 1.999072329 meters 0.19554197869519505 Centerline is valid? [False, False] Translation: X:0.23, Y:0.22, Z:-0.04 [[ 0.99805446 -0.05574944 -0.02791587 0.23066629] [ 0.05493578 0.99806541 -0.02911197 0.22271668] [ 0.02948484 0.02752175 0.99918627 -0.03681162] [ 0. 0. 0. 1. ]] SLAMing on 2.059072329 meters 0.1914006651324234 Centerline is valid? [False, False] Translation: X:0.23, Y:0.21, Z:-0.04 [[ 0.99805319 -0.0553046 -0.028831 0.2333411 ] [ 0.05462233 0.99822009 -0.02393838 0.20816966] [ 0.03010359 0.02231695 0.99929762 -0.04005861] [ 0. 0. 0. 1. ]] SLAMing on 2.119072329 meters 0.19008568471225534 Centerline is valid? [False, False] Translation: X:0.24, Y:0.20, Z:-0.04 [[ 0.99833458 -0.04982684 -0.02907479 0.24369393] [ 0.04881223 0.99820777 -0.03462087 0.19542625] [ 0.03074773 0.03314401 0.9989775 -0.0435775 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1790723290000003 meters 0.18459196513133697 Centerline is valid? [False, False] Translation: X:0.25, Y:0.17, Z:-0.04 [[ 0.9974757 -0.05712357 -0.04217966 0.24594073] [ 0.0553051 0.99753928 -0.04308977 0.17214303] [ 0.04453731 0.04064825 0.99818042 -0.04166858] [ 0. 0. 0. 1. ]] SLAMing on 2.239072329 meters 0.17772418456944367 Centerline is valid? [False, False] Translation: X:0.24, Y:0.15, Z:-0.04 [[ 0.99753055 -0.05638508 -0.04187501 0.2424575 ] [ 0.05484802 0.99780929 -0.03699062 0.15353159] [ 0.04386899 0.03460251 0.99843787 -0.03826893] [ 0. 0. 0. 1. ]] SLAMing on 2.299072329 meters 0.17106270265172938 Centerline is valid? [False, False] Translation: X:0.25, Y:0.13, Z:-0.04 [[ 0.99714924 -0.06307669 -0.04140917 0.24529304] [ 0.06149709 0.99736936 -0.03837284 0.13485358] [ 0.04372067 0.0357169 0.99840513 -0.04402021] [ 0. 0. 0. 1. ]] SLAMing on 2.359072329 meters 0.16643897968738086 Centerline is valid? [False, False] Translation: X:0.25, Y:0.12, Z:-0.06 [[ 0.99695526 -0.0655995 -0.04215354 0.25296848] [ 0.06413698 0.99732155 -0.03515933 0.1175984 ] [ 0.04434707 0.03234868 0.99849231 -0.05667542] [ 0. 0. 0. 1. ]] SLAMing on 2.419072329 meters 0.1636740361538985 Centerline is valid? [False, False] Translation: X:0.26, Y:0.09, Z:-0.06 [[ 0.99696428 -0.06497065 -0.04290733 0.25523541] [ 0.06385745 0.99759842 -0.02682572 0.0945094 ] [ 0.04454717 0.02400433 0.99871885 -0.06046948] [ 0. 0. 0. 1. ]] SLAMing on 2.479072329 meters 0.16499524311799046 Centerline is valid? [False, False] Translation: X:0.28, Y:0.08, Z:-0.06 [[ 0.99675204 -0.0696069 -0.04049998 0.28252873] [ 0.06869923 0.9973632 -0.02338932 0.0782525 ] [ 0.04202125 0.02053104 0.99890575 -0.06248974] [ 0. 0. 0. 1. ]] SLAMing on 2.539072329 meters 0.16190772660960043 Centerline is valid? [False, False] Translation: X:0.29, Y:0.05, Z:-0.07 [[ 0.99640902 -0.07466169 -0.03993361 0.28558132] [ 0.07379206 0.99701237 -0.02282666 0.05483469] [ 0.04151858 0.0197979 0.99894157 -0.06751144] [ 0. 0. 0. 1. ]] SLAMing on 2.599072329 meters 0.1578578555990288 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.06 [[ 0.99611322 -0.06729755 -0.05682854 0.29440974] [ 0.06646398 0.99765346 -0.01643515 0.03632928] [ 0.05780124 0.01259421 0.99824867 -0.06368167] [ 0. 0. 0. 1. ]] SLAMing on 2.659072329 meters 0.1594488519933341 Centerline is valid? [False, False] Translation: X:0.32, Y:0.02, Z:-0.07 [[ 0.99599579 -0.06473946 -0.06165384 0.31874113] [ 0.06373647 0.99780261 -0.01810022 0.01901379] [ 0.06269016 0.01409814 0.99793346 -0.06784877] [ 0. 0. 0. 1. ]] SLAMing on 2.719072329 meters 0.15436891260292612 Centerline is valid? [False, False] Translation: X:0.33, Y:0.01, Z:-0.08 [[ 0.99669028 -0.06421298 -0.0498515 0.32634954] [ 0.06341706 0.99783562 -0.01738828 0.00591183] [ 0.05086016 0.0141693 0.99860527 -0.07560492] [ 0. 0. 0. 1. ]] SLAMing on 2.779072329 meters 0.1513027713785047 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:-0.08 [[ 0.996849 -0.06201328 -0.04946139 0.32635036] [ 0.06148507 0.99803427 -0.01213167 -0.00914196] [ 0.05011649 0.00905231 0.99870235 -0.07650624] [ 0. 0. 0. 1. ]] SLAMing on 2.839072329 meters 0.15474581252372172 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.02, Z:-0.08 [[ 0.9969295 -0.05648081 -0.0542355 0.34841781] [ 0.05587503 0.99835798 -0.01262277 -0.01972526] [ 0.05485939 0.0095536 0.99844838 -0.07832767] [ 0. 0. 0. 1. ]] SLAMing on 2.899072329 meters 0.15546398457532032 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.08 [[ 0.99685812 -0.0523972 -0.0594005 0.36796989] [ 0.05164097 0.9985648 -0.01419659 -0.03539218] [ 0.06005911 0.01108448 0.99813328 -0.07572592] [ 0. 0. 0. 1. ]] SLAMing on 2.959072329 meters 0.15141723286326092 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.08 [[ 0.99772634 -0.0494404 -0.04580183 0.37012101] [ 0.04900036 0.99874164 -0.01068147 -0.04451755] [ 0.04627229 0.00841288 0.99889344 -0.07982451] [ 0. 0. 0. 1. ]] SLAMing on 3.019072329 meters 0.15407879914034367 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.06, Z:-0.08 [[ 0.99825835 -0.04630916 -0.03654773 0.37776444] [ 0.04587871 0.99886843 -0.01253018 -0.05500306] [ 0.03708664 0.01083159 0.99925335 -0.08203767] [ 0. 0. 0. 1. ]] SLAMing on 3.079072329 meters 0.1547111569629709 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.06, Z:-0.08 [[ 0.99829984 -0.04511493 -0.03690636 0.38031632] [ 0.04476122 0.99894404 -0.01035529 -0.06015257] [ 0.03733456 0.00868571 0.99926507 -0.08457243] [ 0. 0. 0. 1. ]] SLAMing on 3.139072329 meters 0.16148884747144407 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.09 [[ 0.99811156 -0.04606484 -0.04063684 0.39621315] [ 0.04556446 0.99887477 -0.01315544 -0.0721934 ] [ 0.04119712 0.011279 0.99908737 -0.08875641] [ 0. 0. 0. 1. ]] SLAMing on 3.199072329 meters 0.16592809387671245 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.09 [[ 0.99812716 -0.04554821 -0.04083534 0.39703049] [ 0.04517691 0.99892925 -0.00997009 -0.08165861] [ 0.04124573 0.0081066 0.99911615 -0.08873647] [ 0. 0. 0. 1. ]] SLAMing on 3.259072329 meters 0.16320960631094877 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.09 [[ 0.99779174 -0.05286717 -0.04020829 0.39694263] [ 0.05231274 0.99852227 -0.014719 -0.09263661] [ 0.04092703 0.01258309 0.9990829 -0.0885362 ] [ 0. 0. 0. 1. ]] SLAMing on 3.319072329 meters 0.15968121841722788 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.10, Z:-0.10 [[ 0.99777145 -0.05228778 -0.04145026 0.40385962] [ 0.05185758 0.99858956 -0.01138771 -0.10230916] [ 0.04198724 0.00921282 0.99907567 -0.09572209] [ 0. 0. 0. 1. ]] SLAMing on 3.379072329 meters 0.16253516467541798 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.11, Z:-0.10 [[ 0.99774049 -0.05132564 -0.0433542 0.41126004] [ 0.05107788 0.99867149 -0.00680416 -0.11273139] [ 0.04364583 0.00457435 0.99903659 -0.10317823] [ 0. 0. 0. 1. ]] SLAMing on 3.439072329 meters 0.16496708022169457 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.11 [[ 0.99763228 -0.05768572 -0.03744574 0.42747051] [ 0.0575948 0.9983339 -0.0035033 -0.12004459] [ 0.03758544 0.00133832 0.99929252 -0.10699209] [ 0. 0. 0. 1. ]] SLAMing on 3.499072329 meters 0.1644668522143681 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.13, Z:-0.12 [[ 0.99781701 -0.05700948 -0.03333373 0.423407 ] [ 0.05670715 0.99834131 -0.00994674 -0.12576747] [ 0.0338455 0.00803476 0.99939478 -0.11577479] [ 0. 0. 0. 1. ]] SLAMing on 3.559072329 meters 0.16799927778638823 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.13, Z:-0.12 [[ 0.99777759 -0.0568166 -0.03481025 0.43139836] [ 0.05658673 0.99836911 -0.00755449 -0.13300398] [ 0.0351827 0.00556791 0.99936539 -0.12405109] [ 0. 0. 0. 1. ]] SLAMing on 3.6190723289999998 meters 0.1769768533300982 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.14, Z:-0.13 [[ 0.99761728 -0.05895515 -0.0358338 0.43723013] [ 0.05868271 0.99823957 -0.00860874 -0.13744319] [ 0.03627825 0.00648541 0.99932068 -0.12928198] [ 0. 0. 0. 1. ]] SLAMing on 3.679072329 meters 0.1750303699748682 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.14, Z:-0.13 [[ 0.99765993 -0.05823225 -0.03582836 0.43804926] [ 0.05802491 0.99829197 -0.00680054 -0.14277583] [ 0.03616317 0.00470568 0.99933482 -0.13033453] [ 0. 0. 0. 1. ]] SLAMing on 3.739072329 meters 0.17611004355873075 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.15, Z:-0.14 [[ 0.99762422 -0.05828346 -0.0367281 0.44367667] [ 0.05815593 0.99829722 -0.00453204 -0.15057544] [ 0.0369297 0.00238532 0.99931502 -0.13633928] [ 0. 0. 0. 1. ]] SLAMing on 3.799072329 meters 0.17772319281326707 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.16, Z:-0.14 [[ 9.97639826e-01 -5.77428351e-02 -3.71556476e-02 4.45855629e-01] [ 5.77054667e-02 9.98331488e-01 -2.07824783e-03 -1.57797548e-01] [ 3.72136568e-02 -7.07411828e-05 9.99307329e-01 -1.38579918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.859072329 meters 0.1831273311092861 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.14 [[ 9.97409144e-01 -6.10427434e-02 -3.80628769e-02 4.50706764e-01] [ 6.09902045e-02 9.98135130e-01 -2.54103122e-03 -1.66278764e-01] [ 3.81470061e-02 2.12985129e-04 9.99272115e-01 -1.43801843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.919072329 meters 0.19665840711888657 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.18, Z:-0.15 [[ 0.99680054 -0.06967549 -0.03916636 0.45800668] [ 0.06943938 0.99755903 -0.00735861 -0.17529309] [ 0.03958348 0.00461538 0.99920561 -0.1520098 ] [ 0. 0. 0. 1. ]] SLAMing on 3.979072329 meters 0.20700696836650703 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.19, Z:-0.16 [[ 0.99615514 -0.07847752 -0.03893864 0.46324872] [ 0.07817142 0.99689632 -0.0093248 -0.19137696] [ 0.03954958 0.00624506 0.99919809 -0.16256137] [ 0. 0. 0. 1. ]] SLAMing on 4.039072329 meters 0.2138817389292443 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.20, Z:-0.17 [[ 0.99619759 -0.07791945 -0.03897347 0.46463913] [ 0.07774852 0.99695564 -0.00588454 -0.20075752] [ 0.03931334 0.00283203 0.99922292 -0.16534827] [ 0. 0. 0. 1. ]] SLAMing on 4.099072329 meters 0.22757785679158532 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.21, Z:-0.17 [[ 9.95588186e-01 -8.82197489e-02 -3.19599847e-02 4.77511804e-01] [ 8.81798056e-02 9.96101022e-01 -2.65986970e-03 -2.10683778e-01] [ 3.20700265e-02 -1.70090388e-04 9.99485610e-01 -1.71259050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.159072329 meters 0.24190539293131522 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.22, Z:-0.18 [[ 0.99490705 -0.09730608 -0.02629628 0.47398234] [ 0.09700828 0.99520663 -0.01237549 -0.2244175 ] [ 0.02737444 0.0097615 0.99957759 -0.18189566] [ 0. 0. 0. 1. ]] SLAMing on 4.219072329 meters 0.2643618541974145 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.24, Z:-0.19 [[ 0.99387786 -0.10785556 -0.02395764 0.47440502] [ 0.1075437 0.9941025 -0.01394906 -0.24439787] [ 0.02532083 0.01128717 0.99961565 -0.19045554] [ 0. 0. 0. 1. ]] SLAMing on 4.279072329 meters 0.30113156146424935 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.27, Z:-0.19 [[ 0.99088776 -0.13358468 -0.01722143 0.47869436] [ 0.1335268 0.99103511 -0.00447326 -0.2668765 ] [ 0.0176646 0.00213298 0.99984169 -0.1912349 ] [ 0. 0. 0. 1. ]] SLAMing on 4.339072329 meters 0.28974273092214436 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.29, Z:-0.19 [[ 0.98829741 -0.15211482 -0.01137158 0.47211683] [ 0.15197749 0.98830986 -0.01210225 -0.28782703] [ 0.01307957 0.0102324 0.9998621 -0.19242504] [ 0. 0. 0. 1. ]] SLAMing on 4.399072329 meters 0.34889629093956454 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.33, Z:-0.20 [[ 0.97798956 -0.20860366 -0.00457459 0.46111517] [ 0.20856151 0.97797402 -0.00830198 -0.32657391] [ 0.00620565 0.00716517 0.99995507 -0.19651299] [ 0. 0. 0. 1. ]] SLAMing on 4.459072329 meters 0.270068740441876 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.36, Z:-0.20 [[ 9.67695056e-01 -2.52109698e-01 -2.64186862e-03 4.48910951e-01] [ 2.52108772e-01 9.67698662e-01 -6.83189428e-04 -3.58382801e-01] [ 2.72877141e-03 -4.91922179e-06 9.99996277e-01 -2.01887712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.519072329 meters 0.29881274333629676 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.41, Z:-0.20 [[ 0.94301598 -0.33272689 0.00369807 0.38564635] [ 0.3327099 0.9430183 0.00453974 -0.40856257] [-0.00499784 -0.00305066 0.99998286 -0.20430432] [ 0. 0. 0. 1. ]] SLAMing on 4.579072329 meters 0.5094735429712415 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.46, Z:-0.21 [[ 0.90696472 -0.42110179 0.00939583 0.28412656] [ 0.42105697 0.90701146 0.00642171 -0.45603516] [-0.01122632 -0.00186808 0.99993524 -0.20652782] [ 0. 0. 0. 1. ]] SLAMing on 4.639072329 meters 0.4846510778335203 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.47, Z:-0.21 [[ 0.87738282 -0.47939848 0.01940331 0.1220574 ] [ 0.47951446 0.87753262 -0.00154308 -0.47396115] [-0.01628729 0.01065804 0.99981055 -0.21222651] [ 0. 0. 0. 1. ]] SLAMing on 4.699072329 meters 0.4945872594577279 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.51, Z:-0.22 [[ 0.82158729 -0.56900489 0.03503929 -0.08313952] [ 0.5698915 0.82135074 -0.02463017 -0.50886464] [-0.01476486 0.04020443 0.99908238 -0.21897892] [ 0. 0. 0. 1. ]] SLAMing on 4.759072329 meters 0.670278498337675 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.52, Z:-0.24 [[ 0.77317482 -0.63212728 0.05114492 -0.37671035] [ 0.63413079 0.77171003 -0.0483918 -0.5194682 ] [-0.00887927 0.06984789 0.99751814 -0.23940254] [ 0. 0. 0. 1. ]] SLAMing on 4.819072329 meters 0.6746411709579975 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.49, Z:-0.26 [[ 0.7601428 -0.6464071 0.0658846 -0.71451607] [ 0.64975444 0.75644872 -0.07486327 -0.48885031] [-0.00144617 0.09971559 0.99501493 -0.25570512] [ 0. 0. 0. 1. ]] SLAMing on 4.8790723289999995 meters 0.6489554490463452 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.47, Z:-0.26 [[ 0.76327165 -0.64008566 0.08778802 -1.07595956] [ 0.64606492 0.75703209 -0.09748094 -0.46848339] [-0.00406219 0.1311212 0.99135802 -0.25577937] [ 0. 0. 0. 1. ]] SLAMing on 4.939072329 meters 0.6091930703621883 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.44, Z:-0.24 [[ 0.80435055 -0.58219361 0.11862038 -1.41582767] [ 0.59333161 0.79757237 -0.10879305 -0.44430194] [-0.03126972 0.15788897 0.98696164 -0.24006442] [ 0. 0. 0. 1. ]] SLAMing on 4.999072329 meters 0.5894755058690069 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.39, Z:-0.21 [[ 0.82664069 -0.54276993 0.14854621 -1.70595572] [ 0.55962124 0.82062404 -0.11575948 -0.39332451] [-0.05906982 0.1788211 0.9821068 -0.21168587] [ 0. 0. 0. 1. ]] SLAMing on 5.059072329 meters 0.33493658031298823 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.36, Z:-0.17 [[ 0.86989605 -0.46192009 0.17294709 -1.94534084] [ 0.48348087 0.86794459 -0.11365933 -0.36209238] [-0.09760696 0.18248841 0.97835109 -0.17444386] [ 0. 0. 0. 1. ]] SLAMing on 5.119072329 meters 0.26804403533341464 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.36, Z:-0.14 [[ 0.93280213 -0.31704122 0.17136232 -2.08119086] [ 0.33630589 0.93667025 -0.09770977 -0.35512699] [-0.12953196 0.14877404 0.98035083 -0.13500845] [ 0. 0. 0. 1. ]] SLAMing on 5.179072329 meters 0.3120119220839034 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.36, Z:-0.11 [[ 0.96625825 -0.20601583 0.15460421 -2.08985429] [ 0.22024313 0.97206049 -0.08118723 -0.36387629] [-0.13355879 0.11249835 0.98463504 -0.10734666] [ 0. 0. 0. 1. ]] SLAMing on 5.239072329 meters 0.2713522449145422 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.38, Z:-0.09 [[ 0.99507307 -0.02620901 0.09561732 -2.01353452] [ 0.03190242 0.99777699 -0.05850915 -0.37551027] [-0.09387129 0.06127131 0.99369714 -0.09174353] [ 0. 0. 0. 1. ]] SLAMing on 5.2990723289999995 meters 0.13160677421046618 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.38, Z:-0.08 [[ 0.9889163 0.14634826 0.02503484 -1.8942796 ] [-0.14516068 0.98842698 -0.04405084 -0.38487634] [-0.03119188 0.03992852 0.99871557 -0.07882595] [ 0. 0. 0. 1. ]] SLAMing on 5.359072329 meters 0.08943189172837442 Centerline is valid? [False, True] Translation: X:-1.86, Y:-0.38, Z:-0.06 [[ 0.97075608 0.24004843 0.00306326 -1.85791949] [-0.239737 0.97000861 -0.04011827 -0.38002678] [-0.01260171 0.03821068 0.99919024 -0.06343531] [ 0. 0. 0. 1. ]] SLAMing on 5.419072329 meters 0.187529301574277 Centerline is valid? [True, False] Translation: X:-1.87, Y:-0.36, Z:-0.05 [[ 0.94019739 0.34028634 0.0152993 -1.87388764] [-0.33966293 0.93996396 -0.03311876 -0.3566986 ] [-0.02565065 0.02594157 0.99933432 -0.05058476] [ 0. 0. 0. 1. ]] SLAMing on 5.479072329 meters 0.166379907913637 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.32, Z:-0.05 [[ 0.92189131 0.38602561 0.03317591 -1.95422757] [-0.3852823 0.92241201 -0.02671374 -0.32168353] [-0.04091404 0.01184507 0.99909246 -0.04534549] [ 0. 0. 0. 1. ]] SLAMing on 5.539072329 meters 0.1738597696672372 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.29, Z:-0.05 [[ 0.917783 0.39537204 0.03681462 -2.03688074] [-0.3948071 0.91850458 -0.02183314 -0.29446739] [-0.04244661 0.00550341 0.99908358 -0.0484324 ] [ 0. 0. 0. 1. ]] SLAMing on 5.599072329 meters 0.1766693570271821 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.26, Z:-0.05 [[ 9.17435037e-01 3.94941535e-01 4.83128953e-02 -2.13615556e+00] [-3.94360969e-01 9.18706063e-01 -2.14148362e-02 -2.61200233e-01] [-5.28429581e-02 5.94000804e-04 9.98602658e-01 -5.15832285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.659072329 meters 0.18158360285004338 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.23, Z:-0.05 [[ 9.20763950e-01 3.86415780e-01 5.36338895e-02 -2.23181635e+00] [-3.85731269e-01 9.22324569e-01 -2.29951674e-02 -2.30817881e-01] [-5.83535495e-02 4.84852866e-04 9.98295862e-01 -5.40795516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.719072329 meters 0.1876967410668931 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.21, Z:-0.06 [[ 0.9234324 0.37935346 0.05799611 -2.31610481] [-0.37876606 0.92524882 -0.02123402 -0.20680988] [-0.06171603 -0.00235878 0.99809096 -0.05614188] [ 0. 0. 0. 1. ]] SLAMing on 5.779072329 meters 0.19356962578798317 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.17, Z:-0.06 [[ 0.92527882 0.37373991 0.06463422 -2.40662403] [-0.37389282 0.92741616 -0.01016984 -0.17475779] [-0.06374369 -0.01475633 0.9978572 -0.05947397] [ 0. 0. 0. 1. ]] SLAMing on 5.8390723289999995 meters 0.20211825244072043 Centerline is valid? [False, False] Translation: X:-2.49, Y:-0.15, Z:-0.06 [[ 0.92590496 0.37120733 0.07003659 -2.48546014] [-0.37166486 0.92834158 -0.00686584 -0.14947192] [-0.06756653 -0.01967303 0.99752079 -0.05976803] [ 0. 0. 0. 1. ]] SLAMing on 5.899072329 meters 0.21438194798232585 Centerline is valid? [False, False] Translation: X:-2.58, Y:-0.11, Z:-0.06 [[ 0.92597328 0.37169014 0.06648242 -2.58260728] [-0.37188141 0.92822706 -0.00993644 -0.1147665 ] [-0.06540406 -0.0155227 0.99773812 -0.059392 ] [ 0. 0. 0. 1. ]] SLAMing on 5.959072329 meters 0.2136174479197408 Centerline is valid? [False, False] Translation: X:-2.67, Y:-0.08, Z:-0.06 [[ 0.92782093 0.36535972 0.07523687 -2.67245414] [-0.36620119 0.93053153 -0.00278606 -0.08343106] [-0.07102819 -0.02496687 0.9971618 -0.06337165] [ 0. 0. 0. 1. ]] SLAMing on 6.019072329 meters 0.2215272099963343 Centerline is valid? [False, False] Translation: X:-2.76, Y:-0.04, Z:-0.06 [[ 9.28488794e-01 3.61300113e-01 8.58532899e-02 -2.76199807e+00] [-3.62778785e-01 9.31873651e-01 1.74695294e-03 -3.85268251e-02] [-7.93732444e-02 -3.27677785e-02 9.96306259e-01 -6.41812937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.079072329 meters 0.22773454026555423 Centerline is valid? [False, False] Translation: X:-2.84, Y:0.00, Z:-0.06 [[ 9.28536234e-01 3.58113048e-01 9.78545233e-02 -2.84461541e+00] [-3.59327146e-01 9.33195275e-01 -5.52993591e-03 2.58347824e-04] [-9.32977210e-02 -3.00270408e-02 9.95185366e-01 -5.99237915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.139072329 meters 0.20436611111021077 Centerline is valid? [False, False] Translation: X:-2.95, Y:0.04, Z:-0.05 [[ 9.27594516e-01 3.55607509e-01 1.14506394e-01 -2.95007264e+00] [-3.57669557e-01 9.33844297e-01 -2.70486625e-03 4.03178510e-02] [-1.07893014e-01 -3.84464321e-02 9.93418829e-01 -5.02868031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.199072329 meters 0.20862959471555362 Centerline is valid? [False, False] Translation: X:-3.05, Y:0.10, Z:-0.04 [[ 9.26699957e-01 3.52249354e-01 1.30948778e-01 -3.05256919e+00] [-3.55009039e-01 9.34859736e-01 -2.41985494e-03 9.62186878e-02] [-1.23271132e-01 -4.42455203e-02 9.91386182e-01 -3.72166687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.259072329 meters 0.213278322411308 Centerline is valid? [False, False] Translation: X:-3.14, Y:0.15, Z:-0.03 [[ 0.92934437 0.34051965 0.14270744 -3.14487208] [-0.34347279 0.93915335 -0.00417408 0.14788232] [-0.13544553 -0.04513696 0.98975611 -0.02564655] [ 0. 0. 0. 1. ]] SLAMing on 6.319072329 meters 0.21311108516483762 Centerline is valid? [False, False] Translation: X:-3.21, Y:0.20, Z:-0.02 [[ 0.93691608 0.3209749 0.13843185 -3.21163347] [-0.32366393 0.94616653 -0.00324899 0.19510156] [-0.13202243 -0.04176136 0.99036663 -0.01618928] [ 0. 0. 0. 1. ]] SLAMing on 6.3790723289999995 meters 0.23904760108324613 Centerline is valid? [False, False] Translation: X:-3.26, Y:0.23, Z:-0.01 [[ 9.42576988e-01 3.03180704e-01 1.40107397e-01 -3.26375794e+00] [-3.06251278e-01 9.51950637e-01 3.73588574e-04 2.27467726e-01] [-1.33262061e-01 -4.32602054e-02 9.90136242e-01 -1.03551109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.439072329 meters 0.20776512398015412 Centerline is valid? [False, False] Translation: X:-3.32, Y:0.27, Z:-0.00 [[ 9.47887512e-01 2.84754616e-01 1.42912819e-01 -3.31553575e+00] [-2.87368514e-01 9.57816969e-01 -2.44748729e-03 2.69772872e-01] [-1.37581257e-01 -3.87487019e-02 9.89732255e-01 -1.85217012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499072329 meters 0.21803196188856186 Centerline is valid? [False, False] Translation: X:-3.36, Y:0.29, Z:0.00 [[ 9.52000709e-01 2.70787151e-01 1.42719895e-01 -3.35662736e+00] [-2.73051832e-01 9.61991620e-01 -3.84972501e-03 2.94916955e-01] [-1.38337799e-01 -3.53049877e-02 9.89755632e-01 1.01409658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.559072329 meters 0.21068106970299802 Centerline is valid? [False, False] Translation: X:-3.39, Y:0.33, Z:0.01 [[ 0.96001285 0.24012454 0.14392892 -3.3916817 ] [-0.24314532 0.96998351 0.00351418 0.3253545 ] [-0.13876484 -0.0383693 0.98958179 0.01474432] [ 0. 0. 0. 1. ]] SLAMing on 6.619072329 meters 0.18785854695249352 Centerline is valid? [False, False] Translation: X:-3.39, Y:0.34, Z:0.02 [[ 0.97011547 0.20528294 0.12936341 -3.39161924] [-0.20767381 0.97818471 0.00512464 0.3376771 ] [-0.12548931 -0.03183688 0.99158401 0.02409445] [ 0. 0. 0. 1. ]] SLAMing on 6.679072329 meters 0.14975065905091234 Centerline is valid? [False, False] Translation: X:-3.37, Y:0.34, Z:0.02 [[ 0.9845061 0.14001328 0.10556524 -3.36714009] [-0.14125988 0.98996282 0.0043885 0.34468858] [-0.10389121 -0.01923263 0.9944027 0.02359144] [ 0. 0. 0. 1. ]] SLAMing on 6.739072329 meters 0.12374915257921155 Centerline is valid? [False, False] Translation: X:-3.32, Y:0.35, Z:0.03 [[ 0.99207939 0.09686096 0.07997774 -3.3196744 ] [-0.09778067 0.99517855 0.00765507 0.35063385] [-0.07885065 -0.01541472 0.99676726 0.02791656] [ 0. 0. 0. 1. ]] SLAMing on 6.7990723289999995 meters 0.0889533644588092 Centerline is valid? [False, True] Translation: X:-3.28, Y:0.36, Z:0.03 [[ 0.99788775 0.03343196 0.05569873 -3.27730986] [-0.03401812 0.99937502 0.00960878 0.35749512] [-0.05534267 -0.01148325 0.99840138 0.03496659] [ 0. 0. 0. 1. ]] SLAMing on 6.859072329 meters 0.0810161583861587 Centerline is valid? [True, True] Translation: X:-3.22, Y:0.34, Z:0.04 [[ 9.98252450e-01 1.46711187e-02 5.72433781e-02 -3.21649110e+00] [-1.46964323e-02 9.99892001e-01 2.12298959e-05 3.35567102e-01] [-5.72368844e-02 -8.62466226e-04 9.98360253e-01 3.65994282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919072329 meters 0.08507189406923248 Centerline is valid? [True, True] Translation: X:-3.16, Y:0.28, Z:0.04 [[ 9.97199749e-01 -3.54455432e-02 6.58503937e-02 -3.15616581e+00] [ 3.55209095e-02 9.99368933e-01 2.63120657e-05 2.79052392e-01] [-6.58097703e-02 2.31282749e-03 9.97829507e-01 3.62370962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.979072329 meters 0.0975146436567923 Centerline is valid? [True, True] Translation: X:-3.09, Y:0.26, Z:0.04 [[ 9.95514134e-01 -6.91546265e-02 6.45697055e-02 -3.09480740e+00] [ 6.92980760e-02 9.97595999e-01 1.80351676e-05 2.56130416e-01] [-6.44157271e-02 4.45660210e-03 9.97913199e-01 3.51330101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.039072329 meters 0.1115165774530538 Centerline is valid? [True, False] Translation: X:-3.06, Y:0.26, Z:0.04 [[ 9.96185816e-01 -8.03804084e-02 3.39530658e-02 -3.05540563e+00] [ 8.04400757e-02 9.96759369e-01 -3.92815281e-04 2.56499568e-01] [-3.38114617e-02 3.12250419e-03 9.99423351e-01 3.80734061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.099072329 meters 0.1093132139705007 Centerline is valid? [False, False] Translation: X:-3.04, Y:0.26, Z:0.04 [[ 9.96211857e-01 -8.57644610e-02 1.43663989e-02 -3.04274136e+00] [ 8.58039986e-02 9.96309700e-01 -2.15756189e-03 2.61377174e-01] [-1.41283405e-02 3.38208321e-03 9.99894470e-01 4.21575391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.159072329 meters 0.10760285775119706 Centerline is valid? [False, False] Translation: X:-3.04, Y:0.27, Z:0.04 [[ 9.97692498e-01 -6.34820408e-02 2.40771818e-02 -3.03857068e+00] [ 6.35721377e-02 9.97972753e-01 -2.99444704e-03 2.73332229e-01] [-2.38382778e-02 4.51817527e-03 9.99705618e-01 4.48754452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.219072328999999 meters 0.09700618633670803 Centerline is valid? [False, True] Translation: X:-3.05, Y:0.28, Z:0.04 [[ 0.99868341 -0.04128421 0.03044784 -3.04779812] [ 0.04151472 0.99911353 -0.00697765 0.28103917] [-0.03013278 0.0082325 0.999512 0.04343731] [ 0. 0. 0. 1. ]] SLAMing on 7.279072329 meters 0.0832623849701306 Centerline is valid? [True, True] Translation: X:-2.99, Y:0.32, Z:0.04 [[ 9.99458205e-01 -1.82312451e-02 2.74028853e-02 -2.98687391e+00] [ 1.82491426e-02 9.99833389e-01 -4.03159106e-04 3.24569115e-01] [-2.73909696e-02 9.03019837e-04 9.99624389e-01 4.03935939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3390723289999995 meters 0.08137064201225006 Centerline is valid? [True, True] Translation: X:-2.93, Y:0.34, Z:0.03 [[ 9.99727613e-01 -7.57724623e-03 2.20745135e-02 -2.92505205e+00] [ 7.58602409e-03 9.99971176e-01 -3.13933842e-04 3.42959173e-01] [-2.20714985e-02 4.81306122e-04 9.99756279e-01 2.92871321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.399072329 meters 0.08058759280238786 Centerline is valid? [True, True] Translation: X:-2.86, Y:0.36, Z:0.03 [[ 9.99768726e-01 -3.71534498e-03 2.11823396e-02 -2.86274474e+00] [ 3.72281890e-03 9.99993021e-01 -3.13414376e-04 3.57727832e-01] [-2.11810273e-02 3.92199906e-04 9.99775580e-01 2.67236837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.459072329 meters 0.08186915410751626 Centerline is valid? [True, True] Translation: X:-2.80, Y:0.35, Z:0.03 [[ 9.99519989e-01 -1.57535333e-02 2.66761801e-02 -2.80064643e+00] [ 1.57695639e-02 9.99875576e-01 -3.90652834e-04 3.46769448e-01] [-2.66667068e-02 8.11137042e-04 9.99644051e-01 2.90342472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.519072329 meters 0.08648694521113459 Centerline is valid? [True, True] Translation: X:-2.74, Y:0.33, Z:0.03 [[ 9.99143412e-01 -2.49892585e-02 3.29845397e-02 -2.73941170e+00] [ 2.50192246e-02 9.99686847e-01 -4.96001484e-04 3.33676402e-01] [-3.29618158e-02 1.32082422e-03 9.99455739e-01 2.77936982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.579072329 meters 0.09313058649263088 Centerline is valid? [True, True] Translation: X:-2.68, Y:0.30, Z:0.02 [[ 9.98589155e-01 -4.28432755e-02 3.13712190e-02 -2.67933705e+00] [ 4.28795959e-02 9.99080129e-01 -4.85609629e-04 3.04808881e-01] [-3.13215564e-02 1.83010970e-03 9.99507684e-01 2.36264226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.639072329 meters 0.10082421859690842 Centerline is valid? [True, False] Translation: X:-2.67, Y:0.30, Z:0.03 [[ 9.98330095e-01 -5.57534298e-02 1.51187327e-02 -2.66937390e+00] [ 5.57855123e-02 9.98441314e-01 -1.70834585e-03 2.96800514e-01] [-1.49999212e-02 2.54889932e-03 9.99884246e-01 2.71361982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.699072329 meters 0.11462112975413068 Centerline is valid? [False, False] Translation: X:-2.67, Y:0.29, Z:0.03 [[ 0.99803534 -0.06038324 0.01671285 -2.67343289] [ 0.0604453 0.99816628 -0.00323273 0.288899 ] [-0.016487 0.00423659 0.9998551 0.0294625 ] [ 0. 0. 0. 1. ]] SLAMing on 7.759072328999999 meters 0.1225520887275044 Centerline is valid? [False, False] Translation: X:-2.68, Y:0.28, Z:0.04 [[ 0.99777852 -0.06411972 0.01807456 -2.67865565] [ 0.06421986 0.99792317 -0.00501499 0.27951349] [-0.01771546 0.0061646 0.99982406 0.035566 ] [ 0. 0. 0. 1. ]] SLAMing on 7.819072329 meters 0.11779838924217666 Centerline is valid? [False, False] Translation: X:-2.67, Y:0.27, Z:0.03 [[ 0.99843471 -0.05499804 0.01016587 -2.66652724] [ 0.05516884 0.99832608 -0.01736193 0.27446638] [-0.00919398 0.01789559 0.99979759 0.03436993] [ 0. 0. 0. 1. ]] SLAMing on 7.8790723289999995 meters 0.11130220161599083 Centerline is valid? [False, False] Translation: X:-2.66, Y:0.28, Z:0.03 [[ 0.99927347 -0.03575837 0.01318582 -2.66118593] [ 0.03597943 0.99920916 -0.01692747 0.2761912 ] [-0.0125701 0.01738959 0.99976977 0.02721592] [ 0. 0. 0. 1. ]] SLAMing on 7.939072329 meters 0.10756791878789392 Centerline is valid? [False, False] Translation: X:-2.66, Y:0.27, Z:0.03 [[ 9.99730036e-01 -2.30413562e-02 2.99166647e-03 -2.65683314e+00] [ 2.30936870e-02 9.99555998e-01 -1.88278674e-02 2.71864460e-01] [-2.55651856e-03 1.88918732e-02 9.99818264e-01 2.57453277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.999072329 meters 0.1035883900693184 Centerline is valid? [False, False] Translation: X:-2.66, Y:0.27, Z:0.03 [[ 0.999902 -0.01371513 0.00280986 -2.6566047 ] [ 0.01373921 0.99986745 -0.00873571 0.26744222] [-0.00268968 0.00877345 0.9999579 0.02530558] [ 0. 0. 0. 1. ]] SLAMing on 8.059072329 meters 0.09402612825285867 Centerline is valid? [False, True] Translation: X:-2.66, Y:0.27, Z:0.03 [[ 9.99983008e-01 -5.28300103e-03 2.46454366e-03 -2.65675991e+00] [ 5.28579440e-03 9.99985394e-01 -1.12828980e-03 2.70699338e-01] [-2.45854691e-03 1.14129770e-03 9.99996326e-01 2.67837235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.119072329 meters 0.09404312730393122 Centerline is valid? [True, True] Translation: X:-2.60, Y:0.27, Z:0.02 [[ 9.99973613e-01 3.77181198e-03 6.20854912e-03 -2.59759979e+00] [-3.76973573e-03 9.99992835e-01 -3.46086639e-04 2.68674787e-01] [-6.20981000e-03 3.22672918e-04 9.99980667e-01 2.26956240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.179072329 meters 0.08504375268540146 Centerline is valid? [True, True] Translation: X:-2.54, Y:0.29, Z:0.01 [[ 9.99760768e-01 2.16542668e-02 -3.08206557e-03 -2.53646155e+00] [-2.16538413e-02 9.99765513e-01 1.71369863e-04 2.90289369e-01] [ 3.08505375e-03 -1.04590308e-04 9.99995236e-01 8.85490248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.239072328999999 meters 0.07909946263768239 Centerline is valid? [True, True] Translation: X:-2.47, Y:0.31, Z:0.01 [[ 9.99329612e-01 3.66055338e-02 6.01274369e-04 -2.47422939e+00] [-3.66055202e-02 9.99329793e-01 -3.35599155e-05 3.13414622e-01] [-6.02099869e-04 1.15274563e-05 9.99999819e-01 1.32941720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.299072329 meters 0.07527540762384273 Centerline is valid? [True, True] Translation: X:-2.41, Y:0.34, Z:0.02 [[ 9.98394941e-01 5.61875805e-02 7.10615197e-03 -2.41240369e+00] [-5.61861878e-02 9.98420230e-01 -3.95623195e-04 3.35908127e-01] [-7.11715499e-03 -4.27939210e-06 9.99974673e-01 2.38914130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.359072329 meters 0.07659095184125049 Centerline is valid? [True, True] Translation: X:-2.35, Y:0.34, Z:0.02 [[ 9.97667228e-01 6.79228062e-02 6.82602517e-03 -2.35334090e+00] [-6.79217870e-02 9.97690576e-01 -3.81290644e-04 3.43379707e-01] [-6.83615931e-03 -8.32346481e-05 9.99976630e-01 2.02329185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.419072329 meters 0.08040293777894693 Centerline is valid? [True, True] Translation: X:-2.29, Y:0.35, Z:0.01 [[ 9.97178577e-01 7.50658656e-02 -3.42969973e-05 -2.29385255e+00] [-7.50658656e-02 9.97178578e-01 2.83815481e-06 3.51330767e-01] [ 3.44132796e-05 -2.55613387e-07 9.99999999e-01 1.19845624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.479072329 meters 0.08036029681627811 Centerline is valid? [True, True] Translation: X:-2.23, Y:0.34, Z:0.01 [[ 9.96923560e-01 7.83667998e-02 -1.43549302e-03 -2.23464946e+00] [-7.83667683e-02 9.96924593e-01 7.82904949e-05 3.37922317e-01] [ 1.43721367e-03 3.44453097e-05 9.99998967e-01 1.17687342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.539072329 meters 0.08255513626195163 Centerline is valid? [True, True] Translation: X:-2.18, Y:0.34, Z:0.01 [[ 9.95970296e-01 8.94395433e-02 6.61349781e-03 -2.17644479e+00] [-8.94390543e-02 9.95992228e-01 -3.70259021e-04 3.40244128e-01] [-6.62010822e-03 -2.22738003e-04 9.99978062e-01 1.49791349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.599072329 meters 0.091088068647428 Centerline is valid? [True, True] Translation: X:-2.11, Y:0.36, Z:0.02 [[ 9.94381423e-01 1.05725068e-01 5.27211390e-03 -2.11419684e+00] [-1.05725000e-01 9.94395363e-01 -2.92225618e-04 3.63695523e-01] [-5.27346119e-03 -2.66810518e-04 9.99986060e-01 1.65763624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.659072329 meters 0.09933362890687253 Centerline is valid? [True, True] Translation: X:-2.06, Y:0.36, Z:0.00 [[ 9.93574378e-01 1.13179017e-01 -6.82122564e-04 -2.05524620e+00] [-1.13179018e-01 9.93574611e-01 3.71598534e-05 3.62215341e-01] [ 6.81945377e-04 4.02808835e-05 9.99999767e-01 3.00696640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.719072329 meters 0.09952179858292744 Centerline is valid? [True, True] Translation: X:-2.00, Y:0.35, Z:0.00 [[ 9.92923000e-01 1.18757148e-01 -8.09552984e-04 -1.99581137e+00] [-1.18757151e-01 9.92923329e-01 4.41406233e-05 3.50607984e-01] [ 8.09066059e-04 5.23119662e-05 9.99999671e-01 3.53870298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.779072329 meters 0.10294050448291774 Centerline is valid? [True, False] Translation: X:-1.99, Y:0.35, Z:0.00 [[ 9.93071916e-01 1.17134159e-01 9.36795025e-03 -1.99351537e+00] [-1.17237006e-01 9.93039598e-01 1.13066580e-02 3.45547464e-01] [-7.97834967e-03 -1.23265950e-02 9.99892195e-01 8.58777876e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.839072329 meters 0.10825788708808921 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.34, Z:0.01 [[ 0.99271874 0.11992947 0.01124413 -2.0004831 ] [-0.12009487 0.99264277 0.01541289 0.33855781] [-0.00931294 -0.01665103 0.99981799 0.00638566] [ 0. 0. 0. 1. ]] SLAMing on 8.899072329 meters 0.10947448838668497 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.33, Z:0.01 [[ 0.99313462 0.11645687 0.01101948 -2.00158305] [-0.11659473 0.99309676 0.01282526 0.33347165] [-0.00944982 -0.01402202 0.99985703 0.00703766] [ 0. 0. 0. 1. ]] SLAMing on 8.959072329 meters 0.11701800961028859 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.33, Z:0.01 [[ 0.99353206 0.11304103 0.01075962 -2.0020611 ] [-0.11314332 0.99353396 0.00942596 0.33175295] [-0.00962453 -0.01058237 0.99989769 0.00722841] [ 0. 0. 0. 1. ]] SLAMing on 9.019072329 meters 0.1152594637187096 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.33, Z:0.00 [[ 0.99336892 0.11452732 0.01008426 -1.99844795] [-0.11463212 0.9933524 0.01051115 0.33184663] [-0.00881341 -0.01159743 0.99989391 0.00382416] [ 0. 0. 0. 1. ]] SLAMing on 9.079072329 meters 0.11965370854901623 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.33, Z:0.00 [[ 0.99431304 0.10576169 0.01249158 -1.99816283] [-0.10599559 0.99416864 0.01984072 0.33347071] [-0.01032034 -0.02105194 0.99972512 0.00288478] [ 0. 0. 0. 1. ]] SLAMing on 9.139072329 meters 0.11470084069110484 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.34, Z:0.00 [[ 9.95497673e-01 9.35946640e-02 1.49807385e-02 -1.99501553e+00] [-9.39331431e-02 9.95294969e-01 2.37589875e-02 3.37224686e-01] [-1.26865392e-02 -2.50592046e-02 9.99605466e-01 5.52040284e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.199072329 meters 0.12245506723632119 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.34, Z:-0.00 [[ 9.95923969e-01 8.90757641e-02 1.41758718e-02 -1.99350487e+00] [-8.93281000e-02 9.95834281e-01 1.82913914e-02 3.40626617e-01] [-1.24874994e-02 -1.94831388e-02 9.99732199e-01 -7.74323661e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.259072329 meters 0.11991453507561452 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.35, Z:-0.00 [[ 9.96342553e-01 8.34923869e-02 1.81807261e-02 -2.00423308e+00] [-8.37702083e-02 9.96370750e-01 1.50957120e-02 3.51717521e-01] [-1.68543667e-02 -1.65635035e-02 9.99720751e-01 -5.83764087e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.319072328999999 meters 0.11247050831329039 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.36, Z:0.00 [[ 9.96580484e-01 8.07362699e-02 1.75782398e-02 -2.00372496e+00] [-8.09212969e-02 9.96669512e-01 1.00810096e-02 3.63431700e-01] [-1.67057925e-02 -1.14689914e-02 9.99794668e-01 8.54925371e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.379072329 meters 0.10981727368585735 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.37, Z:-0.00 [[ 0.99765686 0.06783384 0.00890842 -1.99470684] [-0.06794403 0.99760816 0.01271112 0.3715767 ] [-0.00802487 -0.01328661 0.99987953 -0.00492006] [ 0. 0. 0. 1. ]] SLAMing on 9.439072329 meters 0.09787327076532705 Centerline is valid? [False, True] Translation: X:-1.98, Y:0.38, Z:-0.00 [[ 9.99026870e-01 4.40734367e-02 -1.68672571e-03 -1.98451975e+00] [-4.40465318e-02 9.98937060e-01 1.35887037e-02 3.79806526e-01] [ 2.28383369e-03 -1.35011857e-02 9.99906247e-01 -1.60790700e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.499072329 meters 0.0873116635019406 Centerline is valid? [True, True] Translation: X:-1.92, Y:0.38, Z:0.02 [[ 9.99510088e-01 2.98614871e-02 9.37419796e-03 -1.92369459e+00] [-2.98637803e-02 9.99553972e-01 1.04721048e-04 3.77306770e-01] [-9.36688968e-03 -3.84618733e-04 9.99956056e-01 1.59274501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.559072329 meters 0.07940418244349697 Centerline is valid? [True, True] Translation: X:-1.86, Y:0.36, Z:0.01 [[ 9.99884845e-01 1.10544399e-02 1.03969222e-02 -1.86373060e+00] [-1.10562454e-02 9.99938871e-01 1.16196099e-04 3.55253716e-01] [-1.03950022e-02 -2.31133642e-04 9.99945944e-01 1.20351138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.619072329 meters 0.07714351515055433 Centerline is valid? [True, True] Translation: X:-1.80, Y:0.34, Z:0.00 [[ 9.99983056e-01 -3.32944275e-03 4.77528173e-03 -1.80278637e+00] [ 3.32919642e-03 9.99994456e-01 5.95316985e-05 3.40564385e-01] [-4.77545346e-03 -4.36328390e-05 9.99988597e-01 1.55322675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.679072329 meters 0.07676719649010609 Centerline is valid? [True, True] Translation: X:-1.74, Y:0.36, Z:0.01 [[ 9.99964354e-01 -5.36363371e-03 6.52097814e-03 -1.74061282e+00] [ 5.36326986e-03 9.99985615e-01 7.32825037e-05 3.59421670e-01] [-6.52127739e-03 -3.83061259e-05 9.99978736e-01 7.20751894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.739072328999999 meters 0.07728397903009009 Centerline is valid? [True, True] Translation: X:-1.68, Y:0.37, Z:0.01 [[ 9.99972240e-01 -1.73812715e-03 7.24559277e-03 -1.67830643e+00] [ 1.73758807e-03 9.99998487e-01 8.06947081e-05 3.71961925e-01] [-7.24572206e-03 -6.81026125e-05 9.99973747e-01 5.15121593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.799072329 meters 0.08060232257692922 Centerline is valid? [True, True] Translation: X:-1.62, Y:0.39, Z:-0.01 [[ 9.99980991e-01 5.66343119e-03 2.43777257e-03 -1.61888643e+00] [-5.66351380e-03 9.99983962e-01 2.69821165e-05 3.89922312e-01] [-2.43758066e-03 -4.07879622e-05 9.99997028e-01 -8.49953254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.859072329 meters 0.08034046381033666 Centerline is valid? [True, True] Translation: X:-1.56, Y:0.40, Z:-0.00 [[ 9.99932033e-01 1.15953162e-02 -1.21610353e-03 -1.55846221e+00] [-1.15953412e-02 9.99932772e-01 -1.35584259e-05 4.03292599e-01] [ 1.21586456e-03 2.76586398e-05 9.99999260e-01 -4.95577024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.919072329 meters 0.0846298224252326 Centerline is valid? [True, True] Translation: X:-1.50, Y:0.44, Z:-0.01 [[ 9.99749000e-01 2.20481848e-02 -3.97671877e-03 -1.49963168e+00] [-2.20485356e-02 9.99756901e-01 -4.43994733e-05 4.39205559e-01] [ 3.97477311e-03 1.32069154e-04 9.99992092e-01 -6.11405113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.979072329 meters 0.08809253580400263 Centerline is valid? [True, True] Translation: X:-1.44, Y:0.46, Z:-0.00 [[ 9.99491669e-01 3.17632013e-02 2.73914734e-03 -1.44133518e+00] [-3.17633951e-02 9.99495416e-01 2.72700773e-05 4.59912051e-01] [-2.73689902e-03 -1.14260834e-04 9.99996248e-01 -3.01804580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.039072329 meters 0.08958687928533089 Centerline is valid? [True, True] Translation: X:-1.38, Y:0.47, Z:-0.00 [[ 9.99317897e-01 3.60171562e-02 8.15511801e-03 -1.38285078e+00] [-3.60190672e-02 9.99351099e-01 8.75337896e-05 4.67946475e-01] [-8.14667342e-03 -3.81213826e-04 9.99966743e-01 -1.45404527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.099072329 meters 0.0955784463455334 Centerline is valid? [True, True] Translation: X:-1.32, Y:0.50, Z:-0.00 [[ 9.98900610e-01 4.62065349e-02 7.90743472e-03 -1.32276706e+00] [-4.62086672e-02 9.98931805e-01 8.70773110e-05 4.96542972e-01] [-7.89496450e-03 -4.52373598e-04 9.99968732e-01 -1.77605134e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.159072328999999 meters 0.10632848732354228 Centerline is valid? [True, False] Translation: X:-1.32, Y:0.51, Z:-0.00 [[ 0.99849378 0.05446787 0.00658995 -1.3167435 ] [-0.05450838 0.99849448 0.0061327 0.50510827] [-0.006246 -0.00648267 0.99995948 -0.00481017] [ 0. 0. 0. 1. ]] SLAMing on 10.219072329 meters 0.11076832358504982 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.51, Z:-0.00 [[ 9.98718671e-01 5.02642327e-02 5.87559292e-03 -1.31594570e+00] [-5.02690063e-02 9.98735491e-01 6.67512185e-04 5.09040788e-01] [-5.83461119e-03 -9.62017100e-04 9.99982516e-01 -4.33228192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.279072329 meters 0.11103030072261794 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.51, Z:-0.00 [[ 9.98772462e-01 4.91490121e-02 6.15992577e-03 -1.31830894e+00] [-4.91407711e-02 9.98790763e-01 -1.48220880e-03 5.13277275e-01] [-6.22532606e-03 1.17768583e-03 9.99979929e-01 -1.00815153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.339072329 meters 0.1126103773611039 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.52, Z:0.00 [[ 9.98607280e-01 5.23997592e-02 6.14529718e-03 -1.31867662e+00] [-5.24028558e-02 9.98625967e-01 3.43845766e-04 5.20437020e-01] [-6.11883590e-03 -6.65398007e-04 9.99981058e-01 5.60786624e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.399072329 meters 0.13276065981502902 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.52, Z:-0.00 [[ 0.99875842 0.04950878 0.00552249 -1.31545919] [-0.0494966 0.9987716 -0.00232047 0.51795594] [-0.00563059 0.00204424 0.99998206 -0.00310075] [ 0. 0. 0. 1. ]] SLAMing on 10.459072329 meters 0.11829192262325984 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.52, Z:-0.01 [[ 0.99930524 0.03723104 0.00170121 -1.31006735] [-0.03723688 0.9993002 0.00354033 0.51590856] [-0.00156821 -0.00360122 0.99999229 -0.00605189] [ 0. 0. 0. 1. ]] SLAMing on 10.519072329 meters 0.12199522109551798 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.52, Z:0.00 [[ 0.9994499 0.03302804 -0.00300659 -1.30332878] [-0.03300138 0.99941897 0.00852219 0.51521168] [ 0.00328632 -0.00841828 0.99995917 0.00138645] [ 0. 0. 0. 1. ]] SLAMing on 10.579072328999999 meters 0.11671728628687945 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.51, Z:0.01 [[ 0.99959258 0.02838685 0.00297611 -1.2903553 ] [-0.02840908 0.99956661 0.00771523 0.51245375] [-0.0027558 -0.00779663 0.99996581 0.00663858] [ 0. 0. 0. 1. ]] SLAMing on 10.639072329 meters 0.1104681461610553 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.50, Z:0.01 [[ 0.99987027 0.01535021 -0.00488025 -1.293284 ] [-0.01528786 0.99980416 0.01256654 0.50418774] [ 0.0050722 -0.0124903 0.99990913 0.0118395 ] [ 0. 0. 0. 1. ]] SLAMing on 10.699072329 meters 0.10971881987246275 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.50, Z:0.01 [[ 0.9999638 0.00677451 -0.00514861 -1.29290927] [-0.006754 0.99996923 0.00399122 0.50434905] [ 0.00517549 -0.0039563 0.99997878 0.01178883] [ 0. 0. 0. 1. ]] SLAMing on 10.759072329 meters 0.10706187613778653 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.49, Z:0.01 [[ 9.99984197e-01 4.76870724e-05 -5.62176403e-03 -1.29110895e+00] [-3.94840230e-05 9.99998934e-01 1.45926129e-03 4.89988933e-01] [ 5.62182763e-03 -1.45901626e-03 9.99983133e-01 8.60351029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.819072328999999 meters 0.10231221868118902 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.48, Z:0.01 [[ 9.99978839e-01 -3.54312964e-03 -5.45604347e-03 -1.29138007e+00] [ 3.54170497e-03 9.99993691e-01 -2.70757314e-04 4.82708826e-01] [ 5.45696838e-03 2.51427888e-04 9.99985079e-01 8.92369746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879072329 meters 0.0950648788804792 Centerline is valid? [False, True] Translation: X:-1.29, Y:0.47, Z:0.01 [[ 9.99963917e-01 -6.97376980e-03 -4.85088119e-03 -1.29372429e+00] [ 6.97129563e-03 9.99975561e-01 -5.26766586e-04 4.70027544e-01] [ 4.85443619e-03 4.92930652e-04 9.99988096e-01 1.07773309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.939072329 meters 0.09528761383368294 Centerline is valid? [True, True] Translation: X:-1.23, Y:0.46, Z:0.00 [[ 9.99922735e-01 -9.36330819e-03 -8.17638211e-03 -1.23383078e+00] [ 9.35912130e-03 9.99956051e-01 -5.50184507e-04 4.62671047e-01] [ 8.18117432e-03 4.73618245e-04 9.99966421e-01 3.59573043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.999072329 meters 0.10493607012766898 Centerline is valid? [True, False] Translation: X:-1.23, Y:0.46, Z:0.00 [[ 0.99995658 -0.00439681 -0.00821583 -1.23342584] [ 0.0044384 0.99997739 0.00505138 0.45913315] [ 0.00819344 -0.00508762 0.99995349 0.00296561] [ 0. 0. 0. 1. ]] SLAMing on 11.059072329 meters 0.10625118839941454 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.46, Z:0.00 [[ 0.99995635 -0.0040498 -0.00842002 -1.23295765] [ 0.00409656 0.99997624 0.00554433 0.457856 ] [ 0.00839736 -0.00557858 0.99994918 0.00282695] [ 0. 0. 0. 1. ]] SLAMing on 11.119072329 meters 0.10367114949716891 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.46, Z:0.00 [[ 0.99998679 -0.00313779 -0.00407029 -1.22447718] [ 0.00312505 0.99999021 -0.00313308 0.45600356] [ 0.00408008 0.00312032 0.99998681 0.00302966] [ 0. 0. 0. 1. ]] SLAMing on 11.179072329 meters 0.10391197709827302 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.46, Z:0.00 [[ 9.99992215e-01 6.54661813e-04 -3.89123635e-03 -1.22490232e+00] [-6.54091428e-04 9.99999775e-01 1.47852794e-04 4.59048431e-01] [ 3.89133227e-03 -1.45306419e-04 9.99992418e-01 3.18500462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.239072328999999 meters 0.10353637854486859 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.46, Z:0.00 [[ 9.99992057e-01 7.77087328e-04 -3.90919513e-03 -1.22465537e+00] [-7.75318423e-04 9.99999596e-01 4.53993660e-04 4.58160663e-01] [ 3.90954635e-03 -4.50959183e-04 9.99992256e-01 2.76316724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.299072329 meters 0.10170321045043378 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.46, Z:0.00 [[ 9.99993383e-01 7.71091189e-04 -3.55517760e-03 -1.22516765e+00] [-7.67349073e-04 9.99999150e-01 1.05382611e-03 4.55572575e-01] [ 3.55598717e-03 -1.05109107e-03 9.99993125e-01 2.50740089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.359072329 meters 0.09455493368233986 Centerline is valid? [False, True] Translation: X:-1.23, Y:0.46, Z:0.00 [[ 9.99993499e-01 -6.14413583e-06 -3.60574181e-03 -1.22518769e+00] [ 5.29174077e-06 9.99999972e-01 -2.36408855e-04 4.59035807e-01] [ 3.60574316e-03 2.36388238e-04 9.99993471e-01 2.73717426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419072329 meters 0.08966354928030476 Centerline is valid? [True, True] Translation: X:-1.17, Y:0.45, Z:-0.00 [[ 9.99879715e-01 -1.54960296e-02 -6.54964409e-04 -1.16577040e+00] [ 1.54960108e-02 9.99879929e-01 -3.37014766e-05 4.51568697e-01] [ 6.55408006e-04 2.35480872e-05 9.99999785e-01 -4.29447349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479072329 meters 0.08316345094398248 Centerline is valid? [True, True] Translation: X:-1.10, Y:0.44, Z:-0.00 [[ 9.99496055e-01 -3.16150696e-02 2.85010056e-03 -1.10437172e+00] [ 3.16147913e-02 9.99500117e-01 1.42686162e-04 4.42361300e-01] [-2.85318688e-03 -5.25089214e-05 9.99995928e-01 -2.88046333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539072329 meters 0.08118185617064465 Centerline is valid? [True, True] Translation: X:-1.04, Y:0.44, Z:-0.01 [[ 9.99051946e-01 -4.34313059e-02 2.98840847e-03 -1.04231027e+00] [ 4.34310434e-02 9.99056415e-01 1.52696228e-04 4.36957900e-01] [-2.99222045e-03 -2.27617653e-05 9.99995523e-01 -5.97974765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599072329 meters 0.08085730696147712 Centerline is valid? [True, True] Translation: X:-0.98, Y:0.43, Z:-0.01 [[ 9.98198079e-01 -6.00002217e-02 7.53692168e-04 -9.80159733e-01] [ 6.00002091e-02 9.98198364e-01 3.92575830e-05 4.28035937e-01] [-7.54689753e-04 6.03484377e-06 9.99999715e-01 -6.92418766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659072328999999 meters 0.08338801021048609 Centerline is valid? [True, True] Translation: X:-0.92, Y:0.43, Z:-0.01 [[ 9.97286327e-01 -7.36053347e-02 -1.49532475e-03 -9.19660090e-01] [ 7.36053085e-02 9.97287448e-01 -7.26276934e-05 4.27636877e-01] [ 1.49661439e-03 -3.76332341e-05 9.99998879e-01 -1.16879972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719072329 meters 0.08402236298634824 Centerline is valid? [True, True] Translation: X:-0.86, Y:0.44, Z:-0.01 [[ 9.96997362e-01 -7.74181071e-02 1.64233772e-03 -8.57790753e-01] [ 7.74180720e-02 9.96998714e-01 8.49850092e-05 4.35061269e-01] [-1.64398797e-03 4.24167901e-05 9.99998648e-01 -1.37921184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779072329 meters 0.08640538235048399 Centerline is valid? [True, True] Translation: X:-0.80, Y:0.44, Z:-0.02 [[ 9.96555030e-01 -8.29340369e-02 -1.34639649e-04 -7.98067502e-01] [ 8.29340368e-02 9.96555039e-01 -6.38297156e-06 4.42027139e-01] [ 1.34705186e-04 -4.80522717e-06 9.99999991e-01 -2.31057556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839072329 meters 0.09338805585972355 Centerline is valid? [True, True] Translation: X:-0.74, Y:0.43, Z:-0.03 [[ 9.95017448e-01 -9.96962246e-02 -9.70489537e-04 -7.36991227e-01] [ 9.96962249e-02 9.95017920e-01 -4.81698549e-05 4.32277707e-01] [ 9.70456833e-04 -4.88242971e-05 9.99999528e-01 -2.81811795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899072329 meters 0.10154771200311427 Centerline is valid? [True, False] Translation: X:-0.74, Y:0.43, Z:-0.03 [[ 9.94818265e-01 -1.01668980e-01 -1.95350433e-04 -7.39957391e-01] [ 1.01668545e-01 9.94817060e-01 -1.58860748e-03 4.32657471e-01] [ 3.55850045e-04 1.56051474e-03 9.99998719e-01 -2.50177635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959072329 meters 0.11571298183422479 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.43, Z:-0.02 [[ 0.99315449 -0.11675982 0.00336306 -0.74692484] [ 0.11679805 0.99303645 -0.01538931 0.42963784] [-0.00154279 0.01567676 0.99987592 -0.01858187] [ 0. 0. 0. 1. ]] SLAMing on 12.019072329 meters 0.1284661518521737 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.42, Z:-0.02 [[ 0.99143785 -0.13045059 0.00579982 -0.74879506] [ 0.13056078 0.99106895 -0.02713327 0.42435042] [-0.00220847 0.02765818 0.999615 -0.0176414 ] [ 0. 0. 0. 1. ]] SLAMing on 12.079072328999999 meters 0.15174342995087586 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.42, Z:-0.02 [[ 0.99087261 -0.1346507 0.0063772 -0.74820863] [ 0.13478027 0.99044847 -0.02908792 0.41732998] [-0.00239958 0.02968195 0.99955651 -0.0192477 ] [ 0. 0. 0. 1. ]] SLAMing on 12.139072329 meters 0.15844095646116324 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.40, Z:-0.02 [[ 0.9897022 -0.14286021 0.00897298 -0.75118594] [ 0.14307948 0.98917468 -0.03258412 0.40302737] [-0.00422087 0.03353242 0.99942872 -0.01927024] [ 0. 0. 0. 1. ]] SLAMing on 12.199072329 meters 0.15337993742354952 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.40, Z:-0.02 [[ 0.98967802 -0.14296322 0.00994658 -0.75334577] [ 0.14320476 0.98921894 -0.03063137 0.39502468] [-0.00546018 0.03173959 0.99948126 -0.01780231] [ 0. 0. 0. 1. ]] SLAMing on 12.259072329 meters 0.1537897313267277 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.38, Z:-0.02 [[ 0.99040376 -0.13729449 0.01583097 -0.74055163] [ 0.13770782 0.99005055 -0.02892177 0.3840618 ] [-0.01170266 0.03082428 0.99945631 -0.02498994] [ 0. 0. 0. 1. ]] SLAMing on 12.319072328999999 meters 0.14075768597177898 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.38, Z:-0.03 [[ 0.99185119 -0.12661037 0.01417844 -0.74472048] [ 0.12698739 0.99145256 -0.02993382 0.37785989] [-0.01026732 0.03149037 0.99945132 -0.03108325] [ 0. 0. 0. 1. ]] SLAMing on 12.379072329 meters 0.13404962170360338 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.37, Z:-0.03 [[ 0.9943662 -0.10435005 0.01862583 -0.74440964] [ 0.10480745 0.99416426 -0.02555034 0.3720859 ] [-0.01585095 0.02735852 0.9995 -0.03349519] [ 0. 0. 0. 1. ]] SLAMing on 12.439072329 meters 0.12158350942083794 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.37, Z:-0.04 [[ 0.99716642 -0.07113163 0.0244832 -0.74057835] [ 0.07171939 0.99713537 -0.02402882 0.36763983] [-0.02270386 0.02571665 0.99941142 -0.03549682] [ 0. 0. 0. 1. ]] SLAMing on 12.499072329 meters 0.11041628810073921 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.36, Z:-0.04 [[ 0.99905059 -0.04155448 0.01308234 -0.73677361] [ 0.04191722 0.99870604 -0.02879563 0.3597619 ] [-0.01186882 0.02931667 0.99949971 -0.03513388] [ 0. 0. 0. 1. ]] SLAMing on 12.559072329 meters 0.1022591843333758 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.35, Z:-0.04 [[ 0.99955312 -0.02721546 0.01236456 -0.73521316] [ 0.02737759 0.99953882 -0.01313852 0.35296246] [-0.01200129 0.01347116 0.99983724 -0.03702646] [ 0. 0. 0. 1. ]] SLAMing on 12.619072329 meters 0.09542929144579251 Centerline is valid? [False, True] Translation: X:-0.74, Y:0.35, Z:-0.04 [[ 0.99992949 -0.01125217 0.00379513 -0.73574231] [ 0.01129556 0.99986878 -0.01161199 0.34915456] [-0.00366397 0.01165404 0.99992538 -0.0351114 ] [ 0. 0. 0. 1. ]] SLAMing on 12.679072329 meters 0.09132628617680164 Centerline is valid? [True, True] Translation: X:-0.68, Y:0.34, Z:-0.04 [[ 9.99994192e-01 -1.66974944e-03 2.97131496e-03 -6.75876144e-01] [ 1.67017262e-03 9.99998595e-01 -1.39944968e-04 3.41523491e-01] [-2.97107711e-03 1.44906764e-04 9.99995576e-01 -4.20595039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739072328999999 meters 0.0880277208216081 Centerline is valid? [True, True] Translation: X:-0.62, Y:0.33, Z:-0.05 [[ 9.99968580e-01 7.70143255e-03 1.87804709e-03 -6.16874556e-01] [-7.70127859e-03 9.99970341e-01 -8.91975386e-05 3.34646135e-01] [-1.87867834e-03 7.47313722e-05 9.99998232e-01 -4.64584043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799072329 meters 0.08138067340081141 Centerline is valid? [True, True] Translation: X:-0.56, Y:0.34, Z:-0.04 [[ 9.99833973e-01 1.80121953e-02 2.75440380e-03 -5.55778060e-01] [-1.80119059e-02 9.99837764e-01 -1.29833792e-04 3.39609422e-01] [-2.75629553e-03 8.02001741e-05 9.99996198e-01 -3.96085863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859072329 meters 0.08214648912252126 Centerline is valid? [True, True] Translation: X:-0.50, Y:0.33, Z:-0.05 [[ 9.99703455e-01 2.41180482e-02 3.36478127e-03 -4.97462840e-01] [-2.41176467e-02 9.99709114e-01 -1.59847614e-04 3.28281097e-01] [-3.36765771e-03 7.86496060e-05 9.99994326e-01 -4.96801995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919072329 meters 0.07902758548594062 Centerline is valid? [True, True] Translation: X:-0.44, Y:0.33, Z:-0.05 [[ 9.99458357e-01 3.27417373e-02 3.31216016e-03 -4.37305630e-01] [-3.27413979e-02 9.99463844e-01 -1.56644500e-04 3.29581063e-01] [-3.31551314e-03 4.81149013e-05 9.99994503e-01 -4.54985425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979072329 meters 0.07835930203430694 Centerline is valid? [True, True] Translation: X:-0.38, Y:0.32, Z:-0.05 [[ 9.99374966e-01 3.53502510e-02 1.91453323e-04 -3.78239178e-01] [-3.53502497e-02 9.99374985e-01 -1.03363365e-05 3.22141851e-01] [-1.91699054e-04 3.56195311e-06 9.99999982e-01 -4.54485450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039072329 meters 0.07963871770293322 Centerline is valid? [True, True] Translation: X:-0.32, Y:0.30, Z:-0.05 [[ 9.99566594e-01 2.94190794e-02 -1.06860997e-03 -3.21031910e-01] [-2.94190448e-02 9.99567165e-01 4.80621194e-05 2.96682306e-01] [ 1.06956138e-03 -1.66038043e-05 9.99999428e-01 -5.13809189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099072329 meters 0.08217749331823904 Centerline is valid? [True, True] Translation: X:-0.26, Y:0.27, Z:-0.05 [[ 9.99798201e-01 1.99350091e-02 2.48039271e-03 -2.64299999e-01] [-1.99347753e-02 9.99801276e-01 -1.18948759e-04 2.66785722e-01] [-2.48227104e-03 6.94786837e-05 9.99996917e-01 -5.27601392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.159072328999999 meters 0.08606899229387296 Centerline is valid? [True, True] Translation: X:-0.21, Y:0.23, Z:-0.06 [[ 9.99941899e-01 1.03641478e-02 2.96365848e-03 -2.06279305e-01] [-1.03637796e-02 9.99946285e-01 -1.39552505e-04 2.33410645e-01] [-2.96494563e-03 1.08829693e-04 9.99995599e-01 -5.57404375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219072329 meters 0.09099834309887848 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.20, Z:-0.06 [[ 9.99998819e-01 -2.39646132e-04 -1.51800975e-03 -1.47331309e-01] [ 2.39754772e-04 9.99999969e-01 7.13858003e-05 2.04372851e-01] [ 1.51799259e-03 -7.17496661e-05 9.99998845e-01 -5.93296324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279072329 meters 0.09498326306217095 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.18, Z:-0.06 [[ 9.99975571e-01 -6.77746074e-03 -1.71003613e-03 -8.82602417e-02] [ 6.77760837e-03 9.99977029e-01 8.05529274e-05 1.82110789e-01] [ 1.70945090e-03 -9.21409147e-05 9.99998535e-01 -6.14370185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339072329 meters 0.0931441799065014 Centerline is valid? [True, True] Translation: X:-0.03, Y:0.17, Z:-0.06 [[ 9.99941980e-01 -1.06916468e-02 1.31371303e-03 -2.85565365e-02] [ 1.06917378e-02 9.99942840e-01 -6.22724602e-05 1.67900760e-01] [-1.31297214e-03 7.63147223e-05 9.99999135e-01 -5.63057008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.399072329 meters 0.10252981535687501 Centerline is valid? [True, False] Translation: X:-0.03, Y:0.16, Z:-0.06 [[ 0.99990843 -0.01347301 0.00127136 -0.02806629] [ 0.0134747 0.99990833 -0.00133097 0.16009007] [-0.00125331 0.00134798 0.99999831 -0.05698852] [ 0. 0. 0. 1. ]] SLAMing on 13.459072329 meters 0.1042633136972693 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.15, Z:-0.06 [[ 9.99926994e-01 -1.20561508e-02 8.09341711e-04 -2.67172742e-02] [ 1.20528885e-02 9.99919672e-01 3.92138408e-03 1.46044544e-01] [-8.56553496e-04 -3.91134289e-03 9.99991984e-01 -5.89556206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.519072329 meters 0.1045594786978484 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.14, Z:-0.06 [[ 9.99888426e-01 -1.49185389e-02 7.56814775e-04 -2.64172592e-02] [ 1.49167282e-02 9.99885991e-01 2.34420194e-03 1.38809235e-01] [-7.91700560e-04 -2.33265119e-03 9.99996966e-01 -5.91254181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.579072328999999 meters 0.10067597828063667 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.13, Z:-0.06 [[ 9.99856972e-01 -1.69002926e-02 6.45167829e-04 -2.56151773e-02] [ 1.68988522e-02 9.99854836e-01 2.17637462e-03 1.27924678e-01] [-6.81855542e-04 -2.16516074e-03 9.99997424e-01 -5.98789979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.639072329 meters 0.09569255663576065 Centerline is valid? [False, True] Translation: X:-0.01, Y:0.12, Z:-0.06 [[ 0.99992708 -0.01169618 -0.00300445 -0.01241786] [ 0.01169933 0.99993103 0.00103047 0.11851011] [ 0.00299219 -0.00106554 0.99999496 -0.0591622 ] [ 0. 0. 0. 1. ]] SLAMing on 13.699072329 meters 0.09566150735176661 Centerline is valid? [True, True] Translation: X:0.05, Y:0.11, Z:-0.06 [[ 9.99953410e-01 -9.29609786e-03 -2.60021433e-03 4.57018807e-02] [ 9.29643985e-03 9.99956780e-01 1.19469246e-04 1.09044615e-01] [ 2.59899135e-03 -1.43636416e-04 9.99996612e-01 -6.16873028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.759072329 meters 0.09867404367543102 Centerline is valid? [True, True] Translation: X:0.10, Y:0.09, Z:-0.07 [[ 9.99950310e-01 -9.39879937e-03 -3.32278425e-03 1.02535655e-01] [ 9.39935515e-03 9.99955814e-01 1.51688446e-04 8.58658184e-02] [ 3.32121173e-03 -1.82912938e-04 9.99994468e-01 -6.76426134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.819072328999999 meters 0.09727956311734712 Centerline is valid? [True, True] Translation: X:0.16, Y:0.07, Z:-0.07 [[ 9.99908362e-01 -1.31855295e-02 -3.06734248e-03 1.62555826e-01] [ 1.31860297e-02 9.99913050e-01 1.42893186e-04 6.89339019e-02] [ 3.06519166e-03 -1.83326161e-04 9.99995285e-01 -6.54758270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.879072329 meters 0.10127148067784487 Centerline is valid? [True, False] Translation: X:0.16, Y:0.06, Z:-0.06 [[ 0.99991797 -0.01251707 -0.00271676 0.16162117] [ 0.01252753 0.99991405 0.00386663 0.05764598] [ 0.00266812 -0.00390034 0.99998883 -0.06467152] [ 0. 0. 0. 1. ]] SLAMing on 13.939072329 meters 0.1110700426401472 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:-0.06 [[ 0.99978418 -0.02049788 -0.00338027 0.16298025] [ 0.02051782 0.99977165 0.00597264 0.03540071] [ 0.00325707 -0.00604071 0.99997645 -0.06187982] [ 0. 0. 0. 1. ]] SLAMing on 13.999072328999999 meters 0.12475906094457935 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.07 [[ 0.99943252 -0.03353731 -0.00314463 0.16478092] [ 0.03354877 0.99943036 0.00366588 0.01099638] [ 0.00301989 -0.00376929 0.99998834 -0.06733937] [ 0. 0. 0. 1. ]] SLAMing on 14.059072329 meters 0.132386710204972 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.00, Z:-0.07 [[ 9.99205605e-01 -3.97436311e-02 -2.93300313e-03 1.65007844e-01] [ 3.97461430e-02 9.99209487e-01 8.03156927e-04 -2.80749914e-03] [ 2.89876418e-03 -9.19094465e-04 9.99995376e-01 -6.72627038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.119072329 meters 0.14208943013373232 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:-0.06 [[ 9.98901232e-01 -4.68620128e-02 -5.30195988e-04 1.58921711e-01] [ 4.68630427e-02 9.98899045e-01 2.13361752e-03 -2.47789507e-02] [ 4.29626655e-04 -2.15611976e-03 9.99997583e-01 -5.86732874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.179072329 meters 0.14711468004426237 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:-0.06 [[ 9.98826370e-01 -4.84339200e-02 -1.96463699e-04 1.57814329e-01] [ 4.84343173e-02 9.98819001e-01 3.83662342e-03 -3.97378807e-02] [ 1.04089645e-05 -3.84163623e-03 9.99992621e-01 -5.69338456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.239072328999999 meters 0.1524754090994319 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:-0.06 [[ 0.99889659 -0.0468866 0.00269076 0.15226897] [ 0.04687487 0.99889165 0.00426855 -0.06241482] [-0.00288791 -0.00413771 0.99998727 -0.06036248] [ 0. 0. 0. 1. ]] SLAMing on 14.299072329 meters 0.12714950748866954 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.08, Z:-0.06 [[ 0.99900282 -0.04459377 0.00218158 0.15286939] [ 0.04456971 0.99895568 0.01005421 -0.07914274] [-0.00262766 -0.00994695 0.99994708 -0.05955561] [ 0. 0. 0. 1. ]] SLAMing on 14.359072329 meters 0.1289432603175193 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:-0.06 [[ 9.99291506e-01 -3.61168527e-02 1.05857554e-02 1.41778258e-01] [ 3.61186586e-02 9.99347508e-01 2.05903327e-05 -9.77543628e-02] [-1.05795920e-02 3.61767542e-04 9.99943969e-01 -5.76297276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.419072328999999 meters 0.12353106059563934 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:-0.06 [[ 9.99636519e-01 -2.69385229e-02 1.07034612e-03 1.44871642e-01] [ 2.69430802e-02 9.99626842e-01 -4.49975706e-03 -1.08035088e-01] [-9.48729900e-04 4.52695991e-03 9.99989303e-01 -5.74381883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.479072329 meters 0.12089546643022762 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:-0.06 [[ 9.99649742e-01 -2.64467794e-02 9.80283773e-04 1.44997205e-01] [ 2.64500524e-02 9.99644039e-01 -3.49151209e-03 -1.10753734e-01] [-8.87595580e-04 3.51621772e-03 9.99993424e-01 -5.73408210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.539072329 meters 0.1195352890906158 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.13, Z:-0.05 [[ 0.99994071 -0.01024682 -0.00368634 0.16148563] [ 0.01023266 0.99994027 -0.00384039 -0.12626248] [ 0.00372547 0.00380244 0.99998583 -0.0508172 ] [ 0. 0. 0. 1. ]] SLAMing on 14.599072329 meters 0.10904210805235616 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.14, Z:-0.05 [[ 9.99993454e-01 -3.59550465e-03 4.06200348e-04 1.50264203e-01] [ 3.59533213e-03 9.99993447e-01 4.24650857e-04 -1.38668031e-01] [-4.07724520e-04 -4.23187652e-04 9.99999827e-01 -5.05732479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.659072328999999 meters 0.10403313269115556 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.14, Z:-0.05 [[ 9.99996056e-01 -2.78737947e-03 3.43159450e-04 1.49720473e-01] [ 2.78676903e-03 9.99994556e-01 1.76671091e-03 -1.41876327e-01] [-3.48082075e-04 -1.76574763e-03 9.99998380e-01 -4.93567409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.719072329 meters 0.09469397511250197 Centerline is valid? [False, True] Translation: X:0.15, Y:-0.14, Z:-0.05 [[ 9.99996839e-01 2.51357915e-03 6.00130616e-05 1.50024618e-01] [-2.51395129e-03 9.99970016e-01 7.32445554e-03 -1.44498316e-01] [-4.16006634e-05 -7.32458326e-03 9.99973174e-01 -4.89815244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.779072329 meters 0.0841164820632991 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.12, Z:-0.06 [[ 9.99641505e-01 2.67004612e-02 -1.98678639e-03 2.11090612e-01] [-2.67002930e-02 9.99643477e-01 1.11114429e-04 -1.17073003e-01] [ 1.98904486e-03 -5.80268165e-05 9.99998020e-01 -5.63064807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.839072329 meters 0.07899738446328165 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.10, Z:-0.06 [[ 9.99070016e-01 4.31141665e-02 -5.20668441e-04 2.72541574e-01] [-4.31141572e-02 9.99070152e-01 2.91727597e-05 -9.94387809e-02] [ 5.21442057e-04 -6.69744856e-06 9.99999864e-01 -5.73239781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.899072329 meters 0.07596230218339288 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.07, Z:-0.05 [[ 9.97834060e-01 6.57807517e-02 2.85561173e-04 3.36333487e-01] [-6.57807526e-02 9.97834101e-01 -6.09869929e-06 -7.45313841e-02] [-2.85343853e-04 -1.26989390e-05 9.99999959e-01 -5.05946373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.959072329 meters 0.07913041269754119 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.05, Z:-0.06 [[ 9.96448414e-01 8.40845018e-02 -4.51162380e-03 3.98190526e-01] [-8.40842094e-02 9.96458620e-01 2.54785505e-04 -4.95982652e-02] [ 4.51706993e-03 1.25475708e-04 9.99989790e-01 -6.11829885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.019072329 meters 0.0809620772230763 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.04, Z:-0.06 [[ 9.95674247e-01 9.27965125e-02 -4.64761548e-03 4.59246547e-01] [-9.27962977e-02 9.95685080e-01 2.62310740e-04 -3.97092259e-02] [ 4.65190291e-03 1.70105460e-04 9.99989165e-01 -6.36421428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.079072328999999 meters 0.08193991262326004 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.03, Z:-0.06 [[ 9.94892573e-01 1.00936188e-01 -8.08408153e-04 5.21086753e-01] [-1.00936184e-01 9.94892901e-01 4.63283935e-05 -2.97266312e-02] [ 8.08955744e-04 3.55058593e-05 9.99999672e-01 -6.11121722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.139072329 meters 0.0831680207448262 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.02, Z:-0.07 [[ 9.94740447e-01 1.02409405e-01 -1.93817035e-03 5.83012084e-01] [-1.02409368e-01 9.94742332e-01 1.18873212e-04 -2.25647560e-02] [ 1.94015382e-03 8.02388080e-05 9.99998115e-01 -6.73894678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.199072329 meters 0.08560083525311972 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.01, Z:-0.08 [[ 9.94982587e-01 9.99472533e-02 -4.49412131e-03 6.44264619e-01] [-9.99470755e-02 9.94992720e-01 2.64695376e-04 -1.11921375e-02] [ 4.49807356e-03 1.85806992e-04 9.99989866e-01 -7.85521802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259072329 meters 0.08193078577158977 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.02, Z:-0.08 [[ 9.95605809e-01 9.35050112e-02 -5.08784378e-03 7.04558932e-01] [-9.35047464e-02 9.95618792e-01 2.90408104e-04 -2.36089161e-02] [ 5.09270749e-03 1.86605547e-04 9.99987015e-01 -7.61323029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319072328999999 meters 0.07816018915458707 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.03, Z:-0.08 [[ 9.96672707e-01 8.14994573e-02 -1.16315991e-03 7.65047054e-01] [-8.14994347e-02 9.96673386e-01 6.68827383e-05 -2.95549522e-02] [ 1.16474143e-03 2.81366750e-05 9.99999321e-01 -7.55545964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379072329 meters 0.0765352876130213 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.03, Z:-0.07 [[ 9.97295352e-01 7.33705942e-02 4.32862127e-03 8.25876581e-01] [-7.33702176e-02 9.97304743e-01 -2.45952845e-04 -3.34423801e-02] [-4.33500023e-03 -7.23042548e-05 9.99990601e-01 -7.48539480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439072329 meters 0.07615596717551695 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.05, Z:-0.08 [[ 9.98262541e-01 5.88126472e-02 3.60157916e-03 8.86367269e-01] [-5.88122963e-02 9.98269038e-01 -2.03348178e-04 -5.45136895e-02] [-3.60730441e-03 -8.82227127e-06 9.99993494e-01 -7.75211705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499072328999999 meters 0.07764783167666556 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.07, Z:-0.08 [[ 9.98909543e-01 4.66812046e-02 7.67897522e-04 9.46770131e-01] [-4.66811858e-02 9.98909838e-01 -4.24571717e-05 -6.91914901e-02] [-7.69042342e-04 6.56450706e-06 9.99999704e-01 -8.33683848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559072329 meters 0.08265389645602682 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.08, Z:-0.09 [[ 9.99541506e-01 2.99193425e-02 -4.64879282e-03 1.00630920e+00] [-2.99184315e-02 9.99552308e-01 2.65394823e-04 -8.33251804e-02] [ 4.65465203e-03 -1.26188552e-04 9.99989159e-01 -9.30998393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619072329 meters 0.0850225508178868 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.09, Z:-0.09 [[ 9.99756913e-01 2.19551178e-02 2.02178604e-03 1.06842734e+00] [-2.19549488e-02 9.99758955e-01 -1.05753828e-04 -9.18693905e-02] [-2.02362054e-03 6.13399113e-05 9.99997951e-01 -8.80978250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679072329 meters 0.08659825628300016 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.10, Z:-0.09 [[ 9.99813013e-01 1.89812782e-02 3.69468638e-03 1.13010538e+00] [-1.89806554e-02 9.99819830e-01 -2.03569020e-04 -9.83729680e-02] [-3.69788471e-03 1.33403387e-04 9.99993154e-01 -8.76452676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739072328999999 meters 0.08702775053838296 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.09, Z:-0.09 [[ 9.99886717e-01 1.50515166e-02 -6.70135764e-05 1.19087830e+00] [-1.50515163e-02 9.99886720e-01 4.00185669e-06 -9.12409398e-02] [ 6.70662191e-05 -2.99274741e-06 9.99999998e-01 -9.21368792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799072329 meters 0.0874884135025576 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.08, Z:-0.09 [[ 9.99879826e-01 1.53781091e-02 1.96171014e-03 1.25296744e+00] [-1.53779337e-02 9.99881747e-01 -1.04476838e-04 -8.12895841e-02] [-1.96308482e-03 7.42972336e-05 9.99998070e-01 -9.46686644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859072329 meters 0.088122435903109 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.08, Z:-0.10 [[ 9.99878825e-01 1.54065290e-02 2.23050984e-03 1.31625334e+00] [-1.54063017e-02 9.99881309e-01 -1.19063756e-04 -7.64825111e-02] [-2.23207946e-03 8.46854206e-05 9.99997505e-01 -9.63664274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919072328999999 meters 0.08925466315035917 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.07, Z:-0.10 [[ 9.99868586e-01 1.61269173e-02 -1.65300174e-03 1.37762241e+00] [-1.61267780e-02 9.99869950e-01 9.75526976e-05 -6.62866701e-02] [ 1.65436000e-03 -7.08822857e-05 9.99998629e-01 -1.03153462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979072329 meters 0.08484746206336007 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.04, Z:-0.10 [[ 9.99803436e-01 1.98046428e-02 9.30318444e-04 1.44044015e+00] [-1.98046016e-02 9.99803868e-01 -5.34687752e-05 -4.05920489e-02] [-9.31194909e-04 3.50336790e-05 9.99999566e-01 -9.99045364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039072329 meters 0.08439641376507485 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.03, Z:-0.10 [[ 9.99785428e-01 2.06012723e-02 2.16450327e-03 1.50303293e+00] [-2.06010675e-02 9.99787769e-01 -1.16890035e-04 -2.88634481e-02] [-2.16645197e-03 7.22738756e-05 9.99997651e-01 -1.01454311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099072329 meters 0.08261060577505754 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.01, Z:-0.10 [[ 9.99719326e-01 2.33638374e-02 3.92439051e-03 1.56560593e+00] [-2.33631209e-02 9.99727019e-01 -2.28313786e-04 -7.92121991e-03] [-3.92865351e-03 1.36563694e-04 9.99992273e-01 -1.01122347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159072329 meters 0.08358292340081554 Centerline is valid? [True, True] Translation: X:1.63, Y:0.00, Z:-0.11 [[ 9.99741508e-01 2.26869839e-02 1.48896955e-03 1.62812291e+00] [-2.26868832e-02 9.99742616e-01 -8.44865751e-05 2.60629988e-04] [-1.49050305e-03 5.06846578e-05 9.99998888e-01 -1.06958845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219072329 meters 0.08619076799052475 Centerline is valid? [True, True] Translation: X:1.69, Y:0.01, Z:-0.11 [[ 9.99807697e-01 1.96102955e-02 -7.47043220e-05 1.68812271e+00] [-1.96102950e-02 9.99807700e-01 7.49943715e-06 6.37556841e-03] [ 7.48370225e-05 -6.03302120e-06 9.99999997e-01 -1.13052394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279072328999998 meters 0.0854182834542181 Centerline is valid? [True, True] Translation: X:1.75, Y:0.01, Z:-0.11 [[ 9.99829948e-01 1.84028601e-02 1.18748611e-03 1.75033952e+00] [-1.84027918e-02 9.99830652e-01 -6.83927924e-05 1.36206478e-02] [-1.18854363e-03 4.65281023e-05 9.99999293e-01 -1.11697782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339072329 meters 0.08316016335163536 Centerline is valid? [True, True] Translation: X:1.81, Y:0.04, Z:-0.11 [[ 9.99753075e-01 2.17017855e-02 4.77718082e-03 1.81311431e+00] [-2.17006948e-02 9.99764473e-01 -2.80049506e-04 4.00979442e-02] [-4.78213324e-03 1.76312212e-04 9.99988550e-01 -1.10020006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399072329 meters 0.0828818419278598 Centerline is valid? [True, True] Translation: X:1.88, Y:0.04, Z:-0.11 [[ 9.99708268e-01 2.36948046e-02 4.68348799e-03 1.87551025e+00] [-2.36938130e-02 9.99719227e-01 -2.67105764e-04 4.46728607e-02] [-4.68850201e-03 1.56058152e-04 9.99988997e-01 -1.13736065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459072328999998 meters 0.0849518296390157 Centerline is valid? [True, True] Translation: X:1.94, Y:0.05, Z:-0.12 [[ 9.99767481e-01 2.14689762e-02 2.01659758e-03 1.93602161e+00] [-2.14687810e-02 9.99769512e-01 -1.18403101e-04 4.77493929e-02] [-2.01867477e-03 7.50816785e-05 9.99997960e-01 -1.21446767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519072329 meters 0.08864698179587241 Centerline is valid? [True, True] Translation: X:2.00, Y:0.05, Z:-0.12 [[ 9.99913821e-01 1.28214025e-02 2.82191539e-03 1.99624561e+00] [-1.28209837e-02 9.99917794e-01 -1.66450398e-04 4.72805386e-02] [-2.82381754e-03 1.30256323e-04 9.99996005e-01 -1.23746385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579072329 meters 0.091731804998249 Centerline is valid? [True, True] Translation: X:2.06, Y:0.05, Z:-0.13 [[ 9.99972578e-01 7.09707842e-03 2.11527430e-03 2.05671845e+00] [-7.09683029e-03 9.99974809e-01 -1.24788792e-04 4.81322102e-02] [-2.11610665e-03 1.09773627e-04 9.99997755e-01 -1.26630237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639072329 meters 0.09457807397582473 Centerline is valid? [True, True] Translation: X:2.12, Y:0.05, Z:-0.13 [[ 9.99995140e-01 1.16955605e-03 2.89005337e-03 2.11745462e+00] [-1.16906801e-03 9.99999302e-01 -1.70551710e-04 5.35642394e-02] [-2.89025082e-03 1.67172213e-04 9.99995809e-01 -1.28309176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699072329 meters 0.09372502699276218 Centerline is valid? [True, True] Translation: X:2.18, Y:0.05, Z:-0.13 [[ 9.99979129e-01 -4.47924509e-03 4.65598143e-03 2.17837570e+00] [ 4.48057305e-03 9.99989924e-01 -2.74823766e-04 5.39360847e-02] [-4.65470352e-03 2.95679495e-04 9.99989123e-01 -1.25123528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759072329 meters 0.09760808515810017 Centerline is valid? [True, True] Translation: X:2.24, Y:0.06, Z:-0.13 [[ 9.99925229e-01 -1.03994902e-02 6.43332179e-03 2.23811155e+00] [ 1.04021479e-02 9.99945824e-01 -3.79788336e-04 5.50477902e-02] [-6.42902365e-03 4.46680303e-04 9.99979234e-01 -1.25403583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819072329 meters 0.10320825328720494 Centerline is valid? [True, False] Translation: X:2.24, Y:0.07, Z:-0.13 [[ 9.99946909e-01 -8.12903421e-03 6.33225791e-03 2.23981352e+00] [ 8.12788730e-03 9.99966947e-01 2.06836039e-04 6.56384221e-02] [-6.33372999e-03 -1.55357180e-04 9.99979930e-01 -1.27356857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879072329 meters 0.09320889612732063 Centerline is valid? [False, True] Translation: X:2.23, Y:0.08, Z:-0.12 [[ 9.99986356e-01 -4.78303596e-03 -2.10024880e-03 2.22909254e+00] [ 4.77362631e-03 9.99978648e-01 -4.46264312e-03 7.96570731e-02] [ 2.12154893e-03 4.45255643e-03 9.99987837e-01 -1.24396186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939072329 meters 0.0938468871335394 Centerline is valid? [True, True] Translation: X:2.29, Y:0.09, Z:-0.13 [[ 9.99978848e-01 -6.49441668e-03 3.55501770e-04 2.28970280e+00] [ 6.49442512e-03 9.99978911e-01 -2.25776199e-05 8.80293018e-02] [-3.55347644e-04 2.48859220e-05 9.99999937e-01 -1.25653375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999072329 meters 0.09551476553471351 Centerline is valid? [True, True] Translation: X:2.35, Y:0.09, Z:-0.13 [[ 9.99964523e-01 -8.36731881e-03 -9.69813262e-04 2.35157775e+00] [ 8.36738332e-03 9.99964991e-01 6.24793947e-05 9.34362639e-02] [ 9.69256525e-04 -7.05919774e-05 9.99999528e-01 -1.29125415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059072329 meters 0.10291937995820521 Centerline is valid? [True, False] Translation: X:2.35, Y:0.11, Z:-0.13 [[ 9.99942634e-01 -1.06814062e-02 -7.97439190e-04 2.35185243e+00] [ 1.06780467e-02 9.99934564e-01 -4.10455284e-03 1.05020981e-01] [ 8.41229404e-04 4.09580228e-03 9.99991258e-01 -1.29569981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.119072328999998 meters 0.1027199555832055 Centerline is valid? [False, False] Translation: X:2.34, Y:0.12, Z:-0.13 [[ 9.99932364e-01 -1.14075637e-02 2.26613543e-03 2.34418443e+00] [ 1.14183348e-02 9.99923296e-01 -4.79840715e-03 1.17770683e-01] [-2.21122347e-03 4.82395810e-03 9.99985920e-01 -1.28336801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179072329 meters 0.10754807108143491 Centerline is valid? [False, False] Translation: X:2.34, Y:0.12, Z:-0.13 [[ 0.99992322 -0.01214814 0.00244483 2.34436911] [ 0.01216354 0.99990565 -0.00638325 0.12234738] [-0.00236705 0.0064125 0.99997664 -0.1290232 ] [ 0. 0. 0. 1. ]] SLAMing on 17.239072329 meters 0.11569739735133859 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:-0.13 [[ 0.99991016 -0.01312075 0.00274273 2.34429372] [ 0.01314252 0.999881 -0.0080785 0.12674088] [-0.00263641 0.00811382 0.99996361 -0.12973426] [ 0. 0. 0. 1. ]] SLAMing on 17.299072329 meters 0.12192974487152065 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:-0.13 [[ 0.99994334 -0.01024326 0.00289531 2.34394834] [ 0.01026199 0.99992604 -0.00652808 0.13440404] [-0.00282823 0.00655742 0.9999745 -0.1294455 ] [ 0. 0. 0. 1. ]] SLAMing on 17.359072329 meters 0.12536005480971935 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:-0.13 [[ 0.99997295 -0.00659544 0.0032572 2.34300133] [ 0.00660647 0.99997243 -0.00338938 0.13711076] [-0.00323475 0.0034108 0.99998895 -0.12904154] [ 0. 0. 0. 1. ]] SLAMing on 17.419072329 meters 0.1294058672220843 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:-0.13 [[ 0.99997091 -0.00676605 0.00352023 2.3427356 ] [ 0.00677931 0.99996992 -0.0037679 0.13820934] [-0.00349463 0.00379166 0.99998671 -0.12941256] [ 0. 0. 0. 1. ]] SLAMing on 17.479072329 meters 0.12512939930707911 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:-0.13 [[ 9.99981408e-01 -3.98377871e-03 4.61658383e-03 2.33925981e+00] [ 3.98846898e-03 9.99991539e-01 -1.00719931e-03 1.39093497e-01] [-4.61253231e-03 1.02559368e-03 9.99988836e-01 -1.27237898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.539072329 meters 0.14129458861413347 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:-0.13 [[ 9.99980240e-01 -4.29813796e-03 4.58745597e-03 2.33992459e+00] [ 4.30629233e-03 9.99989163e-01 -1.76914169e-03 1.41780887e-01] [-4.57980224e-03 1.78886166e-03 9.99987913e-01 -1.28042663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.599072329 meters 0.13591460242751663 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:-0.13 [[ 9.99975522e-01 -4.82510561e-03 5.06690436e-03 2.33770780e+00] [ 4.83527356e-03 9.99986317e-01 -1.99640980e-03 1.40018534e-01] [-5.05720214e-03 2.02086080e-03 9.99985170e-01 -1.26346451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.659072329 meters 0.12002072157508129 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:-0.13 [[ 0.99997443 -0.00506815 0.00504533 2.33749605] [ 0.00508072 0.99998401 -0.00248223 0.14129096] [-0.00503267 0.0025078 0.99998419 -0.1258156 ] [ 0. 0. 0. 1. ]] SLAMing on 17.719072329 meters 0.12585380495754203 Centerline is valid? [False, False] Translation: X:2.34, Y:0.15, Z:-0.13 [[ 9.99988780e-01 -1.48996509e-03 4.49668484e-03 2.33836548e+00] [ 1.48983633e-03 9.99998890e-01 3.19841957e-05 1.46831745e-01] [-4.49672750e-03 -2.52845124e-05 9.99989889e-01 -1.25269155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779072328999998 meters 0.11794344898642561 Centerline is valid? [False, False] Translation: X:2.34, Y:0.15, Z:-0.12 [[ 9.99946388e-01 -8.38380207e-04 -1.03207808e-02 2.33765727e+00] [ 8.13240996e-04 9.99996693e-01 -2.43974160e-03 1.45940498e-01] [ 1.03227921e-02 2.43121752e-03 9.99943763e-01 -1.18842743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839072329 meters 0.11737648221976872 Centerline is valid? [False, False] Translation: X:2.35, Y:0.15, Z:-0.12 [[ 0.99997173 0.00633635 -0.00404788 2.34692899] [-0.00635678 0.99996702 -0.00505456 0.14889155] [ 0.00401572 0.00508015 0.99997903 -0.12079438] [ 0. 0. 0. 1. ]] SLAMing on 17.899072329 meters 0.11552380069752223 Centerline is valid? [False, False] Translation: X:2.35, Y:0.15, Z:-0.12 [[ 9.99934597e-01 1.06480906e-02 -4.17368684e-03 2.34719690e+00] [-1.06516092e-02 9.99942932e-01 -8.21724948e-04 1.49065455e-01] [ 4.16469886e-03 8.66127686e-04 9.99990953e-01 -1.20718957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959072328999998 meters 0.11444468549979668 Centerline is valid? [False, False] Translation: X:2.35, Y:0.15, Z:-0.12 [[ 0.9999674 0.00671783 -0.00447959 2.3475131 ] [-0.00673729 0.99996788 -0.00434177 0.14672433] [ 0.00445027 0.00437181 0.99998054 -0.12053267] [ 0. 0. 0. 1. ]] SLAMing on 18.019072329 meters 0.11455117816022212 Centerline is valid? [False, False] Translation: X:2.36, Y:0.14, Z:-0.13 [[ 0.99998913 0.00396515 0.00245417 2.35989677] [-0.00397354 0.99998625 0.00342322 0.14095644] [-0.00244057 -0.00343294 0.99999113 -0.12584489] [ 0. 0. 0. 1. ]] SLAMing on 18.079072329 meters 0.12042522918673253 Centerline is valid? [False, False] Translation: X:2.36, Y:0.14, Z:-0.13 [[ 9.99996947e-01 3.24316655e-04 2.44964232e-03 2.36013357e+00] [-3.25827078e-04 9.99999757e-01 6.16215158e-04 1.37089821e-01] [-2.44944188e-03 -6.17011437e-04 9.99996810e-01 -1.26390240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139072329 meters 0.1251381758171222 Centerline is valid? [False, False] Translation: X:2.36, Y:0.13, Z:-0.13 [[ 0.99997468 -0.0065814 0.00270783 2.35847123] [ 0.00659387 0.99996757 -0.00462336 0.12752321] [-0.00267731 0.0046411 0.99998565 -0.12503807] [ 0. 0. 0. 1. ]] SLAMing on 18.199072329 meters 0.13129053507514 Centerline is valid? [False, False] Translation: X:2.35, Y:0.12, Z:-0.12 [[ 0.99993533 -0.01052541 0.00430747 2.35323826] [ 0.01055459 0.99992111 -0.00680978 0.12063368] [-0.00423545 0.0068548 0.99996754 -0.12128452] [ 0. 0. 0. 1. ]] SLAMing on 18.259072329 meters 0.13596759344721238 Centerline is valid? [False, False] Translation: X:2.35, Y:0.11, Z:-0.12 [[ 0.99994695 -0.00926476 0.00450136 2.35332534] [ 0.00928245 0.99994922 -0.00392432 0.11327419] [-0.00446477 0.00396589 0.99998217 -0.12245893] [ 0. 0. 0. 1. ]] SLAMing on 18.319072329 meters 0.1401524500046863 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.12 [[ 0.99992669 -0.01125238 0.00447129 2.35395503] [ 0.01127001 0.99992874 -0.00393703 0.10210041] [-0.00442667 0.00398713 0.99998225 -0.12383559] [ 0. 0. 0. 1. ]] SLAMing on 18.379072329 meters 0.14291501815895927 Centerline is valid? [False, False] Translation: X:2.35, Y:0.09, Z:-0.12 [[ 9.99938728e-01 -9.95893196e-03 4.83320857e-03 2.35347089e+00] [ 9.95938296e-03 9.99950402e-01 -6.92547227e-05 9.22102041e-02] [-4.83227915e-03 1.17386254e-04 9.99988318e-01 -1.24656570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.439072329 meters 0.13857402493732426 Centerline is valid? [False, False] Translation: X:2.35, Y:0.09, Z:-0.13 [[ 0.99995093 -0.00866312 0.00480399 2.3539433 ] [ 0.00865046 0.99995907 0.00265126 0.08552994] [-0.00482676 -0.00260958 0.99998495 -0.1254439 ] [ 0. 0. 0. 1. ]] SLAMing on 18.499072329 meters 0.14761313595612824 Centerline is valid? [False, False] Translation: X:2.35, Y:0.07, Z:-0.12 [[ 0.99981916 -0.01846861 0.00453509 2.35290526] [ 0.01849176 0.99981592 -0.00511633 0.07117995] [-0.00443976 0.00519927 0.99997663 -0.12340875] [ 0. 0. 0. 1. ]] SLAMing on 18.559072329 meters 0.1367654856704361 Centerline is valid? [False, False] Translation: X:2.35, Y:0.07, Z:-0.12 [[ 9.99897128e-01 -1.34413606e-02 5.00634872e-03 2.35164758e+00] [ 1.34347996e-02 9.99908849e-01 1.34187693e-03 6.50104188e-02] [-5.02392904e-03 -1.27447960e-03 9.99986568e-01 -1.22829739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619072328999998 meters 0.14080898985234333 Centerline is valid? [False, False] Translation: X:2.35, Y:0.06, Z:-0.13 [[ 9.99964167e-01 -7.52517566e-03 -3.87774927e-03 2.34939385e+00] [ 7.51643247e-03 9.99969187e-01 -2.26436959e-03 5.91497448e-02] [ 3.89466956e-03 2.23514161e-03 9.99989918e-01 -1.25213726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.679072329 meters 0.1431233525599697 Centerline is valid? [False, False] Translation: X:2.35, Y:0.05, Z:-0.13 [[ 9.99977607e-01 -5.22066249e-03 -4.18698586e-03 2.35006723e+00] [ 5.22777485e-03 9.99984908e-01 1.68953978e-03 4.71899038e-02] [ 4.17810215e-03 -1.71139057e-03 9.99989807e-01 -1.25734089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739072329 meters 0.14194374444894714 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:-0.12 [[ 9.99997112e-01 1.70322709e-03 1.69582464e-03 2.33446465e+00] [-1.70246820e-03 9.99998450e-01 -4.48847206e-04 4.72273330e-02] [-1.69658650e-03 4.45958822e-04 9.99998461e-01 -1.24937454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.799072328999998 meters 0.1371970010473029 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.12 [[ 9.99994070e-01 3.31447444e-03 9.34688068e-04 2.33565121e+00] [-3.31480338e-03 9.99994445e-01 3.50594286e-04 4.83294602e-02] [-9.33520839e-04 -3.53690514e-04 9.99999502e-01 -1.24016424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.859072329 meters 0.1283122163909295 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.12 [[ 9.99962749e-01 8.62792706e-03 2.42358373e-04 2.33704372e+00] [-8.62916618e-03 9.99946592e-01 5.68777966e-03 4.63597082e-02] [-1.93271681e-04 -5.68965914e-03 9.99983795e-01 -1.24028343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919072329 meters 0.12267564494101402 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.12 [[ 9.99954879e-01 9.49618327e-03 -2.50016851e-04 2.33797641e+00] [-9.49469985e-03 9.99940429e-01 5.38418137e-03 4.99126765e-02] [ 3.01131130e-04 -5.38156460e-03 9.99985474e-01 -1.23694497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.979072329 meters 0.11715025806851859 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.12 [[ 9.99894778e-01 1.44794627e-02 -8.81840579e-04 2.33925158e+00] [-1.44705671e-02 9.99851358e-01 9.37357414e-03 5.25335169e-02] [ 1.01743382e-03 -9.35982710e-03 9.99955678e-01 -1.23465227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039072329 meters 0.11116092119969495 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.12 [[ 9.99889064e-01 1.48221054e-02 -1.47126475e-03 2.34033411e+00] [-1.48085117e-02 9.99851127e-01 8.85619564e-03 5.48754136e-02] [ 1.60231319e-03 -8.83342593e-03 9.99959701e-01 -1.23197730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099072329 meters 0.10212556162418521 Centerline is valid? [False, False] Translation: X:2.34, Y:0.06, Z:-0.12 [[ 9.99804082e-01 1.97371168e-02 -1.49771670e-03 2.34030419e+00] [-1.97175162e-02 9.99731958e-01 1.21339307e-02 5.96189962e-02] [ 1.73680405e-03 -1.21020222e-02 9.99925259e-01 -1.22123487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.159072329 meters 0.08934983120054674 Centerline is valid? [False, True] Translation: X:2.34, Y:0.07, Z:-0.12 [[ 9.99622388e-01 2.74161267e-02 -1.85408497e-03 2.34160157e+00] [-2.73778476e-02 9.99459047e-01 1.82227224e-02 6.69175595e-02] [ 2.35267846e-03 -1.81650804e-02 9.99832233e-01 -1.22576129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219072329 meters 0.09390995883047326 Centerline is valid? [True, True] Translation: X:2.40, Y:0.07, Z:-0.14 [[ 9.99391002e-01 3.47561298e-02 -3.10437250e-03 2.40131953e+00] [-3.47555592e-02 9.99395815e-01 2.37583648e-04 6.93598066e-02] [ 3.11075437e-03 -1.29544758e-04 9.99995153e-01 -1.37955880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279072328999998 meters 0.08747465853753521 Centerline is valid? [True, True] Translation: X:2.46, Y:0.09, Z:-0.13 [[ 9.99252254e-01 3.83974570e-02 -4.53527254e-03 2.46203821e+00] [-3.83962910e-02 9.99262531e-01 3.43900475e-04 8.62413054e-02] [ 4.54513282e-03 -1.69505681e-04 9.99989656e-01 -1.29662749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339072329 meters 0.08801884029829471 Centerline is valid? [True, True] Translation: X:2.52, Y:0.09, Z:-0.13 [[ 9.99325348e-01 3.66420385e-02 -2.49182236e-03 2.52098263e+00] [-3.66416850e-02 9.99328450e-01 1.87398855e-04 8.84238065e-02] [ 2.49701566e-03 -9.59678559e-05 9.99996878e-01 -1.31122857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399072329 meters 0.08933490405472981 Centerline is valid? [True, True] Translation: X:2.58, Y:0.09, Z:-0.13 [[ 9.99385139e-01 3.50619326e-02 -6.91381941e-05 2.57923174e+00] [-3.50619325e-02 9.99385141e-01 2.27288155e-06 8.61444379e-02] [ 6.91753755e-05 1.52634650e-07 9.99999998e-01 -1.33819607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459072328999998 meters 0.09281119976971904 Centerline is valid? [True, True] Translation: X:2.64, Y:0.08, Z:-0.14 [[ 9.99606506e-01 2.80505331e-02 -1.91693834e-05 2.63946500e+00] [-2.80505331e-02 9.99606506e-01 1.46607475e-06 8.25718294e-02] [ 1.92029645e-05 -9.27786430e-07 1.00000000e+00 -1.36793056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519072329 meters 0.10118144545839496 Centerline is valid? [True, False] Translation: X:2.65, Y:0.09, Z:-0.14 [[ 9.99911431e-01 1.15186119e-02 -6.66723002e-03 2.64611423e+00] [-1.15173648e-02 9.99933648e-01 2.25414106e-04 9.00546402e-02] [ 6.66938409e-03 -1.48605221e-04 9.99977748e-01 -1.41030102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579072329 meters 0.09660941319373839 Centerline is valid? [False, True] Translation: X:2.65, Y:0.09, Z:-0.14 [[ 9.99997354e-01 2.04817154e-04 2.29142704e-03 2.64690308e+00] [-2.12247662e-04 9.99994719e-01 3.24296931e-03 9.31006440e-02] [-2.29075072e-03 -3.24344708e-03 9.99992116e-01 -1.43723979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639072329 meters 0.10796937444066297 Centerline is valid? [True, False] Translation: X:2.65, Y:0.10, Z:-0.14 [[ 9.99995423e-01 -1.34524096e-03 2.70989010e-03 2.64564165e+00] [ 1.34389829e-03 9.99998973e-01 4.97232220e-04 1.00548415e-01] [-2.71055622e-03 -4.93588128e-04 9.99996205e-01 -1.42732033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699072329 meters 0.10907958149252253 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.14 [[ 9.99993793e-01 -2.10136545e-03 2.82797595e-03 2.64533631e+00] [ 2.10423639e-03 9.99997273e-01 -1.01260143e-03 1.04527234e-01] [-2.82584039e-03 1.01854588e-03 9.99995489e-01 -1.42512577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759072329 meters 0.11135420211342971 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:-0.14 [[ 9.99996073e-01 4.79887101e-04 2.76122140e-03 2.64680603e+00] [-4.79833988e-04 9.99999885e-01 -1.98976054e-05 1.13649772e-01] [-2.76123063e-03 1.85725994e-05 9.99996188e-01 -1.44246756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819072329 meters 0.10841418441844458 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:-0.15 [[ 9.99992421e-01 3.33848440e-03 2.00288287e-03 2.64978747e+00] [-3.33931405e-03 9.99994340e-01 4.11024210e-04 1.25858351e-01] [-2.00149934e-03 -4.17709350e-04 9.99997910e-01 -1.46554612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879072329 meters 0.09943365377315254 Centerline is valid? [False, True] Translation: X:2.65, Y:0.13, Z:-0.14 [[ 9.99978464e-01 6.18282100e-03 2.20112271e-03 2.64864260e+00] [-6.18619355e-03 9.99979697e-01 1.52869849e-03 1.33480030e-01] [-2.19162635e-03 -1.54228213e-03 9.99996409e-01 -1.44940852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939072329 meters 0.09131007879407696 Centerline is valid? [True, True] Translation: X:2.71, Y:0.16, Z:-0.14 [[ 9.99792933e-01 1.89563755e-02 7.39909836e-03 2.71157935e+00] [-1.89525883e-02 9.99820214e-01 -5.81626125e-04 1.59065236e-01] [-7.40879363e-03 4.41273624e-04 9.99972457e-01 -1.41204126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999072329 meters 0.08445355658745506 Centerline is valid? [True, True] Translation: X:2.77, Y:0.19, Z:-0.14 [[ 9.99466988e-01 3.20855341e-02 6.02144946e-03 2.77440937e+00] [-3.20832612e-02 9.99485087e-01 -4.73706075e-04 1.88405758e-01] [-6.03354805e-03 2.80265849e-04 9.99981759e-01 -1.42963736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059072329 meters 0.08292766740508822 Centerline is valid? [True, True] Translation: X:2.84, Y:0.20, Z:-0.15 [[ 9.99236011e-01 3.88664829e-02 4.09776799e-03 2.83559576e+00] [-3.88654855e-02 9.99244399e-01 -3.22801062e-04 1.97084863e-01] [-4.10721785e-03 1.63292704e-04 9.99991552e-01 -1.48610967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119072328999998 meters 0.08081549983896431 Centerline is valid? [True, True] Translation: X:2.90, Y:0.21, Z:-0.15 [[ 9.98928864e-01 4.53612820e-02 9.13672483e-03 2.89597428e+00] [-4.53565961e-02 9.98970601e-01 -7.19527985e-04 2.10802919e-01] [-9.15995821e-03 3.04346534e-04 9.99958000e-01 -1.48762429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179072329 meters 0.07983406702613456 Centerline is valid? [True, True] Translation: X:2.96, Y:0.22, Z:-0.15 [[ 9.98807161e-01 4.70068268e-02 1.32141694e-02 2.95714072e+00] [-4.69971942e-02 9.98894481e-01 -1.03871418e-03 2.18450828e-01] [-1.32483875e-02 4.16446272e-04 9.99912150e-01 -1.47142684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239072329 meters 0.08001614045991678 Centerline is valid? [True, True] Translation: X:3.01, Y:0.22, Z:-0.15 [[ 9.98831529e-01 4.63972419e-02 1.35230570e-02 3.01489598e+00] [-4.63870817e-02 9.98922973e-01 -1.06418750e-03 2.20064244e-01] [-1.35578677e-02 4.35648878e-04 9.99907993e-01 -1.50309262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299072328999998 meters 0.08110070128388902 Centerline is valid? [True, True] Translation: X:3.07, Y:0.22, Z:-0.15 [[ 9.99009696e-01 4.29015367e-02 1.17934422e-02 3.07475525e+00] [-4.28935880e-02 9.99079217e-01 -9.26225456e-04 2.18844510e-01] [-1.18223195e-02 4.19445159e-04 9.99930026e-01 -1.54982657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359072329 meters 0.08129966260390152 Centerline is valid? [True, True] Translation: X:3.14, Y:0.22, Z:-0.16 [[ 9.99326698e-01 3.50930680e-02 1.07063743e-02 3.13603336e+00] [-3.50860813e-02 9.99383941e-01 -8.39765079e-04 2.21590364e-01] [-1.07292485e-02 4.63554945e-04 9.99942333e-01 -1.55915047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419072329 meters 0.08259282247841526 Centerline is valid? [True, True] Translation: X:3.19, Y:0.22, Z:-0.15 [[ 9.99443046e-01 2.94184307e-02 1.57528647e-02 3.19476765e+00] [-2.94025798e-02 9.99566885e-01 -1.23693454e-03 2.22258965e-01] [-1.57824306e-02 7.73070764e-04 9.99875151e-01 -1.53846265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479072329 meters 0.08372130187816665 Centerline is valid? [True, True] Translation: X:3.26, Y:0.22, Z:-0.16 [[ 9.99509104e-01 2.62184782e-02 1.71505888e-02 3.25516919e+00] [-2.61992645e-02 9.99655837e-01 -1.34405645e-03 2.23294428e-01] [-1.71799253e-02 8.94063850e-04 9.99852014e-01 -1.55522524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539072329 meters 0.08556979732883532 Centerline is valid? [True, True] Translation: X:3.31, Y:0.22, Z:-0.16 [[ 9.99613951e-01 2.35847134e-02 1.46871116e-02 3.31485770e+00] [-2.35703481e-02 9.99721519e-01 -1.15044262e-03 2.15731839e-01] [-1.47101543e-02 8.03818161e-04 9.99891477e-01 -1.62359435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599072329 meters 0.08531947017182603 Centerline is valid? [True, True] Translation: X:3.38, Y:0.22, Z:-0.16 [[ 9.99683260e-01 1.93856532e-02 1.60491501e-02 3.37593789e+00] [-1.93679549e-02 9.99811633e-01 -1.25746422e-03 2.17650976e-01] [-1.60705038e-02 9.46226714e-04 9.99870413e-01 -1.60676436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659072329 meters 0.08530181479189133 Centerline is valid? [True, True] Translation: X:3.44, Y:0.22, Z:-0.16 [[ 9.99644424e-01 1.85980035e-02 1.91086427e-02 3.43836321e+00] [-1.85728278e-02 9.99826394e-01 -1.49413888e-03 2.19739734e-01] [-1.91331133e-02 1.13870607e-03 9.99816297e-01 -1.58135895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719072329 meters 0.08544034325730052 Centerline is valid? [True, True] Translation: X:3.50, Y:0.21, Z:-0.16 [[ 9.99597320e-01 2.02485202e-02 1.98795050e-02 3.49814831e+00] [-2.02214236e-02 9.99794304e-01 -1.56313623e-03 2.13786265e-01] [-1.99070671e-02 1.16051489e-03 9.99801161e-01 -1.64111999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779072328999998 meters 0.0851400363264129 Centerline is valid? [True, True] Translation: X:3.56, Y:0.21, Z:-0.17 [[ 9.99578777e-01 2.22722864e-02 1.86068448e-02 3.56003237e+00] [-2.22489581e-02 9.99751395e-01 -1.45984621e-03 2.09771206e-01] [-1.86347332e-02 1.04524838e-03 9.99825812e-01 -1.68113283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839072329 meters 0.08484334473254429 Centerline is valid? [True, True] Translation: X:3.62, Y:0.21, Z:-0.17 [[ 9.99559180e-01 2.46494975e-02 1.65483463e-02 3.62056796e+00] [-2.46312522e-02 9.99695752e-01 -1.30548590e-03 2.11496225e-01] [-1.65754911e-02 8.97303925e-04 9.99862214e-01 -1.69650677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899072329 meters 0.08130786602191149 Centerline is valid? [True, True] Translation: X:3.68, Y:0.22, Z:-0.16 [[ 9.99417835e-01 2.77442653e-02 1.98556443e-02 3.68249599e+00] [-2.77185968e-02 9.99614538e-01 -1.56685487e-03 2.18538250e-01] [-1.98914620e-02 1.01557210e-03 9.99801630e-01 -1.64627431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959072328999998 meters 0.08088061701816032 Centerline is valid? [True, True] Translation: X:3.74, Y:0.21, Z:-0.17 [[ 9.99291606e-01 2.99832820e-02 2.27439799e-02 3.74320258e+00] [-2.99501677e-02 9.99549781e-01 -1.79527624e-03 2.13258236e-01] [-2.27875684e-02 1.11281847e-03 9.99739710e-01 -1.65965102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019072329 meters 0.07897612933034107 Centerline is valid? [True, True] Translation: X:3.80, Y:0.21, Z:-0.17 [[ 9.99164409e-01 3.32648689e-02 2.37472606e-02 3.80380273e+00] [-3.32296820e-02 9.99445983e-01 -1.87490969e-03 2.10479731e-01] [-2.37964729e-02 1.08422911e-03 9.99716236e-01 -1.68728359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079072329 meters 0.07704449816740443 Centerline is valid? [True, True] Translation: X:3.86, Y:0.22, Z:-0.17 [[ 9.99064625e-01 3.67296512e-02 2.28211992e-02 3.86492967e+00] [-3.66980445e-02 9.99324775e-01 -1.80237190e-03 2.16006633e-01] [-2.28719902e-02 9.63192618e-04 9.99737938e-01 -1.69180986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139072328999998 meters 0.07628991928334115 Centerline is valid? [True, True] Translation: X:3.92, Y:0.21, Z:-0.17 [[ 9.98949234e-01 4.00031059e-02 2.23646825e-02 3.92436980e+00] [-3.99735610e-02 9.99199176e-01 -1.76672966e-03 2.12183044e-01] [-2.24174470e-02 8.70877245e-04 9.99748318e-01 -1.72167446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199072329 meters 0.07391065159696233 Centerline is valid? [True, True] Translation: X:3.98, Y:0.21, Z:-0.18 [[ 9.98608581e-01 4.77240695e-02 2.24347002e-02 3.98498895e+00] [-4.76963107e-02 9.98860313e-01 -1.77109010e-03 2.10763302e-01] [-2.24936553e-02 6.98573340e-04 9.99746742e-01 -1.76720121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259072329 meters 0.07150181309879255 Centerline is valid? [True, True] Translation: X:4.05, Y:0.22, Z:-0.18 [[ 9.98320486e-01 5.33367039e-02 2.26142237e-02 4.04584381e+00] [-5.33099350e-02 9.98576418e-01 -1.78535904e-03 2.15042360e-01] [-2.26772557e-02 5.76797703e-04 9.99742672e-01 -1.77156893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319072329 meters 0.07004590696098363 Centerline is valid? [True, True] Translation: X:4.11, Y:0.22, Z:-0.18 [[ 9.97671957e-01 6.49548286e-02 2.07734506e-02 4.10578126e+00] [-6.49347583e-02 9.97888164e-01 -1.63993927e-03 2.24848498e-01] [-2.08361025e-02 2.87202428e-04 9.99782864e-01 -1.81644328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379072329 meters 0.06926985409932034 Centerline is valid? [True, True] Translation: X:4.16, Y:0.23, Z:-0.19 [[ 9.97119967e-01 7.36159825e-02 1.82334211e-02 4.16499983e+00] [-7.36019664e-02 9.97286658e-01 -1.43948728e-03 2.28750911e-01] [-1.82899168e-02 9.33258660e-05 9.99832721e-01 -1.86762852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439072329 meters 0.06866676427574396 Centerline is valid? [True, True] Translation: X:4.22, Y:0.23, Z:-0.19 [[ 9.96593873e-01 7.99570268e-02 2.01872853e-02 4.22442177e+00] [-7.99411811e-02 9.96798311e-01 -1.59199235e-03 2.30463836e-01] [-2.02499429e-02 -2.72256127e-05 9.99794949e-01 -1.87665525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499072329 meters 0.06906135173688814 Centerline is valid? [True, True] Translation: X:4.28, Y:0.24, Z:-0.19 [[ 9.95720596e-01 9.01517213e-02 2.03263978e-02 4.28427310e+00] [-9.01377579e-02 9.95928015e-01 -1.60396751e-03 2.42455536e-01] [-2.03882295e-02 -2.35072443e-04 9.99792111e-01 -1.86542919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559072329 meters 0.07008905088549007 Centerline is valid? [True, True] Translation: X:4.34, Y:0.24, Z:-0.19 [[ 9.95364478e-01 9.43550986e-02 1.86191291e-02 4.34344029e+00] [-9.43442501e-02 9.95538560e-01 -1.46214074e-03 2.42610759e-01] [-1.86740214e-02 -3.01244816e-04 9.99825580e-01 -1.91572882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619072328999998 meters 0.07096427655836744 Centerline is valid? [True, True] Translation: X:4.40, Y:0.24, Z:-0.20 [[ 9.94993022e-01 9.87585156e-02 1.53506132e-02 4.40280327e+00] [-9.87516785e-02 9.95111378e-01 -1.20461562e-03 2.39797455e-01] [-1.53945359e-02 -3.17314676e-04 9.99881447e-01 -1.98468571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679072329 meters 0.07186612673744311 Centerline is valid? [True, True] Translation: X:4.46, Y:0.24, Z:-0.20 [[ 9.94678852e-01 1.01989939e-01 1.45613409e-02 4.46187618e+00] [-1.01984135e-01 9.94785369e-01 -1.14255171e-03 2.42753406e-01] [-1.46019377e-02 -3.48553739e-04 9.99893325e-01 -1.99171095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739072329 meters 0.07101116374219044 Centerline is valid? [True, True] Translation: X:4.52, Y:0.24, Z:-0.20 [[ 9.94594040e-01 1.02702486e-01 1.53262577e-02 4.52063833e+00] [-1.02696092e-01 9.94712048e-01 -1.20566840e-03 2.36822516e-01] [-1.53690383e-02 -3.74796174e-04 9.99881819e-01 -1.98169209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799072328999998 meters 0.0713163814713606 Centerline is valid? [True, True] Translation: X:4.58, Y:0.23, Z:-0.20 [[ 9.94476443e-01 1.03796778e-01 1.55830851e-02 4.57888567e+00] [-1.03790422e-01 9.94598444e-01 -1.21824052e-03 2.34431441e-01] [-1.56253617e-02 -4.05863485e-04 9.99877834e-01 -2.00906742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859072329 meters 0.07111247161051926 Centerline is valid? [True, True] Translation: X:4.64, Y:0.23, Z:-0.20 [[ 9.94463055e-01 1.03936225e-01 1.55078731e-02 4.63727105e+00] [-1.03929920e-01 9.94583882e-01 -1.21410781e-03 2.31543250e-01] [-1.55500704e-02 -4.04346650e-04 9.99879009e-01 -2.01821358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919072329 meters 0.07041264644952254 Centerline is valid? [True, True] Translation: X:4.70, Y:0.23, Z:-0.20 [[ 9.94675411e-01 1.01624826e-01 1.71237345e-02 4.69558714e+00] [-1.01616948e-01 9.94822709e-01 -1.33180034e-03 2.25894249e-01] [-1.71704239e-02 -4.15352586e-04 9.99852491e-01 -2.01858795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979072329 meters 0.069457646465839 Centerline is valid? [True, True] Translation: X:4.75, Y:0.22, Z:-0.20 [[ 9.95170272e-01 9.65080274e-02 1.79535839e-02 4.75319741e+00] [-9.64985565e-02 9.95332147e-01 -1.39511853e-03 2.19343831e-01] [-1.80044193e-02 -3.44114446e-04 9.99837848e-01 -2.03418178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039072329 meters 0.06889707330486364 Centerline is valid? [True, True] Translation: X:4.81, Y:0.21, Z:-0.21 [[ 9.95583866e-01 9.20668775e-02 1.83427084e-02 4.81147554e+00] [-9.20562758e-02 9.95752789e-01 -1.42329696e-03 2.10582387e-01] [-1.83958416e-02 -2.71549932e-04 9.99830745e-01 -2.07252200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099072329 meters 0.06844045464704201 Centerline is valid? [True, True] Translation: X:4.87, Y:0.20, Z:-0.21 [[ 9.95798588e-01 8.96626054e-02 1.85954127e-02 4.86970239e+00] [-8.96512642e-02 9.95972171e-01 -1.44430178e-03 2.04207071e-01] [-1.86500134e-02 -2.28868585e-04 9.99826047e-01 -2.08948530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159072329 meters 0.06796251485990515 Centerline is valid? [True, True] Translation: X:4.93, Y:0.20, Z:-0.21 [[ 9.96345862e-01 8.33302092e-02 1.87349687e-02 4.92690012e+00] [-8.33177044e-02 9.96521983e-01 -1.44837789e-03 1.96134851e-01] [-1.87905018e-02 -1.17869271e-04 9.99823436e-01 -2.12201226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219072329 meters 0.06812636415365678 Centerline is valid? [True, True] Translation: X:4.98, Y:0.19, Z:-0.22 [[ 9.96635290e-01 7.95385278e-02 1.97919532e-02 4.98411610e+00] [-7.95238932e-02 9.96831791e-01 -1.52661784e-03 1.88912986e-01] [-1.98506731e-02 -5.24519602e-05 9.99802955e-01 -2.15908608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279072328999998 meters 0.06826922545055163 Centerline is valid? [True, True] Translation: X:5.04, Y:0.18, Z:-0.22 [[ 9.96703467e-01 7.88652773e-02 1.90385421e-02 5.04240420e+00] [-7.88516480e-02 9.96885283e-01 -1.46666764e-03 1.83888479e-01] [-1.90949115e-02 -3.93876972e-05 9.99817675e-01 -2.19529568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339072329 meters 0.06812220415809082 Centerline is valid? [True, True] Translation: X:5.10, Y:0.19, Z:-0.22 [[ 9.96580792e-01 7.99310644e-02 2.09224513e-02 5.10168449e+00] [-7.99148256e-02 9.96800392e-01 -1.61243379e-03 1.86648295e-01] [-2.09843912e-02 -6.50935001e-05 9.99779801e-01 -2.17770118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399072329 meters 0.0682339922147552 Centerline is valid? [True, True] Translation: X:5.16, Y:0.18, Z:-0.22 [[ 9.96477436e-01 8.09083254e-02 2.20581547e-02 5.16013803e+00] [-8.08906920e-02 9.96721542e-01 -1.69195850e-03 1.84164516e-01] [-2.21227315e-02 -9.83009279e-05 9.99755258e-01 -2.19260043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459072328999998 meters 0.0686755328874378 Centerline is valid? [True, True] Translation: X:5.22, Y:0.19, Z:-0.22 [[ 9.96195734e-01 8.41388371e-02 2.26873400e-02 5.21852327e+00] [-8.41210539e-02 9.96454026e-01 -1.73876113e-03 1.85333033e-01] [-2.27531886e-02 -1.76336533e-04 9.99741097e-01 -2.22995554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519072329 meters 0.06929029848049975 Centerline is valid? [True, True] Translation: X:5.28, Y:0.19, Z:-0.23 [[ 9.96055769e-01 8.63477562e-02 2.04198453e-02 5.27719837e+00] [-8.63337962e-02 9.96265037e-01 -1.56586382e-03 1.86911551e-01] [-2.04787867e-02 -2.03235065e-04 9.99790267e-01 -2.25710631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579072329 meters 0.07048818665052714 Centerline is valid? [True, True] Translation: X:5.34, Y:0.18, Z:-0.23 [[ 9.95936283e-01 8.86170277e-02 1.60605816e-02 5.33656153e+00] [-8.86087870e-02 9.96065751e-01 -1.22538111e-03 1.82748610e-01] [-1.61059849e-02 -2.02707141e-04 9.99870270e-01 -2.33702799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639072328999998 meters 0.07082403692724634 Centerline is valid? [True, True] Translation: X:5.39, Y:0.18, Z:-0.24 [[ 9.95719522e-01 9.06567379e-02 1.79997168e-02 5.39350706e+00] [-9.06467083e-02 9.95882165e-01 -1.37398764e-03 1.77101636e-01] [-1.80501582e-02 -2.63508759e-04 9.99837048e-01 -2.35500891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699072329 meters 0.07116382626079111 Centerline is valid? [True, True] Translation: X:5.45, Y:0.18, Z:-0.23 [[ 9.95234116e-01 9.45498286e-02 2.38617542e-02 5.45164066e+00] [-9.45334388e-02 9.95520030e-01 -1.81649573e-03 1.78306296e-01] [-2.39266036e-02 -4.47895156e-04 9.99713618e-01 -2.29324080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759072329 meters 0.07357628728362627 Centerline is valid? [True, True] Translation: X:5.51, Y:0.18, Z:-0.23 [[ 9.94568110e-01 1.01764256e-01 2.18703206e-02 5.51164149e+00] [-1.01752287e-01 9.94808378e-01 -1.66227576e-03 1.79737401e-01] [-2.19259384e-02 -5.72108676e-04 9.99759434e-01 -2.32077462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819072329 meters 0.07425513535659728 Centerline is valid? [True, True] Translation: X:5.57, Y:0.17, Z:-0.24 [[ 9.94290670e-01 1.05454086e-01 1.62941235e-02 5.57057364e+00] [-1.05447939e-01 9.94424054e-01 -1.23833656e-03 1.67033188e-01] [-1.63338560e-02 -4.86915252e-04 9.99866475e-01 -2.40717000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879072329 meters 0.07544412625857454 Centerline is valid? [True, True] Translation: X:5.63, Y:0.16, Z:-0.24 [[ 9.94053446e-01 1.07660086e-01 1.63417377e-02 5.62789415e+00] [-1.07654184e-01 9.94187624e-01 -1.24298469e-03 1.57975845e-01] [-1.63805732e-02 -5.23663233e-04 9.99865692e-01 -2.44256834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939072329 meters 0.07603019273722476 Centerline is valid? [True, True] Translation: X:5.69, Y:0.15, Z:-0.24 [[ 9.93764282e-01 1.10005289e-01 1.82040869e-02 5.68621916e+00] [-1.09998347e-01 9.93930805e-01 -1.38526590e-03 1.53268559e-01] [-1.82459893e-02 -6.25791695e-04 9.99833332e-01 -2.41606431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999072329 meters 0.07771986033488433 Centerline is valid? [True, True] Translation: X:5.74, Y:0.14, Z:-0.25 [[ 9.93479251e-01 1.12626813e-01 1.77251117e-02 5.74390585e+00] [-1.12620790e-01 9.93637137e-01 -1.34081345e-03 1.40427714e-01] [-1.77633408e-02 -6.64145739e-04 9.99841999e-01 -2.47024009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059072329 meters 0.07956483739152537 Centerline is valid? [True, True] Translation: X:5.80, Y:0.13, Z:-0.25 [[ 9.93366032e-01 1.14185453e-01 1.36238519e-02 5.80180628e+00] [-1.14182039e-01 9.93459310e-01 -1.03070731e-03 1.32624493e-01] [-1.36524343e-02 -5.31729559e-04 9.99906660e-01 -2.54659288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119072328999998 meters 0.08557466265728007 Centerline is valid? [True, True] Translation: X:5.86, Y:0.13, Z:-0.26 [[ 9.92929772e-01 1.18193921e-01 1.09847456e-02 5.86027629e+00] [-1.18191961e-01 9.92990419e-01 -8.29703305e-04 1.31254422e-01] [-1.10058130e-02 -4.74471514e-04 9.99939322e-01 -2.62692302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179072329 meters 0.0837923791866334 Centerline is valid? [True, True] Translation: X:5.92, Y:0.11, Z:-0.26 [[ 9.92494192e-01 1.21705262e-01 1.19627329e-02 5.91848160e+00] [-1.21703194e-01 9.92566127e-01 -9.03446942e-04 1.12936228e-01] [-1.19837577e-02 -5.59236957e-04 9.99928036e-01 -2.61355780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239072329 meters 0.08295247719585955 Centerline is valid? [True, True] Translation: X:5.98, Y:0.10, Z:-0.26 [[ 9.92647636e-01 1.20280258e-01 1.35399306e-02 5.97608951e+00] [-1.20277484e-01 9.92739786e-01 -1.02195016e-03 9.94706059e-02] [-1.35645482e-02 -6.14112377e-04 9.99907809e-01 -2.62238255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299072328999998 meters 0.07900995767890877 Centerline is valid? [True, True] Translation: X:6.03, Y:0.07, Z:-0.26 [[ 9.93281032e-01 1.15223043e-01 1.07908701e-02 6.03403494e+00] [-1.15220994e-01 9.93339550e-01 -8.13383515e-04 7.42757126e-02] [-1.08127186e-02 -4.35416366e-04 9.99941446e-01 -2.62893134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359072329 meters 0.07742193160110543 Centerline is valid? [True, True] Translation: X:6.09, Y:0.06, Z:-0.27 [[ 9.94162937e-01 1.07339423e-01 1.08767554e-02 6.09351785e+00] [-1.07336883e-01 9.94222371e-01 -8.18692179e-04 5.62789553e-02] [-1.09017915e-02 -3.53563597e-04 9.99940511e-01 -2.65721247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419072329 meters 0.07688443758725384 Centerline is valid? [True, True] Translation: X:6.15, Y:0.04, Z:-0.27 [[ 9.94722587e-01 1.02008769e-01 1.10084721e-02 6.15103960e+00] [-1.02005829e-01 9.94783455e-01 -8.29631991e-04 4.05436472e-02] [-1.10356756e-02 -2.97674642e-04 9.99939061e-01 -2.71351568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479072329 meters 0.0754975054706663 Centerline is valid? [True, True] Translation: X:6.21, Y:0.02, Z:-0.27 [[ 9.95289354e-01 9.64597088e-02 9.72757149e-03 6.20851669e+00] [-9.64571476e-02 9.95336868e-01 -7.33201614e-04 2.21029905e-02] [-9.75293495e-03 -2.08546038e-04 9.99952417e-01 -2.74004554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539072329 meters 0.07618324330322783 Centerline is valid? [True, True] Translation: X:6.27, Y:0.02, Z:-0.27 [[ 9.95163664e-01 9.76726128e-02 1.04566903e-02 6.26793276e+00] [-9.76696845e-02 9.95218572e-01 -7.91570274e-04 2.42161572e-02] [-1.04840071e-02 -2.33559663e-04 9.99945014e-01 -2.72548248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599072329 meters 0.07724070747018238 Centerline is valid? [True, True] Translation: X:6.33, Y:0.02, Z:-0.28 [[ 9.94980960e-01 9.96714546e-02 8.85947232e-03 6.32620447e+00] [-9.96694866e-02 9.95020378e-01 -6.64480344e-04 2.15182805e-02] [-8.88158521e-03 -2.21873767e-04 9.99960533e-01 -2.77537444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659072329 meters 0.07771827678798893 Centerline is valid? [True, True] Translation: X:6.38, Y:0.02, Z:-0.28 [[ 9.94979000e-01 9.96654498e-02 9.14265790e-03 6.38223914e+00] [-9.96633261e-02 9.95020978e-01 -6.88733812e-04 1.51182253e-02] [-9.16577937e-03 -2.25912016e-04 9.99957968e-01 -2.83251841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719072329 meters 0.07727226727780337 Centerline is valid? [True, True] Translation: X:6.44, Y:0.01, Z:-0.28 [[ 9.95146089e-01 9.78714668e-02 1.02682880e-02 6.44030464e+00] [-9.78687390e-02 9.95199035e-01 -7.69014772e-04 1.42185567e-02] [-1.02942549e-02 -2.39662352e-04 9.99946984e-01 -2.83083218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779072328999998 meters 0.07651276502634917 Centerline is valid? [True, True] Translation: X:6.50, Y:0.01, Z:-0.28 [[ 9.95506172e-01 9.41482588e-02 1.01768024e-02 6.49947208e+00] [-9.41453730e-02 9.95558168e-01 -7.63326457e-04 1.05647315e-02] [-1.02034646e-02 -1.98202655e-04 9.99947924e-01 -2.83350814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839072329 meters 0.07521949892175207 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.00, Z:-0.29 [[ 9.96100046e-01 8.79185993e-02 7.41744335e-03 6.55784372e+00] [-8.79169074e-02 9.96127657e-01 -5.54490381e-04 -3.63682636e-03] [-7.43747049e-03 -9.97907864e-05 9.99972337e-01 -2.86048601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899072329 meters 0.07446280209261612 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.01, Z:-0.29 [[ 9.96838811e-01 7.89197172e-02 9.16855933e-03 6.61599604e+00] [-7.89167950e-02 9.96880974e-01 -6.80637729e-04 -1.26196419e-02] [-9.19367810e-03 -4.50672124e-05 9.99957736e-01 -2.89565331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959072328999998 meters 0.07423627384288602 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.02, Z:-0.29 [[ 9.97191820e-01 7.43056507e-02 9.33514954e-03 6.67450608e+00] [-7.43024203e-02 9.97235514e-01 -6.92866564e-04 -1.64876307e-02] [-9.36082655e-03 -2.70333477e-06 9.99956186e-01 -2.89291097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019072329 meters 0.07426051984413713 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.02, Z:-0.29 [[ 9.97406536e-01 7.12074471e-02 1.04738818e-02 6.73276524e+00] [-7.12032214e-02 9.97461527e-01 -7.76274524e-04 -1.95896529e-02] [-1.05025707e-02 2.84871593e-05 9.99944846e-01 -2.90778299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079072329 meters 0.07426583992942722 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.02, Z:-0.29 [[ 9.97493900e-01 7.00310031e-02 1.00785773e-02 6.79130864e+00] [-7.00270370e-02 9.97544815e-01 -7.46312769e-04 -1.90309375e-02] [-1.01060975e-02 3.86695295e-05 9.99948931e-01 -2.94292116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139072328999998 meters 0.07424551868283855 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.01, Z:-0.30 [[ 9.97284297e-01 7.29877590e-02 9.83964445e-03 6.85002066e+00] [-7.29841204e-02 9.97332837e-01 -7.28843418e-04 -9.46381582e-03] [-9.86659716e-03 8.72629982e-06 9.99951324e-01 -2.97714347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199072329 meters 0.07427544317822012 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.00, Z:-0.30 [[ 9.96980647e-01 7.68610380e-02 1.10440009e-02 6.90969166e+00] [-7.68567199e-02 9.97041814e-01 -8.15506884e-04 -3.81393239e-04] [-1.10740114e-02 -3.57611016e-05 9.99938681e-01 -2.98886194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259072329 meters 0.07463777477795874 Centerline is valid? [True, True] Translation: X:6.97, Y:0.02, Z:-0.30 [[ 9.96332387e-01 8.50510055e-02 9.38623479e-03 6.97119872e+00] [-8.50482601e-02 9.96376593e-01 -6.91972759e-04 1.89893732e-02] [-9.41107762e-03 -1.08848068e-04 9.99955709e-01 -2.97343653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319072329 meters 0.07557802309123754 Centerline is valid? [True, True] Translation: X:7.03, Y:0.04, Z:-0.30 [[ 9.96104536e-01 8.79098889e-02 6.89967467e-03 7.03124676e+00] [-8.79084699e-02 9.96128426e-01 -5.09260746e-04 3.58722664e-02] [-6.91773113e-03 -9.92629044e-05 9.99976067e-01 -3.01318495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379072329 meters 0.07539198328627969 Centerline is valid? [True, True] Translation: X:7.09, Y:0.04, Z:-0.30 [[ 9.96279363e-01 8.58194924e-02 7.90219079e-03 7.09056031e+00] [-8.58175280e-02 9.96310698e-01 -5.87957558e-04 3.92961858e-02] [-7.92349544e-03 -9.23764985e-05 9.99968604e-01 -3.03766502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439072329 meters 0.07432267141415409 Centerline is valid? [True, True] Translation: X:7.15, Y:0.04, Z:-0.30 [[ 9.96793471e-01 7.93283130e-02 1.04783023e-02 7.14960445e+00] [-7.93246132e-02 9.96848541e-01 -7.68885649e-04 4.49143774e-02] [-1.05062748e-02 -6.47670813e-05 9.99944805e-01 -3.03367787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499072329 meters 0.07394770191548955 Centerline is valid? [True, True] Translation: X:7.21, Y:0.05, Z:-0.30 [[ 9.97269744e-01 7.28684797e-02 1.19683776e-02 7.20832579e+00] [-7.28631459e-02 9.97341559e-01 -8.81680237e-04 4.50724787e-02] [-1.20008071e-02 7.21938056e-06 9.99927988e-01 -3.03971084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559072329 meters 0.07435983116762829 Centerline is valid? [True, True] Translation: X:7.27, Y:0.05, Z:-0.31 [[ 9.97734199e-01 6.67099372e-02 8.73223539e-03 7.26816032e+00] [-6.67069096e-02 9.97772410e-01 -6.37842199e-04 4.97969684e-02] [-8.75533396e-03 5.38965393e-05 9.99961670e-01 -3.07877461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619072328999998 meters 0.07439123868282084 Centerline is valid? [True, True] Translation: X:7.33, Y:0.06, Z:-0.31 [[ 9.97803084e-01 6.58072120e-02 7.64312023e-03 7.32758634e+00] [-6.58048205e-02 9.97832354e-01 -5.64228982e-04 5.85170711e-02] [-7.66368299e-03 6.00352629e-05 9.99970632e-01 -3.07782181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679072329 meters 0.07408764728135213 Centerline is valid? [True, True] Translation: X:7.39, Y:0.08, Z:-0.31 [[ 9.97461189e-01 7.03746342e-02 1.08897565e-02 7.38720765e+00] [-7.03701732e-02 9.97520632e-01 -7.92749582e-04 7.62959929e-02] [-1.09185463e-02 2.44228873e-05 9.99940391e-01 -3.10316280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739072329 meters 0.07397432404764535 Centerline is valid? [True, True] Translation: X:7.45, Y:0.09, Z:-0.31 [[ 9.97066956e-01 7.56109704e-02 1.18518109e-02 7.44761526e+00] [-7.56060213e-02 9.97137393e-01 -8.65717228e-04 9.13233878e-02] [-1.18833416e-02 -3.28902269e-05 9.99929390e-01 -3.09888616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799072328999998 meters 0.07443019456210109 Centerline is valid? [True, True] Translation: X:7.51, Y:0.11, Z:-0.31 [[ 9.96577201e-01 8.20203301e-02 1.03222049e-02 7.50799761e+00] [-8.20169344e-02 9.96630652e-01 -7.52568300e-04 1.11017736e-01] [-1.03491517e-02 -9.66031933e-05 9.99946441e-01 -3.13857429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859072329 meters 0.07426191910392956 Centerline is valid? [True, True] Translation: X:7.57, Y:0.12, Z:-0.31 [[ 9.96230765e-01 8.58428039e-02 1.24609430e-02 7.56654366e+00] [-8.58382062e-02 9.96308679e-01 -9.04328812e-04 1.23070927e-01] [-1.24925758e-02 -1.68704809e-04 9.99921950e-01 -3.12588225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919072329 meters 0.07436361297188104 Centerline is valid? [True, True] Translation: X:7.63, Y:0.14, Z:-0.31 [[ 9.96073579e-01 8.73960984e-02 1.41190603e-02 7.62525603e+00] [-8.73904325e-02 9.96173616e-01 -1.01894476e-03 1.37859015e-01] [-1.41540872e-02 -2.18926835e-04 9.99899802e-01 -3.13708227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979072329 meters 0.07346518694023468 Centerline is valid? [True, True] Translation: X:7.68, Y:0.14, Z:-0.32 [[ 9.96727497e-01 7.96545853e-02 1.37638261e-02 7.68425734e+00] [-7.96485803e-02 9.96822519e-01 -9.84774329e-04 1.40327215e-01] [-1.37985336e-02 -1.14717557e-04 9.99904789e-01 -3.18502014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039072329 meters 0.07290798618944268 Centerline is valid? [True, True] Translation: X:7.74, Y:0.14, Z:-0.32 [[ 9.97721098e-01 6.57919951e-02 1.49674614e-02 7.74227971e+00] [-6.57833000e-02 9.97833356e-01 -1.07306298e-03 1.35986002e-01] [-1.50056312e-02 8.60085690e-05 9.99887405e-01 -3.22367467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099072329 meters 0.07387481906693705 Centerline is valid? [True, True] Translation: X:7.80, Y:0.13, Z:-0.33 [[ 9.98273899e-01 5.67545317e-02 1.51044643e-02 7.79896133e+00] [-5.67447455e-02 9.98388139e-01 -1.07603413e-03 1.28680798e-01] [-1.51411878e-02 2.17077806e-04 9.99885342e-01 -3.30072342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159072329 meters 0.07438443987964012 Centerline is valid? [True, True] Translation: X:7.86, Y:0.13, Z:-0.33 [[ 9.98824718e-01 4.49832215e-02 1.80469681e-02 7.85997711e+00] [-4.49674082e-02 9.98987633e-01 -1.28127980e-03 1.32989586e-01] [-1.80863340e-02 4.68248556e-04 9.99836319e-01 -3.28044950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219072329 meters 0.07488494155588563 Centerline is valid? [True, True] Translation: X:7.92, Y:0.14, Z:-0.33 [[ 9.98997928e-01 3.95459336e-02 2.09584951e-02 7.91941762e+00] [-3.95233877e-02 9.99217536e-01 -1.48903267e-03 1.36465587e-01] [-2.10009810e-02 6.59189820e-04 9.99779238e-01 -3.27586411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279072328999998 meters 0.07780110878608404 Centerline is valid? [True, True] Translation: X:7.98, Y:0.14, Z:-0.34 [[ 9.99191723e-01 3.57565517e-02 1.83676480e-02 7.97785379e+00] [-3.57386245e-02 9.99360321e-01 -1.30344601e-03 1.38061946e-01] [-1.84025053e-02 6.45957987e-04 9.99830451e-01 -3.38616697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339072329 meters 0.07806987977770256 Centerline is valid? [True, True] Translation: X:8.04, Y:0.15, Z:-0.34 [[ 9.99150061e-01 3.62560436e-02 1.96126148e-02 8.03656600e+00] [-3.62357144e-02 9.99342303e-01 -1.39103509e-03 1.53922156e-01] [-1.96501491e-02 6.79175682e-04 9.99806686e-01 -3.39295256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399072329 meters 0.07711044447914205 Centerline is valid? [True, True] Translation: X:8.10, Y:0.17, Z:-0.34 [[ 9.98944158e-01 3.97135494e-02 2.30955296e-02 8.09741995e+00] [-3.96863516e-02 9.99210849e-01 -1.63496469e-03 1.67017953e-01] [-2.31422340e-02 7.16661117e-04 9.99731926e-01 -3.37161298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459072328999998 meters 0.07523227175714503 Centerline is valid? [True, True] Translation: X:8.16, Y:0.18, Z:-0.34 [[ 9.98704389e-01 4.42660333e-02 2.51010127e-02 8.15854760e+00] [-4.42353697e-02 9.99019559e-01 -1.77583172e-03 1.83662429e-01] [-2.51550117e-02 6.63178361e-04 9.99683343e-01 -3.40601641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519072329 meters 0.07460801692326727 Centerline is valid? [True, True] Translation: X:8.22, Y:0.19, Z:-0.34 [[ 9.98584750e-01 4.65094153e-02 2.57948078e-02 8.21792354e+00] [-4.64777811e-02 9.98917657e-01 -1.82489289e-03 1.93557083e-01] [-2.58517637e-02 6.23424774e-04 9.99665593e-01 -3.41683180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579072329 meters 0.0741156321354563 Centerline is valid? [True, True] Translation: X:8.28, Y:0.21, Z:-0.34 [[ 9.98226048e-01 5.19124152e-02 2.91523123e-02 8.27850551e+00] [-5.18743878e-02 9.98651493e-01 -2.05972836e-03 2.09320233e-01] [-2.92199257e-02 5.43816145e-04 9.99572859e-01 -3.39631735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639072328999998 meters 0.07295089981946193 Centerline is valid? [True, True] Translation: X:8.34, Y:0.23, Z:-0.35 [[ 9.97800278e-01 6.03187605e-02 2.75000588e-02 8.33824607e+00] [-6.02881379e-02 9.98179127e-01 -1.94206476e-03 2.27958877e-01] [-2.75671276e-02 2.79865415e-04 9.99619915e-01 -3.46121619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699072329 meters 0.07282583059476494 Centerline is valid? [True, True] Translation: X:8.40, Y:0.23, Z:-0.35 [[ 9.97472906e-01 6.48856776e-02 2.89421889e-02 8.39791451e+00] [-6.48536865e-02 9.97892691e-01 -2.04367238e-03 2.34444291e-01] [-2.90138038e-02 1.61500185e-04 9.99578998e-01 -3.50614376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759072329 meters 0.071968277790935 Centerline is valid? [True, True] Translation: X:8.46, Y:0.25, Z:-0.35 [[ 9.96800291e-01 7.23937805e-02 3.38868818e-02 8.45756596e+00] [-7.23545657e-02 9.97376125e-01 -2.38370024e-03 2.50327026e-01] [-3.39705319e-02 -7.57975215e-05 9.99422832e-01 -3.48312154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819072329 meters 0.07188108398873426 Centerline is valid? [True, True] Translation: X:8.52, Y:0.26, Z:-0.35 [[ 9.96416609e-01 7.73194480e-02 3.42876639e-02 8.51643882e+00] [-7.72825106e-02 9.97006338e-01 -2.40327077e-03 2.57029781e-01] [-3.43708378e-02 -2.55177833e-04 9.99409116e-01 -3.50284289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879072329 meters 0.07297339616704426 Centerline is valid? [True, True] Translation: X:8.58, Y:0.26, Z:-0.35 [[ 9.95767364e-01 8.46809598e-02 3.57280383e-02 8.57534259e+00] [-8.46459070e-02 9.96407971e-01 -2.49528591e-03 2.61669803e-01] [-3.58110054e-02 -5.39507932e-04 9.99358435e-01 -3.52600641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939072329 meters 0.07313494280005645 Centerline is valid? [True, True] Translation: X:8.63, Y:0.26, Z:-0.35 [[ 9.95520436e-01 8.67494037e-02 3.75979176e-02 8.63399882e+00] [-8.67121890e-02 9.96229953e-01 -2.62243931e-03 2.60085427e-01] [-3.76836667e-02 -6.49505808e-04 9.99289507e-01 -3.53407015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999072329 meters 0.07341950056154854 Centerline is valid? [True, True] Translation: X:8.69, Y:0.26, Z:-0.35 [[ 9.94662890e-01 9.30122276e-02 4.46593884e-02 8.69441075e+00] [-9.29664708e-02 9.95664399e-01 -3.10495024e-03 2.57817173e-01] [-4.47545614e-02 -1.06344695e-03 9.98997447e-01 -3.49970967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059072329 meters 0.07388911845365939 Centerline is valid? [True, True] Translation: X:8.75, Y:0.25, Z:-0.35 [[ 9.94318635e-01 9.54685170e-02 4.70766956e-02 8.75370947e+00] [-9.54204746e-02 9.95431679e-01 -3.27189907e-03 2.50600382e-01] [-4.71739975e-02 -1.23877042e-03 9.98885919e-01 -3.49171235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119072328999998 meters 0.07259533282686972 Centerline is valid? [True, True] Translation: X:8.81, Y:0.23, Z:-0.35 [[ 9.94645633e-01 9.14434591e-02 4.81472575e-02 8.81125213e+00] [-9.13886052e-02 9.95809691e-01 -3.34402533e-03 2.28454892e-01] [-4.82512948e-02 -1.07399052e-03 9.98834651e-01 -3.51783118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179072329 meters 0.07212448112224525 Centerline is valid? [True, True] Translation: X:8.87, Y:0.21, Z:-0.36 [[ 9.94925661e-01 8.79023340e-02 4.89500737e-02 8.86894809e+00] [-8.78416560e-02 9.96128670e-01 -3.39360985e-03 2.08437812e-01] [-4.90588781e-02 -9.23466019e-04 9.98795461e-01 -3.55641357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239072329 meters 0.07160794486391336 Centerline is valid? [True, True] Translation: X:8.93, Y:0.17, Z:-0.36 [[ 9.95538215e-01 7.98084847e-02 5.03415080e-02 8.92545838e+00] [-7.97344528e-02 9.96810064e-01 -3.48034750e-03 1.71928015e-01] [-5.04586831e-02 -5.49133654e-04 9.98725998e-01 -3.57685155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299072328999998 meters 0.07147402667274179 Centerline is valid? [True, True] Translation: X:8.98, Y:0.13, Z:-0.36 [[ 9.96407027e-01 6.85623038e-02 4.97216982e-02 8.98167455e+00] [-6.84764081e-02 9.97646836e-01 -3.43092308e-03 1.32955558e-01] [-4.98399269e-02 1.38325757e-05 9.98757218e-01 -3.60908198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359072329 meters 0.07203569752208377 Centerline is valid? [True, True] Translation: X:9.04, Y:0.10, Z:-0.36 [[ 9.96928617e-01 6.16473807e-02 4.83004491e-02 9.03682584e+00] [-6.15587607e-02 9.98097934e-01 -3.32156761e-03 1.02540421e-01] [-4.84133444e-02 3.38050013e-04 9.98827329e-01 -3.62635896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419072329 meters 0.07298973540423812 Centerline is valid? [True, True] Translation: X:9.09, Y:0.06, Z:-0.37 [[ 9.97607703e-01 5.44859400e-02 4.25459002e-02 9.09300204e+00] [-5.44109463e-02 9.98514359e-01 -2.91953719e-03 6.18102476e-02] [-4.26417659e-02 5.97590100e-04 9.99090248e-01 -3.68088712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479072328999997 meters 0.07408530755840359 Centerline is valid? [True, True] Translation: X:9.15, Y:0.04, Z:-0.37 [[ 9.97889023e-01 5.27032218e-02 3.79455889e-02 9.15012863e+00] [-5.26423859e-02 9.98610040e-01 -2.60128909e-03 3.70683061e-02] [-3.80299424e-02 5.98251500e-04 9.99276421e-01 -3.71257185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539072329 meters 0.07521396162868019 Centerline is valid? [True, True] Translation: X:9.21, Y:0.00, Z:-0.38 [[ 9.98193394e-01 5.18691358e-02 3.03239492e-02 9.20519587e+00] [-5.18299573e-02 9.98653764e-01 -2.07713095e-03 3.50022362e-03] [-3.03908650e-02 5.01689399e-04 9.99537965e-01 -3.76833880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599072329 meters 0.07564145447220874 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.03, Z:-0.38 [[ 9.98350741e-01 5.08405779e-02 2.66652201e-02 9.26222932e+00] [-5.08099769e-02 9.98706673e-01 -1.82433627e-03 -2.50132877e-02] [-2.67234835e-02 4.66468250e-04 9.99642755e-01 -3.83337079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659072329 meters 0.07635295070966222 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.05, Z:-0.39 [[ 9.98504906e-01 4.84404116e-02 2.53274430e-02 9.31919459e+00] [-4.84120771e-02 9.98825948e-01 -1.73106719e-03 -4.88257833e-02] [-2.53815608e-02 5.02324955e-04 9.99677710e-01 -3.88071021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719072329 meters 0.07763514886850698 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.08, Z:-0.39 [[ 9.98808631e-01 4.37325954e-02 2.16512894e-02 9.37575160e+00] [-4.37108169e-02 9.99043132e-01 -1.47833494e-03 -8.16489236e-02] [-2.16952234e-02 5.30178153e-04 9.99764490e-01 -3.94687276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779072328999998 meters 0.07890981572665053 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.11, Z:-0.40 [[ 9.99003288e-01 4.17316994e-02 1.58396970e-02 9.43257197e+00] [-4.17197991e-02 9.99128765e-01 -1.08113582e-03 -1.09947224e-01] [-1.58710145e-02 4.19229262e-04 9.99873960e-01 -4.03994126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839072329 meters 0.0787187963505219 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.13, Z:-0.41 [[ 9.99104183e-01 3.99060990e-02 1.40831101e-02 9.49039057e+00] [-3.98965120e-02 9.99203355e-01 -9.61146973e-04 -1.27057135e-01] [-1.41102464e-02 3.98418991e-04 9.99900366e-01 -4.06490391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899072329 meters 0.07987424943720448 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.16, Z:-0.41 [[ 9.99250343e-01 3.74089504e-02 9.96605624e-03 9.54630813e+00] [-3.74040258e-02 9.99299993e-01 -6.80131691e-04 -1.55324903e-01] [-9.98452294e-03 3.06851201e-04 9.99950106e-01 -4.14492722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959072328999998 meters 0.08024328845169768 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.17, Z:-0.42 [[ 9.99238906e-01 3.82933658e-02 7.43149608e-03 9.60328107e+00] [-3.82906479e-02 9.99266515e-01 -5.07707200e-04 -1.71223597e-01] [-7.44548701e-03 2.22763987e-04 9.99972257e-01 -4.19459527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019072329 meters 0.07953152655692043 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.18, Z:-0.42 [[ 9.99052428e-01 4.33238929e-02 4.15774909e-03 9.66109240e+00] [-4.33230838e-02 9.99061074e-01 -2.84496616e-04 -1.81851266e-01] [-4.16617078e-03 1.04100522e-04 9.99991316e-01 -4.23657214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079072329 meters 0.07934695401118252 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.19, Z:-0.43 [[ 9.98871295e-01 4.74898016e-02 9.24089414e-04 9.71877826e+00] [-4.74897611e-02 9.98871723e-01 -6.56805282e-05 -1.85558626e-01] [-9.26165940e-04 2.17216088e-05 9.99999571e-01 -4.27407403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139072328999998 meters 0.07898965591653678 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.19, Z:-0.43 [[ 9.98586523e-01 5.31331150e-02 -1.35225503e-03 9.77728292e+00] [-5.31330431e-02 9.98587438e-01 8.90426961e-05 -1.88532428e-01] [ 1.35507600e-03 -1.70674116e-05 9.99999082e-01 -4.31671043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199072329 meters 0.07877556769271235 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.19, Z:-0.44 [[ 9.98417006e-01 5.61397287e-02 -3.43708489e-03 9.83524127e+00] [-5.61392937e-02 9.98422921e-01 2.22973984e-04 -1.94225279e-01] [ 3.44418204e-03 -2.96654989e-05 9.99994068e-01 -4.37053070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259072329 meters 0.07898708901252721 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.19, Z:-0.44 [[ 9.98337872e-01 5.72794394e-02 -6.36868489e-03 9.89523435e+00] [-5.72778756e-02 9.98358183e-01 4.27816338e-04 -1.93591446e-01] [ 6.38273376e-03 -6.23205116e-05 9.99979628e-01 -4.41771683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319072329 meters 0.07992390133330045 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.20, Z:-0.45 [[ 9.98410459e-01 5.58005728e-02 -7.92791825e-03 9.95233536e+00] [-5.57981266e-02 9.98441931e-01 5.29575392e-04 -1.96075287e-01] [ 7.94511661e-03 -8.63706238e-05 9.99968433e-01 -4.48114179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379072329 meters 0.07969381244046592 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.20, Z:-0.45 [[ 9.98690519e-01 5.05969846e-02 -7.56254598e-03 1.00111390e+01] [-5.05946632e-02 9.98719146e-01 4.98084551e-04 -2.03628696e-01] [ 7.57806104e-03 -1.14807852e-04 9.99971279e-01 -4.46525724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439072329 meters 0.08038021015452235 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.21, Z:-0.45 [[ 9.98878592e-01 4.65835355e-02 -8.45769872e-03 1.00704392e+01] [-4.65804190e-02 9.98914383e-01 5.65192942e-04 -2.13989678e-01] [ 8.47484558e-03 -1.70595980e-04 9.99964073e-01 -4.51068498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499072329 meters 0.08212021468048185 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.23, Z:-0.45 [[ 9.99343546e-01 3.55668108e-02 -6.89043190e-03 1.01300221e+01] [-3.55644804e-02 9.99367278e-01 4.60475341e-04 -2.25973513e-01] [ 6.90244981e-03 -2.15118430e-04 9.99976155e-01 -4.50146582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559072329 meters 0.08587242666764905 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.24, Z:-0.45 [[ 9.99645656e-01 2.61620499e-02 -4.91011207e-03 1.01883451e+01] [-2.61607548e-02 9.99657695e-01 3.27814666e-04 -2.43576013e-01] [ 4.91700762e-03 -1.99246269e-04 9.99987892e-01 -4.53110913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619072328999998 meters 0.08907099034388836 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.26, Z:-0.45 [[ 9.99949684e-01 8.82984946e-03 -4.76054562e-03 1.02476007e+01] [-8.82843290e-03 9.99960978e-01 3.18496953e-04 -2.64319496e-01] [ 4.76317213e-03 -2.76452770e-04 9.99988618e-01 -4.50689949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679072329 meters 0.1026427188066926 Centerline is valid? [True, False] Translation: X:10.25, Y:-0.27, Z:-0.45 [[ 9.99991348e-01 5.61627075e-04 -4.12175869e-03 1.02465548e+01] [-5.81889930e-04 9.99987745e-01 -4.91651873e-03 -2.74275346e-01] [ 4.11894692e-03 4.91887460e-03 9.99979419e-01 -4.52273347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739072329 meters 0.10018130509268121 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.28, Z:-0.45 [[ 9.99992668e-01 5.32581817e-04 -3.79226657e-03 1.02455466e+01] [-5.49354569e-04 9.99990067e-01 -4.42321585e-03 -2.76105891e-01] [ 3.78987318e-03 4.42526672e-03 9.99983027e-01 -4.51539335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799072328999998 meters 0.10276907181123532 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.28, Z:-0.45 [[ 9.99993050e-01 1.30669054e-03 -3.49171803e-03 1.02449610e+01] [-1.31489212e-03 9.99996380e-01 -2.34760482e-03 -2.82579605e-01] [ 3.48863779e-03 2.35217974e-03 9.99991148e-01 -4.51498918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859072329 meters 0.10476270069289269 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.29, Z:-0.45 [[ 9.99992366e-01 1.80757425e-03 -3.46419871e-03 1.02451132e+01] [-1.81215709e-03 9.99997487e-01 -1.32023437e-03 -2.85429257e-01] [ 3.46180359e-03 1.32650196e-03 9.99993128e-01 -4.51923882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919072329 meters 0.12190165592016261 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.29, Z:-0.45 [[ 9.99991388e-01 2.52156025e-03 -3.29643905e-03 1.02449950e+01] [-2.52000806e-03 9.99996712e-01 4.74935319e-04 -2.91091728e-01] [ 3.29762579e-03 -4.66624176e-04 9.99994454e-01 -4.52477014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979072328999997 meters 0.10278764799199899 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.29, Z:-0.45 [[ 9.99992755e-01 -1.19825709e-03 -3.61312812e-03 1.02457398e+01] [ 1.18839604e-03 9.99995567e-01 -2.73014048e-03 -2.93992288e-01] [ 3.61638351e-03 2.72582687e-03 9.99989746e-01 -4.52678416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039072329 meters 0.10152076739605993 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.30, Z:-0.45 [[ 9.99992439e-01 -1.11792199e-03 -3.72447409e-03 1.02450407e+01] [ 1.10912548e-03 9.99996593e-01 -2.36304255e-03 -2.95804799e-01] [ 3.72710310e-03 2.35889378e-03 9.99990272e-01 -4.51271467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099072329 meters 0.10270712109358598 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.30, Z:-0.45 [[ 9.99992408e-01 -8.14595943e-04 -3.81065319e-03 1.02451877e+01] [ 8.07878657e-04 9.99998118e-01 -1.76397222e-03 -2.97515847e-01] [ 3.81208294e-03 1.76088028e-03 9.99991184e-01 -4.51255484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159072329 meters 0.10514112373805704 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.30, Z:-0.45 [[ 9.99991563e-01 -4.80869855e-04 -4.07943542e-03 1.02456866e+01] [ 4.76048794e-04 9.99999187e-01 -1.18268478e-03 -2.98979059e-01] [ 4.08000082e-03 1.18073280e-03 9.99990980e-01 -4.51149043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219072329 meters 0.0986022709715569 Centerline is valid? [False, True] Translation: X:10.25, Y:-0.30, Z:-0.45 [[ 9.99991130e-01 -6.92699839e-04 -4.15461137e-03 1.02452369e+01] [ 6.86697947e-04 9.99998719e-01 -1.44588640e-03 -2.98804589e-01] [ 4.15560761e-03 1.44302061e-03 9.99990324e-01 -4.50170814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279072328999998 meters 0.09895309655420245 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.31, Z:-0.45 [[ 9.99986801e-01 -5.13026749e-03 -2.80335255e-04 1.03052851e+01] [ 5.13027450e-03 9.99986840e-01 2.43145263e-05 -3.08088927e-01] [ 2.80206826e-04 -2.57524022e-05 9.99999960e-01 -4.47427658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339072329 meters 0.10946106666845283 Centerline is valid? [True, False] Translation: X:10.31, Y:-0.31, Z:-0.45 [[ 9.99987419e-01 -5.01491413e-03 -1.10308698e-04 1.03051825e+01] [ 5.01494715e-03 9.99987380e-01 3.01079288e-04 -3.08595462e-01] [ 1.08797419e-04 -3.01628692e-04 9.99999949e-01 -4.47734223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399072329 meters 0.10912069910228583 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.31, Z:-0.45 [[ 9.99989183e-01 -4.64839962e-03 1.60692386e-04 1.03051440e+01] [ 4.64815439e-03 9.99988081e-01 1.49419901e-03 -3.12377682e-01] [-1.67636104e-04 -1.49343593e-03 9.99998871e-01 -4.48734018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459072328999998 meters 0.12068186704698869 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.31, Z:-0.45 [[ 9.99989681e-01 -4.53854470e-03 2.01253286e-04 1.03054003e+01] [ 4.53819306e-03 9.99988232e-01 1.71454707e-03 -3.12700984e-01] [-2.09032466e-04 -1.71361605e-03 9.99998510e-01 -4.49275809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519072329 meters 0.10954969562276541 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.31, Z:-0.45 [[ 9.99998673e-01 -1.47780307e-03 6.85564004e-04 1.03029495e+01] [ 1.47489231e-03 9.99989978e-01 4.22705318e-03 -3.09201723e-01] [-6.91803886e-04 -4.22603644e-03 9.99990831e-01 -4.47020411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579072329 meters 0.11097618824839188 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.44 [[ 9.99995630e-01 -2.87855042e-03 6.74185934e-04 1.03018371e+01] [ 2.87748700e-03 9.99994623e-01 1.57303525e-03 -3.02459093e-01] [-6.78710370e-04 -1.57108841e-03 9.99998536e-01 -4.44956106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639072328999998 meters 0.11537758964279571 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.45 [[ 9.99996681e-01 -2.51738367e-03 5.48911357e-04 1.03028164e+01] [ 2.51627775e-03 9.99994822e-01 2.00622031e-03 -3.02966334e-01] [-5.53958941e-04 -2.00483243e-03 9.99997837e-01 -4.46097435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699072329 meters 0.11468263774270135 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.45 [[ 9.99994895e-01 -3.08718026e-03 8.24682125e-04 1.03020930e+01] [ 3.08633522e-03 9.99994713e-01 1.02400060e-03 -3.00559021e-01] [-8.27839040e-04 -1.02145012e-03 9.99999136e-01 -4.45780526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759072329 meters 0.1236149791805863 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.44 [[ 9.99992105e-01 -3.87130371e-03 8.96000658e-04 1.03014255e+01] [ 3.87167428e-03 9.99992420e-01 -4.12214525e-04 -2.96027941e-01] [-8.94398059e-04 4.15680293e-04 9.99999514e-01 -4.44767050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819072328999997 meters 0.11493772491341349 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.45 [[ 9.99993241e-01 -3.60150818e-03 7.40235894e-04 1.03019096e+01] [ 3.60150833e-03 9.99993515e-01 1.14053595e-06 -2.97010725e-01] [-7.40235201e-04 1.52543750e-06 9.99999726e-01 -4.45054213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879072329 meters 0.1260548994381744 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.45 [[ 9.99994536e-01 -3.22908025e-03 7.07699895e-04 1.03024414e+01] [ 3.22865727e-03 9.99994609e-01 5.98003426e-04 -2.98205175e-01] [-7.09627080e-04 -5.95715238e-04 9.99999571e-01 -4.45818147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939072329 meters 0.1280570295201385 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.45 [[ 9.99995783e-01 -2.87899644e-03 3.82118362e-04 1.03042569e+01] [ 2.87869715e-03 9.99995551e-01 7.81507704e-04 -2.96872032e-01] [-3.84366620e-04 -7.80404405e-04 9.99999622e-01 -4.47398623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999072329 meters 0.11334981702413198 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.45 [[ 9.99996652e-01 -2.56754526e-03 3.23346825e-04 1.03047502e+01] [ 2.56712042e-03 9.99995850e-01 1.30749821e-03 -2.98229007e-01] [-3.26702544e-04 -1.30666376e-03 9.99999093e-01 -4.48086440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059072329 meters 0.1208767950341062 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.45 [[ 9.99996951e-01 -2.44579026e-03 3.40733768e-04 1.03044361e+01] [ 2.44526632e-03 9.99995840e-01 1.52969160e-03 -2.99154075e-01] [-3.44473656e-04 -1.52885375e-03 9.99998772e-01 -4.47640075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119072328999998 meters 0.10926714832286645 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.29, Z:-0.45 [[ 9.99996160e-01 -2.76563438e-03 -1.77121406e-04 1.03050573e+01] [ 2.76565548e-03 9.99996168e-01 1.18981019e-04 -2.93835834e-01] [ 1.76791669e-04 -1.19470419e-04 9.99999977e-01 -4.46478188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179072329 meters 0.10224823265771461 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.29, Z:-0.45 [[ 9.99998908e-01 1.46930377e-03 -1.59859950e-04 1.03047481e+01] [-1.46860223e-03 9.99989662e-01 4.30344497e-03 -2.93899233e-01] [ 1.66181365e-04 -4.30320550e-03 9.99990727e-01 -4.46085475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239072329 meters 0.09834474147662665 Centerline is valid? [False, True] Translation: X:10.30, Y:-0.29, Z:-0.44 [[ 9.99999193e-01 1.14498009e-03 -5.51178037e-04 1.03048253e+01] [-1.14343629e-03 9.99995445e-01 2.79312333e-03 -2.89981097e-01] [ 5.54373597e-04 -2.79249084e-03 9.99995947e-01 -4.44561782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299072328999998 meters 0.10314580820605124 Centerline is valid? [True, False] Translation: X:10.31, Y:-0.29, Z:-0.44 [[ 9.99998376e-01 1.17528765e-03 -1.36646461e-03 1.03062853e+01] [-1.17273860e-03 9.99997574e-01 1.86474487e-03 -2.86097514e-01] [ 1.36865290e-03 -1.86313934e-03 9.99997328e-01 -4.44070607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359072329 meters 0.09410509183555064 Centerline is valid? [False, True] Translation: X:10.31, Y:-0.29, Z:-0.44 [[ 9.99997814e-01 1.13407791e-03 -1.75694311e-03 1.03065633e+01] [-1.13146812e-03 9.99998256e-01 1.48569770e-03 -2.85136417e-01] [ 1.75862494e-03 -1.48370653e-03 9.99997353e-01 -4.43203726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419072329 meters 0.0916965592769863 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.29, Z:-0.44 [[ 9.99975871e-01 6.89512409e-03 -8.45394188e-04 1.03672936e+01] [-6.89507026e-03 9.99976227e-01 6.65698201e-05 -2.87627374e-01] [ 8.45833098e-04 -6.07391615e-05 9.99999640e-01 -4.41957678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479072328999997 meters 0.09284857788620403 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.30, Z:-0.44 [[ 9.99968487e-01 7.85272706e-03 1.16579405e-03 1.04248757e+01] [-7.85262497e-03 9.99969163e-01 -9.21229338e-05 -2.97645374e-01] [-1.16648152e-03 8.29654873e-05 9.99999316e-01 -4.41168046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539072329 meters 0.09173637002020746 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.31, Z:-0.44 [[ 9.99984911e-01 4.76345727e-03 2.73628966e-03 1.04842322e+01] [-4.76288635e-03 9.99988634e-01 -2.15127619e-04 -3.09559428e-01] [-2.73728331e-03 2.02091736e-04 9.99996233e-01 -4.42692692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599072329 meters 0.09922164753555293 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.33, Z:-0.44 [[ 9.99994660e-01 1.35106347e-03 2.97573841e-03 1.05422526e+01] [-1.35037388e-03 9.99999061e-01 -2.33733399e-04 -3.33614507e-01] [-2.97605140e-03 2.29713791e-04 9.99995545e-01 -4.44047550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659072329 meters 0.09368559192620816 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.34, Z:-0.45 [[ 9.99988162e-01 -4.84455984e-03 4.53168317e-04 1.06027439e+01] [ 4.84457645e-03 9.99988264e-01 -3.55615206e-05 -3.36489067e-01] [-4.52990718e-04 3.77565082e-05 9.99999897e-01 -4.45146642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719072329 meters 0.0964214870008173 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.35, Z:-0.45 [[ 9.99972958e-01 -7.27351673e-03 1.08594824e-03 1.06614723e+01] [ 7.27361368e-03 9.99973543e-01 -8.53527037e-05 -3.49821867e-01] [-1.08529870e-03 9.32491636e-05 9.99999407e-01 -4.45746317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779072328999998 meters 0.10143437986735786 Centerline is valid? [True, False] Translation: X:10.66, Y:-0.36, Z:-0.45 [[ 9.99956098e-01 -9.33654942e-03 7.94110725e-04 1.06639276e+01] [ 9.33641900e-03 9.99956401e-01 1.67778499e-04 -3.60706982e-01] [-7.95642574e-04 -1.60356983e-04 9.99999671e-01 -4.49457423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839072329 meters 0.10226439845417794 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.37, Z:-0.45 [[ 9.99964838e-01 -8.33334324e-03 9.36806763e-04 1.06644924e+01] [ 8.33113341e-03 9.99962561e-01 2.33855384e-03 -3.66349425e-01] [-9.56259662e-04 -2.33066695e-03 9.99996827e-01 -4.51186928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899072329 meters 0.10496177905397888 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.37, Z:-0.45 [[ 9.99939313e-01 -1.09885433e-02 7.88405727e-04 1.06658631e+01] [ 1.09875214e-02 9.99938805e-01 1.28899216e-03 -3.74543199e-01] [-8.02521626e-04 -1.28025131e-03 9.99998858e-01 -4.53121604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959072328999998 meters 0.10427147680756359 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.38, Z:-0.46 [[ 9.99955848e-01 -9.37598402e-03 6.26940717e-04 1.06672687e+01] [ 9.37319240e-03 9.99946754e-01 4.31657040e-03 -3.82086261e-01] [-6.67379430e-04 -4.31050338e-03 9.99990487e-01 -4.55070490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019072329 meters 0.10419726251832546 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.39, Z:-0.46 [[ 9.99994040e-01 -3.27852389e-03 1.08248730e-03 1.06616282e+01] [ 3.27984624e-03 9.99993875e-01 -1.22207923e-03 -3.90703492e-01] [-1.07847406e-03 1.22562233e-03 9.99998667e-01 -4.61246446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079072329 meters 0.10319924526742666 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.39, Z:-0.46 [[ 9.99996522e-01 -2.54772325e-03 6.82686648e-04 1.06630182e+01] [ 2.54779836e-03 9.99996748e-01 -1.09182964e-04 -3.93003474e-01] [-6.82406260e-04 1.10921933e-04 9.99999761e-01 -4.62187992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139072328999998 meters 0.10133068509086199 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.39, Z:-0.46 [[ 9.99998650e-01 -1.62413004e-03 -2.47889733e-04 1.06654553e+01] [ 1.62436026e-03 9.99998247e-01 9.31340697e-04 -3.94649646e-01] [ 2.46376680e-04 -9.31742102e-04 9.99999536e-01 -4.63257366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199072329 meters 0.09894586379297349 Centerline is valid? [False, True] Translation: X:10.67, Y:-0.40, Z:-0.47 [[ 9.99999062e-01 -7.07179248e-04 -1.17309490e-03 1.06684415e+01] [ 7.09272284e-04 9.99998156e-01 1.78474450e-03 -3.95468774e-01] [ 1.17183060e-03 -1.78557487e-03 9.99997719e-01 -4.65315303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259072329 meters 0.09355233367423188 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.39, Z:-0.46 [[ 9.99997841e-01 2.07731610e-03 -5.95380481e-05 1.07294599e+01] [-2.07731585e-03 9.99997842e-01 4.36931046e-06 -3.88382139e-01] [ 5.95469961e-05 -4.24562169e-06 9.99999998e-01 -4.62339000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319072328999997 meters 0.0930859562934846 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.39, Z:-0.46 [[ 9.99981703e-01 5.32105010e-03 2.87763515e-03 1.07890616e+01] [-5.32044112e-03 9.99985822e-01 -2.19239800e-04 -3.88191593e-01] [-2.87876093e-03 2.03925501e-04 9.99995836e-01 -4.62651448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379072329 meters 0.09354194842384705 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.39, Z:-0.46 [[ 9.99983384e-01 5.74141722e-03 5.17135666e-04 1.08494235e+01] [-5.74139766e-03 9.99983517e-01 -3.92964221e-05 -3.86693459e-01] [-5.17352760e-04 3.63266876e-05 9.99999866e-01 -4.64752434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439072329 meters 0.10077059958114024 Centerline is valid? [True, False] Translation: X:10.85, Y:-0.38, Z:-0.47 [[ 9.99989257e-01 4.61081459e-03 4.75484451e-04 1.08509580e+01] [-4.60975212e-03 9.99986929e-01 -2.21189530e-03 -3.79600909e-01] [-4.85676875e-04 2.20967967e-03 9.99997441e-01 -4.66506875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499072329 meters 0.10444239798834086 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.37, Z:-0.46 [[ 9.99996377e-01 2.36551828e-03 1.28431546e-03 1.08481408e+01] [-2.35809071e-03 9.99980663e-01 -5.75432806e-03 -3.71081564e-01] [-1.29790259e-03 5.75127868e-03 9.99982619e-01 -4.64449074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559072329 meters 0.10346721661273406 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.36, Z:-0.47 [[ 9.99959598e-01 -3.64512571e-03 8.21676516e-03 1.08541388e+01] [ 3.64331436e-03 9.99993335e-01 2.35403860e-04 -3.62985432e-01] [-8.21756848e-03 -2.05458090e-04 9.99966214e-01 -4.66635984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619072328999998 meters 0.10585802362697183 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.35, Z:-0.47 [[ 9.99951518e-01 -3.13531343e-03 9.33446418e-03 1.08520921e+01] [ 3.14494618e-03 9.99994537e-01 -1.01745609e-03 -3.46699868e-01] [-9.33122314e-03 1.04676314e-03 9.99955915e-01 -4.66980323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679072329 meters 0.1031483861767536 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.34, Z:-0.47 [[ 9.99954540e-01 -1.01520806e-03 9.48093604e-03 1.08520248e+01] [ 1.02408231e-03 9.99999042e-01 -9.31201519e-04 -3.35116244e-01] [-9.47998159e-03 9.40868445e-04 9.99954621e-01 -4.66698533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739072329 meters 0.10311596344645675 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.31, Z:-0.46 [[ 9.99994867e-01 1.06564461e-03 3.02178727e-03 1.08615841e+01] [-1.06752808e-03 9.99999237e-01 6.21750698e-04 -3.06195003e-01] [-3.02112240e-03 -6.24973349e-04 9.99995241e-01 -4.56049676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799072328999998 meters 0.10261277186271948 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.28, Z:-0.45 [[ 9.99973940e-01 6.87159375e-03 2.21383864e-03 1.08627689e+01] [-6.87038194e-03 9.99976245e-01 -5.54522582e-04 -2.83107178e-01] [-2.21759650e-03 5.39298214e-04 9.99997396e-01 -4.51345978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859072329 meters 0.09484662725492833 Centerline is valid? [False, True] Translation: X:10.87, Y:-0.25, Z:-0.45 [[ 9.99885425e-01 1.50290199e-02 -1.80714698e-03 1.08714788e+01] [-1.50392945e-02 9.99870005e-01 -5.81315448e-03 -2.49698609e-01] [ 1.71954605e-03 5.83966665e-03 9.99981471e-01 -4.50173018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919072329 meters 0.08797838302336657 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.22, Z:-0.45 [[ 9.99823789e-01 1.87494319e-02 -9.21403991e-04 1.09344407e+01] [-1.87493653e-02 9.99824212e-01 8.08447508e-05 -2.23299667e-01] [ 9.22757812e-04 -6.35547650e-05 9.99999572e-01 -4.50479562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979072328999997 meters 0.08518657398540766 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.19, Z:-0.45 [[ 9.99708834e-01 2.39808054e-02 2.67740581e-03 1.09983255e+01] [-2.39802593e-02 9.99712404e-01 -2.35885558e-04 -1.86586168e-01] [-2.68229253e-03 1.71611990e-04 9.99996388e-01 -4.48054854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039072329 meters 0.08331731612114088 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.15, Z:-0.45 [[ 9.99608551e-01 2.79449414e-02 1.35089825e-03 1.10616534e+01] [-2.79448055e-02 9.99609461e-01 -1.19377126e-04 -1.53332035e-01] [-1.35370665e-03 8.15798072e-05 9.99999080e-01 -4.51032627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099072329 meters 0.08401823345416272 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.13, Z:-0.46 [[ 9.99552125e-01 2.99225760e-02 -4.34105799e-04 1.11213461e+01] [-2.99225632e-02 9.99552219e-01 3.59893514e-05 -1.34791578e-01] [ 4.34988309e-04 -2.29836745e-05 9.99999905e-01 -4.57790624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159072329 meters 0.0804461678870891 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.09, Z:-0.46 [[ 9.99429646e-01 3.33086305e-02 5.56045040e-03 1.11865402e+01] [-3.33064342e-02 9.99445068e-01 -4.87141051e-04 -8.89893357e-02] [-5.57359073e-03 3.01664433e-04 9.99984422e-01 -4.57694764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219072329 meters 0.08087403229008241 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.07, Z:-0.46 [[ 9.99243850e-01 3.77404319e-02 9.34820180e-03 1.12482801e+01] [-3.77344094e-02 9.99287467e-01 -8.19850401e-04 -6.96533462e-02] [-9.37248240e-03 4.66481597e-04 9.99955969e-01 -4.59218083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279072328999998 meters 0.07927524241469242 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.03, Z:-0.46 [[ 9.99025337e-01 4.33921637e-02 8.09299302e-03 1.13117542e+01] [-4.33878378e-02 9.99058052e-01 -7.09417899e-04 -3.43288946e-02] [-8.11615302e-03 3.57588987e-04 9.99967000e-01 -4.62739446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339072329 meters 0.07988647910823482 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.02, Z:-0.47 [[ 9.98973207e-01 4.50508572e-02 4.79087161e-03 1.13709654e+01] [-4.50493492e-02 9.98984673e-01 -4.22257207e-04 -1.64520291e-02] [-4.80503036e-03 2.05997987e-04 9.99988435e-01 -4.67175292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399072329 meters 0.08042033014645049 Centerline is valid? [True, True] Translation: X:11.43, Y:0.01, Z:-0.47 [[ 9.98908159e-01 4.60197371e-02 8.04205564e-03 1.14326999e+01] [-4.60155462e-02 9.98940475e-01 -7.05480153e-04 9.96168751e-03] [-8.06600089e-03 3.34650298e-04 9.99967413e-01 -4.68654739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459072328999998 meters 0.07914061520708601 Centerline is valid? [True, True] Translation: X:11.50, Y:0.04, Z:-0.47 [[ 9.98742799e-01 4.90669471e-02 1.02594431e-02 1.14952234e+01] [-4.90603166e-02 9.98795415e-01 -8.97107807e-04 4.07873114e-02] [-1.02911031e-02 3.92648436e-04 9.99946968e-01 -4.70303189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519072329 meters 0.07980213559449864 Centerline is valid? [True, True] Translation: X:11.55, Y:0.06, Z:-0.47 [[ 9.98644596e-01 5.07440238e-02 1.15764788e-02 1.15547943e+01] [-5.07356955e-02 9.98711602e-01 -1.01214805e-03 5.50808355e-02] [-1.16129242e-02 4.23435475e-04 9.99932478e-01 -4.72033599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579072329 meters 0.07955276024000696 Centerline is valid? [True, True] Translation: X:11.62, Y:0.08, Z:-0.47 [[ 9.98520549e-01 5.14397493e-02 1.76257087e-02 1.16161477e+01] [-5.14205866e-02 9.98675901e-01 -1.53897846e-03 8.02187308e-02] [-1.76815352e-02 6.30377340e-04 9.99843471e-01 -4.66282478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639072328999998 meters 0.0797200994782296 Centerline is valid? [True, True] Translation: X:11.67, Y:0.08, Z:-0.47 [[ 9.98523263e-01 5.09606346e-02 1.88230500e-02 1.16745367e+01] [-5.09387049e-02 9.98700430e-01 -1.64297848e-03 8.45747530e-02] [-1.88823153e-02 6.81730447e-04 9.99821481e-01 -4.66364657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699072329 meters 0.08179370999812023 Centerline is valid? [True, True] Translation: X:11.73, Y:0.10, Z:-0.47 [[ 9.98656717e-01 4.81287999e-02 1.91932589e-02 1.17349534e+01] [-4.81055929e-02 9.98840861e-01 -1.66925603e-03 1.03486620e-01] [-1.92513506e-02 7.43710650e-04 9.99814399e-01 -4.69154600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759072329 meters 0.08354717398264368 Centerline is valid? [True, True] Translation: X:11.79, Y:0.11, Z:-0.47 [[ 9.98754662e-01 4.57889821e-02 1.98114885e-02 1.17944037e+01] [-4.57638163e-02 9.98950803e-01 -1.72201185e-03 1.12214519e-01] [-1.98695516e-02 8.13218037e-04 9.99802250e-01 -4.72370731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819072328999997 meters 0.07333548340220176 Centerline is valid? [True, True] Translation: X:11.86, Y:0.18, Z:-0.47 [[ 9.97148322e-01 7.27893923e-02 1.99230428e-02 1.18612354e+01] [-7.27693390e-02 9.97347296e-01 -1.73062447e-03 1.77661332e-01] [-1.99961639e-02 2.75902639e-04 9.99800019e-01 -4.68716272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879072329 meters 0.07312063003978367 Centerline is valid? [True, True] Translation: X:11.92, Y:0.18, Z:-0.47 [[ 9.97055566e-01 7.38105151e-02 2.07895627e-02 1.19191843e+01] [-7.37889002e-02 9.97272248e-01 -1.80593921e-03 1.78322896e-01] [-2.08661512e-02 2.66582772e-04 9.99782243e-01 -4.66407064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939072329 meters 0.07351749092035524 Centerline is valid? [True, True] Translation: X:11.98, Y:0.16, Z:-0.47 [[ 9.97015954e-01 7.33536586e-02 2.40505173e-02 1.19753941e+01] [-7.33246575e-02 9.97305941e-01 -2.08669570e-03 1.63783494e-01] [-2.41387905e-02 3.16972964e-04 9.99708567e-01 -4.73363673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999072329 meters 0.07371632730372679 Centerline is valid? [True, True] Translation: X:12.03, Y:0.15, Z:-0.48 [[ 9.96922828e-01 7.41782838e-02 2.53467260e-02 1.20325197e+01] [-7.41465157e-02 9.97244949e-01 -2.19218692e-03 1.51434801e-01] [-2.54395072e-02 3.06069764e-04 9.99676317e-01 -4.81151680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059072328999996 meters 0.07338856302684255 Centerline is valid? [True, True] Translation: X:12.09, Y:0.15, Z:-0.47 [[ 9.96918183e-01 7.36449869e-02 2.70287182e-02 1.20901835e+01] [-7.36088316e-02 9.97284465e-01 -2.33154423e-03 1.51308939e-01] [-2.71270273e-02 3.34806478e-04 9.99631938e-01 -4.74432898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119072329 meters 0.07245687545513842 Centerline is valid? [True, True] Translation: X:12.15, Y:0.16, Z:-0.47 [[ 9.96606294e-01 7.72669903e-02 2.83849953e-02 1.21501273e+01] [-7.72286762e-02 9.97010407e-01 -2.44525960e-03 1.58568768e-01] [-2.84890736e-02 2.44825494e-04 9.99594074e-01 -4.69952407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17907232899999 meters 0.07277825093785015 Centerline is valid? [True, True] Translation: X:12.21, Y:0.15, Z:-0.47 [[ 9.96456104e-01 7.79650991e-02 3.15701651e-02 1.22083681e+01] [-7.79183049e-02 9.96956060e-01 -2.71165816e-03 1.48361845e-01] [-3.16854821e-02 2.42154576e-04 9.99497860e-01 -4.74317769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239072328999995 meters 0.07290985241467886 Centerline is valid? [True, True] Translation: X:12.27, Y:0.14, Z:-0.47 [[ 9.96289014e-01 7.83328767e-02 3.56673608e-02 1.22665139e+01] [-7.82737015e-02 9.96927228e-01 -3.05457835e-03 1.41434795e-01] [-3.57970370e-02 2.51426505e-04 9.99359049e-01 -4.73497856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299072329 meters 0.07271050580152709 Centerline is valid? [True, True] Translation: X:12.32, Y:0.14, Z:-0.47 [[ 9.96094330e-01 7.91336716e-02 3.91656326e-02 1.23247779e+01] [-7.90633141e-02 9.96863986e-01 -3.34447210e-03 1.37957479e-01] [-3.93074690e-02 2.34844982e-04 9.99227135e-01 -4.71661675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35907232899999 meters 0.07276836855717395 Centerline is valid? [True, True] Translation: X:12.38, Y:0.14, Z:-0.47 [[ 9.95846162e-01 8.08981456e-02 4.17841146e-02 1.23833865e+01] [-8.08200435e-02 9.96722360e-01 -3.55782312e-03 1.37018914e-01] [-4.19349826e-02 1.66050540e-04 9.99120328e-01 -4.69693836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419072328999995 meters 0.07317550462633704 Centerline is valid? [True, True] Translation: X:12.44, Y:0.13, Z:-0.47 [[ 9.95439372e-01 8.38838359e-02 4.54308198e-02 1.24414707e+01] [-8.37950053e-02 9.96475540e-01 -3.85956462e-03 1.33031598e-01] [-4.55944558e-02 3.50867957e-05 9.98960031e-01 -4.70338699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479072329 meters 0.07340811336746525 Centerline is valid? [True, True] Translation: X:12.50, Y:0.13, Z:-0.47 [[ 9.95185871e-01 8.51351815e-02 4.85498067e-02 1.25003072e+01] [-8.50356640e-02 9.96369409e-01 -4.11534496e-03 1.29688108e-01] [-4.87239029e-02 -3.29318900e-05 9.98812285e-01 -4.69497082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53907232899999 meters 0.07376675548201475 Centerline is valid? [True, True] Translation: X:12.56, Y:0.12, Z:-0.47 [[ 9.95058042e-01 8.54051854e-02 5.06502491e-02 1.25575056e+01] [-8.52976211e-02 9.96346301e-01 -4.28540305e-03 1.24106412e-01] [-5.08311840e-02 -5.61209831e-05 9.98707258e-01 -4.69904063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599072328999995 meters 0.07384443083655255 Centerline is valid? [True, True] Translation: X:12.62, Y:0.12, Z:-0.47 [[ 9.94860326e-01 8.65117941e-02 5.26178825e-02 1.26156808e+01] [-8.63977394e-02 9.96250819e-01 -4.44264491e-03 1.19471251e-01] [-5.28049497e-02 -1.26254937e-04 9.98604837e-01 -4.73776892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659072329 meters 0.0744814503246774 Centerline is valid? [True, True] Translation: X:12.67, Y:0.11, Z:-0.47 [[ 9.94757299e-01 8.66836581e-02 5.42573529e-02 1.26734235e+01] [-8.65630968e-02 9.96235876e-01 -4.57261052e-03 1.14435518e-01] [-5.44494921e-02 -1.48046796e-04 9.98516515e-01 -4.71662625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71907232899999 meters 0.07499484478165064 Centerline is valid? [True, True] Translation: X:12.73, Y:0.11, Z:-0.47 [[ 9.94663963e-01 8.78499895e-02 5.40923259e-02 1.27300930e+01] [-8.77321907e-02 9.96133692e-01 -4.55306357e-03 1.11988014e-01] [-5.42831749e-02 -2.16869994e-04 9.98525558e-01 -4.72527579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779072328999995 meters 0.07546017060443146 Centerline is valid? [True, True] Translation: X:12.79, Y:0.10, Z:-0.48 [[ 9.94617195e-01 8.84310267e-02 5.40054586e-02 1.27870995e+01] [-8.83150718e-02 9.96082269e-01 -4.53451759e-03 1.02050054e-01] [-5.41948717e-02 -2.59386787e-04 9.98530344e-01 -4.81758571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839072329 meters 0.0758630680553627 Centerline is valid? [True, True] Translation: X:12.84, Y:0.09, Z:-0.49 [[ 9.94700286e-01 8.79161796e-02 5.33112229e-02 1.28439827e+01] [-8.78029867e-02 9.96127847e-01 -4.46620236e-03 9.27973157e-02] [-5.34974451e-02 -2.38351833e-04 9.98567958e-01 -4.85338071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.89907232899999 meters 0.07550586733965789 Centerline is valid? [True, True] Translation: X:12.90, Y:0.09, Z:-0.49 [[ 9.94719947e-01 8.79097836e-02 5.29537300e-02 1.29020027e+01] [-8.77986859e-02 9.96128410e-01 -4.42516120e-03 9.16593834e-02] [-5.31377298e-02 -2.47471792e-04 9.98587162e-01 -4.85177780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959072328999994 meters 0.07623738241059315 Centerline is valid? [True, True] Translation: X:12.96, Y:0.08, Z:-0.49 [[ 9.94821591e-01 8.77021067e-02 5.13648057e-02 1.29595153e+01] [-8.75977417e-02 9.96146718e-01 -4.28388656e-03 8.46687675e-02] [-5.15425885e-02 -2.37738140e-04 9.98670769e-01 -4.91343133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019072329 meters 0.07642960573953529 Centerline is valid? [True, True] Translation: X:13.02, Y:0.07, Z:-0.50 [[ 9.95019556e-01 8.61421684e-02 5.01558478e-02 1.30170737e+01] [-8.60410982e-02 9.96282842e-01 -4.17476770e-03 7.48702522e-02] [-5.03290341e-02 -1.61488718e-04 9.98732678e-01 -4.98058392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079072329 meters 0.07630898095471071 Centerline is valid? [True, True] Translation: X:13.08, Y:0.07, Z:-0.50 [[ 9.95208482e-01 8.46259803e-02 4.89747046e-02 1.30752818e+01] [-8.45283520e-02 9.96412783e-01 -4.06486907e-03 6.73088475e-02] [-4.91430152e-02 -9.43588924e-05 9.98791748e-01 -5.02144818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139072328999994 meters 0.07624623069033364 Centerline is valid? [True, True] Translation: X:13.13, Y:0.06, Z:-0.51 [[ 9.95839847e-01 8.17370842e-02 4.02746681e-02 1.31329911e+01] [-8.16689321e-02 9.96653926e-01 -3.33730981e-03 5.74598205e-02] [-4.04126880e-02 3.42369571e-05 9.99183073e-01 -5.10927199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199072328999996 meters 0.07663961937611358 Centerline is valid? [True, True] Translation: X:13.19, Y:0.05, Z:-0.52 [[ 9.96254578e-01 7.94159795e-02 3.42040549e-02 1.31913170e+01] [-7.93655812e-02 9.96841558e-01 -2.83080634e-03 4.63728975e-02] [-3.43208347e-02 1.05579077e-04 9.99410861e-01 -5.21248371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259072329 meters 0.07744393645979503 Centerline is valid? [True, True] Translation: X:13.25, Y:0.03, Z:-0.54 [[ 9.96601959e-01 7.78014971e-02 2.70455696e-02 1.32487037e+01] [-7.77695306e-02 9.96968862e-01 -2.23339777e-03 3.04964425e-02] [-2.71373524e-02 1.22487338e-04 9.99631707e-01 -5.37066754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319072328999994 meters 0.07758925227169951 Centerline is valid? [True, True] Translation: X:13.31, Y:0.02, Z:-0.54 [[ 9.96616853e-01 7.88227071e-02 2.32772396e-02 1.33068454e+01] [-7.87994191e-02 9.96888647e-01 -1.91744418e-03 2.12256621e-02] [-2.33559541e-02 7.67242225e-05 9.99727210e-01 -5.43276928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379072328999996 meters 0.07739504424799082 Centerline is valid? [True, True] Translation: X:13.36, Y:0.01, Z:-0.55 [[ 9.96481576e-01 8.08622144e-02 2.20402109e-02 1.33624041e+01] [-8.08419484e-02 9.96725289e-01 -1.81041321e-03 6.76195737e-03] [-2.21144296e-02 2.22698101e-05 9.99755446e-01 -5.48319478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439072329 meters 0.07757768451181095 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.01, Z:-0.56 [[ 9.96437033e-01 8.21572407e-02 1.90637891e-02 1.34190928e+01] [-8.21423418e-02 9.96619380e-01 -1.56458574e-03 -8.77616600e-03] [-1.91278837e-02 -6.93310368e-06 9.99817045e-01 -5.55437855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.49907232899999 meters 0.07780021981486236 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.03, Z:-0.56 [[ 9.96650105e-01 8.02313956e-02 1.58584820e-02 1.34762605e+01] [-8.02208953e-02 9.96776265e-01 -1.29817686e-03 -3.30359361e-02] [-1.59115130e-02 2.16464800e-05 9.99873404e-01 -5.60509100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559072328999996 meters 0.07800987794838327 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.05, Z:-0.56 [[ 9.96791770e-01 7.87365331e-02 1.43779805e-02 1.35338394e+01] [-7.87277882e-02 9.96895459e-01 -1.17408789e-03 -4.50533678e-02] [-1.44257871e-02 3.83745351e-05 9.99895942e-01 -5.63022440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619072329 meters 0.07905700731082466 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.08, Z:-0.57 [[ 9.97319880e-01 7.26893670e-02 8.32549187e-03 1.35908789e+01] [-7.26862460e-02 9.97354626e-01 -6.77248687e-04 -7.56078623e-02] [-8.35269662e-03 7.02848291e-05 9.99965113e-01 -5.69552407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67907232899999 meters 0.0801352840322074 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.10, Z:-0.58 [[ 9.97649228e-01 6.84854858e-02 2.39919804e-03 1.36483200e+01] [-6.84852125e-02 9.97652112e-01 -1.96009904e-04 -9.76120935e-02] [-2.40698882e-03 3.12395416e-05 9.99997103e-01 -5.77599020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739072328999995 meters 0.08095494392542525 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.12, Z:-0.59 [[ 9.97653039e-01 6.84317797e-02 -2.34638291e-03 1.37046254e+01] [-6.84315253e-02 9.97655798e-01 1.88660841e-04 -1.23863940e-01] [ 2.35379291e-03 -2.76515006e-05 9.99997229e-01 -5.88626048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799072329 meters 0.07945921204285976 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.13, Z:-0.58 [[ 9.97304391e-01 7.33356678e-02 -2.41485759e-03 1.37628215e+01] [-7.33354226e-02 9.97307315e-01 1.90022435e-04 -1.29095529e-01] [ 2.42229056e-03 -1.24156064e-05 9.99997066e-01 -5.84013059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85907232899999 meters 0.07854432529386868 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.13, Z:-0.58 [[ 9.97073901e-01 7.64429337e-02 -3.38187475e-04 1.38218814e+01] [-7.64429307e-02 9.97073958e-01 2.18005923e-05 -1.31511957e-01] [ 3.38864425e-04 4.11524009e-06 9.99999943e-01 -5.77518767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919072328999995 meters 0.07867437180328117 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.15, Z:-0.58 [[ 9.96851814e-01 7.92835820e-02 -7.57575142e-04 1.38781986e+01] [-7.92835633e-02 9.96852102e-01 5.46882069e-05 -1.47904885e-01] [ 7.59526250e-04 5.54721852e-06 9.99999712e-01 -5.80876685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979072329 meters 0.07895584183518939 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.16, Z:-0.58 [[ 9.96966667e-01 7.76173395e-02 -5.74576981e-03 1.39363841e+01] [-7.76159794e-02 9.96983224e-01 4.59665610e-04 -1.61850714e-01] [ 5.76411413e-03 -1.23077405e-05 9.99983387e-01 -5.84170620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03907232899999 meters 0.07966176922089838 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.17, Z:-0.59 [[ 9.97129776e-01 7.49148481e-02 -1.09533151e-02 1.39959606e+01] [-7.49097119e-02 9.97189933e-01 8.79012897e-04 -1.72288485e-01] [ 1.09883867e-02 -5.59802543e-05 9.99939624e-01 -5.85340379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099072328999995 meters 0.0801851179589346 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.18, Z:-0.59 [[ 9.97181121e-01 7.39722091e-02 -1.25667609e-02 1.40537218e+01] [-7.39654767e-02 9.97260301e-01 1.00029572e-03 -1.84737303e-01] [ 1.26063259e-02 -6.79695477e-05 9.99920535e-01 -5.90432527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159072329 meters 0.08069031174439852 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.19, Z:-0.60 [[ 9.97052778e-01 7.54122950e-02 -1.40976638e-02 1.41107714e+01] [-7.54039223e-02 9.97152437e-01 1.12525808e-03 -1.92706689e-01] [ 1.41423781e-02 -5.89225488e-05 9.99899990e-01 -5.96790191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.21907232899999 meters 0.08056063571502554 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.19, Z:-0.60 [[ 9.96949876e-01 7.67582626e-02 -1.41107430e-02 1.41685574e+01] [-7.67501245e-02 9.97049732e-01 1.11815532e-03 -1.92242825e-01] [ 1.41549402e-02 -3.17435265e-05 9.99899813e-01 -5.98358764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279072328999995 meters 0.08049128376448776 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.19, Z:-0.60 [[ 9.96817768e-01 7.86406434e-02 -1.30379244e-02 1.42277765e+01] [-7.86338942e-02 9.96903029e-01 1.03028591e-03 -1.90107962e-01] [ 1.30785687e-02 -1.78453508e-06 9.99914472e-01 -5.99585843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339072329 meters 0.08043599143213029 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.19, Z:-0.60 [[ 9.96849024e-01 7.85292271e-02 -1.11885933e-02 1.42862937e+01] [-7.85242290e-02 9.96911812e-01 8.85995735e-04 -1.85425725e-01] [ 1.12236174e-02 -4.62831792e-06 9.99937013e-01 -5.98946076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39907232899999 meters 0.08007891988900717 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.19, Z:-0.59 [[ 9.97031929e-01 7.62274411e-02 -1.08032441e-02 1.43442340e+01] [-7.62227305e-02 9.97090456e-01 8.47705495e-04 -1.87195181e-01] [ 1.08364300e-02 -2.17366796e-05 9.99941284e-01 -5.94611911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459072328999994 meters 0.0808584270931626 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.19, Z:-0.60 [[ 9.97297517e-01 7.25264658e-02 -1.17292135e-02 1.44014490e+01] [-7.25206269e-02 9.97366486e-01 9.22922972e-04 -1.90070505e-01] [ 1.17652607e-02 -6.98188749e-05 9.99930784e-01 -6.01230562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519072329 meters 0.0809446557371038 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.19, Z:-0.60 [[ 9.97389092e-01 7.08997074e-02 -1.37197223e-02 1.44610584e+01] [-7.08915427e-02 9.97483444e-01 1.08114210e-03 -1.87216230e-01] [ 1.37618485e-02 -1.05707059e-04 9.99905296e-01 -5.99606492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579072329 meters 0.08200243667496293 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.19, Z:-0.60 [[ 9.97658769e-01 6.67267657e-02 -1.49839605e-02 1.45197484e+01] [-6.67166768e-02 9.97771271e-01 1.17273453e-03 -1.87573175e-01] [ 1.50288181e-02 -1.70308837e-04 9.99887046e-01 -6.04620763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639072328999994 meters 0.0835026829274894 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.20, Z:-0.61 [[ 9.98174508e-01 5.89459258e-02 -1.31540703e-02 1.45769217e+01] [-5.89374508e-02 9.98261145e-01 1.03134620e-03 -1.95525778e-01] [ 1.31919909e-02 -2.54196112e-04 9.99912950e-01 -6.11253150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699072328999996 meters 0.08398343582497647 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.20, Z:-0.60 [[ 9.98615789e-01 5.17426953e-02 -9.44458667e-03 1.46353432e+01] [-5.17380634e-02 9.98660420e-01 7.34260379e-04 -2.00112108e-01] [ 9.46992750e-03 -2.44599383e-04 9.99955129e-01 -6.04247320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759072329 meters 0.08619586168966481 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.21, Z:-0.60 [[ 9.99055014e-01 4.27690268e-02 -7.73877473e-03 1.46948232e+01] [-4.27656173e-02 9.99084949e-01 6.05588778e-04 -2.11630552e-01] [ 7.75759380e-03 -2.74063027e-04 9.99969872e-01 -6.02131694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819072328999994 meters 0.09465137731973257 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.24, Z:-0.61 [[ 9.99650880e-01 2.41045419e-02 -1.08207990e-02 1.47517380e+01] [-2.40967786e-02 9.99709271e-01 8.47262468e-04 -2.39875701e-01] [ 1.08380759e-02 -5.86220274e-04 9.99941094e-01 -6.08318205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879072328999996 meters 0.0981449721939078 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.25, Z:-0.61 [[ 9.99819162e-01 1.17391936e-02 -1.49611339e-02 1.48112345e+01] [-1.17229758e-02 9.99930598e-01 1.17123824e-03 -2.49891821e-01] [ 1.49738449e-02 -9.95637423e-04 9.99887390e-01 -6.07315423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939072329 meters 0.10120611205413813 Centerline is valid? [True, False] Translation: X:14.81, Y:-0.25, Z:-0.61 [[ 9.99939637e-01 1.09289712e-02 1.13153692e-03 1.48092973e+01] [-1.09318715e-02 9.99936892e-01 2.58954424e-03 -2.46358193e-01] [-1.10316446e-03 -2.60175774e-03 9.99996007e-01 -6.13457610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.99907232899999 meters 0.09573012511915421 Centerline is valid? [False, True] Translation: X:14.81, Y:-0.23, Z:-0.60 [[ 9.99938571e-01 1.10559729e-02 -7.87645674e-04 1.48123557e+01] [-1.10593850e-02 9.99928861e-01 -4.46800367e-03 -2.33066955e-01] [ 7.38191514e-04 4.47644008e-03 9.99989708e-01 -6.01896186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059072328999996 meters 0.09101293633350928 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.22, Z:-0.60 [[ 9.99779311e-01 2.01871561e-02 5.81452574e-03 1.48737694e+01] [-2.01851781e-02 9.99796179e-01 -3.98657206e-04 -2.21812635e-01] [-5.82138838e-03 2.81201989e-04 9.99983016e-01 -5.97758989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119072329 meters 0.08495839763972823 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.20, Z:-0.60 [[ 9.99445716e-01 3.27486456e-02 5.98220123e-03 1.49358760e+01] [-3.27467767e-02 9.99463596e-01 -4.10115206e-04 -1.97366068e-01] [-5.99242307e-03 2.13990077e-04 9.99982022e-01 -5.97202260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.17907232899999 meters 0.08451872009713894 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.19, Z:-0.61 [[ 9.99328030e-01 3.66014670e-02 1.95486085e-03 1.49943539e+01] [-3.66012605e-02 9.99329939e-01 -1.41277431e-04 -1.94373912e-01] [-1.95872193e-03 6.96321259e-05 9.99998079e-01 -6.06661159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239072328999995 meters 0.08546836204247273 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.19, Z:-0.61 [[ 9.99392197e-01 3.48565946e-02 -5.05173725e-04 1.50534978e+01] [-3.48565824e-02 9.99392324e-01 3.28283757e-05 -1.87251470e-01] [ 5.06011028e-04 -1.51997930e-05 9.99999872e-01 -6.08708212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299072329 meters 0.08761282687395845 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.19, Z:-0.61 [[ 9.99551192e-01 2.99437631e-02 -8.86300790e-04 1.51142405e+01] [-2.99437212e-02 9.99551584e-01 6.04816398e-05 -1.86603278e-01] [ 8.87714407e-04 -3.39153513e-05 9.99999605e-01 -6.11658410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.35907232899999 meters 0.09062397616068985 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.19, Z:-0.61 [[ 9.99746709e-01 2.25046343e-02 2.42251477e-04 1.51746430e+01] [-2.25046309e-02 9.99746739e-01 -1.65840578e-05 -1.93997533e-01] [-2.42563343e-04 1.11280771e-05 9.99999971e-01 -6.14290914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419072328999995 meters 0.09537261646133476 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.21, Z:-0.62 [[ 9.99918159e-01 1.22619137e-02 3.64989987e-03 1.52340830e+01] [-1.22610844e-02 9.99924799e-01 -2.49496295e-04 -2.05443577e-01] [-3.65268470e-03 2.04724146e-04 9.99993308e-01 -6.15235294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479072329 meters 0.09401373762989934 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.21, Z:-0.62 [[ 9.99862667e-01 1.59969420e-02 4.32957639e-03 1.52946305e+01] [-1.59958121e-02 9.99872015e-01 -2.95494413e-04 -2.05328873e-01] [-4.33374927e-03 2.26198741e-04 9.99990584e-01 -6.18144783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53907232899999 meters 0.09256370132792462 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.20, Z:-0.62 [[ 9.99805021e-01 1.82570880e-02 7.52315732e-03 1.53552494e+01] [-1.82537387e-02 9.99833255e-01 -5.13623102e-04 -2.03565149e-01] [-7.53128013e-03 3.76197209e-04 9.99971569e-01 -6.17584898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.599072328999995 meters 0.09022035652217615 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.20, Z:-0.61 [[ 9.99786096e-01 1.91304024e-02 7.86065302e-03 1.54141467e+01] [-1.91267641e-02 9.99816922e-01 -5.37764248e-04 -2.00523049e-01] [-7.86950155e-03 3.87300362e-04 9.99968960e-01 -6.14979946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659072329 meters 0.09232056771858996 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.21, Z:-0.62 [[ 9.99830421e-01 1.74435153e-02 5.90363051e-03 1.54715929e+01] [-1.74414331e-02 9.99847805e-01 -4.04000141e-04 -2.08228341e-01] [-5.90977919e-03 3.00963855e-04 9.99982492e-01 -6.18821593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71907232899999 meters 0.09576621469308626 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.22, Z:-0.63 [[ 9.99854007e-01 1.61932045e-02 5.45381117e-03 1.55280279e+01] [-1.61914080e-02 9.99868841e-01 -3.73391280e-04 -2.23233676e-01] [-5.45914225e-03 2.85031886e-04 9.99985058e-01 -6.26159510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779072328999995 meters 0.09115583822119108 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.22, Z:-0.62 [[ 9.99820151e-01 1.71473014e-02 8.10155532e-03 1.55887955e+01] [-1.71433961e-02 9.99852889e-01 -5.51246455e-04 -2.19339608e-01] [-8.10981588e-03 4.12259142e-04 9.99967030e-01 -6.20986545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839072329 meters 0.09063792765256197 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.22, Z:-0.62 [[ 9.99756696e-01 1.96945080e-02 9.93351358e-03 1.56477887e+01] [-1.96887614e-02 9.99805929e-01 -6.75972740e-04 -2.21858421e-01] [-9.94489872e-03 4.80229695e-04 9.99950433e-01 -6.18798283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89907232899999 meters 0.08900032148056554 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.22, Z:-0.62 [[ 9.99726658e-01 2.10335909e-02 1.02077214e-02 1.57071755e+01] [-2.10275921e-02 9.99778654e-01 -6.94649495e-04 -2.21545064e-01] [-1.02200729e-02 4.79815817e-04 9.99947659e-01 -6.16962419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959072328999994 meters 0.08949705366156624 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.23, Z:-0.62 [[ 9.99734722e-01 2.09867259e-02 9.48914501e-03 1.57650122e+01] [-2.09815399e-02 9.99779655e-01 -6.45752465e-04 -2.28855595e-01] [-9.50060635e-03 4.46484286e-04 9.99954769e-01 -6.21572211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019072329 meters 0.08988571083078307 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.24, Z:-0.63 [[ 9.99762106e-01 1.99930549e-02 8.71827307e-03 1.58229134e+01] [-1.99886321e-02 9.99800031e-01 -5.94146372e-04 -2.35645207e-01] [-8.72840848e-03 4.19738675e-04 9.99961819e-01 -6.26583667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07907232899999 meters 0.09220841816696473 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.25, Z:-0.63 [[ 9.99832391e-01 1.74709899e-02 5.47312780e-03 1.58815312e+01] [-1.74692201e-02 9.99847333e-01 -3.71013449e-04 -2.47822570e-01] [-5.47877421e-03 2.75339990e-04 9.99984953e-01 -6.33994763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139072328999994 meters 0.09364968959767422 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.26, Z:-0.63 [[ 9.99889250e-01 1.34899311e-02 6.28566498e-03 1.59410126e+01] [-1.34875194e-02 9.99908949e-01 -4.25912188e-04 -2.59516801e-01] [-6.29083818e-03 3.41086990e-04 9.99980154e-01 -6.33395822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199072328999996 meters 0.09043437517594062 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.26, Z:-0.63 [[ 9.99820147e-01 1.58318258e-02 1.04415840e-02 1.60016619e+01] [-1.58253043e-02 9.99874522e-01 -7.06900727e-04 -2.59970331e-01] [-1.04514653e-02 5.41532345e-04 9.99945235e-01 -6.27214923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259072329 meters 0.0908649976090063 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.27, Z:-0.63 [[ 9.99802916e-01 1.59260343e-02 1.18528376e-02 1.60600887e+01] [-1.59176264e-02 9.99872984e-01 -8.03363440e-04 -2.68254274e-01] [-1.18641265e-02 6.14536070e-04 9.99929430e-01 -6.28535420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319072328999994 meters 0.09168394575189585 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.28, Z:-0.63 [[ 9.99833740e-01 1.41587109e-02 1.14900981e-02 1.61187927e+01] [-1.41507093e-02 9.99899571e-01 -7.77396093e-04 -2.80327782e-01] [-1.14999511e-02 6.14673805e-04 9.99933684e-01 -6.30923395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379072328999996 meters 0.09273288088732248 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.29, Z:-0.63 [[ 9.99866680e-01 1.26769341e-02 1.02916046e-02 1.61774620e+01] [-1.26704354e-02 9.99919484e-01 -6.96419498e-04 -2.88749768e-01] [-1.02996044e-02 5.65927541e-04 9.99946798e-01 -6.32678985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439072329 meters 0.0915826362126474 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.29, Z:-0.63 [[ 9.99797870e-01 1.59184294e-02 1.22809778e-02 1.62377149e+01] [-1.59094408e-02 9.99873093e-01 -8.29266475e-04 -2.91456546e-01] [-1.22926199e-02 6.33715366e-04 9.99924242e-01 -6.31852414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.49907232899999 meters 0.09146218816264161 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.30, Z:-0.63 [[ 9.99743912e-01 1.72721771e-02 1.46212900e-02 1.62972767e+01] [-1.72595750e-02 9.99850555e-01 -9.87657992e-04 -2.95507553e-01] [-1.46361639e-02 7.35047813e-04 9.99892615e-01 -6.33380623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559072328999996 meters 0.09285505502227427 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.30, Z:-0.64 [[ 9.99743831e-01 1.59872990e-02 1.60211824e-02 1.63545837e+01] [-1.59720009e-02 9.99871854e-01 -1.08237720e-03 -3.02888371e-01] [-1.60364336e-02 8.26209592e-04 9.99871067e-01 -6.36033906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619072329 meters 0.09567330765486287 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.32, Z:-0.64 [[ 9.99765206e-01 1.36151666e-02 1.68570252e-02 1.64124391e+01] [-1.35979274e-02 9.99906898e-01 -1.13687545e-03 -3.15479249e-01] [-1.68709346e-02 9.07387917e-04 9.99857264e-01 -6.39921277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.67907232899999 meters 0.0993116956380661 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.32, Z:-0.64 [[ 9.99858160e-01 8.91687111e-03 1.42880869e-02 1.64722069e+01] [-8.90402843e-03 9.99959895e-01 -9.62201585e-04 -3.24599838e-01] [-1.42960937e-02 8.34843574e-04 9.99897457e-01 -6.43730467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739072328999995 meters 0.09457382758337766 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.32, Z:-0.65 [[ 9.99895071e-01 6.92842917e-03 1.27218168e-02 1.65342543e+01] [-6.91809326e-03 9.99975703e-01 -8.56283050e-04 -3.18332317e-01] [-1.27274404e-02 7.68182485e-04 9.99918708e-01 -6.45240324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799072329 meters 0.09859762077501273 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.34, Z:-0.65 [[ 9.99855894e-01 1.40628675e-03 1.69178310e-02 1.65926769e+01] [-1.38719179e-03 9.99998388e-01 -1.14037042e-03 -3.37432599e-01] [-1.69194074e-02 1.11673781e-03 9.99856233e-01 -6.48209677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85907232899999 meters 0.10250191342219607 Centerline is valid? [True, False] Translation: X:16.60, Y:-0.34, Z:-0.64 [[ 9.99959052e-01 -5.95487657e-03 6.81423407e-03 1.66044677e+01] [ 5.95081401e-03 9.99982104e-01 6.16308143e-04 -3.37103007e-01] [-6.81778217e-03 -5.75732667e-04 9.99976593e-01 -6.37424601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919072328999995 meters 0.10067164136471653 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.34, Z:-0.64 [[ 9.99964794e-01 -5.01314002e-03 6.72905085e-03 1.66059359e+01] [ 4.99682116e-03 9.99984540e-01 2.43976123e-03 -3.41933807e-01] [-6.74117768e-03 -2.40605147e-03 9.99974383e-01 -6.39768677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979072329 meters 0.09919696069161754 Centerline is valid? [False, True] Translation: X:16.61, Y:-0.34, Z:-0.64 [[ 9.99966634e-01 -4.91277955e-03 6.52650023e-03 1.66063765e+01] [ 4.89742171e-03 9.99985206e-01 2.36705315e-03 -3.41840878e-01] [-6.53803249e-03 -2.33501114e-03 9.99975901e-01 -6.39562489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03907232899999 meters 0.09733859548159775 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.34, Z:-0.64 [[ 9.99966200e-01 3.69889553e-03 7.34280157e-03 1.66666774e+01] [-3.69546934e-03 9.99993056e-01 -4.80117122e-04 -3.36071800e-01] [-7.34452649e-03 4.52965796e-04 9.99972926e-01 -6.37024406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.099072328999995 meters 0.09409836497847128 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.33, Z:-0.64 [[ 9.99911434e-01 1.23526847e-02 4.95340017e-03 1.67267624e+01] [-1.23512318e-02 9.99923668e-01 -3.23798955e-04 -3.31358708e-01] [-4.95702186e-03 2.62589683e-04 9.99987679e-01 -6.44489249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159072329 meters 0.09176423368621317 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.33, Z:-0.64 [[ 9.99862271e-01 1.57151262e-02 5.33617924e-03 1.67871053e+01] [-1.57134878e-02 9.99876475e-01 -3.48830100e-04 -3.25290000e-01] [-5.34100199e-03 2.64932069e-04 9.99985702e-01 -6.44394213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21907232899999 meters 0.08857106698146947 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.31, Z:-0.64 [[ 9.99839292e-01 1.72932111e-02 4.72594090e-03 1.68467025e+01] [-1.72919399e-02 9.99850435e-01 -3.09713265e-04 -3.10495578e-01] [-4.73059000e-03 2.27942806e-04 9.99988785e-01 -6.42320525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.279072328999995 meters 0.09093281923630961 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.32, Z:-0.65 [[ 9.99879637e-01 1.48106908e-02 4.62123582e-03 1.69044633e+01] [-1.48094502e-02 9.99890288e-01 -3.02560306e-04 -3.18610495e-01] [-4.62520995e-03 2.34085927e-04 9.99989276e-01 -6.48161684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339072329 meters 0.09074097800183423 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.32, Z:-0.65 [[ 9.99903996e-01 1.25596905e-02 5.85263490e-03 1.69634456e+01] [-1.25576679e-02 9.99921076e-01 -3.82210040e-04 -3.21852602e-01] [-5.85697343e-03 3.08677900e-04 9.99982800e-01 -6.48570585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39907232899999 meters 0.09616058422400521 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.33, Z:-0.65 [[ 9.99970104e-01 4.50764395e-03 6.28267233e-03 1.70216073e+01] [-4.50516096e-03 9.99989768e-01 -4.09309258e-04 -3.32591833e-01] [-6.28445307e-03 3.80992571e-04 9.99980180e-01 -6.50853873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459072328999994 meters 0.09618200600481437 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.33, Z:-0.65 [[ 9.99958251e-01 3.63000397e-03 8.38565479e-03 1.70819844e+01] [-3.62555194e-03 9.99993279e-01 -5.46050527e-04 -3.31225543e-01] [-8.38758059e-03 5.15625103e-04 9.99964691e-01 -6.47194935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519072329 meters 0.09705090546853139 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.33, Z:-0.65 [[ 9.99959095e-01 4.44820853e-03 7.87541001e-03 1.71434954e+01] [-4.44432817e-03 9.99989994e-01 -5.10151517e-04 -3.34653529e-01] [-7.87760047e-03 4.75129743e-04 9.99968858e-01 -6.49292656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57907232899999 meters 0.09335111686629068 Centerline is valid? [True, True] Translation: X:17.21, Y:-0.33, Z:-0.66 [[ 9.99952546e-01 7.40322675e-03 6.33234194e-03 1.72050424e+01] [-7.40075814e-03 9.99972529e-01 -4.13186353e-04 -3.29561951e-01] [-6.33522689e-03 3.66302614e-04 9.99979865e-01 -6.55493787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639072328999994 meters 0.09495332480534421 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.34, Z:-0.66 [[ 9.99958369e-01 7.52145666e-03 5.16607339e-03 1.72631087e+01] [-7.51980833e-03 9.99971669e-01 -3.38419249e-04 -3.35723663e-01] [-5.16847243e-03 2.99557278e-04 9.99986598e-01 -6.59164163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699072328999996 meters 0.09826596050168322 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.34, Z:-0.66 [[ 9.99952375e-01 8.34956568e-03 5.05302567e-03 1.73203521e+01] [-8.34799796e-03 9.99965100e-01 -3.31265271e-04 -3.44609262e-01] [-5.05561524e-03 2.89066846e-04 9.99987179e-01 -6.62731998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759072329 meters 0.09418881491568129 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.34, Z:-0.66 [[ 9.99938221e-01 9.62647340e-03 5.55753297e-03 1.73794177e+01] [-9.62460139e-03 9.99953616e-01 -3.63488709e-04 -3.39567946e-01] [-5.56077431e-03 3.09977213e-04 9.99984491e-01 -6.62882623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819072328999994 meters 0.09230066381873385 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.34, Z:-0.66 [[ 9.99928201e-01 1.01720338e-02 6.33416083e-03 1.74386212e+01] [-1.01696166e-02 9.99948203e-01 -4.13714008e-04 -3.38805572e-01] [-6.33804105e-03 3.49268317e-04 9.99979853e-01 -6.62767471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879072328999996 meters 0.0925200989487121 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.34, Z:-0.66 [[ 9.99925500e-01 1.05992930e-02 6.05389289e-03 1.74973718e+01] [-1.05970949e-02 9.99943771e-01 -3.95052468e-04 -3.38189584e-01] [-6.05773976e-03 3.30869359e-04 9.99981597e-01 -6.59942215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939072329 meters 0.09292400816383466 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.34, Z:-0.67 [[ 9.99931970e-01 1.09347819e-02 4.06022339e-03 1.75558992e+01] [-1.09337952e-02 9.99940189e-01 -2.65137236e-04 -3.42406721e-01] [-4.06287976e-03 2.20725548e-04 9.99991722e-01 -6.65635027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.99907232899999 meters 0.09278230981934087 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.35, Z:-0.67 [[ 9.99934343e-01 1.14524327e-02 3.89843770e-04 1.76146208e+01] [-1.14524232e-02 9.99934418e-01 -2.66730933e-05 -3.47419170e-01] [-3.90123675e-04 2.22066862e-05 9.99999924e-01 -6.72793626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059072328999996 meters 0.09246356279746933 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.35, Z:-0.67 [[ 9.99923273e-01 1.20622536e-02 2.81967706e-03 1.76739141e+01] [-1.20617800e-02 9.99927237e-01 -1.84919129e-04 -3.47225163e-01] [-2.82170243e-03 1.50894616e-04 9.99996008e-01 -6.68217662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119072329 meters 0.09321742312213958 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.35, Z:-0.66 [[ 9.99914190e-01 1.15426084e-02 6.19527341e-03 1.77326185e+01] [-1.15403364e-02 9.99933327e-01 -4.02344999e-04 -3.51485171e-01] [-6.19950446e-03 3.30814934e-04 9.99980728e-01 -6.64697946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17907232899999 meters 0.09344855508914046 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.36, Z:-0.67 [[ 9.99919284e-01 1.17246058e-02 4.89471508e-03 1.77905385e+01] [-1.17231900e-02 9.99931231e-01 -3.17846489e-04 -3.59692932e-01] [-4.89810510e-03 2.60439159e-04 9.99987970e-01 -6.72824921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239072328999995 meters 0.09517629092337197 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.37, Z:-0.67 [[ 9.99965866e-01 8.04817886e-03 1.86914964e-03 1.78503179e+01] [-8.04796677e-03 9.99967607e-01 -1.20960155e-04 -3.67011905e-01] [-1.87006260e-03 1.05913171e-04 9.99998246e-01 -6.74173277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299072329 meters 0.09577074984632326 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.37, Z:-0.67 [[ 9.99971719e-01 7.08916651e-03 2.51097459e-03 1.79084286e+01] [-7.08877740e-03 9.99974861e-01 -1.63827894e-04 -3.72328064e-01] [-2.51207287e-03 1.46023521e-04 9.99996834e-01 -6.74125230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35907232899999 meters 0.09761756974304335 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.38, Z:-0.67 [[ 9.99945004e-01 8.43626628e-03 6.23048234e-03 1.79667644e+01] [-8.43391827e-03 9.99964353e-01 -4.03036729e-04 -3.79295001e-01] [-6.23366036e-03 3.50467185e-04 9.99980509e-01 -6.71537565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419072328999995 meters 0.09839375910348425 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.39, Z:-0.67 [[ 9.99939564e-01 7.83308686e-03 7.71433577e-03 1.80250031e+01] [-7.82947267e-03 9.99969225e-01 -4.98593019e-04 -3.86862151e-01] [-7.71800388e-03 4.38163705e-04 9.99970120e-01 -6.74390037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479072329 meters 0.09664373020527536 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.39, Z:-0.67 [[ 9.99963615e-01 4.71519107e-03 7.10888158e-03 1.80848063e+01] [-4.71205070e-03 9.99988793e-01 -4.58437778e-04 -3.89428420e-01] [-7.11096354e-03 4.24923688e-04 9.99974626e-01 -6.73853160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53907232899999 meters 0.09691663981786279 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.40, Z:-0.67 [[ 9.99979879e-01 2.15157272e-03 5.96767693e-03 1.81453677e+01] [-2.14931676e-03 9.99997616e-01 -3.84417187e-04 -3.95779207e-01] [-5.96848980e-03 3.71583024e-04 9.99982119e-01 -6.73910604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.599072328999995 meters 0.0967117645762141 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.40, Z:-0.68 [[ 9.99982429e-01 -9.21940783e-04 5.85588136e-03 1.82059353e+01] [ 9.24165975e-04 9.99999502e-01 -3.77298139e-04 -4.02956460e-01] [-5.85553060e-03 3.82703315e-04 9.99982783e-01 -6.76130892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659072329 meters 0.09911041045507013 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.41, Z:-0.68 [[ 9.99991026e-01 -2.69065903e-03 3.27224470e-03 1.82655101e+01] [ 2.69136296e-03 9.99996356e-01 -2.10739340e-04 -4.14742290e-01] [-3.27166575e-03 2.19544247e-04 9.99994624e-01 -6.81353521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71907232899999 meters 0.09881891995334356 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.42, Z:-0.68 [[ 9.99981940e-01 -1.52151620e-03 5.81422233e-03 1.83266738e+01] [ 1.52371965e-03 9.99998769e-01 -3.74565333e-04 -4.20198214e-01] [-5.81364527e-03 3.83417813e-04 9.99983027e-01 -6.78253006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.779072328999995 meters 0.09734564345995035 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.42, Z:-0.68 [[ 9.99977647e-01 -6.50693931e-04 6.65441849e-03 1.83891899e+01] [ 6.53559989e-04 9.99999695e-01 -4.28534531e-04 -4.22678818e-01] [-6.65413761e-03 4.32874014e-04 9.99977767e-01 -6.76545415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839072329 meters 0.09830470085445404 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.43, Z:-0.68 [[ 9.99989915e-01 1.19264667e-03 4.32989724e-03 1.84490984e+01] [-1.19144771e-03 9.99999251e-01 -2.79472340e-04 -4.25507666e-01] [-4.33022731e-03 2.74310675e-04 9.99990587e-01 -6.79004947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89907232899999 meters 0.10001829427272821 Centerline is valid? [True, False] Translation: X:18.45, Y:-0.43, Z:-0.68 [[ 9.99988567e-01 2.00474664e-03 4.34139285e-03 1.84504348e+01] [-2.00956794e-03 9.99997369e-01 1.10646554e-03 -4.29086057e-01] [-4.33916324e-03 -1.11517721e-03 9.99989964e-01 -6.81244047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.959072328999994 meters 0.10217223030167792 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.43, Z:-0.68 [[ 9.99989026e-01 -1.71693058e-03 4.35899013e-03 1.84508210e+01] [ 1.72605620e-03 9.99996325e-01 -2.09061906e-03 -4.33234156e-01] [-4.35538467e-03 2.09811997e-03 9.99988314e-01 -6.81930634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019072329 meters 0.10324092378015917 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.43, Z:-0.68 [[ 9.99989916e-01 -1.69164133e-03 4.15998493e-03 1.84510117e+01] [ 1.70032899e-03 9.99996379e-01 -2.08573902e-03 -4.33437634e-01] [-4.15644155e-03 2.09279133e-03 9.99989172e-01 -6.81408912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07907232899999 meters 0.10032804750899928 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.44, Z:-0.68 [[ 9.99990433e-01 -1.59663248e-03 4.07235458e-03 1.84508060e+01] [ 1.60387684e-03 9.99997136e-01 -1.77626734e-03 -4.35180060e-01] [-4.06950687e-03 1.78278190e-03 9.99990130e-01 -6.80747735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139072328999994 meters 0.10871612447076066 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.44, Z:-0.68 [[ 9.99982424e-01 -4.50156164e-03 3.85850444e-03 1.84532472e+01] [ 4.51701861e-03 9.99981772e-01 -4.00663988e-03 -4.41003403e-01] [-3.84039797e-03 4.02399839e-03 9.99984529e-01 -6.83576289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199072328999996 meters 0.10463896981735771 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.45, Z:-0.69 [[ 9.99984879e-01 -3.67779781e-03 4.08844321e-03 1.84538788e+01] [ 3.68645902e-03 9.99990973e-01 -2.11294847e-03 -4.46665489e-01] [-4.08063531e-03 2.12798839e-03 9.99989410e-01 -6.85862148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259072329 meters 0.10582298413276893 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.45, Z:-0.69 [[ 9.99986876e-01 -3.18999455e-03 4.00896198e-03 1.84541597e+01] [ 3.19474976e-03 9.99994200e-01 -1.18030011e-03 -4.50200535e-01] [-4.00517358e-03 1.19309225e-03 9.99991268e-01 -6.85986698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319072328999994 meters 0.10234295778593197 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.45, Z:-0.68 [[ 9.99988726e-01 -3.21049147e-03 3.49858084e-03 1.84545645e+01] [ 3.21581803e-03 9.99993677e-01 -1.51793093e-03 -4.49777305e-01] [-3.49368541e-03 1.52916461e-03 9.99992728e-01 -6.84428971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379072328999996 meters 0.10273653277886394 Centerline is valid? [False, False] Translation: X:18.46, Y:-0.45, Z:-0.69 [[ 9.99991874e-01 -2.51292218e-03 3.15234637e-03 1.84560564e+01] [ 2.51471916e-03 9.99996678e-01 -5.66210993e-04 -4.52263417e-01] [-3.15091306e-03 5.74133658e-04 9.99994871e-01 -6.85393219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439072329 meters 0.10288996509614655 Centerline is valid? [False, False] Translation: X:18.46, Y:-0.46, Z:-0.69 [[ 9.99987613e-01 -4.46504063e-03 2.19917609e-03 1.84608018e+01] [ 4.47063655e-03 9.99986765e-01 -2.54624402e-03 -4.60733979e-01] [-2.18777790e-03 2.55604420e-03 9.99994340e-01 -6.87476423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.49907232899999 meters 0.10263131812769477 Centerline is valid? [False, False] Translation: X:18.46, Y:-0.46, Z:-0.69 [[ 9.99992527e-01 -3.77605497e-03 8.29184183e-04 1.84634929e+01] [ 3.77814756e-03 9.99989645e-01 -2.53678099e-03 -4.60790752e-01] [-8.19596573e-04 2.53989482e-03 9.99996439e-01 -6.86104980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559072328999996 meters 0.09465815263491612 Centerline is valid? [False, True] Translation: X:18.47, Y:-0.46, Z:-0.69 [[ 9.99995320e-01 -3.00760871e-03 -5.61244342e-04 1.84665527e+01] [ 3.00624311e-03 9.99992557e-01 -2.41834347e-03 -4.60122135e-01] [ 5.68513596e-04 2.41664491e-03 9.99996918e-01 -6.85443253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619072329 meters 0.0893433959163675 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.46, Z:-0.69 [[ 9.99965388e-01 7.97084069e-03 -2.38507825e-03 1.85273630e+01] [-7.97054820e-03 9.99968226e-01 1.32115531e-04 -4.58006913e-01] [ 2.38605554e-03 -1.13100577e-04 9.99997147e-01 -6.90636796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67907232899999 meters 0.08475889781231816 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.45, Z:-0.70 [[ 9.99751682e-01 2.15891278e-02 -5.52128446e-03 1.85873543e+01] [-2.15877717e-02 9.99766910e-01 3.05105593e-04 -4.50212726e-01] [ 5.52658447e-03 -1.85837602e-04 9.99984711e-01 -6.99983531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739072328999995 meters 0.08076868103781276 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.44, Z:-0.70 [[ 9.99373044e-01 3.49928587e-02 -5.38684826e-03 1.86461995e+01] [-3.49917661e-02 9.99387557e-01 2.96961852e-04 -4.43653339e-01] [ 5.39394066e-03 -1.08280335e-04 9.99985447e-01 -7.04825063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799072329 meters 0.07753091357428746 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.43, Z:-0.69 [[ 9.99050972e-01 4.34416841e-02 -3.15848971e-03 1.87070354e+01] [-4.34413504e-02 9.99055964e-01 1.74219475e-04 -4.32572215e-01] [ 3.16307637e-03 -3.68450774e-05 9.99994997e-01 -6.93897858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85907232899999 meters 0.0765178820651616 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.42, Z:-0.69 [[ 9.98575164e-01 5.32183824e-02 -3.93019554e-03 1.87658960e+01] [-5.32179623e-02 9.98582898e-01 2.11465984e-04 -4.22823154e-01] [ 3.93587993e-03 -2.00768096e-06 9.99992254e-01 -6.89535345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919072328999995 meters 0.07723311331899975 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.43, Z:-0.70 [[ 9.98225074e-01 5.90553092e-02 -7.69227593e-03 1.88249325e+01] [-5.90538114e-02 9.98254712e-01 4.21901071e-04 -4.27051600e-01] [ 7.70376619e-03 3.31059840e-05 9.99970325e-01 -6.98811056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979072329 meters 0.07744959586410421 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.44, Z:-0.70 [[ 9.98229813e-01 5.89329809e-02 -8.00902452e-03 1.88827830e+01] [-5.89313999e-02 9.98261941e-01 4.33461550e-04 -4.35283888e-01] [ 8.02064954e-03 3.92887848e-05 9.99967833e-01 -7.00466780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03907232899999 meters 0.07669122809797059 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.44, Z:-0.70 [[ 9.98474322e-01 5.47188714e-02 -7.40764358e-03 1.89410080e+01] [-5.47174190e-02 9.98501800e-01 3.98747247e-04 -4.41864109e-01] [ 7.41836445e-03 7.18825070e-06 9.99972484e-01 -6.95158757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.099072328999995 meters 0.07671618831371542 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.46, Z:-0.70 [[ 9.98819295e-01 4.80789382e-02 -6.95934041e-03 1.89983143e+01] [-4.80775166e-02 9.98843538e-01 3.71511659e-04 -4.59602189e-01] [ 6.96915409e-03 -3.64852090e-05 9.99975714e-01 -6.96074892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159072329 meters 0.07743361031683293 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.48, Z:-0.70 [[ 9.99088724e-01 4.21333860e-02 -6.81909331e-03 1.90554808e+01] [-4.21318603e-02 9.99111991e-01 3.67304475e-04 -4.75383660e-01] [ 6.82851368e-03 -7.96686727e-05 9.99976682e-01 -6.99659655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21907232899999 meters 0.07864932118519984 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.49, Z:-0.70 [[ 9.99326849e-01 3.59030260e-02 -7.53800996e-03 1.91128024e+01] [-3.59009840e-02 9.99355269e-01 4.06080726e-04 -4.89791087e-01] [ 7.54772950e-03 -1.35185397e-04 9.99971506e-01 -7.02728390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.279072328999995 meters 0.07938186707905545 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.51, Z:-0.70 [[ 9.99628633e-01 2.64211942e-02 -6.67208968e-03 1.91724332e+01] [-2.64193750e-02 9.99650882e-01 3.60661156e-04 -5.08711465e-01] [ 6.67928943e-03 -1.84254779e-04 9.99977676e-01 -6.98858035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339072329 meters 0.08170389760527201 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.53, Z:-0.70 [[ 9.99839277e-01 1.66897689e-02 -6.54769838e-03 1.92306319e+01] [-1.66878116e-02 9.99860686e-01 3.53455138e-04 -5.31749272e-01] [ 6.55268528e-03 -2.44131573e-04 9.99978501e-01 -6.99151548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39907232899999 meters 0.08363130110227228 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.55, Z:-0.70 [[ 9.99910223e-01 1.09387233e-02 -7.73893735e-03 1.92900669e+01] [-1.09358148e-02 9.99940115e-01 4.18036874e-04 -5.46243534e-01] [ 7.74304669e-03 -3.33367758e-04 9.99969967e-01 -7.00634363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.459072328999994 meters 0.08509181867797679 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.56, Z:-0.70 [[ 9.99951086e-01 4.67997850e-03 -8.71339640e-03 1.93492352e+01] [-4.67605770e-03 9.99988957e-01 4.70291918e-04 -5.64153091e-01] [ 8.71550113e-03 -4.29524570e-04 9.99961927e-01 -7.02599511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519072329 meters 0.08785778035431713 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.59, Z:-0.70 [[ 9.99976083e-01 -6.79929706e-04 -6.88266033e-03 1.94068009e+01] [ 6.82498072e-04 9.99999698e-01 3.70822891e-04 -5.85438809e-01] [ 6.88240612e-03 -3.75511425e-04 9.99976245e-01 -7.03587324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.57907232899999 meters 0.08843679600779784 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.60, Z:-0.71 [[ 9.99966603e-01 -1.62454390e-03 -8.00963550e-03 1.94661490e+01] [ 1.62805132e-03 9.99998582e-01 4.31399332e-04 -5.96513998e-01] [ 8.00892331e-03 -4.44425022e-04 9.99967829e-01 -7.05144838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.639072328999994 meters 0.0873216482807109 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.61, Z:-0.71 [[ 9.99965778e-01 2.18380199e-04 -8.27008608e-03 1.95244793e+01] [-2.14713928e-04 9.99999878e-01 4.44202407e-04 -6.05092899e-01] [ 8.27018208e-03 -4.42411503e-04 9.99965704e-01 -7.06054375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699072328999996 meters 0.0851938235693175 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.61, Z:-0.71 [[ 9.99940443e-01 2.07004215e-03 -1.07156773e-02 1.95835535e+01] [-2.06404953e-03 9.99997707e-01 5.70267063e-04 -6.08363286e-01] [ 1.07168332e-02 -5.48115411e-04 9.99942423e-01 -7.07999640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759072329 meters 0.08456707716245786 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.62, Z:-0.71 [[ 9.99954965e-01 4.16919553e-03 -8.52561862e-03 1.96433579e+01] [-4.16545116e-03 9.99991220e-01 4.56900823e-04 -6.18981163e-01] [ 8.52744867e-03 -4.21367198e-04 9.99963552e-01 -7.08358385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819072328999994 meters 0.0836600362331728 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.63, Z:-0.71 [[ 9.99961931e-01 6.45712980e-03 -5.86878477e-03 1.97027535e+01] [-6.45539869e-03 9.99979114e-01 3.13864289e-04 -6.26251787e-01] [ 5.87068886e-03 -2.75966995e-04 9.99982729e-01 -7.07114694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879072328999996 meters 0.08227165632967971 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.63, Z:-0.71 [[ 9.99954267e-01 8.73448192e-03 -3.89530808e-03 1.97630021e+01] [-8.73373637e-03 9.99961838e-01 2.08366342e-04 -6.30094663e-01] [ 3.89697940e-03 -1.74336219e-04 9.99992392e-01 -7.06784771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939072329 meters 0.08102664722426227 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.63, Z:-0.71 [[ 9.99903505e-01 1.33989210e-02 -3.66726620e-03 1.98232361e+01] [-1.33982917e-02 9.99910220e-01 1.96090686e-04 -6.27725024e-01] [ 3.66956435e-03 -1.46936662e-04 9.99993256e-01 -7.06568396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.99907232899999 meters 0.07812923890392699 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.62, Z:-0.70 [[ 9.99835784e-01 1.80043490e-02 -2.06131227e-03 1.98837183e+01] [-1.80041604e-02 9.99837906e-01 1.10008138e-04 -6.20790934e-01] [ 2.06295877e-03 -7.28778758e-05 9.99997869e-01 -7.04356944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059072328999996 meters 0.07754399182827583 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.62, Z:-0.71 [[ 9.99759064e-01 2.18229931e-02 -2.36039207e-03 1.99428206e+01] [-2.18227574e-02 9.99761847e-01 1.25581325e-04 -6.18311457e-01] [ 2.36257050e-03 -7.40408045e-05 9.99997206e-01 -7.08042545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119072329 meters 0.07667822879467726 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.60, Z:-0.71 [[ 9.99657882e-01 2.61169671e-02 -1.42255650e-03 2.00022247e+01] [-2.61168863e-02 9.99658893e-01 7.53342668e-05 -6.04369162e-01] [ 1.42403876e-03 -3.81557472e-05 9.99998985e-01 -7.06923157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.17907232899999 meters 0.07680915073668788 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.60, Z:-0.71 [[ 9.99652912e-01 2.63090923e-02 -1.37387426e-03 2.00611935e+01] [-2.63090182e-02 9.99653855e-01 7.19573927e-05 -6.04054491e-01] [ 1.37529184e-03 -3.57871342e-05 9.99999054e-01 -7.08282309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239072328999995 meters 0.07754282990910251 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.60, Z:-0.71 [[ 9.99735412e-01 2.29869322e-02 -8.40255960e-04 2.01196932e+01] [-2.29869049e-02 9.99735765e-01 4.21126566e-05 -6.02239986e-01] [ 8.41001976e-04 -2.27866302e-05 9.99999646e-01 -7.10665338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299072329 meters 0.07848700290357914 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.60, Z:-0.71 [[ 9.99836551e-01 1.80755512e-02 3.81252211e-04 2.01792124e+01] [-1.80755442e-02 9.99836624e-01 -2.18189489e-05 -5.98834129e-01] [-3.81584313e-04 1.49240414e-05 9.99999927e-01 -7.09835212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35907232899999 meters 0.08357566337119209 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.61, Z:-0.72 [[ 9.99981698e-01 6.03831875e-03 3.78210541e-04 2.02383280e+01] [-6.03831150e-03 9.99981769e-01 -2.03030995e-05 -6.09127624e-01] [-3.78326242e-04 1.80189748e-05 9.99999928e-01 -7.17051952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419072328999995 meters 0.08849096906752364 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.62, Z:-0.72 [[ 9.99993187e-01 -3.33905580e-03 1.57358446e-03 2.02975068e+01] [ 3.33919184e-03 9.99994421e-01 -8.38350150e-05 -6.15229101e-01] [-1.57329575e-03 8.90889443e-05 9.99998758e-01 -7.19248335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479072329 meters 0.09160868110385763 Centerline is valid? [True, True] Translation: X:20.36, Y:-0.61, Z:-0.72 [[ 9.99965049e-01 -7.70805485e-03 3.23817361e-03 2.03572685e+01] [ 7.70865141e-03 9.99970273e-01 -1.71786836e-04 -6.12356230e-01] [-3.23675320e-03 1.96742784e-04 9.99994742e-01 -7.15403297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53907232899999 meters 0.09902086110459005 Centerline is valid? [True, True] Translation: X:20.42, Y:-0.63, Z:-0.72 [[ 9.99860189e-01 -1.65960251e-02 2.04328646e-03 2.04155323e+01] [ 1.65962806e-02 9.99862266e-01 -1.08164607e-04 -6.26603997e-01] [-2.04120993e-03 1.42060440e-04 9.99997907e-01 -7.23364734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.599072328999995 meters 0.10130628429939854 Centerline is valid? [True, False] Translation: X:20.41, Y:-0.62, Z:-0.72 [[ 9.99896382e-01 -1.40199196e-02 3.26593264e-03 2.04115088e+01] [ 1.40121531e-02 9.99898971e-01 2.38890320e-03 -6.21623872e-01] [-3.29909491e-03 -2.34289292e-03 9.99991813e-01 -7.21905418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659072329 meters 0.09555553368107025 Centerline is valid? [False, True] Translation: X:20.41, Y:-0.61, Z:-0.72 [[ 9.99939983e-01 -1.05355693e-02 3.00547257e-03 2.04119521e+01] [ 1.05211012e-02 9.99933180e-01 4.78977139e-03 -6.12782895e-01] [-3.05573471e-03 -4.75786304e-03 9.99984012e-01 -7.21843641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71907232899999 meters 0.09797662577045756 Centerline is valid? [True, True] Translation: X:20.47, Y:-0.61, Z:-0.74 [[ 9.99977753e-01 -6.13468332e-03 -2.61904511e-03 2.04719923e+01] [ 6.13513015e-03 9.99981167e-01 1.62608352e-04 -6.13133049e-01] [ 2.61799824e-03 -1.78672917e-04 9.99996557e-01 -7.35639554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.779072328999995 meters 0.0946369811006342 Centerline is valid? [True, True] Translation: X:20.53, Y:-0.60, Z:-0.73 [[ 9.99990880e-01 -4.27010344e-03 -7.84258216e-05 2.05338307e+01] [ 4.27010386e-03 9.99990883e-01 5.11207702e-06 -6.01753830e-01] [ 7.84032775e-05 -5.44691681e-06 9.99999997e-01 -7.34768526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839072329 meters 0.09056158553282401 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.58, Z:-0.73 [[ 9.99999929e-01 2.24286061e-04 3.03730145e-04 2.05954373e+01] [-2.24280361e-04 9.99999975e-01 -1.88009861e-05 -5.82996094e-01] [-3.03734354e-04 1.87328640e-05 9.99999954e-01 -7.28243065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89907232899999 meters 0.09024797069451838 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.58, Z:-0.74 [[ 9.99984999e-01 4.64681540e-03 -2.89984728e-03 2.06555381e+01] [-4.64631256e-03 9.99989190e-01 1.80115843e-04 -5.80513335e-01] [ 2.90065289e-03 -1.66639545e-04 9.99995779e-01 -7.39477546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.959072328999994 meters 0.09106608262736224 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.58, Z:-0.74 [[ 9.99986990e-01 5.09699824e-03 1.99461774e-04 2.07134136e+01] [-5.09699563e-03 9.99987010e-01 -1.35707227e-05 -5.83809351e-01] [-1.99528353e-04 1.25538903e-05 9.99999980e-01 -7.41166870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019072329 meters 0.09104937466954752 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.58, Z:-0.74 [[ 9.99974516e-01 6.96297992e-03 1.57611894e-03 2.07726514e+01] [-6.96283380e-03 9.99975754e-01 -9.81743345e-05 -5.76736597e-01] [-1.57676431e-03 8.71975784e-05 9.99998753e-01 -7.37449063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.07907232899999 meters 0.09006955721153248 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.56, Z:-0.73 [[ 9.99946796e-01 9.65921561e-03 3.62010859e-03 2.08331359e+01] [-9.65846467e-03 9.99953331e-01 -2.24859597e-04 -5.64577657e-01] [-3.62211160e-03 1.89882943e-04 9.99993422e-01 -7.34166179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.139072328999994 meters 0.08947774176249851 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.56, Z:-0.74 [[ 9.99914048e-01 1.28045697e-02 2.81765603e-03 2.08924969e+01] [-1.28041272e-02 9.99918008e-01 -1.75022837e-04 -5.57733905e-01] [-2.81966610e-03 1.38930167e-04 9.99996015e-01 -7.39696163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199072328999996 meters 0.08891498393077078 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.55, Z:-0.75 [[ 9.99894611e-01 1.44082890e-02 1.77964760e-03 2.09518476e+01] [-1.44081141e-02 9.99896192e-01 -1.11056547e-04 -5.53488586e-01] [-1.78106300e-03 8.54034770e-05 9.99998410e-01 -7.45075169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25907232899999 meters 0.08321690210595475 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.53, Z:-0.75 [[ 9.99688956e-01 2.49259940e-02 -8.27831972e-04 2.10136450e+01] [-2.49259602e-02 9.99689299e-01 5.10468841e-05 -5.26842102e-01] [ 8.28847158e-04 -3.03964995e-05 9.99999656e-01 -7.45620591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.319072328999994 meters 0.08072177880433153 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.51, Z:-0.74 [[ 9.99412991e-01 3.42039801e-02 1.93949516e-03 2.10736189e+01] [-3.42038106e-02 9.99414871e-01 -1.20532680e-04 -5.11632219e-01] [-1.94248300e-03 5.41238013e-05 9.99998112e-01 -7.42792164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379072328999996 meters 0.07702497757253295 Centerline is valid? [True, True] Translation: X:21.14, Y:-0.49, Z:-0.74 [[ 9.98889371e-01 4.67934673e-02 5.51328146e-03 2.11351720e+01] [-4.67922977e-02 9.98904582e-01 -3.41013374e-04 -4.87311509e-01] [-5.52319931e-03 8.26555274e-05 9.99984744e-01 -7.42919280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439072329 meters 0.07646104922981278 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.48, Z:-0.75 [[ 9.98628333e-01 5.21545598e-02 4.62101072e-03 2.11933019e+01] [-5.21537923e-02 9.98639024e-01 -2.86511306e-04 -4.80492290e-01] [-4.62966450e-03 4.51150743e-05 9.99989282e-01 -7.46675311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.49907232899999 meters 0.07701921893759792 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.49, Z:-0.75 [[ 9.98771580e-01 4.95494255e-02 4.31257629e-04 2.12513444e+01] [-4.95494181e-02 9.98771673e-01 -2.78096580e-05 -4.85749281e-01] [-4.32105856e-04 6.40693145e-06 9.99999907e-01 -7.51144072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559072328999996 meters 0.07796502130499133 Centerline is valid? [True, True] Translation: X:21.31, Y:-0.50, Z:-0.76 [[ 9.98818218e-01 4.85996920e-02 -4.87350136e-04 2.13090163e+01] [-4.85996848e-02 9.98818337e-01 2.65600378e-05 -4.96478166e-01] [ 4.88065062e-04 -2.84358657e-06 9.99999881e-01 -7.57965113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619072329 meters 0.07845071387985587 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.51, Z:-0.76 [[ 9.99066303e-01 4.31672627e-02 1.76344442e-03 2.13664191e+01] [-4.31671369e-02 9.99067859e-01 -1.09364733e-04 -5.12632219e-01] [-1.76652161e-03 3.31397733e-05 9.99998439e-01 -7.56410947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.67907232899999 meters 0.07945880055252455 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.52, Z:-0.75 [[ 9.99318313e-01 3.66366197e-02 4.54609744e-03 2.14254831e+01] [-3.66357284e-02 9.99328647e-01 -2.79195421e-04 -5.24890691e-01] [-4.55327419e-03 1.12455506e-04 9.99989627e-01 -7.48052166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739072328999995 meters 0.08148555687465046 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.54, Z:-0.75 [[ 9.99485375e-01 3.18089163e-02 4.14469855e-03 2.14836819e+01] [-3.18081337e-02 9.99493961e-01 -2.54613201e-04 -5.42639688e-01] [-4.15070014e-03 1.22647045e-04 9.99991378e-01 -7.51915727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799072329 meters 0.0855256386601223 Centerline is valid? [True, True] Translation: X:21.54, Y:-0.57, Z:-0.76 [[ 9.99731368e-01 2.31772782e-02 -8.05462268e-05 2.15417486e+01] [-2.31772779e-02 9.99731371e-01 4.81426166e-06 -5.65978996e-01] [ 8.06361712e-05 -2.94612611e-06 9.99999997e-01 -7.58751541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85907232899999 meters 0.09062938470836746 Centerline is valid? [True, True] Translation: X:21.60, Y:-0.59, Z:-0.76 [[ 9.99907047e-01 1.35464941e-02 -1.54570463e-03 2.15991018e+01] [-1.35463641e-02 9.99908239e-01 9.45743038e-05 -5.92212284e-01] [ 1.54684395e-03 -7.36268352e-05 9.99998801e-01 -7.60865610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919072328999995 meters 0.09333495424394386 Centerline is valid? [True, True] Translation: X:21.66, Y:-0.61, Z:-0.75 [[ 9.99945642e-01 9.59102292e-03 4.08966238e-03 2.16568819e+01] [-9.59007654e-03 9.99953983e-01 -2.50955896e-04 -6.09812661e-01] [-4.09188111e-03 2.11722079e-04 9.99991606e-01 -7.53179120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979072329 meters 0.0895382863294606 Centerline is valid? [True, True] Translation: X:21.72, Y:-0.61, Z:-0.76 [[ 9.99956463e-01 9.24963923e-03 1.23149386e-03 2.17151490e+01] [-9.24955192e-03 9.99957219e-01 -7.65788195e-05 -6.09612766e-01] [-1.23214951e-03 6.51847190e-05 9.99999239e-01 -7.56844134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03907232899999 meters 0.09020645241756402 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.62, Z:-0.77 [[ 9.99941045e-01 8.98811129e-03 -6.09258559e-03 2.17741555e+01] [-8.98601337e-03 9.99959556e-01 3.71626519e-04 -6.20809316e-01] [ 6.09567940e-03 -3.16856554e-04 9.99981371e-01 -7.65524729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.099072328999995 meters 0.08859855896968696 Centerline is valid? [True, True] Translation: X:21.83, Y:-0.62, Z:-0.77 [[ 9.99924508e-01 1.06517750e-02 -6.12525168e-03 2.18327871e+01] [-1.06496914e-02 9.99943221e-01 3.72693431e-04 -6.22553407e-01] [ 6.12887374e-03 -3.07433256e-04 9.99981171e-01 -7.65526716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159072329 meters 0.08617351787141461 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.62, Z:-0.76 [[ 9.99779764e-01 2.08395616e-02 -2.47725714e-03 2.18923786e+01] [-2.08392518e-02 9.99782828e-01 1.50782870e-04 -6.23190674e-01] [ 2.47986140e-03 -9.91254771e-05 9.99996920e-01 -7.62590175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21907232899999 meters 0.08138968178908129 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.61, Z:-0.76 [[ 9.99417299e-01 3.41175530e-02 -1.02705163e-03 2.19539591e+01] [-3.41175067e-02 9.99417826e-01 6.25853836e-05 -6.12115938e-01] [ 1.02858897e-03 -2.75084743e-05 9.99999471e-01 -7.59701054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.279072328999995 meters 0.07972400208742386 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.61, Z:-0.76 [[ 9.99144559e-01 4.13021049e-02 -2.07024708e-03 2.20136672e+01] [-4.13019331e-02 9.99146703e-01 1.25717878e-04 -6.08895133e-01] [ 2.07367295e-03 -4.01051274e-05 9.99997849e-01 -7.63347952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339072329 meters 0.07895827516670821 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.60, Z:-0.77 [[ 9.98847348e-01 4.76788330e-02 -5.54122800e-03 2.20725448e+01] [-4.76777190e-02 9.98862715e-01 3.33039637e-04 -6.04600479e-01] [ 5.55080499e-03 -6.84626463e-05 9.99984592e-01 -7.67948562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39907232899999 meters 0.07880348387073599 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.61, Z:-0.77 [[ 9.98819962e-01 4.83557651e-02 -4.51692065e-03 2.21309262e+01] [-4.83550396e-02 9.98830174e-01 2.69756911e-04 -6.07916761e-01] [ 4.52468094e-03 -5.10227106e-05 9.99989762e-01 -7.67695145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.459072328999994 meters 0.07857435867561335 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.61, Z:-0.76 [[ 9.98798806e-01 4.89613778e-02 -1.93082478e-03 2.21892695e+01] [-4.89612509e-02 9.98800672e-01 1.12942878e-04 -6.09830566e-01] [ 1.93403893e-03 -1.82716153e-05 9.99998130e-01 -7.64344716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519072329 meters 0.08054215740379717 Centerline is valid? [True, True] Translation: X:22.25, Y:-0.63, Z:-0.77 [[ 9.99111935e-01 4.19488778e-02 -3.95385141e-03 2.22472391e+01] [-4.19482671e-02 9.99119756e-01 2.37284902e-04 -6.25361773e-01] [ 3.96032489e-03 -7.12169632e-05 9.99992155e-01 -7.69556872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57907232899999 meters 0.0836791153112597 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.64, Z:-0.77 [[ 9.99486060e-01 3.11643125e-02 -7.51015813e-03 2.23067255e+01] [-3.11617973e-02 9.99514251e-01 4.51723390e-04 -6.38619217e-01] [ 7.52058773e-03 -2.17461206e-04 9.99971696e-01 -7.70913988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.639072328999994 meters 0.08698304870944983 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.65, Z:-0.77 [[ 9.99694910e-01 2.41755466e-02 -5.06260929e-03 2.23646258e+01] [-2.41743147e-02 9.99707712e-01 3.04402244e-04 -6.54035505e-01] [ 5.06848864e-03 -1.81924264e-04 9.99987139e-01 -7.73238437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699072328999996 meters 0.09062311820952955 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.67, Z:-0.77 [[ 9.99869119e-01 1.61230848e-02 -1.33854912e-03 2.24246241e+01] [-1.61229915e-02 9.99870013e-01 8.05106254e-05 -6.70382254e-01] [ 1.33967321e-03 -5.89186720e-05 9.99999101e-01 -7.71798122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75907232899999 meters 0.08971331437934807 Centerline is valid? [True, True] Translation: X:22.49, Y:-0.67, Z:-0.77 [[ 9.99920083e-01 1.22043178e-02 -3.29877715e-03 2.24851255e+01] [-1.22037303e-02 9.99925512e-01 1.98168680e-04 -6.66162965e-01] [ 3.30094995e-03 -1.57895457e-04 9.99994539e-01 -7.70593600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.819072328999994 meters 0.09444693693646188 Centerline is valid? [True, True] Translation: X:22.54, Y:-0.68, Z:-0.78 [[ 9.99927185e-01 1.07204206e-02 -5.54046564e-03 2.25431724e+01] [-1.07187438e-02 9.99942497e-01 3.32251257e-04 -6.79425596e-01] [ 5.54370893e-03 -2.72840232e-04 9.99984596e-01 -7.77014673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879072328999996 meters 0.09432731034507641 Centerline is valid? [True, True] Translation: X:22.60, Y:-0.68, Z:-0.77 [[ 9.99925585e-01 1.12515904e-02 -4.71452449e-03 2.26022866e+01] [-1.12503848e-02 9.99936673e-01 2.82164570e-04 -6.77028889e-01] [ 4.71740073e-03 -2.29103358e-04 9.99988847e-01 -7.73546366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939072329 meters 0.09138894499704642 Centerline is valid? [True, True] Translation: X:22.66, Y:-0.67, Z:-0.78 [[ 9.99919342e-01 1.22402326e-02 -3.38927526e-03 2.26614600e+01] [-1.22396170e-02 9.99925073e-01 2.02318313e-04 -6.72022258e-01] [ 3.39149773e-03 -1.60818564e-04 9.99994236e-01 -7.75156743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99907232899999 meters 0.09082272127527895 Centerline is valid? [True, True] Translation: X:22.72, Y:-0.67, Z:-0.78 [[ 9.99887710e-01 1.44570633e-02 -3.94482232e-03 2.27205526e+01] [-1.44562470e-02 9.99895475e-01 2.35385549e-04 -6.71015169e-01] [ 3.94781297e-03 -1.78331792e-04 9.99992191e-01 -7.79750577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059072328999996 meters 0.08994271241096405 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.66, Z:-0.78 [[ 9.99835022e-01 1.72429871e-02 -5.71032080e-03 2.27788760e+01] [-1.72413233e-02 9.99851299e-01 3.40474089e-04 -6.60556301e-01] [ 5.71534246e-03 -2.41964431e-04 9.99983638e-01 -7.79347430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119072329 meters 0.0899613322951754 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.66, Z:-0.78 [[ 9.99814258e-01 1.86359557e-02 -4.91441447e-03 2.28370068e+01] [-1.86347428e-02 9.99826315e-01 2.92485342e-04 -6.57949834e-01] [ 4.91901166e-03 -2.00852166e-04 9.99987881e-01 -7.82009444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17907232899999 meters 0.09080495293876248 Centerline is valid? [True, True] Translation: X:22.90, Y:-0.66, Z:-0.79 [[ 9.99817052e-01 1.83795220e-02 -5.29674289e-03 2.28952628e+01] [-1.83781110e-02 9.99831059e-01 3.14941359e-04 -6.59634724e-01] [ 5.30163653e-03 -2.17539612e-04 9.99985923e-01 -7.85637463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239072328999995 meters 0.09171529067928876 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.66, Z:-0.79 [[ 9.99832256e-01 1.77547879e-02 -4.49757412e-03 2.29533517e+01] [-1.77537665e-02 9.99842354e-01 2.66927011e-04 -6.61332189e-01] [ 4.50160432e-03 -1.87033355e-04 9.99989850e-01 -7.87344640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299072329 meters 0.08794112276780203 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.64, Z:-0.78 [[ 9.99702560e-01 2.43413804e-02 -1.51263724e-03 2.30148050e+01] [-2.43412724e-02 9.99703703e-01 8.97766417e-05 -6.41936205e-01] [ 1.51437434e-03 -5.29304234e-05 9.99998852e-01 -7.75920417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35907232899999 meters 0.08505430931455944 Centerline is valid? [True, True] Translation: X:23.08, Y:-0.63, Z:-0.78 [[ 9.99520948e-01 3.06615281e-02 -4.21246539e-03 2.30751343e+01] [-3.06607439e-02 9.99529817e-01 2.50637118e-04 -6.32837590e-01] [ 4.21816968e-03 -1.21359728e-04 9.99991096e-01 -7.83963454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419072328999995 meters 0.08709066141891979 Centerline is valid? [True, True] Translation: X:23.13, Y:-0.65, Z:-0.80 [[ 9.99463386e-01 3.23240774e-02 -5.30039242e-03 2.31318800e+01] [-3.23228660e-02 9.99477430e-01 3.14082750e-04 -6.45126061e-01] [ 5.30777503e-03 -1.42590335e-04 9.99985903e-01 -7.95623522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479072329 meters 0.08530539290088412 Centerline is valid? [True, True] Translation: X:23.19, Y:-0.64, Z:-0.79 [[ 9.99341693e-01 3.57283704e-02 -6.29799304e-03 2.31900890e+01] [-3.57267320e-02 9.99361527e-01 3.72491683e-04 -6.35990951e-01] [ 6.30728047e-03 -1.47239759e-04 9.99980098e-01 -7.91845835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53907232899999 meters 0.08352238270141339 Centerline is valid? [True, True] Translation: X:23.25, Y:-0.63, Z:-0.79 [[ 9.99359972e-01 3.56318481e-02 -3.16496800e-03 2.32488827e+01] [-3.56314444e-02 9.99364982e-01 1.83852754e-04 -6.34193177e-01] [ 3.16950920e-03 -7.09627022e-05 9.99994975e-01 -7.87325988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.599072328999995 meters 0.08467125940487695 Centerline is valid? [True, True] Translation: X:23.31, Y:-0.65, Z:-0.79 [[ 9.99445125e-01 3.32031913e-02 -2.64390075e-03 2.33057935e+01] [-3.32028975e-02 9.99448620e-01 1.54981329e-04 -6.45119446e-01] [ 2.64758883e-03 -6.71101679e-05 9.99996493e-01 -7.91416925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659072329 meters 0.08455390691872275 Centerline is valid? [True, True] Translation: X:23.36, Y:-0.65, Z:-0.79 [[ 9.99474159e-01 3.23311415e-02 -2.47035291e-03 2.33648464e+01] [-3.23308890e-02 9.99477210e-01 1.42084099e-04 -6.47594412e-01] [ 2.47365517e-03 -6.21406797e-05 9.99996939e-01 -7.88594313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71907232899999 meters 0.08495297368343495 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.65, Z:-0.79 [[ 9.99508770e-01 3.13108107e-02 -1.36086511e-03 2.34223479e+01] [-3.13107362e-02 9.99509696e-01 7.60348334e-05 -6.52338133e-01] [ 1.36257858e-03 -3.33877944e-05 9.99999071e-01 -7.87109692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.779072328999995 meters 0.08593891970113846 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.66, Z:-0.79 [[ 9.99498253e-01 3.15468064e-02 -2.83555102e-03 2.34791908e+01] [-3.15464667e-02 9.99502273e-01 1.64479901e-04 -6.60295553e-01] [ 2.83932851e-03 -7.49457581e-05 9.99995966e-01 -7.91607712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839072329 meters 0.08667202111122502 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.67, Z:-0.80 [[ 9.99541528e-01 2.99935252e-02 -4.13797094e-03 2.35371173e+01] [-2.99927892e-02 9.99550086e-01 2.39832972e-04 -6.68392882e-01] [ 4.14330265e-03 -1.15613725e-04 9.99991410e-01 -7.95515347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89907232899999 meters 0.08744191604376188 Centerline is valid? [True, True] Translation: X:23.60, Y:-0.68, Z:-0.79 [[ 9.99708024e-01 2.39481288e-02 -3.21761028e-03 2.35967287e+01] [-2.39476492e-02 9.99713196e-01 1.87512340e-04 -6.79443414e-01] [ 3.22117803e-03 -1.10403389e-04 9.99994806e-01 -7.92543810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.959072328999994 meters 0.0877703375678185 Centerline is valid? [True, True] Translation: X:23.65, Y:-0.68, Z:-0.79 [[ 9.99751128e-01 2.20117576e-02 -3.62840759e-03 2.36548697e+01] [-2.20111492e-02 9.99757704e-01 2.07543877e-04 -6.84867704e-01] [ 3.63209685e-03 -1.27626805e-04 9.99993396e-01 -7.92286340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019072329 meters 0.09262410050864436 Centerline is valid? [True, True] Translation: X:23.71, Y:-0.71, Z:-0.80 [[ 9.99835640e-01 1.75838164e-02 -4.41625644e-03 2.37131372e+01] [-1.75828553e-02 9.99845377e-01 2.56363802e-04 -7.05963418e-01] [ 4.42008144e-03 -1.78671268e-04 9.99990215e-01 -7.97740485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07907232899999 meters 0.09175632567252626 Centerline is valid? [True, True] Translation: X:23.77, Y:-0.71, Z:-0.80 [[ 9.99902916e-01 1.36714211e-02 -2.69258478e-03 2.37724278e+01] [-1.36710508e-02 9.99906535e-01 1.55895145e-04 -7.13088277e-01] [ 2.69446442e-03 -1.19069547e-04 9.99996363e-01 -7.95166529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.139072328999994 meters 0.09501721176442782 Centerline is valid? [True, True] Translation: X:23.83, Y:-0.73, Z:-0.79 [[ 9.99965597e-01 8.12326471e-03 1.67829387e-03 2.38309816e+01] [-8.12311188e-03 9.99967002e-01 -9.78635027e-05 -7.30522026e-01] [-1.67903346e-03 8.42271670e-05 9.99998587e-01 -7.91973946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199072328999996 meters 0.09439279006444748 Centerline is valid? [True, True] Translation: X:23.89, Y:-0.74, Z:-0.80 [[ 9.99993545e-01 3.32373474e-03 -1.36513582e-03 2.38907245e+01] [-3.32363003e-03 9.99994474e-01 7.89584804e-05 -7.36124377e-01] [ 1.36539071e-03 -7.44207643e-05 9.99999065e-01 -7.95476347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25907232899999 meters 0.09947628190768347 Centerline is valid? [True, True] Translation: X:23.95, Y:-0.76, Z:-0.80 [[ 9.99985475e-01 -4.12694344e-03 -3.46658155e-03 2.39490349e+01] [ 4.12766527e-03 9.99991461e-01 2.01096125e-04 -7.57296795e-01] [ 3.46572204e-03 -2.15402093e-04 9.99993971e-01 -7.98974367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.319072328999994 meters 0.10105370834938529 Centerline is valid? [True, False] Translation: X:23.95, Y:-0.76, Z:-0.80 [[ 9.99987209e-01 -4.12959221e-03 -2.92037573e-03 2.39474221e+01] [ 4.13297551e-03 9.99990794e-01 1.15343210e-03 -7.61927083e-01] [ 2.91558564e-03 -1.16548719e-03 9.99995070e-01 -7.98608188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379072328999996 meters 0.10769084755285492 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.77, Z:-0.80 [[ 9.99968300e-01 -7.38504374e-03 -2.97667357e-03 2.39486552e+01] [ 7.38154784e-03 9.99972055e-01 -1.18371239e-03 -7.68343872e-01] [ 2.98533216e-03 1.16170241e-03 9.99994869e-01 -8.00403159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439072329 meters 0.10556263562213283 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.77, Z:-0.80 [[ 9.99972767e-01 -6.82565773e-03 -2.80626733e-03 2.39489512e+01] [ 6.82646098e-03 9.99976661e-01 2.76754249e-04 -7.72633172e-01] [ 2.80431281e-03 -2.95903587e-04 9.99996024e-01 -8.01924995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49907232899999 meters 0.10979111312045939 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.78, Z:-0.80 [[ 9.99970723e-01 -7.38207198e-03 -2.01437970e-03 2.39457427e+01] [ 7.38388694e-03 9.99972338e-01 8.95060687e-04 -7.77301149e-01] [ 2.00771658e-03 -9.09908435e-04 9.99997571e-01 -7.99741627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559072328999996 meters 0.11565070827324168 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.79, Z:-0.80 [[ 9.99943509e-01 -1.04953346e-02 -1.68131023e-03 2.39461181e+01] [ 1.04943156e-02 9.99944745e-01 -6.13751954e-04 -7.87321521e-01] [ 1.68765886e-03 5.96073082e-04 9.99998398e-01 -8.01754174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619072329 meters 0.11750083995823042 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.80, Z:-0.80 [[ 9.99952946e-01 -9.60976527e-03 -1.32631954e-03 2.39463396e+01] [ 9.61221522e-03 9.99952084e-01 1.85333144e-03 -7.95274590e-01] [ 1.30844591e-03 -1.86599310e-03 9.99997403e-01 -8.04133583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67907232899999 meters 0.11474474264042045 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.80, Z:-0.80 [[ 9.99906695e-01 -1.36244977e-02 -9.87163099e-04 2.39445475e+01] [ 1.36236752e-02 9.99906845e-01 -8.35258331e-04 -8.03065188e-01] [ 9.98451114e-04 8.21731608e-04 9.99999164e-01 -8.02509530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739072328999995 meters 0.12400074082887325 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.82, Z:-0.80 [[ 9.99853933e-01 -1.70912915e-02 2.06971254e-05 2.39422529e+01] [ 1.70913025e-02 9.99852600e-01 -1.63277028e-03 -8.17371272e-01] [ 7.21207821e-06 1.63288553e-03 9.99998667e-01 -8.02107561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799072329 meters 0.11942553139638815 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.83, Z:-0.80 [[ 9.99864971e-01 -1.64131195e-02 8.05977599e-04 2.39411906e+01] [ 1.64120526e-02 9.99864451e-01 1.31294636e-03 -8.28029245e-01] [-8.27417895e-04 -1.29954133e-03 9.99998813e-01 -8.03908369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85907232899999 meters 0.11848646634414547 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.84, Z:-0.81 [[ 9.99882239e-01 -1.30884999e-02 8.01241823e-03 2.39329937e+01] [ 1.30871407e-02 9.99914335e-01 2.22039721e-04 -8.44731481e-01] [-8.01463802e-03 -1.17153929e-04 9.99967875e-01 -8.11757505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919072328999995 meters 0.12232136508391912 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.85, Z:-0.81 [[ 9.99906600e-01 -1.15117512e-02 7.36688092e-03 2.39345837e+01] [ 1.14887985e-02 9.99929039e-01 3.15043125e-03 -8.54535834e-01] [-7.40262514e-03 -3.06550039e-03 9.99967901e-01 -8.12174495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979072329 meters 0.11946318547779325 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.86, Z:-0.81 [[ 9.99920439e-01 -1.06045166e-02 6.83087379e-03 2.39359205e+01] [ 1.05739010e-02 9.99933958e-01 4.50258295e-03 -8.59214158e-01] [-6.87817038e-03 -4.42999574e-03 9.99966532e-01 -8.12240555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03907232899999 meters 0.1166084824077842 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.87, Z:-0.81 [[ 9.99976624e-01 -6.72686434e-03 -1.22503515e-03 2.39328873e+01] [ 6.71991890e-03 9.99961807e-01 -5.58809187e-03 -8.67608816e-01] [ 1.26257870e-03 5.57972911e-03 9.99983636e-01 -8.08467338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.099072328999995 meters 0.10733356315372232 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.87, Z:-0.81 [[ 9.99982063e-01 -5.72519631e-03 -1.75947073e-03 2.39346250e+01] [ 5.71787273e-03 9.99975085e-01 -4.13959310e-03 -8.72016824e-01] [ 1.78312688e-03 4.12945842e-03 9.99989884e-01 -8.09287184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159072329 meters 0.10994526547057265 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.87, Z:-0.81 [[ 9.99996233e-01 -1.00275184e-03 -2.55521881e-03 2.39357291e+01] [ 1.00393524e-03 9.99999389e-01 4.61887941e-04 -8.73059794e-01] [ 2.55475409e-03 -4.64451475e-04 9.99996629e-01 -8.08046224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21907232899999 meters 0.10272686481885707 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.88, Z:-0.81 [[ 9.99995487e-01 -3.91802491e-05 -3.00399179e-03 2.39373426e+01] [ 4.45764592e-05 9.99998386e-01 1.79630057e-03 -8.77326781e-01] [ 3.00391656e-03 -1.79642637e-03 9.99993875e-01 -8.08940888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.279072328999995 meters 0.10286446542317318 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.88, Z:-0.81 [[ 9.99995187e-01 3.60605585e-04 -3.08146028e-03 2.39373750e+01] [-3.52376633e-04 9.99996372e-01 2.67059713e-03 -8.80852419e-01] [ 3.08241213e-03 -2.66949844e-03 9.99991686e-01 -8.08824420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339072329 meters 0.10607640881356518 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.89, Z:-0.81 [[ 9.99989510e-01 -3.25550474e-03 -3.22216085e-03 2.39376830e+01] [ 3.25472525e-03 9.99994673e-01 -2.47129025e-04 -8.86080343e-01] [ 3.22294821e-03 2.36639185e-04 9.99994778e-01 -8.08865600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39907232899999 meters 0.10347645924344544 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.89, Z:-0.81 [[ 9.99973570e-01 -6.59301950e-03 -3.06446693e-03 2.39380760e+01] [ 6.58532751e-03 9.99975158e-01 -2.51340738e-03 -8.93715293e-01] [ 3.08096175e-03 2.49316043e-03 9.99992146e-01 -8.10215787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.459072328999994 meters 0.10568209598384551 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.90, Z:-0.81 [[ 9.99970101e-01 -7.32818006e-03 -2.46891884e-03 2.39348946e+01] [ 7.32174905e-03 9.99969806e-01 -2.60383609e-03 -8.95837435e-01] [ 2.48792567e-03 2.58568143e-03 9.99993562e-01 -8.07256032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519072329 meters 0.1096274998301604 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.91, Z:-0.81 [[ 9.99977382e-01 -6.41134342e-03 -2.03213532e-03 2.39346300e+01] [ 6.41131341e-03 9.99979447e-01 -2.12788007e-05 -9.05143901e-01] [ 2.03222998e-03 8.24966293e-06 9.99997935e-01 -8.08698671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57907232899999 meters 0.11086617955028866 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.91, Z:-0.81 [[ 9.99954066e-01 -9.45013832e-03 -1.60053791e-03 2.39351400e+01] [ 9.44829394e-03 9.99954696e-01 -1.15602076e-03 -9.14643882e-01] [ 1.61138995e-03 1.14084531e-03 9.99998051e-01 -8.11679641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.639072328999994 meters 0.11411808807372423 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.92, Z:-0.81 [[ 9.99953594e-01 -9.60471141e-03 -7.48294660e-04 2.39327798e+01] [ 9.60487519e-03 9.99953849e-01 2.15596721e-04 -9.20302064e-01] [ 7.46189381e-04 -2.22773993e-04 9.99999697e-01 -8.10934393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699072328999996 meters 0.11597611512366403 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.93, Z:-0.81 [[ 9.99961444e-01 -8.77651799e-03 -2.89048753e-04 2.39323052e+01] [ 8.77727120e-03 9.99957789e-01 2.71670348e-03 -9.28848120e-01] [ 2.65193355e-04 -2.71913579e-03 9.99996268e-01 -8.12208551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75907232899999 meters 0.12020122437635239 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.94, Z:-0.81 [[ 9.99969424e-01 -7.81627923e-03 2.40059843e-04 2.39323680e+01] [ 7.81484097e-03 9.99954339e-01 5.49990537e-03 -9.37214105e-01] [-2.83037678e-04 -5.49786117e-03 9.99984847e-01 -8.14942947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.819072328999994 meters 0.12594039434706455 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.94, Z:-0.81 [[ 9.99922115e-01 -1.24543269e-02 8.09065787e-04 2.39296187e+01] [ 1.24529665e-02 9.99921072e-01 1.66517977e-03 -9.41509403e-01] [-8.29740623e-04 -1.65497480e-03 9.99998286e-01 -8.12444468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879072328999996 meters 0.12068345796656892 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.94, Z:-0.81 [[ 9.99926197e-01 -1.21224870e-02 8.03432372e-04 2.39298792e+01] [ 1.21205770e-02 9.99923803e-01 2.34092410e-03 -9.43342015e-01] [-8.31748975e-04 -2.33101327e-03 9.99996937e-01 -8.12866561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939072329 meters 0.12479940460320721 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.95, Z:-0.82 [[ 9.99936781e-01 -7.48110907e-03 8.39451025e-03 2.39180652e+01] [ 7.48671668e-03 9.99971771e-01 -6.36783491e-04 -9.49598878e-01] [-8.38950944e-03 6.99590554e-04 9.99964563e-01 -8.16582233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99907232899999 meters 0.11643161067339804 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.95, Z:-0.82 [[ 9.99942670e-01 -6.66961824e-03 8.37696213e-03 2.39186802e+01] [ 6.66198438e-03 9.99977368e-01 9.38866308e-04 -9.54274974e-01] [-8.38303442e-03 -8.83005291e-04 9.99964472e-01 -8.17681274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059072328999996 meters 0.1182401107420619 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.96, Z:-0.82 [[ 9.99921923e-01 -9.50918285e-03 8.10700541e-03 2.39203231e+01] [ 9.51636293e-03 9.99954359e-01 -8.47548447e-04 -9.61615438e-01] [-8.09857590e-03 9.24631478e-04 9.99966779e-01 -8.19374413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119072329 meters 0.12269444257648447 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.97, Z:-0.82 [[ 9.99930205e-01 -8.61447418e-03 8.08552174e-03 2.39210201e+01] [ 8.60543616e-03 9.99962309e-01 1.15192832e-03 -9.67270534e-01] [-8.09514024e-03 -1.08226848e-03 9.99966648e-01 -8.20760143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17907232899999 meters 0.1221195616322311 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.97, Z:-0.82 [[ 9.99929634e-01 -8.89864917e-03 7.84483745e-03 2.39197049e+01] [ 8.89199095e-03 9.99960075e-01 8.83210324e-04 -9.68682782e-01] [-7.85238363e-03 -8.13391952e-04 9.99968839e-01 -8.17798974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239072328999995 meters 0.11758299357227764 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.98, Z:-0.82 [[ 9.99945519e-01 -7.09944803e-03 7.65230684e-03 2.39211713e+01] [ 7.07095198e-03 9.99967990e-01 3.74449508e-03 -9.78621838e-01] [-7.67864573e-03 -3.69018198e-03 9.99963710e-01 -8.19246667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299072329 meters 0.11152784992159598 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.98, Z:-0.82 [[ 9.99944886e-01 -6.70442934e-03 8.07927095e-03 2.39198671e+01] [ 6.66291128e-03 9.99964516e-01 5.15484255e-03 -9.84645098e-01] [-8.11354454e-03 -5.10072699e-03 9.99954075e-01 -8.18985120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35907232899999 meters 0.11950955939098173 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.99, Z:-0.82 [[ 9.99947540e-01 -6.47000258e-03 7.94078875e-03 2.39201605e+01] [ 6.42522785e-03 9.99963390e-01 5.65119275e-03 -9.86111599e-01] [-7.97706126e-03 -5.59987491e-03 9.99952503e-01 -8.18972979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419072328999995 meters 0.11842133972128105 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.99, Z:-0.82 [[ 9.99999529e-01 -9.21608038e-04 3.05538725e-04 2.39169703e+01] [ 9.22484708e-04 9.99995423e-01 -2.88164383e-03 -9.87952166e-01] [-3.02881581e-04 2.88192433e-03 9.99995801e-01 -8.16420026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479072329 meters 0.10738839271662882 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.99, Z:-0.82 [[ 9.99999865e-01 5.05795206e-04 1.15234628e-04 2.39188367e+01] [-5.05736156e-04 9.99999741e-01 -5.11884034e-04 -9.94225384e-01] [-1.15493507e-04 5.11825687e-04 9.99999862e-01 -8.18856699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53907232899999 meters 0.10581591449068947 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.98, Z:-0.82 [[ 9.99993359e-01 3.63532032e-03 -2.59356693e-04 2.39179688e+01] [-3.63505065e-03 9.99992860e-01 1.03277820e-03 -9.84668781e-01] [ 2.63109320e-04 -1.03182857e-03 9.99999433e-01 -8.15749577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.599072328999995 meters 0.10478161434281202 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.98, Z:-0.82 [[ 9.99997598e-01 1.84963234e-03 -1.17552642e-03 2.39218333e+01] [-1.85103935e-03 9.99997570e-01 -1.19695802e-03 -9.82634856e-01] [ 1.17330963e-03 1.19913109e-03 9.99998593e-01 -8.18478128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659072329 meters 0.10281695680285242 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.99, Z:-0.82 [[ 9.99997593e-01 -1.28974064e-04 -2.19012527e-03 2.39272553e+01] [ 1.22849920e-04 9.99996083e-01 -2.79615721e-03 -9.88056782e-01] [ 2.19047733e-03 2.79588142e-03 9.99993692e-01 -8.23169545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71907232899999 meters 0.10124164218986158 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.98, Z:-0.82 [[ 9.99989517e-01 3.61097607e-03 -2.81547599e-03 2.39284804e+01] [-3.61175077e-03 9.99993441e-01 -2.70118461e-04 -9.78972381e-01] [ 2.81448213e-03 2.80284426e-04 9.99996000e-01 -8.22675808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.779072328999995 meters 0.09933601732494969 Centerline is valid? [False, True] Translation: X:23.93, Y:-0.98, Z:-0.82 [[ 9.99993512e-01 1.56504601e-04 -3.59879244e-03 2.39308818e+01] [-1.70318541e-04 9.99992618e-01 -3.83850707e-03 -9.79561370e-01] [ 3.59816513e-03 3.83909511e-03 9.99986157e-01 -8.23890411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839072329 meters 0.10034054937169588 Centerline is valid? [True, False] Translation: X:23.93, Y:-0.98, Z:-0.82 [[ 9.99992879e-01 3.49967214e-04 -3.75750198e-03 2.39315917e+01] [-3.63456769e-04 9.99993490e-01 -3.58995035e-03 -9.79901591e-01] [ 3.75622115e-03 3.59129048e-03 9.99986497e-01 -8.24606330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89907232899999 meters 0.10239679280371523 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.97, Z:-0.82 [[ 9.99985198e-01 3.94651814e-03 -3.74537283e-03 2.39316334e+01] [-3.94915024e-03 9.99991960e-01 -6.95625802e-04 -9.74018637e-01] [ 3.74259741e-03 7.10406546e-04 9.99992744e-01 -8.24440580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.959072328999994 meters 0.1009898358537033 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.98, Z:-0.83 [[ 9.99992808e-01 5.40476977e-04 -3.75383311e-03 2.39329239e+01] [-5.53791477e-04 9.99993557e-01 -3.54677443e-03 -9.77628724e-01] [ 3.75189198e-03 3.54882776e-03 9.99986664e-01 -8.26534770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019072329 meters 0.10334095697912944 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.98, Z:-0.83 [[ 9.99994180e-01 1.31272206e-04 -3.40931339e-03 2.39318186e+01] [-1.45068317e-04 9.99991802e-01 -4.04666296e-03 -9.76873707e-01] [ 3.40875422e-03 4.04713399e-03 9.99986000e-01 -8.25920673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07907232899999 meters 0.10254950709303248 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.97, Z:-0.83 [[ 9.99986958e-01 3.71434648e-03 -3.50534701e-03 2.39323679e+01] [-3.71907706e-03 9.99992181e-01 -1.34398062e-03 -9.69949076e-01] [ 3.50032759e-03 1.35699975e-03 9.99992953e-01 -8.26056625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.139072328999994 meters 0.10265361088218919 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.97, Z:-0.83 [[ 9.99985177e-01 3.98890731e-03 -3.70587282e-03 2.39336903e+01] [-3.99396781e-03 9.99991100e-01 -1.35914068e-03 -9.68606893e-01] [ 3.70041835e-03 1.37392167e-03 9.99992210e-01 -8.27341461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199072328999996 meters 0.10229392548388067 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.96, Z:-0.83 [[ 9.99983996e-01 3.63871538e-03 -4.33209653e-03 2.39353938e+01] [-3.65138221e-03 9.99989071e-01 -2.91963925e-03 -9.60504278e-01] [ 4.32142545e-03 2.93541067e-03 9.99986354e-01 -8.27453598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25907232899999 meters 0.10338844189578987 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.96, Z:-0.83 [[ 9.99984388e-01 3.23804292e-03 -4.55393137e-03 2.39355338e+01] [-3.25630330e-03 9.99986666e-01 -4.00812273e-03 -9.56902217e-01] [ 4.54089217e-03 4.02288914e-03 9.99981598e-01 -8.26594689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.319072328999994 meters 0.10461688217967575 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.96, Z:-0.83 [[ 9.99982822e-01 3.75612901e-03 -4.49972088e-03 2.39364596e+01] [-3.77043818e-03 9.99987849e-01 -3.17576128e-03 -9.58320882e-01] [ 4.48773763e-03 3.19267264e-03 9.99984833e-01 -8.28340778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379072328999996 meters 0.10929271285468874 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.96, Z:-0.83 [[ 9.99983824e-01 4.00270842e-03 -4.04109690e-03 2.39362753e+01] [-4.01208915e-03 9.99989270e-01 -2.31589974e-03 -9.60327820e-01] [ 4.03178367e-03 2.33207552e-03 9.99989153e-01 -8.29844151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439072329 meters 0.11599792980632806 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.96, Z:-0.83 [[ 9.99990496e-01 3.06929797e-03 -3.09622269e-03 2.39326580e+01] [-3.07790815e-03 9.99991399e-01 -2.77994535e-03 -9.61552247e-01] [ 3.08766358e-03 2.78944882e-03 9.99991343e-01 -8.27167358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49907232899999 meters 0.11374969916484964 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.97, Z:-0.83 [[ 9.99989540e-01 3.66765301e-03 -2.73294428e-03 2.39324611e+01] [-3.67096800e-03 9.99992531e-01 -1.20894555e-03 -9.66547343e-01] [ 2.72848987e-03 1.21896546e-03 9.99995535e-01 -8.28350278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559072328999996 meters 0.10958754886100952 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.97, Z:-0.83 [[ 9.99996752e-01 -6.85959390e-05 -2.54791384e-03 2.39327893e+01] [ 5.84348258e-05 9.99992047e-01 -3.98787326e-03 -9.70822333e-01] [ 2.54816713e-03 3.98771142e-03 9.99988802e-01 -8.29964308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619072329 meters 0.1117500558789798 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.97, Z:-0.83 [[ 9.99996852e-01 8.42164916e-05 -2.50776521e-03 2.39331340e+01] [-9.33896357e-05 9.99993305e-01 -3.65800349e-03 -9.71093961e-01] [ 2.50744036e-03 3.65822618e-03 9.99990165e-01 -8.30619655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67907232899999 meters 0.11382605605412427 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.97, Z:-0.83 [[ 9.99997193e-01 4.41287390e-04 -2.32792618e-03 2.39324928e+01] [-4.47648227e-04 9.99996166e-01 -2.73259165e-03 -9.74767167e-01] [ 2.32671139e-03 2.73362607e-03 9.99993557e-01 -8.30325315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739072328999995 meters 0.11387395836032076 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.97, Z:-0.83 [[ 9.99994531e-01 1.03192368e-03 -3.14206714e-03 2.39353848e+01] [-1.04012647e-03 9.99996053e-01 -2.61012126e-03 -9.72484307e-01] [ 3.13936130e-03 2.61337514e-03 9.99991657e-01 -8.31994290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799072329 meters 0.1134249345932206 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.97, Z:-0.83 [[ 9.99991976e-01 1.51461722e-03 -3.70860531e-03 2.39377488e+01] [-1.52362257e-03 9.99995895e-01 -2.42661151e-03 -9.70756610e-01] [ 3.70491470e-03 2.43224255e-03 9.99990179e-01 -8.33574196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85907232899999 meters 0.11043725441857023 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.97, Z:-0.84 [[ 9.99968354e-01 6.49745331e-03 -4.59067220e-03 2.39410887e+01] [-6.48969993e-03 9.99977494e-01 1.70182469e-03 -9.67596185e-01] [ 4.60162640e-03 -1.67197874e-03 9.99988015e-01 -8.35640207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919072328999995 meters 0.10227964053047535 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.96, Z:-0.84 [[ 9.99913179e-01 1.16841397e-02 -6.09221800e-03 2.39449892e+01] [-1.16601266e-02 9.99924168e-01 3.96234649e-03 -9.58653109e-01] [ 6.13805262e-03 -3.89096645e-03 9.99973592e-01 -8.35849542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979072329 meters 0.09384150768527788 Centerline is valid? [False, True] Translation: X:23.95, Y:-0.95, Z:-0.84 [[ 9.99840119e-01 1.63226679e-02 -7.30119746e-03 2.39481379e+01] [-1.62756788e-02 9.99846741e-01 6.44958370e-03 -9.50909002e-01] [ 7.40535290e-03 -6.32972058e-03 9.99952547e-01 -8.36211965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03907232899999 meters 0.08696506344644993 Centerline is valid? [True, True] Translation: X:24.01, Y:-0.92, Z:-0.83 [[ 9.99297662e-01 3.69478300e-02 -6.24828212e-03 2.40113183e+01] [-3.69455411e-02 9.99317164e-01 4.81400136e-04 -9.15965546e-01] [ 6.26180226e-03 -2.50215866e-04 9.99980363e-01 -8.30835685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.099072328999995 meters 0.0835992772037609 Centerline is valid? [True, True] Translation: X:24.07, Y:-0.90, Z:-0.83 [[ 9.98763528e-01 4.92768722e-02 -6.57302852e-03 2.40728507e+01] [-4.92746111e-02 9.98785141e-01 5.05595635e-04 -8.99697355e-01] [ 6.58995739e-03 -1.81087055e-04 9.99978270e-01 -8.34444273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159072329 meters 0.08213165557132221 Centerline is valid? [True, True] Translation: X:24.13, Y:-0.89, Z:-0.84 [[ 9.98204662e-01 5.95154794e-02 -6.73494807e-03 2.41328286e+01] [-5.95133388e-02 9.98227376e-01 5.17989421e-04 -8.86766072e-01] [ 6.75383793e-03 -1.16240209e-04 9.99977186e-01 -8.42296150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21907232899999 meters 0.081404394023193 Centerline is valid? [True, True] Translation: X:24.19, Y:-0.88, Z:-0.84 [[ 9.97879679e-01 6.44994282e-02 -8.71606359e-03 2.41925486e+01] [-6.44960877e-02 9.97917739e-01 6.64089143e-04 -8.75709537e-01] [ 8.74074784e-03 -1.00529059e-04 9.99961794e-01 -8.41452765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.279072328999995 meters 0.0811728856727454 Centerline is valid? [True, True] Translation: X:24.25, Y:-0.86, Z:-0.84 [[ 9.97435739e-01 7.10586018e-02 -8.52183177e-03 2.42515775e+01] [-7.10556286e-02 9.97472142e-01 6.51529125e-04 -8.61662828e-01] [ 8.54658654e-03 -4.43343210e-05 9.99963476e-01 -8.39450859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339072329 meters 0.08120447870442109 Centerline is valid? [True, True] Translation: X:24.31, Y:-0.86, Z:-0.84 [[ 9.97227476e-01 7.40758071e-02 -7.08070390e-03 2.43105079e+01] [-7.40738657e-02 9.97252613e-01 5.36405584e-04 -8.61071146e-01] [ 7.10098515e-03 -1.04232766e-05 9.99974788e-01 -8.41980924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39907232899999 meters 0.08140739695549212 Centerline is valid? [True, True] Translation: X:24.37, Y:-0.86, Z:-0.84 [[ 9.97188218e-01 7.47328143e-02 -5.53753104e-03 2.43689627e+01] [-7.47316496e-02 9.97203593e-01 4.17236498e-04 -8.58061225e-01] [ 5.55322711e-03 -2.23449123e-06 9.99984581e-01 -8.43180622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.459072328999994 meters 0.08267043421013524 Centerline is valid? [True, True] Translation: X:24.43, Y:-0.86, Z:-0.86 [[ 9.97074816e-01 7.58173995e-02 -9.67126372e-03 2.44274400e+01] [-7.58138350e-02 9.97121719e-01 7.35184657e-04 -8.56437148e-01] [ 9.69916689e-03 1.81484958e-07 9.99952962e-01 -8.55295236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519072329 meters 0.08181860345579815 Centerline is valid? [True, True] Translation: X:24.49, Y:-0.86, Z:-0.85 [[ 9.96869930e-01 7.86269608e-02 -8.25490153e-03 2.44869414e+01] [-7.86245046e-02 9.96904108e-01 6.22159395e-04 -8.56680006e-01] [ 8.27826374e-03 2.88255502e-05 9.99965734e-01 -8.48278455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57907232899999 meters 0.08149808146990517 Centerline is valid? [True, True] Translation: X:24.55, Y:-0.85, Z:-0.84 [[ 9.96514094e-01 8.32495203e-02 -5.40170238e-03 2.45457920e+01] [-8.32485541e-02 9.96528733e-01 4.03858748e-04 -8.52365386e-01] [ 5.41657267e-03 4.72329790e-05 9.99985329e-01 -8.44314465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.639072328999994 meters 0.082594843236759 Centerline is valid? [True, True] Translation: X:24.61, Y:-0.84, Z:-0.84 [[ 9.95497573e-01 9.47095281e-02 -3.83251590e-03 2.46065540e+01] [-9.47091168e-02 9.95504947e-01 2.89082315e-04 -8.39306830e-01] [ 3.84266739e-03 7.51934530e-05 9.99992614e-01 -8.41549980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699072328999996 meters 0.08339379234998809 Centerline is valid? [True, True] Translation: X:24.67, Y:-0.84, Z:-0.84 [[ 9.94965246e-01 1.00158103e-01 -3.53742626e-03 2.46661550e+01] [-1.00157788e-01 9.94971530e-01 2.66633270e-04 -8.44484476e-01] [ 3.54634390e-03 8.90099514e-05 9.99993708e-01 -8.44831152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75907232899999 meters 0.08487164252212 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.85, Z:-0.85 [[ 9.94292669e-01 1.06388799e-01 -7.96940975e-03 2.47252196e+01] [-1.06387391e-01 9.94324575e-01 6.01598204e-04 -8.47453293e-01] [ 7.98818327e-03 2.49680023e-04 9.99968063e-01 -8.49952385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.819072328999994 meters 0.08629133002299558 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.85, Z:-0.85 [[ 9.93807874e-01 1.10767402e-01 -8.74603203e-03 2.47851708e+01] [-1.10765876e-01 9.93846308e-01 6.60224178e-04 -8.46074354e-01] [ 8.76534297e-03 3.12625914e-04 9.99961535e-01 -8.50646978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879072328999996 meters 0.08756314011686052 Centerline is valid? [True, True] Translation: X:24.84, Y:-0.86, Z:-0.85 [[ 9.93509923e-01 1.13447746e-01 -8.22444258e-03 2.48445360e+01] [-1.13446493e-01 9.93543914e-01 6.20235728e-04 -8.55323176e-01] [ 8.24170922e-03 3.16823816e-04 9.99965986e-01 -8.53358469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939072329 meters 0.08765104510172807 Centerline is valid? [True, True] Translation: X:24.90, Y:-0.87, Z:-0.85 [[ 9.93119050e-01 1.16780000e-01 -8.77401782e-03 2.49028148e+01] [-1.16778710e-01 9.93157740e-01 6.60902296e-04 -8.69792741e-01] [ 8.79116388e-03 3.68263826e-04 9.99961289e-01 -8.53130988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99907232899999 meters 0.08882588866614449 Centerline is valid? [True, True] Translation: X:24.96, Y:-0.87, Z:-0.85 [[ 9.92880070e-01 1.18678307e-01 -1.02286446e-02 2.49626156e+01] [-1.18676654e-01 9.92932655e-01 7.70621599e-04 -8.72844882e-01] [ 1.02478113e-02 4.48766479e-04 9.99947389e-01 -8.53137302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059072328999996 meters 0.0907990678029762 Centerline is valid? [True, True] Translation: X:25.02, Y:-0.89, Z:-0.86 [[ 9.92746286e-01 1.19540754e-01 -1.28381890e-02 2.50203317e+01] [-1.19538241e-01 9.92829127e-01 9.65717677e-04 -8.87083981e-01] [ 1.28615706e-02 5.75941889e-04 9.99917121e-01 -8.58244117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119072329 meters 0.08951599089741032 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.91, Z:-0.86 [[ 9.93073819e-01 1.16664193e-01 -1.39232055e-02 2.50778431e+01] [-1.16660965e-01 9.93171246e-01 1.04659441e-03 -9.05753016e-01] [ 1.39502275e-02 5.84949089e-04 9.99902520e-01 -8.59557903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17907232899999 meters 0.08747094164912535 Centerline is valid? [True, True] Translation: X:25.14, Y:-0.92, Z:-0.85 [[ 9.93432336e-01 1.13849561e-01 -1.14223891e-02 2.51369901e+01] [-1.13847203e-01 9.93497900e-01 8.58594071e-04 -9.16531542e-01] [ 1.14458701e-02 4.47451930e-04 9.99934394e-01 -8.53163207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239072328999995 meters 0.08784900869888987 Centerline is valid? [True, True] Translation: X:25.19, Y:-0.93, Z:-0.86 [[ 9.94221938e-01 1.06608043e-01 -1.25484280e-02 2.51949157e+01] [-1.06604624e-01 9.94301043e-01 9.42894641e-04 -9.33134309e-01] [ 1.25774353e-02 4.00273922e-04 9.99920821e-01 -8.60420387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299072329 meters 0.08542995005588061 Centerline is valid? [True, True] Translation: X:25.25, Y:-0.96, Z:-0.86 [[ 9.94728157e-01 1.01028080e-01 -1.75846585e-02 2.52521513e+01] [-1.01020645e-01 9.94883463e-01 1.31288443e-03 -9.58559611e-01] [ 1.76273242e-02 4.70450436e-04 9.99844516e-01 -8.61526625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35907232899999 meters 0.08495060542778456 Centerline is valid? [True, True] Translation: X:25.31, Y:-0.97, Z:-0.86 [[ 9.95340757e-01 9.49263135e-02 -1.69048115e-02 2.53103617e+01] [-9.49185049e-02 9.95484242e-01 1.26548133e-03 -9.70576445e-01] [ 1.69486010e-02 3.44994288e-04 9.99856303e-01 -8.62594957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419072328999995 meters 0.08392532789355438 Centerline is valid? [True, True] Translation: X:25.37, Y:-0.98, Z:-0.86 [[ 9.95772255e-01 9.08815592e-02 -1.33475949e-02 2.53699552e+01] [-9.08763281e-02 9.95861684e-01 9.99171184e-04 -9.81635552e-01] [ 1.33831646e-02 2.18033469e-04 9.99910418e-01 -8.58849765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479072329 meters 0.08362880885520793 Centerline is valid? [True, True] Translation: X:25.43, Y:-1.01, Z:-0.86 [[ 9.96374659e-01 8.38216107e-02 -1.45421970e-02 2.54268596e+01] [-8.38147616e-02 9.96480766e-01 1.08087611e-03 -1.00584282e+00] [ 1.45816204e-02 1.41893212e-04 9.99893672e-01 -8.64013902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53907232899999 meters 0.08356146148077329 Centerline is valid? [True, True] Translation: X:25.48, Y:-1.02, Z:-0.87 [[ 9.96831191e-01 7.77008970e-02 -1.70336865e-02 2.54843252e+01] [-7.76906642e-02 9.96976713e-01 1.26265148e-03 -1.01915489e+00] [ 1.70802979e-02 6.47080376e-05 9.99854119e-01 -8.65976957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.599072328999995 meters 0.083592900953242 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.04, Z:-0.87 [[ 9.97590693e-01 6.72962399e-02 -1.68530715e-02 2.55415792e+01] [-6.72848065e-02 9.97733033e-01 1.24515987e-03 -1.03935166e+00] [ 1.68986607e-02 -1.08204245e-04 9.99857202e-01 -8.65652215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659072329 meters 0.08446080703564429 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.07, Z:-0.86 [[ 9.98357569e-01 5.49000581e-02 -1.63752210e-02 2.55991874e+01] [-5.48875538e-02 9.98491806e-01 1.21240145e-03 -1.06598175e+00] [ 1.64170849e-02 -3.11614339e-04 9.99865182e-01 -8.63361889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71907232899999 meters 0.08466821465600123 Centerline is valid? [True, True] Translation: X:25.66, Y:-1.08, Z:-0.86 [[ 9.98580603e-01 5.06811972e-02 -1.63766737e-02 2.56579709e+01] [-5.06681387e-02 9.98714810e-01 1.21158182e-03 -1.07576817e+00] [ 1.64170310e-02 -3.80086533e-04 9.99865159e-01 -8.61624957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.779072328999995 meters 0.08660101533879565 Centerline is valid? [True, True] Translation: X:25.72, Y:-1.09, Z:-0.86 [[ 9.98928543e-01 4.33212354e-02 -1.62799522e-02 2.57163436e+01] [-4.33073473e-02 9.99061070e-01 1.20482358e-03 -1.09201301e+00] [ 1.63168609e-02 -4.98491118e-04 9.99866747e-01 -8.63120347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839072329 meters 0.08914433517586885 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.11, Z:-0.86 [[ 9.99318037e-01 3.34782185e-02 -1.55778607e-02 2.57755179e+01] [-3.34643030e-02 9.99439248e-01 1.15317059e-03 -1.10861873e+00] [ 1.56077315e-02 -6.31081917e-04 9.99877993e-01 -8.62505301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89907232899999 meters 0.09065769070283217 Centerline is valid? [True, True] Translation: X:25.84, Y:-1.12, Z:-0.86 [[ 9.99513706e-01 2.73320688e-02 -1.50103113e-02 2.58355389e+01] [-2.73184617e-02 9.99626164e-01 1.11085118e-03 -1.11991362e+00] [ 1.50350618e-02 -7.00252362e-04 9.99886722e-01 -8.64419455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.959072328999994 meters 0.09088767769440825 Centerline is valid? [True, True] Translation: X:25.89, Y:-1.12, Z:-0.86 [[ 9.99616995e-01 2.46973732e-02 -1.24861307e-02 2.58943433e+01] [-2.46878471e-02 9.99694789e-01 9.16519080e-04 -1.12290842e+00] [ 1.25049554e-02 -6.07912363e-04 9.99921625e-01 -8.64169019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019072329 meters 0.09259957704169666 Centerline is valid? [True, True] Translation: X:25.95, Y:-1.13, Z:-0.87 [[ 9.99724483e-01 2.09384330e-02 -1.06084741e-02 2.59519834e+01] [-2.09313254e-02 9.99780611e-01 7.80590474e-04 -1.12888994e+00] [ 1.06224911e-02 -5.58325984e-04 9.99943424e-01 -8.66964511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07907232899999 meters 0.09437478520652567 Centerline is valid? [True, True] Translation: X:26.01, Y:-1.14, Z:-0.87 [[ 9.99770367e-01 1.79864251e-02 -1.16490838e-02 2.60116640e+01] [-1.79776442e-02 9.99838021e-01 8.58066003e-04 -1.13667917e+00] [ 1.16626305e-02 -6.48445878e-04 9.99931779e-01 -8.71271666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.139072328999994 meters 0.0961949759107644 Centerline is valid? [True, True] Translation: X:26.07, Y:-1.15, Z:-0.88 [[ 9.99819850e-01 1.40033040e-02 -1.28130954e-02 2.60720105e+01] [-1.39923519e-02 9.99901657e-01 9.44004890e-04 -1.14535183e+00] [ 1.28250545e-02 -7.64549488e-04 9.99917463e-01 -8.75323305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199072328999996 meters 0.09418770270112471 Centerline is valid? [True, True] Translation: X:26.13, Y:-1.14, Z:-0.87 [[ 9.99867334e-01 1.22268393e-02 -1.07618777e-02 2.61317299e+01] [-1.22190323e-02 9.99925032e-01 7.90883722e-04 -1.14131551e+00] [ 1.07707409e-02 -6.59279067e-04 9.99941777e-01 -8.70355695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25907232899999 meters 0.09673317626131138 Centerline is valid? [True, True] Translation: X:26.19, Y:-1.15, Z:-0.87 [[ 9.99928493e-01 1.00796717e-02 -6.43505408e-03 2.61885934e+01] [-1.00768451e-02 9.99949116e-01 4.71520480e-04 -1.15151640e+00] [ 6.43947941e-03 -4.06641720e-04 9.99979184e-01 -8.70660814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.319072328999994 meters 0.10277812497422423 Centerline is valid? [True, False] Translation: X:26.19, Y:-1.15, Z:-0.87 [[ 9.99961410e-01 5.72398611e-03 -6.66443983e-03 2.61893138e+01] [-5.75087601e-03 9.99975372e-01 -4.02268426e-03 -1.15022309e+00] [ 6.64124991e-03 4.06085539e-03 9.99969701e-01 -8.71035338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379072328999996 meters 0.0997775001319282 Centerline is valid? [False, True] Translation: X:26.19, Y:-1.15, Z:-0.87 [[ 9.99962467e-01 5.48632000e-03 -6.70565286e-03 2.61896228e+01] [-5.51696555e-03 9.99974384e-01 -4.56018529e-03 -1.14801043e+00] [ 6.68046244e-03 4.59700898e-03 9.99967119e-01 -8.71260308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43907232899999 meters 0.10718182294688473 Centerline is valid? [True, False] Translation: X:26.19, Y:-1.15, Z:-0.87 [[ 9.99961243e-01 5.73874336e-03 -6.67670716e-03 2.61900846e+01] [-5.76653956e-03 9.99974756e-01 -4.15138425e-03 -1.14868853e+00] [ 6.65271489e-03 4.18972485e-03 9.99969093e-01 -8.72122896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49907232899999 meters 0.09924974112041964 Centerline is valid? [False, True] Translation: X:26.20, Y:-1.15, Z:-0.88 [[ 9.99999295e-01 -9.23835134e-04 7.46059132e-04 2.61983793e+01] [ 9.22904332e-04 9.99998797e-01 1.24700598e-03 -1.14891992e+00] [-7.47210262e-04 -1.24631656e-03 9.99998944e-01 -8.76127138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559072328999996 meters 0.09889283143304324 Centerline is valid? [True, True] Translation: X:26.26, Y:-1.15, Z:-0.87 [[ 9.99990762e-01 -4.10531684e-03 1.27335682e-03 2.62592472e+01] [ 4.10544538e-03 9.99991568e-01 -9.83548955e-05 -1.14670131e+00] [-1.27294230e-03 1.03581684e-04 9.99999184e-01 -8.74396868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619072329 meters 0.11737721286866158 Centerline is valid? [True, False] Translation: X:26.26, Y:-1.14, Z:-0.88 [[ 9.99990990e-01 -4.15344039e-03 8.77091615e-04 2.62607778e+01] [ 4.15408378e-03 9.99991103e-01 -7.33000723e-04 -1.14272790e+00] [-8.74039337e-04 7.36637630e-04 9.99999347e-01 -8.75222020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67907232899999 meters 0.12075623040173024 Centerline is valid? [False, False] Translation: X:26.26, Y:-1.14, Z:-0.88 [[ 9.99991337e-01 -4.11269509e-03 6.41211878e-04 2.62623274e+01] [ 4.11347450e-03 9.99990797e-01 -1.21898165e-03 -1.13944120e+00] [-6.36192677e-04 1.22160870e-03 9.99999051e-01 -8.76722364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739072328999995 meters 0.10394250625664389 Centerline is valid? [False, False] Translation: X:26.26, Y:-1.14, Z:-0.88 [[ 9.99991845e-01 -4.00344777e-03 5.31185953e-04 2.62635055e+01] [ 4.00418444e-03 9.99991013e-01 -1.39309781e-03 -1.13731848e+00] [-5.25603985e-04 1.39521342e-03 9.99998889e-01 -8.78087583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799072329 meters 0.10520343929471503 Centerline is valid? [False, False] Translation: X:26.26, Y:-1.13, Z:-0.88 [[ 9.99988772e-01 -4.70448471e-03 5.69466010e-04 2.62631515e+01] [ 4.70605739e-03 9.99985027e-01 -2.79258388e-03 -1.13263095e+00] [-5.56319815e-04 2.79523246e-03 9.99995939e-01 -8.77451799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85907232899999 meters 0.10853239519924135 Centerline is valid? [False, False] Translation: X:26.26, Y:-1.13, Z:-0.88 [[ 9.99989582e-01 -4.55093060e-03 3.53882067e-04 2.62644427e+01] [ 4.55191599e-03 9.99985620e-01 -2.83544657e-03 -1.13094999e+00] [-3.40973057e-04 2.83702787e-03 9.99995917e-01 -8.78637109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919072328999995 meters 0.10860360936515386 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.13, Z:-0.88 [[ 9.99989673e-01 -4.54295705e-03 -1.22680698e-04 2.62659318e+01] [ 4.54251791e-03 9.99984005e-01 -3.36966126e-03 -1.12724618e+00] [ 1.37986962e-04 3.36906918e-03 9.99994315e-01 -8.79128077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979072329 meters 0.10707188850787815 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.12, Z:-0.88 [[ 9.99999837e-01 -5.67753617e-04 5.81968833e-05 2.62656434e+01] [ 5.67737864e-04 9.99999802e-01 2.70339712e-04 -1.12469054e+00] [-5.83503582e-05 -2.70306628e-04 9.99999962e-01 -8.79270290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03907232899999 meters 0.10637794102951317 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.13, Z:-0.88 [[ 9.99999951e-01 1.54294751e-04 -2.70684074e-04 2.62678929e+01] [-1.54001387e-04 9.99999401e-01 1.08347231e-03 -1.12513773e+00] [ 2.70851086e-04 -1.08343057e-03 9.99999376e-01 -8.81641954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.099072328999995 meters 0.10957785459590007 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.12, Z:-0.88 [[ 9.99999944e-01 4.49931389e-05 -3.31239108e-04 2.62684362e+01] [-4.47298004e-05 9.99999683e-01 7.94974728e-04 -1.12330286e+00] [ 3.31274771e-04 -7.94959867e-04 9.99999629e-01 -8.82242502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159072329 meters 0.11060788063596981 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.12, Z:-0.88 [[ 9.99999589e-01 -3.57771550e-04 -8.32487416e-04 2.62695105e+01] [ 3.57480333e-04 9.99999875e-01 -3.49938062e-04 -1.11730007e+00] [ 8.32612510e-04 3.49640320e-04 9.99999592e-01 -8.81999431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21907232899999 meters 0.10771610912452469 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.11, Z:-0.88 [[ 9.99998584e-01 -3.72093430e-04 -1.64107902e-03 2.62718874e+01] [ 3.69484316e-04 9.99998668e-01 -1.58989397e-03 -1.11090196e+00] [ 1.64166842e-03 1.58928536e-03 9.99997390e-01 -8.82760255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.279072328999995 meters 0.11228349686376825 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.11, Z:-0.89 [[ 9.99998135e-01 3.84420942e-04 -1.89281314e-03 2.62742024e+01] [-3.85912332e-04 9.99999615e-01 -7.87620049e-04 -1.11123872e+00] [ 1.89250963e-03 7.88349040e-04 9.99997898e-01 -8.85427803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339072329 meters 0.10446761128724236 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.89 [[ 9.99989957e-01 3.99001110e-03 -2.04095444e-03 2.62751193e+01] [-3.98595610e-03 9.99990082e-01 1.98703839e-03 -1.10405643e+00] [ 2.04886251e-03 -1.97888328e-03 9.99995943e-01 -8.86127638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39907232899999 meters 0.1069079059524719 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.88 [[ 9.99991085e-01 3.27803158e-03 -2.66158017e-03 2.62759427e+01] [-3.27804208e-03 9.99994627e-01 4.15941188e-07 -1.09581468e+00] [ 2.66156723e-03 8.30883432e-06 9.99996458e-01 -8.84857749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.459072328999994 meters 0.10708715623352122 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.09, Z:-0.89 [[ 9.99995196e-01 -8.68482244e-04 -2.97543933e-03 2.62771896e+01] [ 8.55304039e-04 9.99989833e-01 -4.42740797e-03 -1.09445613e+00] [ 2.97925421e-03 4.42484180e-03 9.99985772e-01 -8.85602552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519072329 meters 0.11115019183779182 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.09, Z:-0.89 [[ 9.99996964e-01 -1.08364789e-03 -2.21313002e-03 2.62761588e+01] [ 1.07441416e-03 9.99990732e-01 -4.16918384e-03 -1.09467083e+00] [ 2.21762744e-03 4.16679337e-03 9.99988860e-01 -8.86855200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57907232899999 meters 0.11382250070181964 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.09, Z:-0.89 [[ 9.99996990e-01 -8.00420778e-04 -2.31928045e-03 2.62772393e+01] [ 7.91686641e-04 9.99992601e-01 -3.76435632e-03 -1.09458068e+00] [ 2.32227636e-03 3.76250884e-03 9.99990225e-01 -8.88182931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.639072328999994 meters 0.11684122563627618 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.89 [[ 9.99997389e-01 -4.84068976e-04 -2.23331874e-03 2.62777975e+01] [ 4.77158691e-04 9.99995101e-01 -3.09367332e-03 -1.09567642e+00] [ 2.23480535e-03 3.09259959e-03 9.99992721e-01 -8.89525246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699072328999996 meters 0.11731046636076475 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.89 [[ 9.99998272e-01 -8.97321873e-04 -1.62786732e-03 2.62760227e+01] [ 8.92017967e-04 9.99994301e-01 -3.25599863e-03 -1.09598310e+00] [ 1.63077972e-03 3.25454092e-03 9.99993374e-01 -8.88822621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75907232899999 meters 0.12644411611897086 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.89 [[ 9.99998922e-01 -7.86229661e-04 -1.23994163e-03 2.62758191e+01] [ 7.82796221e-04 9.99995865e-01 -2.76709256e-03 -1.09676100e+00] [ 1.24211207e-03 2.76611895e-03 9.99995403e-01 -8.90043438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.819072328999994 meters 0.12154346665913396 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.89 [[ 9.99999138e-01 -5.32861347e-04 -1.19994466e-03 2.62763397e+01] [ 5.30073021e-04 9.99997162e-01 -2.32283264e-03 -1.09728779e+00] [ 1.20117901e-03 2.32219458e-03 9.99996582e-01 -8.91053899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879072328999996 meters 0.12245352286179624 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.89 [[ 9.99999508e-01 -4.14216443e-04 -9.01277207e-04 2.62757842e+01] [ 4.12608587e-04 9.99998325e-01 -1.78343028e-03 -1.09927133e+00] [ 9.02014424e-04 1.78305753e-03 9.99998004e-01 -8.91328318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93907232899999 meters 0.12614542036228638 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.89 [[ 9.99999431e-01 -4.73359276e-04 -9.55504354e-04 2.62760508e+01] [ 4.71552580e-04 9.99998102e-01 -1.89016949e-03 -1.09827633e+00] [ 9.56397271e-04 1.88971784e-03 9.99997757e-01 -8.91509315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99907232899999 meters 0.13594741789433623 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.89 [[ 9.99999854e-01 2.11928777e-04 -4.96859006e-04 2.62763898e+01] [-2.11932413e-04 9.99999978e-01 -7.26608045e-06 -1.10291542e+00] [ 4.96857455e-04 7.37137992e-06 9.99999877e-01 -8.94318344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059072328999996 meters 0.1353690629884571 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.11, Z:-0.89 [[ 9.99999771e-01 -2.17869905e-04 6.40290876e-04 2.62731832e+01] [ 2.17398252e-04 9.99999705e-01 7.36600991e-04 -1.10888981e+00] [-6.40451170e-04 -7.36461624e-04 9.99999524e-01 -8.93475824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119072329 meters 0.12643664823300735 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.11, Z:-0.89 [[ 9.99999526e-01 -7.64768868e-04 6.02611456e-04 2.62720219e+01] [ 7.64825632e-04 9.99999703e-01 -9.39722976e-05 -1.10731507e+00] [-6.02539410e-04 9.44331458e-05 9.99999814e-01 -8.91410661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17907232899999 meters 0.13272547161267828 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.11, Z:-0.89 [[ 9.99999889e-01 -2.47385408e-06 4.71367213e-04 2.62731381e+01] [ 1.91654041e-06 9.99999301e-01 1.18233118e-03 -1.11061550e+00] [-4.71369809e-04 -1.18233015e-03 9.99999190e-01 -8.92723687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239072328999995 meters 0.1260588722897285 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.11, Z:-0.89 [[ 9.99995136e-01 -3.11373867e-03 -1.79861565e-04 2.62760235e+01] [ 3.11344359e-03 9.99993844e-01 -1.61821543e-03 -1.11378967e+00] [ 1.84899158e-04 1.61764757e-03 9.99998675e-01 -8.94796126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299072329 meters 0.13177043779416275 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.12, Z:-0.89 [[ 9.99996552e-01 -2.62252115e-03 -1.35157951e-04 2.62758289e+01] [ 2.62245274e-03 9.99996434e-01 -5.03837751e-04 -1.11797853e+00] [ 1.36478795e-04 5.03481569e-04 9.99999864e-01 -8.94693029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35907232899999 meters 0.1399589674264179 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.12, Z:-0.90 [[ 9.99997226e-01 -2.19967187e-03 -8.42698601e-04 2.62778199e+01] [ 2.19943327e-03 9.99997541e-01 -2.83967941e-04 -1.11724406e+00] [ 8.43321165e-04 2.82113694e-04 9.99999605e-01 -8.95103567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419072328999995 meters 0.12513746308433657 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.12, Z:-0.90 [[ 9.99998170e-01 -1.16285882e-03 -1.51937301e-03 2.62803888e+01] [ 1.16422850e-03 9.99998916e-01 9.00897482e-04 -1.12002089e+00] [ 1.51832374e-03 -9.02664731e-04 9.99998440e-01 -8.96565049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479072329 meters 0.12906237309693866 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.12, Z:-0.90 [[ 9.99997580e-01 -6.51771398e-04 -2.10126414e-03 2.62821997e+01] [ 6.54291026e-04 9.99999068e-01 1.19863694e-03 -1.12034840e+00] [ 2.10048094e-03 -1.20000888e-03 9.99997074e-01 -8.97166006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53907232899999 meters 0.12000454635696593 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.12, Z:-0.90 [[ 9.99996236e-01 1.03232448e-04 -2.74159371e-03 2.62847596e+01] [-9.80972864e-05 9.99998241e-01 1.87312541e-03 -1.12061165e+00] [ 2.74178225e-03 -1.87284942e-03 9.99994488e-01 -8.98678704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.599072328999995 meters 0.1161748538145762 Centerline is valid? [False, False] Translation: X:26.29, Y:-1.12, Z:-0.90 [[ 9.99994436e-01 2.84870480e-04 -3.32366075e-03 2.62860524e+01] [-2.79432658e-04 9.99998622e-01 1.63644403e-03 -1.11942568e+00] [ 3.32412235e-03 -1.63550618e-03 9.99993138e-01 -8.98392168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659072329 meters 0.11677990330523988 Centerline is valid? [False, False] Translation: X:26.29, Y:-1.12, Z:-0.90 [[ 9.99993431e-01 5.23451470e-04 -3.58665469e-03 2.62870288e+01] [-5.17002402e-04 9.99998249e-01 1.79876451e-03 -1.11916377e+00] [ 3.58758997e-03 -1.79689839e-03 9.99991950e-01 -8.98887935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71907232899999 meters 0.11951405060783005 Centerline is valid? [False, False] Translation: X:26.29, Y:-1.12, Z:-0.90 [[ 9.99986006e-01 -3.29586059e-03 -4.13819233e-03 2.62884856e+01] [ 3.28716755e-03 9.99992380e-01 -2.10573232e-03 -1.12008912e+00] [ 4.14510100e-03 2.09209992e-03 9.99989221e-01 -8.98944303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.779072328999995 meters 0.12897432183811114 Centerline is valid? [False, False] Translation: X:26.29, Y:-1.12, Z:-0.90 [[ 9.99987551e-01 -2.75850600e-03 -4.15784142e-03 2.62891278e+01] [ 2.75405707e-03 9.99995629e-01 -1.07535566e-03 -1.12273115e+00] [ 4.16078962e-03 1.06389134e-03 9.99990778e-01 -8.99981303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839072329 meters 0.13668428337363847 Centerline is valid? [False, False] Translation: X:26.29, Y:-1.12, Z:-0.90 [[ 9.99987560e-01 -3.11955390e-03 -3.89212885e-03 2.62876241e+01] [ 3.11463538e-03 9.99994344e-01 -1.26913212e-03 -1.12349247e+00] [ 3.89606596e-03 1.25699377e-03 9.99991620e-01 -8.98666021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89907232899999 meters 0.13441909149209655 Centerline is valid? [False, False] Translation: X:26.29, Y:-1.13, Z:-0.90 [[ 9.99991457e-01 -2.38258575e-03 -3.37767988e-03 2.62873002e+01] [ 2.38439241e-03 9.99997016e-01 5.30956367e-04 -1.12972526e+00] [ 3.37640475e-03 -5.39005546e-04 9.99994155e-01 -9.00152557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.959072328999994 meters 0.15039210466868605 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.14, Z:-0.90 [[ 9.99991462e-01 -3.51992434e-03 -2.16454145e-03 2.62840989e+01] [ 3.52099383e-03 9.99993681e-01 4.90481092e-04 -1.13692242e+00] [ 2.16280131e-03 -4.98098242e-04 9.99997537e-01 -8.99383235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019072329 meters 0.1436386740859423 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.14, Z:-0.90 [[ 9.99993024e-01 -3.52817127e-03 -1.22672410e-03 2.62817208e+01] [ 3.53073826e-03 9.99991569e-01 2.09672571e-03 -1.14397491e+00] [ 1.21931615e-03 -2.10104232e-03 9.99997049e-01 -8.99233082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07907232899999 meters 0.13114780528303777 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.15, Z:-0.90 [[ 9.99975211e-01 -6.91699216e-03 -1.31593708e-03 2.62827618e+01] [ 6.91635992e-03 9.99975964e-01 -4.84396807e-04 -1.14873433e+00] [ 1.31925602e-03 4.75283305e-04 9.99999017e-01 -9.00622100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.139072328999994 meters 0.14715038314716955 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.15, Z:-0.90 [[ 9.99977848e-01 -6.55416598e-03 -1.15997911e-03 2.62824558e+01] [ 6.55462910e-03 9.99978440e-01 3.95894574e-04 -1.15187742e+00] [ 1.15735935e-03 -4.03489037e-04 9.99999249e-01 -9.00755907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199072328999996 meters 0.14988885967608132 Centerline is valid? [False, False] Translation: X:26.29, Y:-1.15, Z:-0.90 [[ 9.99981147e-01 -5.82107446e-03 -1.95446584e-03 2.62851713e+01] [ 5.82287669e-03 9.99982626e-01 9.17689331e-04 -1.15137828e+00] [ 1.94908995e-03 -9.29052643e-04 9.99997669e-01 -9.02191969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25907232899999 meters 0.1255927630148509 Centerline is valid? [False, False] Translation: X:26.29, Y:-1.15, Z:-0.91 [[ 9.99984971e-01 -4.10007816e-03 -3.63976775e-03 2.62907337e+01] [ 4.10671622e-03 9.99989915e-01 1.81816127e-03 -1.15033756e+00] [ 3.63227643e-03 -1.83308144e-03 9.99991723e-01 -9.05150927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.319072328999994 meters 0.14193495082469176 Centerline is valid? [False, False] Translation: X:26.31, Y:-1.15, Z:-0.90 [[ 9.99975460e-01 3.58308619e-03 -6.01998395e-03 2.63063853e+01] [-3.57456303e-03 9.99992595e-01 1.42597411e-03 -1.14804610e+00] [ 6.02504875e-03 -1.40442031e-03 9.99980863e-01 -9.04227259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379072328999996 meters 0.10831006071726557 Centerline is valid? [False, False] Translation: X:26.31, Y:-1.14, Z:-0.90 [[ 9.99961559e-01 4.19654664e-03 -7.69861281e-03 2.63097242e+01] [-4.20451021e-03 9.99990642e-01 -1.01852394e-03 -1.14113462e+00] [ 7.69426648e-03 1.05085368e-03 9.99969847e-01 -9.01559936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43907232899999 meters 0.10107307358948421 Centerline is valid? [False, False] Translation: X:26.31, Y:-1.13, Z:-0.90 [[ 9.99908703e-01 9.64320681e-03 -9.46537357e-03 2.63144105e+01] [-9.62611805e-03 9.99951958e-01 1.84929950e-03 -1.13357753e+00] [ 9.48275201e-03 -1.75801586e-03 9.99953492e-01 -9.02238539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49907232899999 meters 0.09847526160625404 Centerline is valid? [False, True] Translation: X:26.32, Y:-1.13, Z:-0.90 [[ 9.99839683e-01 1.24651869e-02 -1.28541104e-02 2.63239148e+01] [-1.24635513e-02 9.99922305e-01 2.07344479e-04 -1.12975287e+00] [ 1.28556962e-02 -4.71033735e-05 9.99917361e-01 -8.99679907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559072328999996 meters 0.09342682075327632 Centerline is valid? [True, True] Translation: X:26.38, Y:-1.12, Z:-0.90 [[ 9.99635121e-01 2.28757929e-02 -1.43639795e-02 2.63848355e+01] [-2.28602730e-02 9.99737896e-01 1.24375788e-03 -1.12060003e+00] [ 1.43886666e-02 -9.14939568e-04 9.99896059e-01 -9.02355083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619072329 meters 0.08827564413817081 Centerline is valid? [True, True] Translation: X:26.45, Y:-1.11, Z:-0.91 [[ 9.99218727e-01 3.64027035e-02 -1.53876131e-02 2.64456151e+01] [-3.63864927e-02 9.99336904e-01 1.33224494e-03 -1.11230481e+00] [ 1.54259070e-02 -7.71302820e-04 9.99880716e-01 -9.06842859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67907232899999 meters 0.08545787921231224 Centerline is valid? [True, True] Translation: X:26.51, Y:-1.11, Z:-0.91 [[ 9.98959708e-01 4.39150724e-02 -1.22868962e-02 2.65067814e+01] [-4.39053047e-02 9.99035131e-01 1.06371627e-03 -1.10797157e+00] [ 1.23217541e-02 -5.23149770e-04 9.99923947e-01 -9.05014694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739072328999995 meters 0.08283753446539617 Centerline is valid? [True, True] Translation: X:26.57, Y:-1.10, Z:-0.91 [[ 9.98580795e-01 5.16541841e-02 -1.29707679e-02 2.65681342e+01] [-5.16439513e-02 9.98664930e-01 1.12284874e-03 -1.09980545e+00] [ 1.30114509e-02 -4.51393476e-04 9.99915246e-01 -9.05644861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799072329 meters 0.08332456498219332 Centerline is valid? [True, True] Translation: X:26.62, Y:-1.11, Z:-0.91 [[ 9.98495195e-01 5.29088208e-02 -1.44222682e-02 2.66249554e+01] [-5.28963302e-02 9.98599231e-01 1.24642091e-03 -1.10989035e+00] [ 1.44680126e-02 -4.81660230e-04 9.99895217e-01 -9.12486129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85907232899999 meters 0.08230692777143246 Centerline is valid? [True, True] Translation: X:26.68, Y:-1.11, Z:-0.91 [[ 9.98652020e-01 5.02729633e-02 -1.29140440e-02 2.66840690e+01] [-5.02627964e-02 9.98735409e-01 1.11083630e-03 -1.11248222e+00] [ 1.29535581e-02 -4.60242948e-04 9.99915993e-01 -9.06887220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919072328999995 meters 0.08388591736067277 Centerline is valid? [True, True] Translation: X:26.74, Y:-1.12, Z:-0.91 [[ 9.98862147e-01 4.62782744e-02 -1.15209224e-02 2.67415865e+01] [-4.62699094e-02 9.98928482e-01 9.91701258e-04 -1.12058019e+00] [ 1.15544718e-02 -4.57500811e-04 9.99933140e-01 -9.05256528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979072329 meters 0.08501676375037936 Centerline is valid? [True, True] Translation: X:26.80, Y:-1.13, Z:-0.91 [[ 9.98962089e-01 4.41501550e-02 -1.12030437e-02 2.67995730e+01] [-4.41421629e-02 9.99024799e-01 9.59777367e-04 -1.13217053e+00] [ 1.12344928e-02 -4.64254622e-04 9.99936783e-01 -9.10872853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03907232899999 meters 0.08467415078389658 Centerline is valid? [True, True] Translation: X:26.86, Y:-1.14, Z:-0.91 [[ 9.99098145e-01 4.01893945e-02 -1.37007287e-02 2.68588280e+01] [-4.01770291e-02 9.99191884e-01 1.17670049e-03 -1.14114623e+00] [ 1.37369478e-02 -6.25184707e-04 9.99905448e-01 -9.13180527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.099072328999995 meters 0.08557034146439986 Centerline is valid? [True, True] Translation: X:26.92, Y:-1.15, Z:-0.91 [[ 9.99234690e-01 3.72951513e-02 -1.17943172e-02 2.69171809e+01] [-3.72858533e-02 9.99304133e-01 1.00732694e-03 -1.14972577e+00] [ 1.18236783e-02 -5.66794845e-04 9.99929937e-01 -9.14350291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159072329 meters 0.08680081540685379 Centerline is valid? [True, True] Translation: X:26.97, Y:-1.17, Z:-0.91 [[ 9.99307856e-01 3.56176340e-02 -1.07328164e-02 2.69742606e+01] [-3.56098307e-02 9.99365348e-01 9.17339193e-04 -1.16501513e+00] [ 1.07586783e-02 -5.34510486e-04 9.99941981e-01 -9.14133326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21907232899999 meters 0.08726818152977071 Centerline is valid? [True, True] Translation: X:27.03, Y:-1.18, Z:-0.92 [[ 9.99272387e-01 3.62906894e-02 -1.17338186e-02 2.70316070e+01] [-3.62814611e-02 9.99341112e-01 9.98461485e-04 -1.17683311e+00] [ 1.17623222e-02 -5.72014910e-04 9.99930658e-01 -9.16659586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.279072328999995 meters 0.08748855506786835 Centerline is valid? [True, True] Translation: X:27.09, Y:-1.19, Z:-0.92 [[ 9.99273383e-01 3.59933673e-02 -1.25372465e-02 2.70897857e+01] [-3.59828436e-02 9.99351841e-01 1.06403225e-03 -1.18606347e+00] [ 1.25674185e-02 -6.12133322e-04 9.99920840e-01 -9.17202746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339072329 meters 0.08535693893219101 Centerline is valid? [True, True] Translation: X:27.15, Y:-1.19, Z:-0.92 [[ 9.99186654e-01 3.86109624e-02 -1.16285503e-02 2.71496498e+01] [-3.86020608e-02 9.99254173e-01 9.89054926e-04 -1.19400904e+00] [ 1.16580658e-02 -5.39364475e-04 9.99931897e-01 -9.15511157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39907232899999 meters 0.08462775064560188 Centerline is valid? [True, True] Translation: X:27.21, Y:-1.20, Z:-0.92 [[ 9.99079375e-01 4.15878441e-02 -1.05287082e-02 2.72077563e+01] [-4.15807179e-02 9.99134747e-01 8.94928606e-04 -1.20460180e+00] [ 1.05568163e-02 -4.56313467e-04 9.99944171e-01 -9.15821811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.459072328999994 meters 0.08344499709326447 Centerline is valid? [True, True] Translation: X:27.27, Y:-1.21, Z:-0.91 [[ 9.98871140e-01 4.59999428e-02 -1.18512326e-02 2.72666571e+01] [-4.59912278e-02 9.98941336e-01 1.00699630e-03 -1.20947948e+00] [ 1.18850079e-02 -4.60806804e-04 9.99929265e-01 -9.14630023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519072329 meters 0.08176129669237961 Centerline is valid? [True, True] Translation: X:27.32, Y:-1.21, Z:-0.91 [[ 9.98778331e-01 4.73499744e-02 -1.41359658e-02 2.73243415e+01] [-4.73378084e-02 9.98878224e-01 1.19419266e-03 -1.21400399e+00] [ 1.41766534e-02 -5.23568116e-04 9.99899369e-01 -9.14906934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57907232899999 meters 0.0802179786682832 Centerline is valid? [True, True] Translation: X:27.38, Y:-1.22, Z:-0.91 [[ 9.98572083e-01 5.17771441e-02 -1.31500243e-02 2.73839801e+01] [-5.17669645e-02 9.98658571e-01 1.11354758e-03 -1.22125522e+00] [ 1.31900408e-02 -4.31220682e-04 9.99912915e-01 -9.13987739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.639072328999994 meters 0.08145783808444372 Centerline is valid? [True, True] Translation: X:27.44, Y:-1.23, Z:-0.92 [[ 9.98282649e-01 5.64048945e-02 -1.58189759e-02 2.74411601e+01] [-5.63907785e-02 9.98407878e-01 1.33733557e-03 -1.23017413e+00] [ 1.58692224e-02 -4.42994531e-04 9.99873978e-01 -9.21243106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699072328999996 meters 0.07973360494850015 Centerline is valid? [True, True] Translation: X:27.50, Y:-1.23, Z:-0.92 [[ 9.98123881e-01 5.84621223e-02 -1.81906007e-02 2.74996026e+01] [-5.84439295e-02 9.98289519e-01 1.53058264e-03 -1.22910754e+00] [ 1.82489672e-02 -4.64580899e-04 9.99833366e-01 -9.18357781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75907232899999 meters 0.07921815786610067 Centerline is valid? [True, True] Translation: X:27.56, Y:-1.24, Z:-0.92 [[ 9.98110390e-01 5.88668987e-02 -1.76164134e-02 2.75575390e+01] [-5.88499773e-02 9.98265744e-01 1.47786267e-03 -1.23797372e+00] [ 1.76728593e-02 -4.38344558e-04 9.99843727e-01 -9.20136302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.819072328999994 meters 0.07930529519946754 Centerline is valid? [True, True] Translation: X:27.62, Y:-1.24, Z:-0.92 [[ 9.98247896e-01 5.72106297e-02 -1.51023609e-02 2.76155051e+01] [-5.71980022e-02 9.98362050e-01 1.26710086e-03 -1.24273740e+00] [ 1.51501156e-02 -4.01055899e-04 9.99885150e-01 -9.17944960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879072328999996 meters 0.08040165165679153 Centerline is valid? [True, True] Translation: X:27.67, Y:-1.25, Z:-0.92 [[ 9.98465410e-01 5.33001734e-02 -1.50305166e-02 2.76744171e+01] [-5.32872214e-02 9.98578430e-01 1.26117547e-03 -1.25469171e+00] [ 1.50763705e-02 -4.58305624e-04 9.99886240e-01 -9.20615425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93907232899999 meters 0.08330296501810869 Centerline is valid? [True, True] Translation: X:27.73, Y:-1.28, Z:-0.92 [[ 9.98939989e-01 4.30240156e-02 -1.63655905e-02 2.77330831e+01] [-4.30072744e-02 9.99073815e-01 1.37368847e-03 -1.27940048e+00] [ 1.64095345e-02 -6.68392906e-04 9.99865131e-01 -9.24687058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99907232899999 meters 0.08822017392113696 Centerline is valid? [True, True] Translation: X:27.79, Y:-1.30, Z:-0.92 [[ 9.99442815e-01 2.98563691e-02 -1.49216800e-02 2.77907592e+01] [-2.98409727e-02 9.99553873e-01 1.25345254e-03 -1.29838110e+00] [ 1.49524466e-02 -8.07476686e-04 9.99887880e-01 -9.19999721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059072328999996 meters 0.0938716645393711 Centerline is valid? [True, True] Translation: X:27.85, Y:-1.32, Z:-0.92 [[ 9.99662526e-01 2.05202123e-02 -1.59296747e-02 2.78490195e+01] [-2.05014919e-02 9.99788928e-01 1.33762324e-03 -1.31831051e+00] [ 1.59537607e-02 -1.01058973e-03 9.99872220e-01 -9.23047684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119072329 meters 0.10062299275215758 Centerline is valid? [True, False] Translation: X:27.86, Y:-1.33, Z:-0.93 [[ 9.99947349e-01 5.24670985e-03 -8.81878117e-03 2.78580555e+01] [-5.25660910e-03 9.99985579e-01 -1.09971455e-03 -1.32546990e+00] [ 8.81288412e-03 1.14601353e-03 9.99960509e-01 -9.27657383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17907232899999 meters 0.10489753518933276 Centerline is valid? [False, False] Translation: X:27.86, Y:-1.33, Z:-0.93 [[ 9.99965269e-01 1.65231876e-04 -8.33262279e-03 2.78556391e+01] [-2.15140679e-04 9.99982042e-01 -5.98902646e-03 -1.32586399e+00] [ 8.33148358e-03 5.99061115e-03 9.99947348e-01 -9.25596704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239072328999995 meters 0.10593259196908962 Centerline is valid? [False, False] Translation: X:27.85, Y:-1.33, Z:-0.92 [[ 9.99971060e-01 -6.71261598e-04 -7.57810430e-03 2.78527904e+01] [ 6.22752184e-04 9.99979314e-01 -6.40180560e-03 -1.32670456e+00] [ 7.58224482e-03 6.39690105e-03 9.99950793e-01 -9.23610547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299072329 meters 0.1095327894798102 Centerline is valid? [False, False] Translation: X:27.85, Y:-1.33, Z:-0.93 [[ 9.99971268e-01 2.06339430e-04 -7.57761483e-03 2.78539470e+01] [-2.41893935e-04 9.99988966e-01 -4.69142772e-03 -1.33055546e+00] [ 7.57656319e-03 4.69312591e-03 9.99960284e-01 -9.25799460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35907232899999 meters 0.11671783201534489 Centerline is valid? [False, False] Translation: X:27.85, Y:-1.33, Z:-0.93 [[ 9.99970916e-01 7.00349321e-04 -7.59445077e-03 2.78545156e+01] [-7.29385525e-04 9.99992433e-01 -3.82124938e-03 -1.33274658e+00] [ 7.59171709e-03 3.82667753e-03 9.99963861e-01 -9.26740490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419072328999995 meters 0.10460497236065576 Centerline is valid? [False, False] Translation: X:27.85, Y:-1.33, Z:-0.93 [[ 9.99970403e-01 3.42991575e-04 -7.68607989e-03 2.78542357e+01] [-3.77695603e-04 9.99989740e-01 -4.51418267e-03 -1.33108354e+00] [ 7.68445270e-03 4.51695206e-03 9.99960272e-01 -9.25885101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479072329 meters 0.10116581565976152 Centerline is valid? [False, False] Translation: X:27.85, Y:-1.33, Z:-0.92 [[ 9.99959786e-01 4.10070196e-03 -7.97562927e-03 2.78541266e+01] [-4.11384185e-03 9.99990207e-01 -1.63179863e-03 -1.32707022e+00] [ 7.96885964e-03 1.66454348e-03 9.99966863e-01 -9.24448664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53907232899999 meters 0.10119539102660122 Centerline is valid? [False, False] Translation: X:27.86, Y:-1.33, Z:-0.93 [[ 9.99946257e-01 5.12012641e-03 -9.01485177e-03 2.78578912e+01] [-5.13022193e-03 9.99986238e-01 -1.09710766e-03 -1.32563221e+00] [ 9.00911038e-03 1.14329689e-03 9.99958764e-01 -9.26971549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.599072328999995 meters 0.09760292430186417 Centerline is valid? [False, True] Translation: X:27.86, Y:-1.32, Z:-0.93 [[ 9.99936408e-01 5.19565896e-03 -1.00092288e-02 2.78600287e+01] [-5.22131696e-03 9.99983145e-01 -2.53901136e-03 -1.31994102e+00] [ 9.99586822e-03 2.59111125e-03 9.99946683e-01 -9.26895128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659072329 meters 0.09072657583282603 Centerline is valid? [True, True] Translation: X:27.92, Y:-1.31, Z:-0.92 [[ 9.99889167e-01 1.30270896e-02 -7.20759644e-03 2.79221373e+01] [-1.30234074e-02 9.99915036e-01 5.57584043e-04 -1.30790956e+00] [ 7.21424775e-03 -4.63654779e-04 9.99973869e-01 -9.23748086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71907232899999 meters 0.08868618154366371 Centerline is valid? [True, True] Translation: X:27.98, Y:-1.31, Z:-0.92 [[ 9.99830764e-01 1.77044001e-02 -4.99971030e-03 2.79835346e+01] [-1.77026857e-02 9.99843220e-01 3.86948218e-04 -1.30517224e+00] [ 5.00577714e-03 -2.98374433e-04 9.99987427e-01 -9.23952451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.779072328999995 meters 0.08577186949944417 Centerline is valid? [True, True] Translation: X:28.04, Y:-1.29, Z:-0.93 [[ 9.99635730e-01 2.60516239e-02 -7.05124309e-03 2.80446650e+01] [-2.60484263e-02 9.99660534e-01 5.44956533e-04 -1.29457702e+00] [ 7.06304644e-03 -3.61084236e-04 9.99974991e-01 -9.27293105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839072329 meters 0.08453479474189574 Centerline is valid? [True, True] Translation: X:28.10, Y:-1.29, Z:-0.93 [[ 9.99495537e-01 3.13307739e-02 -5.20132097e-03 2.81046180e+01] [-3.13291075e-02 9.99509042e-01 4.01582369e-04 -1.28926101e+00] [ 5.21134923e-03 -2.38427042e-04 9.99986392e-01 -9.28224484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89907232899999 meters 0.08410656370168931 Centerline is valid? [True, True] Translation: X:28.16, Y:-1.29, Z:-0.93 [[ 9.99411647e-01 3.40692403e-02 -3.95567438e-03 2.81635908e+01] [-3.40683018e-02 9.99419461e-01 3.04412043e-04 -1.28732144e+00] [ 3.96374904e-03 -1.69469833e-04 9.99992130e-01 -9.30043883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.959072328999994 meters 0.08555530886002741 Centerline is valid? [True, True] Translation: X:28.22, Y:-1.29, Z:-0.94 [[ 9.99445182e-01 3.29069867e-02 -5.14381686e-03 2.82206334e+01] [-3.29053978e-02 9.99458393e-01 3.93238340e-04 -1.29142528e+00] [ 5.15397122e-03 -2.23760825e-04 9.99986693e-01 -9.35005804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019072329 meters 0.08554285479212292 Centerline is valid? [True, True] Translation: X:28.28, Y:-1.29, Z:-0.93 [[ 9.99525954e-01 3.05010435e-02 -4.18974916e-03 2.82794745e+01] [-3.04999665e-02 9.99534716e-01 3.20709682e-04 -1.28647023e+00] [ 4.19758172e-03 -1.92770441e-04 9.99991172e-01 -9.31448890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07907232899999 meters 0.08513494934148941 Centerline is valid? [True, True] Translation: X:28.34, Y:-1.29, Z:-0.93 [[ 9.99602966e-01 2.80164938e-02 -2.99775458e-03 2.83387835e+01] [-2.80159313e-02 9.99607450e-01 2.29484275e-04 -1.28790424e+00] [ 3.00300716e-03 -1.45408275e-04 9.99995480e-01 -9.30951156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.139072328999994 meters 0.0895565079266633 Centerline is valid? [True, True] Translation: X:28.40, Y:-1.30, Z:-0.94 [[ 9.99732663e-01 2.29251907e-02 -3.00624912e-03 2.83977982e+01] [-2.29246002e-02 9.99737170e-01 2.30733586e-04 -1.29793784e+00] [ 3.01074860e-03 -1.61754843e-04 9.99995455e-01 -9.37574936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199072328999996 meters 0.09184281898491911 Centerline is valid? [True, True] Translation: X:28.46, Y:-1.30, Z:-0.94 [[ 9.99803222e-01 1.95926639e-02 -3.10575651e-03 2.84564886e+01] [-1.95920171e-02 9.99808030e-01 2.38565360e-04 -1.30463496e+00] [ 3.10983442e-03 -1.77670381e-04 9.99995149e-01 -9.40853778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25907232899999 meters 0.0899089687517261 Centerline is valid? [True, True] Translation: X:28.52, Y:-1.30, Z:-0.94 [[ 9.99788947e-01 2.00650943e-02 -4.41053280e-03 2.85160051e+01] [-2.00638005e-02 9.99798645e-01 3.37410150e-04 -1.29771317e+00] [ 4.41641489e-03 -2.48846888e-04 9.99990217e-01 -9.39487528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.319072328999994 meters 0.08880458568051472 Centerline is valid? [True, True] Translation: X:28.58, Y:-1.30, Z:-0.94 [[ 9.99741354e-01 2.23735504e-02 -4.08046160e-03 2.85756683e+01] [-2.23724601e-02 9.99749656e-01 3.12651155e-04 -1.29751100e+00] [ 4.08643520e-03 -2.21280325e-04 9.99991626e-01 -9.43225796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379072328999996 meters 0.08873212938150758 Centerline is valid? [True, True] Translation: X:28.63, Y:-1.30, Z:-0.95 [[ 9.99688974e-01 2.46500713e-02 -3.78552658e-03 2.86344685e+01] [-2.46491515e-02 9.99696122e-01 2.89435880e-04 -1.29892832e+00] [ 3.79151086e-03 -1.96035839e-04 9.99992793e-01 -9.46161409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43907232899999 meters 0.08642132333926673 Centerline is valid? [True, True] Translation: X:28.70, Y:-1.29, Z:-0.95 [[ 9.99561767e-01 2.91979601e-02 -4.87368057e-03 2.86956602e+01] [-2.91964847e-02 9.99573622e-01 3.73628990e-04 -1.28749401e+00] [ 4.88251175e-03 -2.31170914e-04 9.99988054e-01 -9.45206618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49907232899999 meters 0.08799902154815986 Centerline is valid? [True, True] Translation: X:28.75, Y:-1.29, Z:-0.95 [[ 9.99539999e-01 3.00365993e-02 -4.19452691e-03 2.87531434e+01] [-3.00355217e-02 9.99548781e-01 3.19665644e-04 -1.29085983e+00] [ 4.20223593e-03 -1.93533793e-04 9.99991152e-01 -9.49161912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559072328999996 meters 0.08771514652183486 Centerline is valid? [True, True] Translation: X:28.81, Y:-1.29, Z:-0.95 [[ 9.99603049e-01 2.79439204e-02 -3.58914565e-03 2.88118880e+01] [-2.79431341e-02 9.99609478e-01 2.69065138e-04 -1.28889425e+00] [ 3.59526274e-03 -1.68666354e-04 9.99993523e-01 -9.48358888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61907232899999 meters 0.08929792438309307 Centerline is valid? [True, True] Translation: X:28.87, Y:-1.29, Z:-0.95 [[ 9.99644981e-01 2.63834690e-02 -3.71809483e-03 2.88695223e+01] [-2.63826022e-02 9.99651879e-01 2.81990476e-04 -1.29144672e+00] [ 3.72424037e-03 -1.83797348e-04 9.99993048e-01 -9.49786959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67907232899999 meters 0.08970150324646219 Centerline is valid? [True, True] Translation: X:28.93, Y:-1.29, Z:-0.95 [[ 9.99686269e-01 2.45332869e-02 -5.04797819e-03 2.89288123e+01] [-2.45316601e-02 9.99698980e-01 3.83959533e-04 -1.28907108e+00] [ 5.05587843e-03 -2.60003788e-04 9.99987185e-01 -9.50403898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739072328999995 meters 0.0895246888686938 Centerline is valid? [True, True] Translation: X:28.99, Y:-1.29, Z:-0.95 [[ 9.99753955e-01 2.17703577e-02 -4.25226219e-03 2.89880755e+01] [-2.17691803e-02 9.99762971e-01 3.22996442e-04 -1.28952469e+00] [ 4.25828603e-03 -2.30348708e-04 9.99990907e-01 -9.50402293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799072329 meters 0.09593569883629242 Centerline is valid? [True, True] Translation: X:29.05, Y:-1.30, Z:-0.95 [[ 9.99828611e-01 1.83420476e-02 -2.51350400e-03 2.90458065e+01] [-1.83416268e-02 9.99831760e-01 1.90340622e-04 -1.30375555e+00] [ 2.51657237e-03 -1.44206247e-04 9.99996823e-01 -9.54517854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85907232899999 meters 0.09194904550552303 Centerline is valid? [True, True] Translation: X:29.11, Y:-1.29, Z:-0.95 [[ 9.99866157e-01 1.61796803e-02 -2.42602290e-03 2.91064445e+01] [-1.61792814e-02 9.99869090e-01 1.83957167e-04 -1.29399732e+00] [ 2.42868168e-03 -1.44681238e-04 9.99997040e-01 -9.50677659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919072328999995 meters 0.0949503552161336 Centerline is valid? [True, True] Translation: X:29.17, Y:-1.30, Z:-0.95 [[ 9.99905088e-01 1.35293593e-02 -2.60226695e-03 2.91650501e+01] [-1.35288896e-02 9.99908461e-01 1.97986232e-04 -1.29781899e+00] [ 2.60470737e-03 -1.62761659e-04 9.99996594e-01 -9.54086618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979072329 meters 0.09275124822454568 Centerline is valid? [True, True] Translation: X:29.22, Y:-1.30, Z:-0.95 [[ 9.99915454e-01 1.28722969e-02 -1.84075813e-03 2.92241072e+01] [-1.28720638e-02 9.99917142e-01 1.38448125e-04 -1.29672468e+00] [ 1.84238775e-03 -1.14742064e-04 9.99998296e-01 -9.54664937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03907232899999 meters 0.0952646809869066 Centerline is valid? [True, True] Translation: X:29.28, Y:-1.30, Z:-0.96 [[ 9.99924602e-01 1.19308746e-02 -2.90594436e-03 2.92818212e+01] [-1.19302916e-02 9.99928808e-01 2.17895327e-04 -1.29684656e+00] [ 2.90833716e-03 -1.83210134e-04 9.99995754e-01 -9.55345598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.099072328999995 meters 0.0956081044040178 Centerline is valid? [True, True] Translation: X:29.34, Y:-1.29, Z:-0.96 [[ 9.99916011e-01 1.19085090e-02 -5.11446629e-03 2.93411161e+01] [-1.19066871e-02 9.99929038e-01 3.86515978e-04 -1.29374933e+00] [ 5.11870619e-03 -3.25587165e-04 9.99986846e-01 -9.59631126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159072329 meters 0.09505347531858346 Centerline is valid? [True, True] Translation: X:29.40, Y:-1.30, Z:-0.96 [[ 9.99911445e-01 1.28194890e-02 -3.57256933e-03 2.94004968e+01] [-1.28186068e-02 9.99917802e-01 2.69727818e-04 -1.29626818e+00] [ 3.57573345e-03 -2.23908570e-04 9.99993582e-01 -9.62099404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21907232899999 meters 0.09411195060000874 Centerline is valid? [True, True] Translation: X:29.46, Y:-1.29, Z:-0.96 [[ 9.99882717e-01 1.51889187e-02 -1.96190471e-03 2.94617605e+01] [-1.51886568e-02 9.99884635e-01 1.48334752e-04 -1.28783900e+00] [ 1.96393142e-03 -1.18518658e-04 9.99998064e-01 -9.60300814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.279072328999995 meters 0.09384770091786056 Centerline is valid? [True, True] Translation: X:29.52, Y:-1.29, Z:-0.96 [[ 9.99854614e-01 1.69920003e-02 -1.42207625e-03 2.95222441e+01] [-1.69918647e-02 9.99855622e-01 1.07395770e-04 -1.28741327e+00] [ 1.42369581e-03 -8.32164286e-05 9.99998983e-01 -9.61189961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339072329 meters 0.09137309266307374 Centerline is valid? [True, True] Translation: X:29.58, Y:-1.28, Z:-0.96 [[ 9.99811592e-01 1.93986871e-02 -6.85978752e-04 2.95824941e+01] [-1.93986565e-02 9.99811827e-01 5.11960864e-05 -1.28263844e+00] [ 6.86842806e-04 -3.78793745e-05 9.99999763e-01 -9.59636078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39907232899999 meters 0.09208978934529283 Centerline is valid? [True, True] Translation: X:29.64, Y:-1.28, Z:-0.96 [[ 9.99787416e-01 2.05699008e-02 -1.41522725e-03 2.96399323e+01] [-2.05697725e-02 9.99788414e-01 1.05196212e-04 -1.28462450e+00] [ 1.41709168e-03 -7.60629468e-05 9.99998993e-01 -9.62824323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.459072328999994 meters 0.0914448279210029 Centerline is valid? [True, True] Translation: X:29.70, Y:-1.28, Z:-0.97 [[ 9.99737812e-01 2.26463654e-02 -3.38377150e-03 2.96984066e+01] [-2.26456341e-02 9.99743522e-01 2.54288195e-04 -1.28445982e+00] [ 3.38866234e-03 -1.77593873e-04 9.99994243e-01 -9.68310177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519072329 meters 0.08991368815489577 Centerline is valid? [True, True] Translation: X:29.76, Y:-1.28, Z:-0.97 [[ 9.99692453e-01 2.46638519e-02 -2.58710952e-03 2.97589775e+01] [-2.46634293e-02 9.99695792e-01 1.95142415e-04 -1.28329145e+00] [ 2.59113547e-03 -1.31275407e-04 9.99996634e-01 -9.67724567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57907232899999 meters 0.09085974090325176 Centerline is valid? [True, True] Translation: X:29.82, Y:-1.28, Z:-0.97 [[ 9.99620412e-01 2.75424056e-02 -6.68560542e-04 2.98179596e+01] [-2.75423785e-02 9.99620635e-01 4.97554634e-05 -1.28357701e+00] [ 6.69677299e-04 -3.13228293e-05 9.99999775e-01 -9.65006195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.639072328999994 meters 0.0892939835532123 Centerline is valid? [True, True] Translation: X:29.88, Y:-1.28, Z:-0.97 [[ 9.99624923e-01 2.73721087e-02 -8.83360874e-04 2.98768353e+01] [-2.73720617e-02 9.99625313e-01 6.51761617e-05 -1.28274326e+00] [ 8.84813899e-04 -4.09723073e-05 9.99999608e-01 -9.65767594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699072328999996 meters 0.08994004533853503 Centerline is valid? [True, True] Translation: X:29.94, Y:-1.29, Z:-0.97 [[ 9.99643570e-01 2.64553188e-02 -3.58443611e-03 2.99356786e+01] [-2.64545216e-02 9.99649982e-01 2.69648717e-04 -1.29182462e+00] [ 3.59031513e-03 -1.74728064e-04 9.99993540e-01 -9.73577299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75907232899999 meters 0.09045019536461867 Centerline is valid? [True, True] Translation: X:30.00, Y:-1.29, Z:-0.97 [[ 9.99647847e-01 2.58477348e-02 -6.00629978e-03 2.99956502e+01] [-2.58454835e-02 9.99665847e-01 4.52155592e-04 -1.29353231e+00] [ 6.01597996e-03 -2.96760642e-04 9.99981860e-01 -9.74180054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.819072328999994 meters 0.090979264712894 Centerline is valid? [True, True] Translation: X:30.05, Y:-1.30, Z:-0.97 [[ 9.99660508e-01 2.55509156e-02 -5.10092081e-03 3.00544295e+01] [-2.55493171e-02 9.99673491e-01 3.78305421e-04 -1.29507849e+00] [ 5.10892137e-03 -2.47851946e-04 9.99986919e-01 -9.73869258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879072328999996 meters 0.09207378711686505 Centerline is valid? [True, True] Translation: X:30.11, Y:-1.31, Z:-0.98 [[ 9.99681218e-01 2.50295488e-02 -3.31421449e-03 3.01119470e+01] [-2.50288670e-02 9.99686698e-01 2.47050552e-04 -1.30535190e+00] [ 3.31935971e-03 -1.64020763e-04 9.99994477e-01 -9.78193962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93907232899999 meters 0.09314067135116975 Centerline is valid? [True, True] Translation: X:30.17, Y:-1.31, Z:-0.98 [[ 9.99700541e-01 2.41683877e-02 -3.83621443e-03 3.01697856e+01] [-2.41674678e-02 9.99707883e-01 2.85972031e-04 -1.30920257e+00] [ 3.84200529e-03 -1.93174806e-04 9.99992601e-01 -9.79962977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99907232899999 meters 0.09312160698938379 Centerline is valid? [True, True] Translation: X:30.23, Y:-1.31, Z:-0.98 [[ 9.99685198e-01 2.44487754e-02 -5.63582474e-03 3.02287508e+01] [-2.44468146e-02 9.99701045e-01 4.16552240e-04 -1.30932416e+00] [ 5.64432407e-03 -2.78643146e-04 9.99984032e-01 -9.80243885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059072328999996 meters 0.093127905790304 Centerline is valid? [True, True] Translation: X:30.29, Y:-1.31, Z:-0.98 [[ 9.99680471e-01 2.50761874e-02 -3.18458799e-03 3.02870103e+01] [-2.50755608e-02 9.99685531e-01 2.36559139e-04 -1.31416739e+00] [ 3.18951854e-03 -1.56628221e-04 9.99994901e-01 -9.81046852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11907232899999 meters 0.09306870233086974 Centerline is valid? [True, True] Translation: X:30.35, Y:-1.32, Z:-0.98 [[ 9.99732587e-01 2.24971293e-02 -5.35100730e-03 3.03476061e+01] [-2.24953107e-02 9.99746869e-01 3.99817429e-04 -1.31569348e+00] [ 5.35864754e-03 -2.79337941e-04 9.99985603e-01 -9.83329017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17907232899999 meters 0.09626678575438409 Centerline is valid? [True, True] Translation: X:30.40, Y:-1.33, Z:-0.99 [[ 9.99760945e-01 2.12735887e-02 -5.04856742e-03 3.04043095e+01] [-2.12719653e-02 9.99773656e-01 3.75048619e-04 -1.32637708e+00] [ 5.05540334e-03 -2.67566011e-04 9.99987186e-01 -9.87381651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239072328999995 meters 0.09134386516047986 Centerline is valid? [True, True] Translation: X:30.46, Y:-1.32, Z:-0.98 [[ 9.99765121e-01 2.11916255e-02 -4.54078878e-03 3.04639226e+01] [-2.11903124e-02 9.99775403e-01 3.37106268e-04 -1.31968975e+00] [ 4.54691276e-03 -2.40806356e-04 9.99989634e-01 -9.81780768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299072329 meters 0.09090423970164253 Centerline is valid? [True, True] Translation: X:30.52, Y:-1.32, Z:-0.98 [[ 9.99770889e-01 2.04968648e-02 -6.16825189e-03 3.05226820e+01] [-2.04944309e-02 9.99789862e-01 4.57533434e-04 -1.31785440e+00] [ 6.17633371e-03 -3.31013796e-04 9.99980871e-01 -9.81257836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35907232899999 meters 0.09602215323959645 Centerline is valid? [True, True] Translation: X:30.58, Y:-1.34, Z:-0.99 [[ 9.99850356e-01 1.62937354e-02 -5.81197588e-03 3.05800989e+01] [-1.62914989e-02 9.99867191e-01 4.31950757e-04 -1.33924012e+00] [ 5.81824209e-03 -3.37200320e-04 9.99983017e-01 -9.91452700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419072328999995 meters 0.09644351055085543 Centerline is valid? [True, True] Translation: X:30.64, Y:-1.35, Z:-0.99 [[ 9.99906248e-01 1.28674285e-02 -4.68229270e-03 3.06399864e+01] [-1.28659390e-02 9.99917170e-01 3.48084622e-04 -1.34719273e+00] [ 4.68638382e-03 -2.87809896e-04 9.99988977e-01 -9.90667372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479072329 meters 0.1012142335282857 Centerline is valid? [True, False] Translation: X:30.65, Y:-1.35, Z:-0.99 [[ 9.99948226e-01 9.95390531e-03 2.11287873e-03 3.06489108e+01] [-9.97242340e-03 9.99910286e-01 8.94267820e-03 -1.34943731e+00] [-2.02367460e-03 -8.96328573e-03 9.99957781e-01 -9.91714194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53907232899999 meters 0.09997134839621813 Centerline is valid? [False, True] Translation: X:30.65, Y:-1.35, Z:-0.99 [[ 9.99984007e-01 5.17707618e-03 2.27696589e-03 3.06472975e+01] [-5.18663711e-03 9.99977673e-01 4.21331276e-03 -1.34978013e+00] [-2.25510241e-03 -4.22505517e-03 9.99988532e-01 -9.89921550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.599072328999995 meters 0.10591252903003201 Centerline is valid? [True, False] Translation: X:30.65, Y:-1.35, Z:-0.99 [[ 9.99994317e-01 -2.56436183e-03 2.18857086e-03 3.06487069e+01] [ 2.57035929e-03 9.99992937e-01 -2.74195536e-03 -1.35410680e+00] [-2.18152404e-03 2.74756519e-03 9.99993846e-01 -9.92117454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659072329 meters 0.11170525843397565 Centerline is valid? [False, False] Translation: X:30.65, Y:-1.36, Z:-0.99 [[ 9.99991542e-01 -2.87155681e-03 2.94447069e-03 3.06469066e+01] [ 2.87807371e-03 9.99993413e-01 -2.21142085e-03 -1.35620187e+00] [-2.93810107e-03 2.21987655e-03 9.99993220e-01 -9.92333670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71907232899999 meters 0.11907799307686079 Centerline is valid? [False, False] Translation: X:30.64, Y:-1.36, Z:-0.99 [[ 9.99988493e-01 -2.83734942e-03 3.86823884e-03 3.06449385e+01] [ 2.84044022e-03 9.99995651e-01 -7.93759938e-04 -1.36249568e+00] [-3.86596985e-03 8.04738306e-04 9.99992203e-01 -9.92634723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.779072328999995 meters 0.11511766145819256 Centerline is valid? [False, False] Translation: X:30.64, Y:-1.37, Z:-0.99 [[ 9.99986462e-01 -2.72347009e-03 4.43382727e-03 3.06434615e+01] [ 2.72148503e-03 9.99996194e-01 4.53680034e-04 -1.36770521e+00] [-4.43504598e-03 -4.41607298e-04 9.99990068e-01 -9.92573545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839072329 meters 0.1116715395395343 Centerline is valid? [False, False] Translation: X:30.64, Y:-1.37, Z:-0.99 [[ 9.99988416e-01 -2.50443815e-03 4.11053233e-03 3.06443715e+01] [ 2.50178637e-03 9.99996659e-01 6.50134259e-04 -1.36774950e+00] [-4.11214682e-03 -6.39843053e-04 9.99991340e-01 -9.92693681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89907232899999 meters 0.11204787042543193 Centerline is valid? [False, False] Translation: X:30.65, Y:-1.37, Z:-0.99 [[ 9.99991007e-01 -1.43517796e-03 3.99084639e-03 3.06453091e+01] [ 1.42647976e-03 9.99996603e-01 2.18153152e-03 -1.37401605e+00] [-3.99396372e-03 -2.17581904e-03 9.99989657e-01 -9.93395293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.959072328999994 meters 0.11214958614339915 Centerline is valid? [False, False] Translation: X:30.65, Y:-1.38, Z:-0.99 [[ 9.99992113e-01 -1.04901535e-03 3.83065360e-03 3.06454765e+01] [ 1.03812484e-03 9.99995417e-01 2.84387247e-03 -1.37702569e+00] [-3.83361931e-03 -2.83987334e-03 9.99988619e-01 -9.93022322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019072329 meters 0.11361745914204617 Centerline is valid? [False, False] Translation: X:30.65, Y:-1.38, Z:-0.99 [[ 9.99994029e-01 -7.05589580e-04 3.38287898e-03 3.06465269e+01] [ 6.95119159e-04 9.99994968e-01 3.09529884e-03 -1.37787419e+00] [-3.38504597e-03 -3.09292886e-03 9.99989488e-01 -9.92914728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07907232899999 meters 0.10730011713074127 Centerline is valid? [False, False] Translation: X:30.65, Y:-1.38, Z:-0.99 [[ 9.99996389e-01 5.14356112e-04 2.63779147e-03 3.06492223e+01] [-5.26156763e-04 9.99989849e-01 4.47494515e-03 -1.38180596e+00] [-2.63546298e-03 -4.47631688e-03 9.99986508e-01 -9.94177764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.139072328999994 meters 0.10595805462754182 Centerline is valid? [False, False] Translation: X:30.65, Y:-1.38, Z:-0.99 [[ 9.99994603e-01 -3.06105922e-03 1.19340725e-03 3.06523044e+01] [ 3.06107310e-03 9.99995315e-01 -9.80459884e-06 -1.38072419e+00] [-1.19337165e-03 1.34576528e-05 9.99999288e-01 -9.93330720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199072328999996 meters 0.10393645248592492 Centerline is valid? [False, False] Translation: X:30.65, Y:-1.38, Z:-0.99 [[ 9.99997094e-01 -2.39793218e-03 2.47609050e-04 3.06547968e+01] [ 2.39788766e-03 9.99997109e-01 1.79943901e-04 -1.38049049e+00] [-2.48039828e-04 -1.79349640e-04 9.99999953e-01 -9.93513772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25907232899999 meters 0.10239106817801667 Centerline is valid? [False, False] Translation: X:30.66, Y:-1.38, Z:-0.99 [[ 9.99998423e-01 -1.74145657e-03 -3.47895981e-04 3.06568288e+01] [ 1.74168714e-03 9.99998263e-01 6.63568978e-04 -1.38111470e+00] [ 3.46739800e-04 -6.64173858e-04 9.99999719e-01 -9.94392523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.319072328999994 meters 0.0993989973607143 Centerline is valid? [False, True] Translation: X:30.66, Y:-1.38, Z:-0.99 [[ 9.99998363e-01 -9.92551461e-04 -1.51261793e-03 3.06597134e+01] [ 9.93480360e-04 9.99999318e-01 6.13472716e-04 -1.38013035e+00] [ 1.51200799e-03 -6.14974468e-04 9.99998668e-01 -9.94223198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379072328999996 meters 0.09318583888362487 Centerline is valid? [True, True] Translation: X:30.72, Y:-1.37, Z:-0.99 [[ 9.99987364e-01 5.02716783e-03 1.36427042e-05 3.07208883e+01] [-5.02716782e-03 9.99987364e-01 -6.63088758e-07 -1.37262429e+00] [-1.36458653e-05 5.94496214e-07 1.00000000e+00 -9.92618187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43907232899999 meters 0.09129606581898018 Centerline is valid? [True, True] Translation: X:30.78, Y:-1.37, Z:-0.99 [[ 9.99978710e-01 6.49986454e-03 5.75845131e-04 3.07797682e+01] [-6.49984334e-03 9.99978875e-01 -3.86732790e-05 -1.37329493e+00] [-5.76084337e-04 3.49295525e-05 9.99999833e-01 -9.93120279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49907232899999 meters 0.0928099466994997 Centerline is valid? [True, True] Translation: X:30.84, Y:-1.38, Z:-1.00 [[ 9.99984548e-01 5.55908008e-03 3.59063800e-05 3.08367906e+01] [-5.55907993e-03 9.99984548e-01 -4.48842802e-06 -1.38180663e+00] [-3.59307767e-05 4.28875223e-06 9.99999999e-01 -9.95363426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559072328999996 meters 0.09469325310854966 Centerline is valid? [True, True] Translation: X:30.90, Y:-1.40, Z:-1.00 [[ 9.99996431e-01 1.96217360e-03 1.81351878e-03 3.08964729e+01] [-1.96196638e-03 9.99998069e-01 -1.16035832e-04 -1.39668920e+00] [-1.81374296e-03 1.12477355e-04 9.99998349e-01 -9.96550526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61907232899999 meters 0.09483367481249219 Centerline is valid? [True, True] Translation: X:30.96, Y:-1.40, Z:-1.00 [[ 9.99996151e-01 -2.77305992e-03 9.43884326e-05 3.09569869e+01] [ 2.77306050e-03 9.99996155e-01 -5.97192528e-06 -1.40354945e+00] [-9.43715092e-05 6.23364713e-06 9.99999996e-01 -9.97325181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67907232899999 meters 0.10024180978176148 Centerline is valid? [True, False] Translation: X:30.96, Y:-1.41, Z:-1.00 [[ 9.99979889e-01 -6.33220114e-03 3.52996272e-04 3.09571263e+01] [ 6.33289230e-03 9.99977962e-01 -1.99250269e-03 -1.41038128e+00] [-3.40371565e-04 1.99469811e-03 9.99997953e-01 -9.98984579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739072328999995 meters 0.10304586633106105 Centerline is valid? [False, False] Translation: X:30.96, Y:-1.42, Z:-1.00 [[ 9.99981940e-01 -5.91682078e-03 1.05408560e-03 3.09560240e+01] [ 5.91690153e-03 9.99982492e-01 -7.35103348e-05 -1.41769543e+00] [-1.05363219e-03 7.97459279e-05 9.99999442e-01 -9.99901251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799072329 meters 0.10820080041771404 Centerline is valid? [False, False] Translation: X:30.95, Y:-1.42, Z:-1.00 [[ 9.99980256e-01 -6.00701934e-03 1.84497551e-03 3.09538531e+01] [ 6.00459921e-03 9.99981108e-01 1.31449034e-03 -1.42425940e+00] [-1.85283683e-03 -1.30338605e-03 9.99997434e-01 -9.99164426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85907232899999 meters 0.1144526486800137 Centerline is valid? [False, False] Translation: X:30.95, Y:-1.43, Z:-1.00 [[ 9.99983177e-01 -5.28573182e-03 2.38905371e-03 3.09535349e+01] [ 5.27669206e-03 9.99978955e-01 3.77442283e-03 -1.43199951e+00] [-2.40895402e-03 -3.76175303e-03 9.99990023e-01 -1.00109089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919072328999995 meters 0.11952781784483557 Centerline is valid? [False, False] Translation: X:30.95, Y:-1.44, Z:-1.00 [[ 9.99960182e-01 -8.57057039e-03 2.48606317e-03 3.09540757e+01] [ 8.56667789e-03 9.99962069e-01 1.57217574e-03 -1.43894470e+00] [-2.49944331e-03 -1.55081584e-03 9.99995674e-01 -1.00221454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979072329 meters 0.11585746393805364 Centerline is valid? [False, False] Translation: X:30.95, Y:-1.44, Z:-1.00 [[ 9.99960205e-01 -8.49193016e-03 2.73404082e-03 3.09531300e+01] [ 8.48570038e-03 9.99961391e-01 2.28219380e-03 -1.44216529e+00] [-2.75331549e-03 -2.25890273e-03 9.99993658e-01 -1.00158023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03907232899999 meters 0.1147680955819224 Centerline is valid? [False, False] Translation: X:30.95, Y:-1.45, Z:-1.00 [[ 9.99965295e-01 -7.94247581e-03 2.51517110e-03 3.09538407e+01] [ 7.93444750e-03 9.99963446e-01 3.18600381e-03 -1.44508764e+00] [-2.54038392e-03 -3.16593675e-03 9.99991762e-01 -1.00184473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.099072328999995 meters 0.11230006255684978 Centerline is valid? [False, False] Translation: X:30.96, Y:-1.45, Z:-1.00 [[ 9.99973612e-01 -7.03938151e-03 1.79485582e-03 3.09565886e+01] [ 7.03223943e-03 9.99967453e-01 3.95492827e-03 -1.44604313e+00] [-1.82263765e-03 -3.94220205e-03 9.99990568e-01 -1.00344384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159072329 meters 0.11126166703146195 Centerline is valid? [False, False] Translation: X:30.96, Y:-1.44, Z:-1.00 [[ 9.99976282e-01 -6.79362238e-03 1.13209799e-03 3.09581444e+01] [ 6.78946577e-03 9.99970341e-01 3.63586019e-03 -1.44454854e+00] [-1.15676508e-03 -3.62808762e-03 9.99992749e-01 -1.00335481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21907232899999 meters 0.10525455396579782 Centerline is valid? [False, False] Translation: X:30.96, Y:-1.44, Z:-1.00 [[ 9.99977801e-01 -6.64699924e-03 4.63461939e-04 3.09594272e+01] [ 6.64548072e-03 9.99972784e-01 3.20443760e-03 -1.44283406e+00] [-4.84749220e-04 -3.20128654e-03 9.99994758e-01 -1.00279949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.279072328999995 meters 0.10406938420406853 Centerline is valid? [False, False] Translation: X:30.96, Y:-1.44, Z:-1.00 [[ 9.99996917e-01 -2.46505470e-03 3.00155315e-04 3.09593815e+01] [ 2.46284844e-03 9.99971467e-01 7.14138947e-03 -1.44204021e+00] [-3.17750666e-04 -7.14062821e-03 9.99974455e-01 -1.00216068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339072329 meters 0.10304899983160727 Centerline is valid? [False, False] Translation: X:30.96, Y:-1.44, Z:-1.00 [[ 9.99996915e-01 -2.45279656e-03 -3.91213271e-04 3.09607962e+01] [ 2.45525153e-03 9.99976484e-01 6.40336328e-03 -1.43919580e+00] [ 3.75497924e-04 -6.40430405e-03 9.99979422e-01 -1.00181783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39907232899999 meters 0.1019859517111844 Centerline is valid? [False, False] Translation: X:30.97, Y:-1.44, Z:-1.00 [[ 9.99985844e-01 -4.85640551e-03 -2.17434171e-03 3.09668042e+01] [ 4.86284387e-03 9.99983779e-01 2.96563211e-03 -1.43799250e+00] [ 2.15990413e-03 -2.97616361e-03 9.99993239e-01 -1.00459797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.459072328999994 meters 0.1008891667485499 Centerline is valid? [False, False] Translation: X:30.97, Y:-1.44, Z:-1.01 [[ 9.99987397e-01 -4.15094699e-03 -2.82399998e-03 3.09694543e+01] [ 4.16066282e-03 9.99985416e-01 3.44331697e-03 -1.43708456e+00] [ 2.80966577e-03 -3.45502329e-03 9.99990084e-01 -1.00626651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519072329 meters 0.09698224095988889 Centerline is valid? [False, True] Translation: X:30.97, Y:-1.44, Z:-1.01 [[ 9.99987046e-01 -4.19645424e-03 -2.88072385e-03 3.09695722e+01] [ 4.20604927e-03 9.99985601e-01 3.33283190e-03 -1.43641143e+00] [ 2.86669629e-03 -3.34490519e-03 9.99990297e-01 -1.00622443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57907232899999 meters 0.09694210173694892 Centerline is valid? [True, True] Translation: X:31.03, Y:-1.44, Z:-1.01 [[ 9.99986148e-01 -4.98021173e-03 -1.70346816e-03 3.10314726e+01] [ 4.98041393e-03 9.99987591e-01 1.14478384e-04 -1.43677962e+00] [ 1.70287690e-03 -1.22960774e-04 9.99998543e-01 -1.00519142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.639072328999994 meters 0.0989896729945765 Centerline is valid? [True, True] Translation: X:31.09, Y:-1.45, Z:-1.01 [[ 9.99966019e-01 -7.90780560e-03 -2.32973520e-03 3.10920037e+01] [ 7.90819073e-03 9.99968718e-01 1.56141691e-04 -1.44705653e+00] [ 2.32842759e-03 -1.74560376e-04 9.99997274e-01 -1.01080364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699072328999996 meters 0.10085058889139013 Centerline is valid? [True, False] Translation: X:31.09, Y:-1.45, Z:-1.01 [[ 9.99963429e-01 -8.21942579e-03 -2.36244332e-03 3.10916998e+01] [ 8.21850766e-03 9.99966148e-01 -3.98084147e-04 -1.44530717e+00] [ 2.36563537e-03 3.78653830e-04 9.99997130e-01 -1.01013436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75907232899999 meters 0.10351639227636131 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.44, Z:-1.01 [[ 9.99961048e-01 -8.51336203e-03 -2.32923714e-03 3.10911994e+01] [ 8.51156128e-03 9.99963470e-01 -7.81930467e-04 -1.44417446e+00] [ 2.33580891e-03 7.62074564e-04 9.99996982e-01 -1.00944442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.819072328999994 meters 0.1055805928202726 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.45, Z:-1.01 [[ 9.99966494e-01 -7.93588911e-03 -2.00822370e-03 3.10914776e+01] [ 7.93700819e-03 9.99968350e-01 5.49892756e-04 -1.44780420e+00] [ 2.00379625e-03 -5.65813619e-04 9.99997832e-01 -1.01122103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879072328999996 meters 0.10958848259028658 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.45, Z:-1.01 [[ 9.99967974e-01 -7.92545576e-03 -1.11242683e-03 3.10897824e+01] [ 7.92732905e-03 9.99967151e-01 1.68978085e-03 -1.45184377e+00] [ 1.09899800e-03 -1.69854530e-03 9.99997954e-01 -1.01194504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93907232899999 meters 0.11522641056527666 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.45, Z:-1.01 [[ 9.99968000e-01 -7.96333749e-03 -7.64228881e-04 3.10892188e+01] [ 7.96507634e-03 9.99965633e-01 2.29988836e-03 -1.45314864e+00] [ 7.45887829e-04 -2.30590191e-03 9.99997063e-01 -1.01253293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99907232899999 meters 0.11876996135073184 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.46, Z:-1.01 [[ 9.99973991e-01 -7.19748005e-03 -4.63252020e-04 3.10896776e+01] [ 7.19933919e-03 9.99965493e-01 4.14514218e-03 -1.45806054e+00] [ 4.33401456e-04 -4.14836948e-03 9.99991302e-01 -1.01473200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059072328999996 meters 0.11330912236521087 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.46, Z:-1.01 [[ 9.99966276e-01 -8.16316965e-03 9.00201251e-04 3.10856981e+01] [ 8.15936377e-03 9.99958086e-01 4.15341331e-03 -1.46167837e+00] [-9.34068537e-04 -4.14592817e-03 9.99990969e-01 -1.01319997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11907232899999 meters 0.11717981280415274 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.46, Z:-1.01 [[ 9.99967153e-01 -8.01223443e-03 1.22330883e-03 3.10852822e+01] [ 8.00620384e-03 9.99956152e-01 4.85751615e-03 -1.46370707e+00] [-1.26217475e-03 -4.84756254e-03 9.99987454e-01 -1.01378252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17907232899999 meters 0.11712135893166838 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.47, Z:-1.01 [[ 9.99969840e-01 -7.64572297e-03 1.36422494e-03 3.10855855e+01] [ 7.63780946e-03 9.99954503e-01 5.71460018e-03 -1.46608939e+00] [-1.40785512e-03 -5.70400814e-03 9.99982741e-01 -1.01494410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239072328999995 meters 0.12298392673476466 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.47, Z:-1.01 [[ 9.99967837e-01 -7.82047039e-03 1.77903719e-03 3.10843118e+01] [ 7.80985963e-03 9.99952126e-01 5.89507093e-03 -1.46760315e+00] [-1.82505425e-03 -5.88098730e-03 9.99981041e-01 -1.01432567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299072329 meters 0.14645863045158647 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.47, Z:-1.01 [[ 9.99966086e-01 -7.87235563e-03 2.41933878e-03 3.10826242e+01] [ 7.85599511e-03 9.99946701e-01 6.69908721e-03 -1.47154881e+00] [-2.47194743e-03 -6.67985370e-03 9.99974634e-01 -1.01398893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35907232899999 meters 0.144825518729432 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.47, Z:-1.02 [[ 9.99968910e-01 -7.46329972e-03 2.54522593e-03 3.10828971e+01] [ 7.44342848e-03 9.99942425e-01 7.72935516e-03 -1.47427226e+00] [-2.60276588e-03 -7.71016965e-03 9.99966889e-01 -1.01507109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419072328999995 meters 0.12864867382685263 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.48, Z:-1.01 [[ 9.99929404e-01 -1.16365604e-02 2.40366058e-03 3.10829281e+01] [ 1.16275073e-02 9.99925379e-01 3.74662449e-03 -1.47603286e+00] [-2.44707904e-03 -3.71841141e-03 9.99990093e-01 -1.01445002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479072329 meters 0.13245716061148147 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.48, Z:-1.01 [[ 9.99929558e-01 -1.16334879e-02 2.35388707e-03 3.10823490e+01] [ 1.16244244e-02 9.99925106e-01 3.82816546e-03 -1.47742840e+00] [-2.39824569e-03 -3.80053321e-03 9.99989902e-01 -1.01326884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53907232899999 meters 0.13082871326840767 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.48, Z:-1.02 [[ 9.99921047e-01 -6.76515205e-03 1.05892999e-02 3.10696470e+01] [ 6.77438139e-03 9.99976704e-01 -8.35945330e-04 -1.48189481e+00] [-1.05833979e-02 9.07615285e-04 9.99943582e-01 -1.01717252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.599072328999995 meters 0.13097683548055442 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.49, Z:-1.02 [[ 9.99932646e-01 -5.28221997e-03 1.03344952e-02 3.10717739e+01] [ 5.26122154e-03 9.99984042e-01 2.05801091e-03 -1.48892902e+00] [-1.03452012e-02 -2.00350022e-03 9.99944480e-01 -1.02036454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659072329 meters 0.1369313269626367 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.49, Z:-1.02 [[ 9.99939040e-01 -4.34624070e-03 1.01501495e-02 3.10729787e+01] [ 4.30759341e-03 9.99983402e-01 3.82632182e-03 -1.49362234e+00] [-1.01666111e-02 -3.78236586e-03 9.99941165e-01 -1.02189849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71907232899999 meters 0.12435570516013643 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.49, Z:-1.01 [[ 9.99968085e-01 -3.87406964e-03 -6.98712727e-03 3.10763981e+01] [ 3.87238255e-03 9.99992470e-01 -2.54969703e-04 -1.49257196e+00] [ 6.98806243e-03 2.27904736e-04 9.99975557e-01 -1.00894758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.779072328999995 meters 0.12591879542481002 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.50, Z:-1.01 [[ 9.99945424e-01 -7.01096862e-03 -7.74570014e-03 3.10790228e+01] [ 6.98715451e-03 9.99970793e-01 -3.09728904e-03 -1.49597788e+00] [ 7.76718890e-03 3.04299960e-03 9.99965205e-01 -1.01029613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839072329 meters 0.12050385707545984 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.50, Z:-1.01 [[ 9.99999296e-01 -1.02974219e-03 -5.90070381e-04 3.10688670e+01] [ 1.02741328e-03 9.99991735e-01 -3.93365176e-03 -1.49952970e+00] [ 5.94116151e-04 3.93304274e-03 9.99992089e-01 -1.01450263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89907232899999 meters 0.13543881201517483 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.50, Z:-1.02 [[ 9.99998684e-01 -3.05076530e-04 -1.59369745e-03 3.10720290e+01] [ 2.99305461e-04 9.99993402e-01 -3.62016687e-03 -1.49735677e+00] [ 1.59479137e-03 3.61968510e-03 9.99992177e-01 -1.01593368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.959072328999994 meters 0.11431560808721254 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.50, Z:-1.02 [[ 9.99998415e-01 2.53841058e-04 -1.76244001e-03 3.10725410e+01] [-2.58682337e-04 9.99996193e-01 -2.74723393e-03 -1.50008244e+00] [ 1.76173593e-03 2.74768549e-03 9.99994673e-01 -1.01616359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019072329 meters 0.11453275306952021 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.50, Z:-1.02 [[ 9.99998592e-01 4.65801488e-04 -1.61227940e-03 3.10718806e+01] [-4.69329555e-04 9.99997495e-01 -2.18856136e-03 -1.50286431e+00] [ 1.61125593e-03 2.18931497e-03 9.99996305e-01 -1.01569018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07907232899999 meters 0.1169146462990749 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.50, Z:-1.02 [[ 9.99997832e-01 1.05458358e-03 -1.79538899e-03 3.10731851e+01] [-1.05679206e-03 9.99998686e-01 -1.22957692e-03 -1.50464462e+00] [ 1.79408994e-03 1.23147160e-03 9.99997632e-01 -1.01722028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.139072328999994 meters 0.12003912400858012 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.51, Z:-1.02 [[ 9.99997477e-01 1.38699153e-03 -1.76723189e-03 3.10734580e+01] [-1.38788505e-03 9.99998910e-01 -5.04473831e-04 -1.50662152e+00] [ 1.76653026e-03 5.06925273e-04 9.99998311e-01 -1.01784161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199072328999996 meters 0.12374618013775776 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.51, Z:-1.02 [[ 9.99996208e-01 -2.16196374e-03 -1.70559745e-03 3.10735088e+01] [ 2.15647522e-03 9.99992512e-01 -3.21324987e-03 -1.51230563e+00] [ 1.71253161e-03 3.20955961e-03 9.99993383e-01 -1.01830865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25907232899999 meters 0.13085805467154407 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.52, Z:-1.02 [[ 9.99998269e-01 -1.53931968e-03 -1.04537024e-03 3.10728602e+01] [ 1.53835057e-03 9.99998387e-01 -9.27217109e-04 -1.51898288e+00] [ 1.04679584e-03 9.25607358e-04 9.99999024e-01 -1.02007687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.319072328999994 meters 0.1386838087109757 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.53, Z:-1.02 [[ 9.99999112e-01 -1.28383013e-03 -3.56403321e-04 3.10714246e+01] [ 1.28403893e-03 9.99999004e-01 5.86262079e-04 -1.52526866e+00] [ 3.55650305e-04 -5.86719194e-04 9.99999765e-01 -1.02021800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379072328999996 meters 0.1436317842173456 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.53, Z:-1.02 [[ 9.99999341e-01 -1.14070196e-03 1.32989056e-04 3.10703133e+01] [ 1.14050511e-03 9.99998268e-01 1.47098810e-03 -1.52946948e+00] [-1.34666785e-04 -1.47083546e-03 9.99998909e-01 -1.02032402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43907232899999 meters 0.14881185965909144 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.53, Z:-1.02 [[ 9.99983958e-01 -5.66422664e-03 -1.99281884e-06 3.10700277e+01] [ 5.66419260e-03 9.99979051e-01 -3.13267619e-03 -1.52848969e+00] [ 1.97369650e-05 3.13261465e-03 9.99995093e-01 -1.01932446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49907232899999 meters 0.14141354431552483 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.53, Z:-1.02 [[ 9.99985068e-01 -5.44345077e-03 4.81660192e-04 3.10690645e+01] [ 5.44451723e-03 9.99982667e-01 -2.24124123e-03 -1.53203975e+00] [-4.69451757e-04 2.24383018e-03 9.99997372e-01 -1.01938938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559072328999996 meters 0.13473339412234872 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.54, Z:-1.02 [[ 9.99989531e-01 -4.53409754e-03 6.15532711e-04 3.10702479e+01] [ 4.53448485e-03 9.99989521e-01 -6.29295311e-04 -1.53567193e+00] [-6.12672975e-04 6.32079847e-04 9.99999613e-01 -1.02185650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61907232899999 meters 0.13936175573355228 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.54, Z:-1.02 [[ 9.99992307e-01 -3.88583261e-03 5.35137463e-04 3.10715918e+01] [ 3.88569021e-03 9.99992415e-01 2.66884845e-04 -1.53712360e+00] [-5.36170474e-04 -2.64803414e-04 9.99999821e-01 -1.02357862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67907232899999 meters 0.1383625146145087 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.54, Z:-1.02 [[ 9.99992905e-01 -3.67556980e-03 8.24757760e-04 3.10707150e+01] [ 3.67478225e-03 9.99992793e-01 9.54376278e-04 -1.53998044e+00] [-8.28259692e-04 -9.51338702e-04 9.99999204e-01 -1.02314521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739072328999995 meters 0.14214840011799149 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.55, Z:-1.02 [[ 9.99991707e-01 -3.73692275e-03 1.61883611e-03 3.10682301e+01] [ 3.73403804e-03 9.99991442e-01 1.78133660e-03 -1.54522626e+00] [-1.62547897e-03 -1.77527704e-03 9.99997103e-01 -1.02204232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.799072329 meters 0.14407978127317617 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.55, Z:-1.02 [[ 9.99994315e-01 -2.99901327e-03 1.54146075e-03 3.10690988e+01] [ 2.99435728e-03 9.99990975e-01 3.01398755e-03 -1.54848529e+00] [-1.55048583e-03 -3.00935473e-03 9.99994270e-01 -1.02314175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85907232899999 meters 0.14887753205065346 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.55, Z:-1.02 [[ 9.99996252e-01 -2.38814259e-03 1.33881994e-03 3.10701961e+01] [ 2.38292113e-03 9.99989602e-01 3.88817056e-03 -1.55069004e+00] [-1.34809152e-03 -3.88496569e-03 9.99991545e-01 -1.02415050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919072328999995 meters 0.13756355160306138 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.56, Z:-1.03 [[ 9.99987512e-01 -4.95437359e-03 6.56464346e-04 3.10737169e+01] [ 4.95318824e-03 9.99986122e-01 1.79514877e-03 -1.55560924e+00] [-6.65349073e-04 -1.79187476e-03 9.99998173e-01 -1.02698779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979072329 meters 0.130491590344025 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.56, Z:-1.03 [[ 9.99990563e-01 -4.23248517e-03 9.79505349e-04 3.10733632e+01] [ 4.22914025e-03 9.99985304e-01 3.39214674e-03 -1.56103394e+00] [-9.93848165e-04 -3.38797227e-03 9.99993767e-01 -1.02769573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03907232899999 meters 0.1397641570571777 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.56, Z:-1.03 [[ 9.99991079e-01 -4.12735651e-03 8.98510572e-04 3.10737011e+01] [ 4.12417522e-03 9.99985321e-01 3.51414799e-03 -1.56103279e+00] [-9.13001525e-04 -3.51041103e-03 9.99993422e-01 -1.02788826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.099072329 meters 0.1372668946836776 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.57, Z:-1.03 [[ 9.99995907e-01 -2.82740336e-03 4.39035623e-04 3.10761520e+01] [ 2.82501646e-03 9.99981723e-01 5.34532163e-03 -1.56522124e+00] [-4.54140979e-04 -5.34405947e-03 9.99985617e-01 -1.03011089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.159072329 meters 0.13562655545295965 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.57, Z:-1.03 [[ 9.99982757e-01 -5.87049147e-03 -1.50296694e-04 3.10786722e+01] [ 5.87088919e-03 9.99978849e-01 2.79879682e-03 -1.56934308e+00] [ 1.33863202e-04 -2.79963094e-03 9.99996072e-01 -1.03197130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.219072329 meters 0.14925500099384578 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.57, Z:-1.03 [[ 9.99983533e-01 -5.70940453e-03 -5.80564337e-04 3.10797684e+01] [ 5.71101458e-03 9.99979743e-01 2.81048934e-03 -1.56857936e+00] [ 5.64506355e-04 -2.81375867e-03 9.99995882e-01 -1.03212008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27907232899999 meters 0.12908523067330516 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.57, Z:-1.03 [[ 9.99998806e-01 -1.35383534e-03 -7.45519004e-04 3.10793609e+01] [ 1.35919305e-03 9.99972914e-01 7.23356501e-03 -1.57005718e+00] [ 7.35705755e-04 -7.23456968e-03 9.99973560e-01 -1.03102716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33907232899999 meters 0.12564632162611614 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.57, Z:-1.03 [[ 9.99991353e-01 -3.42384839e-03 -2.36022094e-03 3.10849753e+01] [ 3.43587205e-03 9.99981045e-01 5.10920686e-03 -1.57216962e+00] [ 2.34268306e-03 -5.11727209e-03 9.99984163e-01 -1.03463108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39907232899999 meters 0.12391065646766906 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.57, Z:-1.04 [[ 9.99989802e-01 -2.85263902e-03 -3.50120412e-03 3.10880351e+01] [ 2.86999102e-03 9.99983576e-01 4.96103276e-03 -1.56922463e+00] [ 3.48699458e-03 -4.97103059e-03 9.99981565e-01 -1.03558534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.459072329 meters 0.11781789917730284 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.57, Z:-1.04 [[ 9.99986356e-01 -1.92565625e-03 -4.85584118e-03 3.10913244e+01] [ 1.95111027e-03 9.99984354e-01 5.24266139e-03 -1.56806957e+00] [ 4.84566964e-03 -5.25206414e-03 9.99974467e-01 -1.03626966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.519072329 meters 0.11497676737431023 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.57, Z:-1.04 [[ 9.99982610e-01 -1.81444632e-03 -5.61131145e-03 3.10925452e+01] [ 1.84193935e-03 9.99986307e-01 4.89829224e-03 -1.56698992e+00] [ 5.60234693e-03 -4.90854276e-03 9.99972260e-01 -1.03565373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.579072329 meters 0.10795411035893562 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.56, Z:-1.03 [[ 9.99977016e-01 -1.36419651e-03 -6.64125468e-03 3.10943619e+01] [ 1.38936401e-03 9.99991866e-01 3.78643223e-03 -1.56202864e+00] [ 6.63603523e-03 -3.79557232e-03 9.99970778e-01 -1.03437965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.639072329 meters 0.10364028762063698 Centerline is valid? [False, False] Translation: X:31.10, Y:-1.56, Z:-1.04 [[ 9.99969509e-01 -6.44139979e-04 -7.78239013e-03 3.10977677e+01] [ 6.73233098e-04 9.99992793e-01 3.73628583e-03 -1.55965526e+00] [ 7.77992736e-03 -3.74141127e-03 9.99962737e-01 -1.03612431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69907232899999 meters 0.09053832823681839 Centerline is valid? [False, True] Translation: X:31.10, Y:-1.56, Z:-1.04 [[ 9.99965628e-01 -4.45007120e-04 -8.27921356e-03 3.10989863e+01] [ 4.75755050e-04 9.99992996e-01 3.71227212e-03 -1.55925370e+00] [ 8.27750359e-03 -3.71608340e-03 9.99958836e-01 -1.03645568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75907232899999 meters 0.08831111099350611 Centerline is valid? [True, True] Translation: X:31.16, Y:-1.55, Z:-1.04 [[ 9.99914910e-01 8.05463849e-03 -1.02613402e-02 3.11586397e+01] [-8.04804357e-03 9.99967380e-01 6.83827088e-04 -1.55291823e+00] [ 1.02665135e-02 -6.01185188e-04 9.99947117e-01 -1.03565878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.819072329 meters 0.08262255407010713 Centerline is valid? [True, True] Translation: X:31.22, Y:-1.54, Z:-1.03 [[ 9.99786094e-01 1.80237232e-02 -1.01445141e-02 3.12203265e+01] [-1.80177895e-02 9.99837438e-01 6.76009465e-04 -1.53850363e+00] [ 1.01550492e-02 -4.93083143e-04 9.99948315e-01 -1.03027167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.879072329 meters 0.08068233389933134 Centerline is valid? [True, True] Translation: X:31.28, Y:-1.54, Z:-1.03 [[ 9.99706191e-01 2.30161910e-02 -7.60169559e-03 3.12804619e+01] [-2.30130033e-02 9.99735037e-01 5.06549054e-04 -1.53863047e+00] [ 7.61134026e-03 -3.31462380e-04 9.99970978e-01 -1.02871053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.939072329 meters 0.07820420800748035 Centerline is valid? [True, True] Translation: X:31.34, Y:-1.53, Z:-1.03 [[ 9.99527873e-01 2.91964116e-02 -9.57083032e-03 3.13407379e+01] [-2.91916476e-02 9.99573630e-01 6.37107301e-04 -1.53124406e+00] [ 9.58535085e-03 -3.57418199e-04 9.99953996e-01 -1.02869453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.999072329 meters 0.07790025073154477 Centerline is valid? [True, True] Translation: X:31.40, Y:-1.53, Z:-1.03 [[ 9.99435303e-01 3.19300429e-02 -1.04665211e-02 3.13996467e+01] [-3.19245064e-02 9.99490041e-01 6.95662016e-04 -1.53449138e+00] [ 1.04833961e-02 -3.61130659e-04 9.99944982e-01 -1.03058245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05907232899999 meters 0.07668146718380488 Centerline is valid? [True, True] Translation: X:31.46, Y:-1.53, Z:-1.03 [[ 9.99237698e-01 3.61568291e-02 -1.47209847e-02 3.14584136e+01] [-3.61464143e-02 9.99346031e-01 9.73024361e-04 -1.53179347e+00] [ 1.47465391e-02 -4.40171809e-04 9.99891167e-01 -1.03254987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11907232899999 meters 0.07683622393838245 Centerline is valid? [True, True] Translation: X:31.52, Y:-1.53, Z:-1.04 [[ 9.99080615e-01 4.00078990e-02 -1.54043001e-02 3.15165147e+01] [-3.99969475e-02 9.99199283e-01 1.01848166e-03 -1.53210197e+00] [ 1.54327129e-02 -4.01420304e-04 9.99880828e-01 -1.03551749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.179072329 meters 0.0755668193233576 Centerline is valid? [True, True] Translation: X:31.58, Y:-1.53, Z:-1.03 [[ 9.99024847e-01 4.24029331e-02 -1.23022654e-02 3.15760323e+01] [-4.23961315e-02 9.99100549e-01 8.13266392e-04 -1.53314263e+00] [ 1.23256850e-02 -2.90904871e-04 9.99923994e-01 -1.03129639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.239072329 meters 0.07573995667408844 Centerline is valid? [True, True] Translation: X:31.63, Y:-1.53, Z:-1.03 [[ 9.98955706e-01 4.34607759e-02 -1.40946446e-02 3.16347300e+01] [-4.34520333e-02 9.99055085e-01 9.26063350e-04 -1.53250669e+00] [ 1.41215737e-02 -3.12655303e-04 9.99900237e-01 -1.03210693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.299072329 meters 0.07598336609665338 Centerline is valid? [True, True] Translation: X:31.69, Y:-1.54, Z:-1.04 [[ 9.98986645e-01 4.21283883e-02 -1.58392462e-02 3.16927644e+01] [-4.21171732e-02 9.99112136e-01 1.04111491e-03 -1.53772853e+00] [ 1.58690436e-02 -3.72955619e-04 9.99874009e-01 -1.03586801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.359072329 meters 0.07663533584427962 Centerline is valid? [True, True] Translation: X:31.75, Y:-1.54, Z:-1.04 [[ 9.99231651e-01 3.62355794e-02 -1.49362094e-02 3.17521700e+01] [-3.62249500e-02 9.99343179e-01 9.81675227e-04 -1.54420737e+00] [ 1.49619706e-02 -4.39857518e-04 9.99887967e-01 -1.03813175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41907232899999 meters 0.07805574821258492 Centerline is valid? [True, True] Translation: X:31.81, Y:-1.55, Z:-1.04 [[ 9.99409324e-01 3.11681689e-02 -1.44757902e-02 3.18100703e+01] [-3.11576786e-02 9.99514030e-01 9.49697464e-04 -1.55209891e+00] [ 1.44983557e-02 -4.98104483e-04 9.99894769e-01 -1.04061139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47907232899999 meters 0.079790077004032 Centerline is valid? [True, True] Translation: X:31.87, Y:-1.56, Z:-1.04 [[ 9.99590266e-01 2.50383656e-02 -1.38701061e-02 3.18696695e+01] [-2.50281405e-02 9.99686333e-01 9.10322827e-04 -1.56014750e+00] [ 1.38885485e-02 -5.62806872e-04 9.99903391e-01 -1.04092154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53907232899999 meters 0.08245879231793429 Centerline is valid? [True, True] Translation: X:31.93, Y:-1.57, Z:-1.04 [[ 9.99713887e-01 1.89177848e-02 -1.46376742e-02 3.19285517e+01] [-1.89057458e-02 9.99820809e-01 9.60417297e-04 -1.56976910e+00] [ 1.46532202e-02 -6.83406361e-04 9.99892402e-01 -1.04299559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.599072329 meters 0.08402432534759699 Centerline is valid? [True, True] Translation: X:31.99, Y:-1.58, Z:-1.04 [[ 9.99805460e-01 1.43010113e-02 -1.35839124e-02 3.19886558e+01] [-1.42902161e-02 9.99897492e-01 8.91443746e-04 -1.57698714e+00] [ 1.35952685e-02 -6.97153281e-04 9.99907337e-01 -1.04333674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.659072329 meters 0.08791537421070225 Centerline is valid? [True, True] Translation: X:32.05, Y:-1.59, Z:-1.05 [[ 9.99865184e-01 7.47238748e-03 -1.46210923e-02 3.20476387e+01] [-7.45915821e-03 9.99971720e-01 9.59131982e-04 -1.58950803e+00] [ 1.46278458e-02 -8.49941635e-04 9.99892646e-01 -1.04740065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.719072329 meters 0.09199574740639438 Centerline is valid? [True, True] Translation: X:32.11, Y:-1.60, Z:-1.05 [[ 9.99884923e-01 5.95904895e-06 -1.51703834e-02 3.21073149e+01] [ 9.13654619e-06 9.99999505e-01 9.95000615e-04 -1.60228910e+00] [ 1.51703818e-02 -9.95024718e-04 9.99884428e-01 -1.04935027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77907232899999 meters 0.0915539467281583 Centerline is valid? [True, True] Translation: X:32.17, Y:-1.60, Z:-1.05 [[ 9.99900406e-01 -3.15979851e-03 -1.37547437e-02 3.21672173e+01] [ 3.17250134e-03 9.99994561e-01 9.01802245e-04 -1.60437036e+00] [ 1.37518194e-02 -9.45349374e-04 9.99904992e-01 -1.04623768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83907232899999 meters 0.09554356172990537 Centerline is valid? [True, True] Translation: X:32.23, Y:-1.62, Z:-1.05 [[ 9.99865184e-01 -9.27545086e-03 -1.35491945e-02 3.22271096e+01] [ 9.28833416e-03 9.99956468e-01 8.88234073e-04 -1.61630518e+00] [ 1.35403659e-02 -1.01396377e-03 9.99907811e-01 -1.04698554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89907232899999 meters 0.09502186403751843 Centerline is valid? [True, True] Translation: X:32.29, Y:-1.62, Z:-1.05 [[ 9.99746793e-01 -1.57395188e-02 -1.60815625e-02 3.22880867e+01] [ 1.57584995e-02 9.99875271e-01 1.05423297e-03 -1.61694094e+00] [ 1.60629635e-02 -1.30738732e-03 9.99870128e-01 -1.04603322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.959072329 meters 0.10695919084236441 Centerline is valid? [True, False] Translation: X:32.29, Y:-1.62, Z:-1.05 [[ 9.99890366e-01 -1.47943515e-02 -6.19786998e-04 3.22875859e+01] [ 1.47956932e-02 9.99888075e-01 2.21912384e-03 -1.61788224e+00] [ 5.86887130e-04 -2.22805073e-03 9.99997346e-01 -1.05240770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.019072329 meters 0.10175841312914034 Centerline is valid? [False, False] Translation: X:32.29, Y:-1.62, Z:-1.05 [[ 9.99811017e-01 -1.94370588e-02 -3.62684778e-04 3.22867550e+01] [ 1.94360899e-02 9.99807958e-01 -2.50710747e-03 -1.61752910e+00] [ 4.11345923e-04 2.49958449e-03 9.99996791e-01 -1.05167644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.079072329 meters 0.1053885134331615 Centerline is valid? [False, False] Translation: X:32.27, Y:-1.62, Z:-1.06 [[ 9.99857651e-01 -1.51378348e-02 7.45139075e-03 3.22749100e+01] [ 1.51903827e-02 9.99859788e-01 -7.04675340e-03 -1.61847306e+00] [-7.34367339e-03 7.15893978e-03 9.99947409e-01 -1.05582524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.139072329 meters 0.10190567073212205 Centerline is valid? [False, False] Translation: X:32.28, Y:-1.62, Z:-1.06 [[ 9.99913697e-01 -1.07885095e-02 7.49711763e-03 3.22751874e+01] [ 1.08085415e-02 9.99938110e-01 -2.63659196e-03 -1.61806300e+00] [-7.46820874e-03 2.71739732e-03 9.99968420e-01 -1.05661712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19907232899999 meters 0.09863237066165675 Centerline is valid? [False, True] Translation: X:32.28, Y:-1.61, Z:-1.06 [[ 9.99949532e-01 -6.95688967e-03 7.24815035e-03 3.22753709e+01] [ 6.95397542e-03 9.99975730e-01 4.27192663e-04 -1.61377356e+00] [-7.25094637e-03 -3.76767644e-04 9.99973641e-01 -1.05587010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25907232899999 meters 0.10294847691079907 Centerline is valid? [True, False] Translation: X:32.28, Y:-1.62, Z:-1.06 [[ 9.99958280e-01 -6.03516646e-03 6.85680510e-03 3.22772428e+01] [ 6.02381861e-03 9.99980455e-01 1.67442580e-03 -1.61664169e+00] [-6.86677652e-03 -1.63305179e-03 9.99975090e-01 -1.05757410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.319072329 meters 0.09665143876702621 Centerline is valid? [False, True] Translation: X:32.28, Y:-1.61, Z:-1.06 [[ 9.99976486e-01 -1.94704673e-03 6.57549653e-03 3.22780765e+01] [ 1.91285237e-03 9.99984637e-01 5.20256212e-03 -1.61320046e+00] [-6.58552514e-03 -5.18986183e-03 9.99964847e-01 -1.05788498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.379072329 meters 0.10552914666213914 Centerline is valid? [True, False] Translation: X:32.28, Y:-1.61, Z:-1.06 [[ 9.99984487e-01 -1.30318578e-03 5.41549907e-03 3.22811255e+01] [ 1.27813561e-03 9.99988481e-01 4.62653314e-03 -1.60885488e+00] [-5.42146592e-03 -4.61953962e-03 9.99974633e-01 -1.05901132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.439072329 meters 0.08970895333816518 Centerline is valid? [False, True] Translation: X:32.28, Y:-1.61, Z:-1.06 [[ 9.99986377e-01 -1.46147935e-03 5.01105101e-03 3.22813979e+01] [ 1.44292911e-03 9.99992101e-01 3.70348666e-03 -1.60657236e+00] [-5.01642399e-03 -3.69620561e-03 9.99980587e-01 -1.05786128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.499072329 meters 0.0898064733574381 Centerline is valid? [True, True] Translation: X:32.34, Y:-1.60, Z:-1.06 [[ 9.99978747e-01 2.90759449e-03 5.83530526e-03 3.23410838e+01] [-2.90539747e-03 9.99995705e-01 -3.84946492e-04 -1.60400030e+00] [-5.83639947e-03 3.67984429e-04 9.99982900e-01 -1.05588698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55907232899999 meters 0.09145190485338205 Centerline is valid? [True, True] Translation: X:32.40, Y:-1.61, Z:-1.06 [[ 9.99957525e-01 6.26334658e-03 6.76157866e-03 3.24003509e+01] [-6.26047627e-03 9.99980304e-01 -4.45585792e-04 -1.60782956e+00] [-6.76423634e-03 4.03236163e-04 9.99977041e-01 -1.06118999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61907232899999 meters 0.08657330101725635 Centerline is valid? [True, True] Translation: X:32.46, Y:-1.60, Z:-1.06 [[ 9.99969072e-01 7.30232358e-03 2.92084965e-03 3.24624589e+01] [-7.30179564e-03 9.99973323e-01 -1.91371457e-04 -1.60334165e+00] [-2.92216919e-03 1.70038091e-04 9.99995716e-01 -1.06414106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.679072329 meters 0.08557900554594475 Centerline is valid? [True, True] Translation: X:32.52, Y:-1.60, Z:-1.06 [[ 9.99951295e-01 8.76543520e-03 4.53594848e-03 3.25223411e+01] [-8.76416477e-03 9.99961549e-01 -2.99882509e-04 -1.60289335e+00] [-4.53840267e-03 2.60114103e-04 9.99989668e-01 -1.06251836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.739072329 meters 0.08509146678097106 Centerline is valid? [True, True] Translation: X:32.58, Y:-1.60, Z:-1.06 [[ 9.99897291e-01 1.26811202e-02 6.67809031e-03 3.25819032e+01] [-1.26784611e-02 9.99919528e-01 -4.40376142e-04 -1.60117771e+00] [-6.68313738e-03 3.55663003e-04 9.99977604e-01 -1.06025956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.799072329 meters 0.08374354674501537 Centerline is valid? [True, True] Translation: X:32.64, Y:-1.60, Z:-1.06 [[ 9.99872445e-01 1.41879665e-02 7.33458878e-03 3.26410930e+01] [-1.41847952e-02 9.99899273e-01 -4.84228834e-04 -1.60151541e+00] [-7.34072022e-03 3.80127428e-04 9.99972984e-01 -1.06223526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.859072329 meters 0.08190817776590821 Centerline is valid? [True, True] Translation: X:32.70, Y:-1.60, Z:-1.07 [[ 9.99830692e-01 1.72902916e-02 6.29543613e-03 3.27004273e+01] [-1.72880198e-02 9.99850465e-01 -4.15104291e-04 -1.60275441e+00] [-6.30167202e-03 3.06198386e-04 9.99980097e-01 -1.06710114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91907232899999 meters 0.07935470752078629 Centerline is valid? [True, True] Translation: X:32.76, Y:-1.60, Z:-1.06 [[ 9.99703783e-01 2.28745495e-02 8.31271638e-03 3.27611286e+01] [-2.28707928e-02 9.99738280e-01 -5.46717535e-04 -1.59758380e+00] [-8.32304670e-03 3.56437174e-04 9.99965299e-01 -1.06370096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97907232899999 meters 0.07793999761476665 Centerline is valid? [True, True] Translation: X:32.82, Y:-1.60, Z:-1.07 [[ 9.99646604e-01 2.60042981e-02 5.51753132e-03 3.28204343e+01] [-2.60026830e-02 9.99661807e-01 -3.64267283e-04 -1.59834766e+00] [-5.52513784e-03 2.20667935e-04 9.99984712e-01 -1.06737033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03907232899999 meters 0.07696016289015783 Centerline is valid? [True, True] Translation: X:32.88, Y:-1.60, Z:-1.07 [[ 9.99539852e-01 2.96139377e-02 6.56497453e-03 3.28795806e+01] [-2.96117366e-02 9.99561383e-01 -4.32257118e-04 -1.60445922e+00] [-6.57489585e-03 2.37657919e-04 9.99978357e-01 -1.07031004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.099072329 meters 0.07651893335118298 Centerline is valid? [True, True] Translation: X:32.94, Y:-1.61, Z:-1.07 [[ 9.99469922e-01 3.15413896e-02 8.06323034e-03 3.29385760e+01] [-3.15381292e-02 9.99502408e-01 -5.31213329e-04 -1.60645288e+00] [-8.07597335e-03 2.76632544e-04 9.99967351e-01 -1.06720174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.159072329 meters 0.07800969623713302 Centerline is valid? [True, True] Translation: X:33.00, Y:-1.62, Z:-1.07 [[ 9.99521917e-01 3.05161988e-02 4.96986574e-03 3.29965791e+01] [-3.05149475e-02 9.99534257e-01 -3.27436184e-04 -1.61888240e+00] [-4.97754317e-03 1.75624451e-04 9.99987597e-01 -1.07493526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.219072329 meters 0.07845077296476832 Centerline is valid? [True, True] Translation: X:33.05, Y:-1.63, Z:-1.08 [[ 9.99565693e-01 2.84292607e-02 7.75908793e-03 3.30535965e+01] [-2.84261488e-02 9.99595765e-01 -5.11081330e-04 -1.63318679e+00] [-7.77048110e-03 2.90298376e-04 9.99969767e-01 -1.07623908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27907232899999 meters 0.07820103124859243 Centerline is valid? [True, True] Translation: X:33.11, Y:-1.63, Z:-1.07 [[ 9.99610433e-01 2.68578335e-02 7.59203651e-03 3.31128168e+01] [-2.68548205e-02 9.99639220e-01 -4.98557517e-04 -1.63463997e+00] [-7.60268763e-03 2.94480518e-04 9.99971056e-01 -1.07296224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33907232899999 meters 0.08075692584634628 Centerline is valid? [True, True] Translation: X:33.17, Y:-1.65, Z:-1.08 [[ 9.99756012e-01 2.10651586e-02 6.64650222e-03 3.31717804e+01] [-2.10627341e-02 9.99778062e-01 -4.34575940e-04 -1.65443660e+00] [-6.65418152e-03 2.94476399e-04 9.99977817e-01 -1.07807509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39907232899999 meters 0.0842729285485524 Centerline is valid? [True, True] Translation: X:33.23, Y:-1.68, Z:-1.08 [[ 9.99881733e-01 1.38980112e-02 6.58525623e-03 3.32302111e+01] [-1.38954742e-02 9.99903360e-01 -4.30860451e-04 -1.67606671e+00] [-6.59060794e-03 3.39304237e-04 9.99978224e-01 -1.08112841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.459072329 meters 0.08585657540123677 Centerline is valid? [True, True] Translation: X:33.29, Y:-1.68, Z:-1.08 [[ 9.99918585e-01 1.03784895e-02 7.42365023e-03 3.32897166e+01] [-1.03751694e-02 9.99946059e-01 -4.85600790e-04 -1.68288008e+00] [-7.42828959e-03 4.08539626e-04 9.99972326e-01 -1.07980140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.519072329 meters 0.08758571071225829 Centerline is valid? [True, True] Translation: X:33.35, Y:-1.70, Z:-1.08 [[ 9.99956655e-01 4.86437618e-03 7.93886295e-03 3.33488472e+01] [-4.86041134e-03 9.99988054e-01 -5.18638688e-04 -1.70139122e+00] [-7.94129096e-03 4.80030068e-04 9.99968352e-01 -1.08236431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.579072329 meters 0.08675522716589483 Centerline is valid? [True, True] Translation: X:33.41, Y:-1.71, Z:-1.08 [[ 9.99971353e-01 4.62108498e-04 7.55514948e-03 3.34087549e+01] [-4.58393179e-04 9.99999773e-01 -4.93484093e-04 -1.71195023e+00] [-7.55537581e-03 4.90006727e-04 9.99971338e-01 -1.08238517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.639072329 meters 0.08855860142305122 Centerline is valid? [True, True] Translation: X:33.47, Y:-1.72, Z:-1.08 [[ 9.99975930e-01 -1.04362165e-03 6.85929121e-03 3.34679324e+01] [ 1.04672005e-03 9.99999352e-01 -4.48132657e-04 -1.72129628e+00] [-6.85881908e-03 4.55301628e-04 9.99976374e-01 -1.08444521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69907232899999 meters 0.09042224550534173 Centerline is valid? [True, True] Translation: X:33.53, Y:-1.74, Z:-1.09 [[ 9.99952644e-01 -3.36542914e-03 9.13142395e-03 3.35285990e+01] [ 3.37096869e-03 9.99994143e-01 -5.91322787e-04 -1.73752209e+00] [-9.12938041e-03 6.22076528e-04 9.99958133e-01 -1.08689471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75907232899999 meters 0.08879698591277854 Centerline is valid? [True, True] Translation: X:33.59, Y:-1.75, Z:-1.09 [[ 9.99927114e-01 -6.48560982e-03 1.01835140e-02 3.35893903e+01] [ 6.49273552e-03 9.99978700e-01 -6.66824716e-04 -1.74812071e+00] [-1.01789723e-02 7.32894977e-04 9.99947924e-01 -1.08907430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.819072329 meters 0.09059146163493695 Centerline is valid? [True, True] Translation: X:33.65, Y:-1.76, Z:-1.09 [[ 9.99921264e-01 -7.56481450e-03 1.00119686e-02 3.36503525e+01] [ 7.57174037e-03 9.99971120e-01 -6.54034409e-04 -1.75702907e+00] [-1.00067318e-02 7.29790940e-04 9.99949665e-01 -1.09199478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.879072329 meters 0.0918853655292225 Centerline is valid? [True, True] Translation: X:33.71, Y:-1.76, Z:-1.09 [[ 9.99895056e-01 -9.86361281e-03 1.06106910e-02 3.37109884e+01] [ 9.87156088e-03 9.99951032e-01 -6.96948557e-04 -1.76427801e+00] [-1.06032970e-02 8.01619498e-04 9.99943462e-01 -1.09099038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.939072329 meters 0.09236311229240858 Centerline is valid? [True, True] Translation: X:33.77, Y:-1.77, Z:-1.09 [[ 9.99857936e-01 -1.17756684e-02 1.20599332e-02 3.37716643e+01] [ 1.17860736e-02 9.99930228e-01 -7.92074789e-04 -1.77315952e+00] [-1.20497645e-02 9.34101523e-04 9.99926963e-01 -1.09240556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.999072329 meters 0.09553296766216955 Centerline is valid? [True, True] Translation: X:33.83, Y:-1.79, Z:-1.10 [[ 9.99782328e-01 -1.56332555e-02 1.38165616e-02 3.38302706e+01] [ 1.56472931e-02 9.99877161e-01 -9.08474288e-04 -1.78798610e+00] [-1.38006620e-02 1.12446833e-03 9.99904134e-01 -1.09649317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05907232899999 meters 0.09592589262490377 Centerline is valid? [True, True] Translation: X:33.89, Y:-1.79, Z:-1.10 [[ 9.99791989e-01 -1.62220396e-02 1.23622279e-02 3.38919859e+01] [ 1.62333104e-02 9.99867901e-01 -8.11906800e-04 -1.79186998e+00] [-1.23474241e-02 1.01241780e-03 9.99923255e-01 -1.10015594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11907232899999 meters 0.09685905483711883 Centerline is valid? [True, True] Translation: X:33.95, Y:-1.80, Z:-1.10 [[ 9.99790973e-01 -1.75721495e-02 1.04513515e-02 3.39533161e+01] [ 1.75802903e-02 9.99845218e-01 -6.87553433e-04 -1.79640616e+00] [-1.04376521e-02 8.71147509e-04 9.99945147e-01 -1.10420419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.179072329 meters 0.09983409284691662 Centerline is valid? [True, True] Translation: X:34.01, Y:-1.81, Z:-1.10 [[ 9.99734571e-01 -2.02591298e-02 1.09706441e-02 3.40122169e+01] [ 2.02682612e-02 9.99794317e-01 -7.21794450e-04 -1.80784703e+00] [-1.09537647e-02 9.43958744e-04 9.99939560e-01 -1.10488443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.239072329 meters 0.1017274382340261 Centerline is valid? [True, False] Translation: X:34.01, Y:-1.81, Z:-1.10 [[ 9.99859012e-01 -1.55274521e-02 6.39170430e-03 3.40063306e+01] [ 1.55909655e-02 9.99828347e-01 -1.00099293e-02 -1.80649166e+00] [-6.23517844e-03 1.01081709e-02 9.99929471e-01 -1.10426255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.299072329 meters 0.09844568020896052 Centerline is valid? [False, True] Translation: X:34.01, Y:-1.81, Z:-1.11 [[ 9.99912083e-01 -1.12461162e-02 7.02506390e-03 3.40053499e+01] [ 1.12760124e-02 9.99927474e-01 -4.23064179e-03 -1.81205032e+00] [-6.97697611e-03 4.30948455e-03 9.99966375e-01 -1.10522769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.359072329 meters 0.10411986744566366 Centerline is valid? [True, False] Translation: X:34.01, Y:-1.82, Z:-1.11 [[ 9.99916351e-01 -1.05451109e-02 7.48949353e-03 3.40053672e+01] [ 1.05602466e-02 9.99942270e-01 -1.98426735e-03 -1.81835215e+00] [-7.46813685e-03 2.06319227e-03 9.99969985e-01 -1.10725917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41907232899999 meters 0.12004293590698799 Centerline is valid? [False, False] Translation: X:34.01, Y:-1.82, Z:-1.11 [[ 9.99922502e-01 -9.69860645e-03 7.80553038e-03 3.40057143e+01] [ 9.69741428e-03 9.99952961e-01 1.90568166e-04 -1.82429705e+00] [-7.80701146e-03 -1.14859936e-04 9.99969518e-01 -1.10934755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47907232899999 meters 0.12464915288510384 Centerline is valid? [False, False] Translation: X:34.00, Y:-1.83, Z:-1.11 [[ 9.99916415e-01 -9.84039084e-03 8.38629133e-03 3.40041099e+01] [ 9.83595590e-03 9.99951463e-01 5.69913194e-04 -1.82609283e+00] [-8.39149246e-03 -4.87378366e-04 9.99964672e-01 -1.10858448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53907232899999 meters 0.11757315646441115 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.82, Z:-1.11 [[ 9.99955885e-01 -8.51229813e-03 3.97110469e-03 3.39862525e+01] [ 8.53546264e-03 9.99946441e-01 -5.85324964e-03 -1.82234912e+00] [-3.92106740e-03 5.88688664e-03 9.99974985e-01 -1.10625618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.599072329 meters 0.11833086199470678 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.83, Z:-1.11 [[ 9.99961379e-01 -7.62005995e-03 4.37904989e-03 3.39864799e+01] [ 7.63675286e-03 9.99963589e-01 -3.80800031e-03 -1.82881292e+00] [-4.34987325e-03 3.84129496e-03 9.99983161e-01 -1.10823637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.659072329 meters 0.13584180925189332 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.83, Z:-1.11 [[ 9.99981947e-01 -3.47658537e-03 4.90091596e-03 3.39854636e+01] [ 3.47343897e-03 9.99993756e-01 6.50368157e-04 -1.82960500e+00] [-4.90314642e-03 -6.33333384e-04 9.99987779e-01 -1.10838233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.719072329 meters 0.116075580903266 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.83, Z:-1.11 [[ 9.99982017e-01 -3.83254783e-03 4.61281430e-03 3.39857818e+01] [ 3.83357757e-03 9.99992629e-01 -2.14413606e-04 -1.82676447e+00] [-4.61195855e-03 2.32093332e-04 9.99989338e-01 -1.10770394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77907232899999 meters 0.11722320862938454 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.83, Z:-1.11 [[ 9.99984482e-01 -2.91669453e-03 4.74648177e-03 3.39864653e+01] [ 2.90962905e-03 9.99994650e-01 1.49479664e-03 -1.83132058e+00] [-4.75081624e-03 -1.48096294e-03 9.99987618e-01 -1.10948811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83907232899999 meters 0.12242340118903029 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.83, Z:-1.11 [[ 9.99966278e-01 -6.85647531e-03 4.52019221e-03 3.39871228e+01] [ 6.86647940e-03 9.99974002e-01 -2.20140949e-03 -1.83278674e+00] [-4.50498079e-03 2.23237306e-03 9.99987361e-01 -1.10969645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89907232899999 meters 0.12699629504615592 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99985286e-01 -2.51852761e-03 4.80472130e-03 3.39861246e+01] [ 2.50592415e-03 9.99993409e-01 2.62736010e-03 -1.83508343e+00] [-4.81130670e-03 -2.61528117e-03 9.99985006e-01 -1.10920727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.959072329 meters 0.12160263551101883 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99987306e-01 -1.79465988e-03 4.70811501e-03 3.39869764e+01] [ 1.77603543e-03 9.99990594e-01 3.95702203e-03 -1.83860905e+00] [-4.71517223e-03 -3.94861002e-03 9.99981088e-01 -1.11042388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.019072329 meters 0.1227347794334049 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99989751e-01 -1.03876043e-03 4.40672844e-03 3.39885287e+01] [ 1.01599096e-03 9.99986140e-01 5.16607475e-03 -1.84111200e+00] [-4.41203367e-03 -5.16154460e-03 9.99976946e-01 -1.11198071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.079072329 meters 0.11435890700083999 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99990926e-01 -1.00192267e-03 4.14042086e-03 3.39887192e+01] [ 9.80052928e-04 9.99985577e-01 5.28066817e-03 -1.84178635e+00] [-4.14565196e-03 -5.27656242e-03 9.99977485e-01 -1.11144606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.139072329 meters 0.11300825613730535 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99992694e-01 -6.83433091e-04 3.76085372e-03 3.39897188e+01] [ 6.62283720e-04 9.99983978e-01 5.62193062e-03 -1.84252414e+00] [-3.76463567e-03 -5.61939880e-03 9.99977125e-01 -1.11194021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19907232899999 meters 0.10653677782747187 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99995220e-01 -7.69381638e-04 2.99462087e-03 3.39910374e+01] [ 7.55404132e-04 9.99988829e-01 4.66587341e-03 -1.83886253e+00] [-2.99817725e-03 -4.66358895e-03 9.99984631e-01 -1.11148515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25907232899999 meters 0.10473667113658702 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99995431e-01 -1.17515696e-03 2.78518608e-03 3.39907630e+01] [ 1.16450076e-03 9.99992008e-01 3.82456710e-03 -1.83700700e+00] [-2.78965829e-03 -3.82130627e-03 9.99988808e-01 -1.11024734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.319072329 meters 0.10688566886763101 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99996556e-01 -7.85334325e-04 2.50443179e-03 3.39918870e+01] [ 7.74518821e-04 9.99990384e-01 4.31659582e-03 -1.83802739e+00] [-2.50779768e-03 -4.31464122e-03 9.99987547e-01 -1.11124821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.379072329 meters 0.10485980716491825 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99997396e-01 -9.57435341e-04 2.07155719e-03 3.39926352e+01] [ 9.49984055e-04 9.99993087e-01 3.59494833e-03 -1.83522725e+00] [-2.07498480e-03 -3.59297102e-03 9.99991392e-01 -1.11087221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.439072329 meters 0.09741880439043422 Centerline is valid? [False, True] Translation: X:33.99, Y:-1.83, Z:-1.11 [[ 9.99997147e-01 -1.38487660e-03 1.94621689e-03 3.39923518e+01] [ 1.37948944e-03 9.99995221e-01 2.76663533e-03 -1.83316278e+00] [-1.95003903e-03 -2.76394265e-03 9.99994279e-01 -1.10991052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.499072329 meters 0.09719861411461864 Centerline is valid? [True, True] Translation: X:34.05, Y:-1.84, Z:-1.12 [[ 9.99999399e-01 1.09000415e-03 1.19529465e-04 3.40530379e+01] [-1.09000299e-03 9.99999406e-01 -9.78826950e-06 -1.83720247e+00] [-1.19540063e-04 9.65797614e-06 9.99999993e-01 -1.11530079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55907232899999 meters 0.09681254380188971 Centerline is valid? [True, True] Translation: X:34.11, Y:-1.84, Z:-1.11 [[ 9.99995203e-01 2.20113803e-03 2.17937356e-03 3.41136687e+01] [-2.20073705e-03 9.99997561e-01 -1.86369147e-04 -1.83858121e+00] [-2.17977847e-03 1.81572024e-04 9.99997608e-01 -1.11324910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61907232899999 meters 0.09708776940835716 Centerline is valid? [True, True] Translation: X:34.17, Y:-1.84, Z:-1.11 [[ 9.99992851e-01 2.76531499e-03 2.57899559e-03 3.41744292e+01] [-2.76475534e-03 9.99996154e-01 -2.20542827e-04 -1.84141352e+00] [-2.57959555e-03 2.13410959e-04 9.99996650e-01 -1.11252651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.679072329 meters 0.10342590359476918 Centerline is valid? [True, False] Translation: X:34.18, Y:-1.84, Z:-1.11 [[ 9.99997313e-01 -9.83293859e-04 2.09934900e-03 3.41767284e+01] [ 9.91906002e-04 9.99991082e-01 -4.10519940e-03 -1.84065359e+00] [-2.09529366e-03 4.10727072e-03 9.99989370e-01 -1.11454499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.739072329 meters 0.09742063862850327 Centerline is valid? [False, True] Translation: X:34.18, Y:-1.84, Z:-1.11 [[ 9.99997275e-01 -1.06434991e-03 2.07773469e-03 3.41768125e+01] [ 1.07326066e-03 9.99990212e-01 -4.29229476e-03 -1.84003058e+00] [-2.07314585e-03 4.29451301e-03 9.99988630e-01 -1.11457528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.799072329 meters 0.10082863324979781 Centerline is valid? [True, False] Translation: X:34.18, Y:-1.84, Z:-1.11 [[ 9.99994413e-01 2.50893150e-03 2.20871573e-03 3.41759895e+01] [-2.50600096e-03 9.99995977e-01 -1.32857733e-03 -1.83638421e+00] [-2.21204015e-03 1.32303486e-03 9.99996678e-01 -1.11341691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.859072329 meters 0.09986622162297654 Centerline is valid? [False, True] Translation: X:34.18, Y:-1.83, Z:-1.11 [[ 9.99994873e-01 2.39723273e-03 2.12298756e-03 3.41764440e+01] [-2.39361264e-03 9.99995680e-01 -1.70608453e-03 -1.83466928e+00] [-2.12706827e-03 1.70099417e-03 9.99996291e-01 -1.11373133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91907232899999 meters 0.10491225494498754 Centerline is valid? [True, False] Translation: X:34.18, Y:-1.84, Z:-1.12 [[ 9.99993342e-01 2.90352649e-03 2.21027909e-03 3.41775148e+01] [-2.90148455e-03 9.99995361e-01 -9.26483760e-04 -1.83607314e+00] [-2.21295890e-03 9.20064501e-04 9.99997128e-01 -1.11584437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97907232899999 meters 0.10774309299362549 Centerline is valid? [False, False] Translation: X:34.18, Y:-1.83, Z:-1.11 [[ 9.99996790e-01 1.48265864e-03 2.05465864e-03 3.41766984e+01] [-1.47534866e-03 9.99992594e-01 -3.55472042e-03 -1.82767288e+00] [-2.05991386e-03 3.55167767e-03 9.99991571e-01 -1.11380525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03907232899999 meters 0.09944081361471672 Centerline is valid? [False, True] Translation: X:34.18, Y:-1.83, Z:-1.11 [[ 9.99997038e-01 1.58655580e-03 1.84580069e-03 3.41777210e+01] [-1.57980982e-03 9.99992089e-01 -3.65050617e-03 -1.82641331e+00] [-1.85157782e-03 3.64757934e-03 9.99991633e-01 -1.11462499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.099072329 meters 0.10477813561956652 Centerline is valid? [True, False] Translation: X:34.18, Y:-1.82, Z:-1.12 [[ 9.99997448e-01 1.55841421e-03 1.63557205e-03 3.41786764e+01] [-1.55182147e-03 9.99990698e-01 -4.02440715e-03 -1.82443161e+00] [-1.64182853e-03 4.02185877e-03 9.99990564e-01 -1.11534109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.159072329 meters 0.09893055868861789 Centerline is valid? [False, True] Translation: X:34.18, Y:-1.82, Z:-1.11 [[ 9.99987099e-01 4.79382109e-03 1.67961900e-03 3.41779274e+01] [-4.79065017e-03 9.99986745e-01 -1.88684188e-03 -1.81805618e+00] [-1.68864192e-03 1.87877107e-03 9.99996809e-01 -1.11386786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.219072329 meters 0.10783477762169474 Centerline is valid? [True, False] Translation: X:34.18, Y:-1.82, Z:-1.11 [[ 9.99987966e-01 4.62624023e-03 1.63241021e-03 3.41777777e+01] [-4.62250861e-03 9.99986712e-01 -2.28237343e-03 -1.81695671e+00] [-1.64294733e-03 2.27480014e-03 9.99996063e-01 -1.11336102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27907232899999 meters 0.10276452037506877 Centerline is valid? [False, False] Translation: X:34.18, Y:-1.82, Z:-1.11 [[ 9.99986345e-01 4.95479929e-03 1.66143579e-03 3.41785470e+01] [-4.95181496e-03 9.99986128e-01 -1.79556663e-03 -1.81759367e+00] [-1.67030941e-03 1.78731499e-03 9.99997008e-01 -1.11477229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33907232899999 meters 0.10465511512555187 Centerline is valid? [False, False] Translation: X:34.18, Y:-1.82, Z:-1.12 [[ 9.99987163e-01 4.82554379e-03 1.54528901e-03 3.41792216e+01] [-4.82204321e-03 9.99985818e-01 -2.26109392e-03 -1.81513080e+00] [-1.55617811e-03 2.25361345e-03 9.99996250e-01 -1.11522894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39907232899999 meters 0.10411808918580401 Centerline is valid? [False, False] Translation: X:34.18, Y:-1.81, Z:-1.11 [[ 9.99988502e-01 4.53792576e-03 1.55039945e-03 3.41791793e+01] [-4.53342790e-03 9.99985541e-01 -2.89240133e-03 -1.81293513e+00] [-1.56350253e-03 2.88533945e-03 9.99994615e-01 -1.11496243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.459072329 meters 0.11041286015038267 Centerline is valid? [False, False] Translation: X:34.18, Y:-1.81, Z:-1.12 [[ 9.99987174e-01 4.75767464e-03 1.73679845e-03 3.41794641e+01] [-4.75335519e-03 9.99985621e-01 -2.48273260e-03 -1.81368481e+00] [-1.74858551e-03 2.47444514e-03 9.99995410e-01 -1.11613541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.519072329 meters 0.11358218040777299 Centerline is valid? [False, False] Translation: X:34.18, Y:-1.81, Z:-1.11 [[ 9.99971405e-01 -1.28029422e-03 7.45315525e-03 3.41824494e+01] [ 1.24245456e-03 9.99986328e-01 5.07941621e-03 -1.81195917e+00] [-7.45955649e-03 -5.07001075e-03 9.99959324e-01 -1.11407545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.579072329 meters 0.1175144192600151 Centerline is valid? [False, False] Translation: X:34.18, Y:-1.81, Z:-1.12 [[ 9.99974475e-01 -9.58100061e-04 7.08041950e-03 3.41844223e+01] [ 9.21315083e-04 9.99986072e-01 5.19674728e-03 -1.81014501e+00] [-7.08529989e-03 -5.19009133e-03 9.99961430e-01 -1.11573955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63907232899999 meters 0.1225635477950842 Centerline is valid? [False, False] Translation: X:34.19, Y:-1.81, Z:-1.12 [[ 9.99968254e-01 -4.32403094e-03 6.69285588e-03 3.41870720e+01] [ 4.31044026e-03 9.99988622e-01 2.04371995e-03 -1.81114926e+00] [-6.70161683e-03 -2.01480591e-03 9.99975514e-01 -1.11858793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69907232899999 meters 0.11517249779310063 Centerline is valid? [False, False] Translation: X:34.19, Y:-1.81, Z:-1.12 [[ 9.99965652e-01 -4.70492880e-03 6.82341089e-03 3.41862722e+01] [ 4.69522500e-03 9.99987944e-01 1.43745523e-03 -1.80964062e+00] [-6.83009176e-03 -1.40536840e-03 9.99975687e-01 -1.11760939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75907232899999 meters 0.12683871206726213 Centerline is valid? [False, False] Translation: X:34.19, Y:-1.81, Z:-1.12 [[ 9.99972233e-01 -4.21894170e-03 6.14279969e-03 3.41888784e+01] [ 4.20968041e-03 9.99989984e-01 1.51981649e-03 -1.80696699e+00] [-6.14915018e-03 -1.49391507e-03 9.99979978e-01 -1.11919544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.819072329 meters 0.10978705809022479 Centerline is valid? [False, False] Translation: X:34.19, Y:-1.80, Z:-1.12 [[ 9.99978543e-01 -3.72712307e-03 5.38716096e-03 3.41914513e+01] [ 3.71908961e-03 9.99991958e-01 1.50047345e-03 -1.80441161e+00] [-5.39271009e-03 -1.48040592e-03 9.99984363e-01 -1.12060207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.879072329 meters 0.11097148395607247 Centerline is valid? [False, False] Translation: X:34.19, Y:-1.80, Z:-1.12 [[ 9.99983330e-01 -3.26513689e-03 4.76222467e-03 3.41934927e+01] [ 3.25805999e-03 9.99993578e-01 1.49305074e-03 -1.80251677e+00] [-4.76706911e-03 -1.47751023e-03 9.99987546e-01 -1.12157680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.939072329 meters 0.11055898976128413 Centerline is valid? [False, False] Translation: X:34.20, Y:-1.80, Z:-1.12 [[ 9.99988325e-01 -3.19140062e-03 3.62832970e-03 3.41959526e+01] [ 3.19145036e-03 9.99994907e-01 -7.91772747e-06 -1.79590661e+00] [-3.62828595e-03 1.94972691e-05 9.99993418e-01 -1.12134143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.999072329 meters 0.1041816122918459 Centerline is valid? [False, False] Translation: X:34.20, Y:-1.79, Z:-1.12 [[ 9.99994786e-01 1.40229940e-03 2.90872851e-03 3.41984826e+01] [-1.41318065e-03 9.99991999e-01 3.74221997e-03 -1.79178582e+00] [-2.90345752e-03 -3.74631102e-03 9.99988767e-01 -1.12277470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05907232899999 meters 0.10551573981016397 Centerline is valid? [False, False] Translation: X:34.20, Y:-1.79, Z:-1.12 [[ 9.99996510e-01 1.40591928e-03 2.23678728e-03 3.42002935e+01] [-1.41192815e-03 9.99995393e-01 2.68707280e-03 -1.78695794e+00] [-2.23299917e-03 -2.69022160e-03 9.99993888e-01 -1.12312921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11907232899999 meters 0.09863073656360273 Centerline is valid? [False, True] Translation: X:34.20, Y:-1.78, Z:-1.12 [[ 9.99998226e-01 6.20138057e-04 1.77874638e-03 3.42005626e+01] [-6.20836779e-04 9.99999730e-01 3.92291475e-04 -1.77988901e+00] [-1.77850263e-03 -3.93395090e-04 9.99998341e-01 -1.12151477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.179072329 meters 0.09853378338170377 Centerline is valid? [True, True] Translation: X:34.26, Y:-1.78, Z:-1.13 [[ 9.99990624e-01 4.23541064e-03 9.01495912e-04 3.42599523e+01] [-4.23534184e-03 9.99991028e-01 -7.82159860e-05 -1.77792363e+00] [-9.01819101e-04 7.43971093e-05 9.99999591e-01 -1.12654457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.239072329 meters 0.09641669996843692 Centerline is valid? [True, True] Translation: X:34.32, Y:-1.78, Z:-1.13 [[ 9.99984464e-01 5.54886349e-03 -5.31562308e-04 3.43189193e+01] [-5.54884081e-03 9.99984604e-01 4.41181092e-05 -1.77599285e+00] [ 5.31798930e-04 -4.11678691e-05 9.99999858e-01 -1.13038093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.299072329 meters 0.09554629427211485 Centerline is valid? [True, True] Translation: X:34.38, Y:-1.77, Z:-1.13 [[ 9.99934330e-01 1.13908447e-02 1.25892222e-03 3.43792315e+01] [-1.13907167e-02 9.99935118e-01 -1.08792946e-04 -1.77232657e+00] [-1.26007979e-03 9.44457751e-05 9.99999202e-01 -1.13042752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.359072329 meters 0.09265770396858916 Centerline is valid? [True, True] Translation: X:34.44, Y:-1.76, Z:-1.13 [[ 9.99803499e-01 1.97436040e-02 1.77594001e-03 3.44400038e+01] [-1.97433629e-02 9.99805069e-01 -1.53229872e-04 -1.76388792e+00] [-1.77861914e-03 1.18136734e-04 9.99998411e-01 -1.13198831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41907232899999 meters 0.0837950435775382 Centerline is valid? [True, True] Translation: X:34.50, Y:-1.75, Z:-1.13 [[ 9.99580546e-01 2.89584887e-02 -3.72744996e-04 3.45015227e+01] [-2.89584788e-02 9.99580615e-01 3.20538866e-05 -1.74813350e+00] [ 3.73516905e-04 -2.12463134e-05 9.99999930e-01 -1.13481784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47907232899999 meters 0.08131851089742838 Centerline is valid? [True, True] Translation: X:34.56, Y:-1.74, Z:-1.14 [[ 9.99354450e-01 3.59255328e-02 -2.00119205e-04 3.45619830e+01] [-3.59255302e-02 9.99354470e-01 1.64842430e-05 -1.74305964e+00] [ 2.00582227e-04 -9.28421304e-06 9.99999980e-01 -1.13657778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53907232899999 meters 0.07764642705072142 Centerline is valid? [True, True] Translation: X:34.62, Y:-1.73, Z:-1.13 [[ 9.98911227e-01 4.65940712e-02 2.31379168e-03 3.46235228e+01] [-4.65937339e-02 9.98913902e-01 -1.99527902e-04 -1.73466997e+00] [-2.32057550e-03 9.15024670e-05 9.99997303e-01 -1.13372967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.599072329 meters 0.07641362414389768 Centerline is valid? [True, True] Translation: X:34.68, Y:-1.73, Z:-1.13 [[ 9.98642514e-01 5.19809774e-02 3.33275667e-03 3.46829857e+01] [-5.19803061e-02 9.98648069e-01 -2.87780469e-04 -1.73385877e+00] [-3.34321012e-03 1.14152099e-04 9.99994405e-01 -1.13417981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.659072329 meters 0.07460223243147503 Centerline is valid? [True, True] Translation: X:34.74, Y:-1.73, Z:-1.14 [[ 9.98366286e-01 5.71323556e-02 8.08465048e-04 3.47427700e+01] [-5.71323156e-02 9.98366613e-01 -7.24097872e-05 -1.73005022e+00] [-8.11281453e-04 2.61020100e-05 9.99999671e-01 -1.13690434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.719072329 meters 0.07356257193500464 Centerline is valid? [True, True] Translation: X:34.80, Y:-1.73, Z:-1.14 [[ 9.98236323e-01 5.93557342e-02 1.06775176e-03 3.48022374e+01] [-5.93556638e-02 9.98236894e-01 -9.75274227e-05 -1.72961841e+00] [-1.07165801e-03 3.39783013e-05 9.99999425e-01 -1.13919573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77907232899999 meters 0.07316057200109147 Centerline is valid? [True, True] Translation: X:34.86, Y:-1.73, Z:-1.14 [[ 9.98181651e-01 6.02775528e-02 8.99328872e-05 3.48598537e+01] [-6.02775517e-02 9.98181655e-01 -1.52600673e-05 -1.73238326e+00] [-9.06891977e-05 9.81138494e-06 9.99999996e-01 -1.13994713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83907232899999 meters 0.07438664896837646 Centerline is valid? [True, True] Translation: X:34.92, Y:-1.74, Z:-1.14 [[ 9.98226171e-01 5.95157321e-02 -1.54552398e-03 3.49174919e+01] [-5.95156026e-02 9.98227367e-01 1.29687982e-04 -1.74026692e+00] [ 1.55050281e-03 -3.74751463e-05 9.99998797e-01 -1.14303734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89907232899999 meters 0.07415162742942501 Centerline is valid? [True, True] Translation: X:34.98, Y:-1.75, Z:-1.14 [[ 9.98208785e-01 5.98051451e-02 -1.60219659e-03 3.49754676e+01] [-5.98050132e-02 9.98210070e-01 1.30120919e-04 -1.74716506e+00] [ 1.60711067e-03 -3.40684563e-05 9.99998708e-01 -1.14271987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.959072329 meters 0.07348463043378677 Centerline is valid? [True, True] Translation: X:35.03, Y:-1.75, Z:-1.14 [[ 9.98207980e-01 5.98395488e-02 2.40749953e-04 3.50345843e+01] [-5.98395442e-02 9.98208009e-01 -2.65621664e-05 -1.75122426e+00] [-2.41908000e-04 1.21081990e-05 9.99999971e-01 -1.13994552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.019072329 meters 0.07432021366245174 Centerline is valid? [True, True] Translation: X:35.09, Y:-1.76, Z:-1.14 [[ 9.98174790e-01 6.03630306e-02 1.84199867e-03 3.50913794e+01] [-6.03628407e-02 9.98176489e-01 -1.58567671e-04 -1.76468916e+00] [-1.84821139e-03 4.70899794e-05 9.99998291e-01 -1.14257485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.079072329 meters 0.07386983765999207 Centerline is valid? [True, True] Translation: X:35.15, Y:-1.77, Z:-1.14 [[ 9.98253117e-01 5.90754565e-02 8.96868189e-04 3.51496148e+01] [-5.90754064e-02 9.98253520e-01 -8.23141138e-05 -1.77274475e+00] [-9.00164570e-04 2.91874679e-05 9.99999594e-01 -1.14144225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13907232899999 meters 0.07544889470345824 Centerline is valid? [True, True] Translation: X:35.21, Y:-1.79, Z:-1.15 [[ 9.98265811e-01 5.88573872e-02 -1.08534947e-03 3.52064520e+01] [-5.88573247e-02 9.98266401e-01 8.94315106e-05 -1.78915377e+00] [ 1.08873162e-03 -2.53956532e-05 9.99999407e-01 -1.14793200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19907232899999 meters 0.07415405202928808 Centerline is valid? [True, True] Translation: X:35.26, Y:-1.79, Z:-1.14 [[ 9.98209293e-01 5.97614937e-02 -2.60202259e-03 3.52649378e+01] [-5.97611426e-02 9.98212683e-01 2.12552621e-04 -1.79267769e+00] [ 2.61007441e-03 -5.66721592e-05 9.99996592e-01 -1.14176700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25907232899999 meters 0.07438614364329212 Centerline is valid? [True, True] Translation: X:35.32, Y:-1.81, Z:-1.14 [[ 9.98078440e-01 6.18715506e-02 -3.36728203e-03 3.53217262e+01] [-6.18709546e-02 9.98084118e-01 2.80986021e-04 -1.80531510e+00] [ 3.37821575e-03 -7.21091362e-05 9.99994291e-01 -1.14485233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.319072329 meters 0.07443055527876534 Centerline is valid? [True, True] Translation: X:35.38, Y:-1.81, Z:-1.15 [[ 9.97981566e-01 6.32669510e-02 -5.48517050e-03 3.53794164e+01] [-6.32653852e-02 9.97996634e-01 4.58671933e-04 -1.81448982e+00] [ 5.50320047e-03 -1.10724709e-04 9.99984851e-01 -1.14840289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.379072329 meters 0.07437019419673681 Centerline is valid? [True, True] Translation: X:35.44, Y:-1.82, Z:-1.15 [[ 9.97812945e-01 6.59544803e-02 -4.39698241e-03 3.54374609e+01] [-6.59535015e-02 9.97822630e-01 3.67391972e-04 -1.82093018e+00] [ 4.41163970e-03 -7.65920797e-05 9.99990266e-01 -1.14715017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.439072329 meters 0.0741145214108673 Centerline is valid? [True, True] Translation: X:35.50, Y:-1.83, Z:-1.14 [[ 9.97798923e-01 6.62447987e-02 -2.98922713e-03 3.54958263e+01] [-6.62443657e-02 9.97803400e-01 2.43743839e-04 -1.82937333e+00] [ 2.99880776e-03 -4.51878850e-05 9.99995503e-01 -1.14482462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.499072329 meters 0.07474878676447726 Centerline is valid? [True, True] Translation: X:35.55, Y:-1.84, Z:-1.15 [[ 9.97731694e-01 6.71821874e-02 -4.24510427e-03 3.55526328e+01] [-6.71813003e-02 9.97740723e-01 3.51388659e-04 -1.84453331e+00] [ 4.25912046e-03 -6.53999773e-05 9.99990928e-01 -1.15093775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55907232899999 meters 0.0749722826467298 Centerline is valid? [True, True] Translation: X:35.61, Y:-1.86, Z:-1.15 [[ 9.97632508e-01 6.85702265e-02 -5.24434526e-03 3.56096644e+01] [-6.85688834e-02 9.97646289e-01 4.35686438e-04 -1.85760728e+00] [ 5.26187670e-03 -7.50560551e-05 9.99986153e-01 -1.15465538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61907232899999 meters 0.07412110957569312 Centerline is valid? [True, True] Translation: X:35.67, Y:-1.87, Z:-1.15 [[ 9.97484174e-01 7.06604728e-02 -5.69384303e-03 3.56683704e+01] [-7.06589578e-02 9.97500423e-01 4.67062397e-04 -1.86572261e+00] [ 5.71261368e-03 -6.35663347e-05 9.99983681e-01 -1.14705403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.679072329 meters 0.07442266421852559 Centerline is valid? [True, True] Translation: X:35.73, Y:-1.88, Z:-1.15 [[ 9.97349655e-01 7.24267414e-02 -6.93051751e-03 3.57266772e+01] [-7.24245411e-02 9.97373733e-01 5.68268750e-04 -1.87654743e+00] [ 6.95347397e-03 -6.48230916e-05 9.99975822e-01 -1.15195833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.739072329 meters 0.07426666849014084 Centerline is valid? [True, True] Translation: X:35.78, Y:-1.89, Z:-1.15 [[ 9.97179368e-01 7.49229693e-02 -4.45619301e-03 3.57843195e+01] [-7.49220752e-02 9.97189324e-01 3.67467247e-04 -1.89130898e+00] [ 4.47119983e-03 -3.25635292e-05 9.99990004e-01 -1.15362004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.799072329 meters 0.07427831599823502 Centerline is valid? [True, True] Translation: X:35.84, Y:-1.90, Z:-1.15 [[ 9.97131925e-01 7.55171994e-02 -5.00769894e-03 3.58419511e+01] [-7.55161068e-02 9.97144499e-01 4.07179188e-04 -1.90142393e+00] [ 5.02414848e-03 -2.78494400e-05 9.99987378e-01 -1.15470735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.859072329 meters 0.0747297052238524 Centerline is valid? [True, True] Translation: X:35.90, Y:-1.91, Z:-1.16 [[ 9.96930022e-01 7.78863725e-02 -8.01530336e-03 3.58999178e+01] [-7.78836360e-02 9.96962242e-01 6.53449837e-04 -1.91300503e+00] [ 8.04184965e-03 -2.71827908e-05 9.99967663e-01 -1.15599854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91907232899999 meters 0.07494734172779009 Centerline is valid? [True, True] Translation: X:35.96, Y:-1.92, Z:-1.16 [[ 9.96354838e-01 8.49304555e-02 -7.99091445e-03 3.59571783e+01] [-8.49279890e-02 9.96386881e-01 6.48101268e-04 -1.92290849e+00] [ 8.01708586e-03 3.29134603e-05 9.99967862e-01 -1.15693207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97907232899999 meters 0.07659325196981483 Centerline is valid? [True, True] Translation: X:36.01, Y:-1.92, Z:-1.16 [[ 9.95384193e-01 9.56848089e-02 -7.39763763e-03 3.60145863e+01] [-9.56829791e-02 9.95411676e-01 6.01698773e-04 -1.92378225e+00] [ 7.42126830e-03 1.08906558e-04 9.99972456e-01 -1.15838500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03907232899999 meters 0.07714421209663894 Centerline is valid? [True, True] Translation: X:36.07, Y:-1.93, Z:-1.16 [[ 9.94631838e-01 1.03292205e-01 -6.18287741e-03 3.60743437e+01] [-1.03291059e-01 9.94651045e-01 5.05160263e-04 -1.92888578e+00] [ 6.20198459e-03 1.36187476e-04 9.99980758e-01 -1.15522002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.099072329 meters 0.0806074312346565 Centerline is valid? [True, True] Translation: X:36.13, Y:-1.94, Z:-1.16 [[ 9.93297734e-01 1.15275133e-01 -8.44127915e-03 3.61335360e+01] [-1.15273424e-01 9.93333560e-01 6.90293873e-04 -1.93556000e+00] [ 8.46457958e-03 2.87387812e-04 9.99964134e-01 -1.16009724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.159072329 meters 0.08345287605089201 Centerline is valid? [True, True] Translation: X:36.19, Y:-1.94, Z:-1.16 [[ 9.92438286e-01 1.22420894e-01 -8.90911415e-03 3.61931294e+01] [-1.22419280e-01 9.92478206e-01 7.28308243e-04 -1.94102369e+00] [ 8.93126178e-03 3.67846354e-04 9.99960048e-01 -1.16104440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.219072329 meters 0.08464919264742692 Centerline is valid? [True, True] Translation: X:36.25, Y:-1.96, Z:-1.16 [[ 9.91365155e-01 1.31035115e-01 -4.99286211e-03 3.62521760e+01] [-1.31034718e-01 9.91377696e-01 4.07955710e-04 -1.95691372e+00] [ 5.00326866e-03 2.49805202e-04 9.99987452e-01 -1.15516756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27907232899999 meters 0.08758878768537484 Centerline is valid? [True, True] Translation: X:36.31, Y:-1.97, Z:-1.16 [[ 9.90813444e-01 1.35087957e-01 -6.32158454e-03 3.63104257e+01] [-1.35087406e-01 9.90833551e-01 5.15933005e-04 -1.96634676e+00] [ 6.33333440e-03 3.42773103e-04 9.99979885e-01 -1.15866830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33907232899999 meters 0.09086642988034334 Centerline is valid? [True, True] Translation: X:36.37, Y:-1.99, Z:-1.17 [[ 9.90200237e-01 1.39368915e-01 -8.93282644e-03 3.63685726e+01] [-1.39367982e-01 9.90240391e-01 7.29888573e-04 -1.98779257e+00] [ 8.94736933e-03 5.22214153e-04 9.99959835e-01 -1.16659165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39907232899999 meters 0.08991578467871562 Centerline is valid? [True, True] Translation: X:36.43, Y:-2.02, Z:-1.17 [[ 9.89855936e-01 1.41841508e-01 -8.13714428e-03 3.64257313e+01] [-1.41840825e-01 9.89889256e-01 6.63875945e-04 -2.02042242e+00] [ 8.14903686e-03 4.97037713e-04 9.99966673e-01 -1.16773442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.459072329 meters 0.09224919080332017 Centerline is valid? [True, True] Translation: X:36.48, Y:-2.05, Z:-1.17 [[ 9.89370049e-01 1.45325983e-01 -5.22149003e-03 3.64833823e+01] [-1.45325753e-01 9.89383770e-01 4.25451080e-04 -2.04541686e+00] [ 5.22788659e-03 3.37888413e-04 9.99986277e-01 -1.16707057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.519072329 meters 0.09520762291721668 Centerline is valid? [True, True] Translation: X:36.54, Y:-2.06, Z:-1.17 [[ 9.88917735e-01 1.48389349e-01 -4.72374008e-03 3.65416462e+01] [-1.48389197e-01 9.88928965e-01 3.84632937e-04 -2.06074220e+00] [ 4.72851882e-03 3.20581661e-04 9.99988769e-01 -1.16789706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.579072329 meters 0.0957612456207539 Centerline is valid? [True, True] Translation: X:36.60, Y:-2.09, Z:-1.17 [[ 9.88587026e-01 1.50509801e-01 -6.51862832e-03 3.66002414e+01] [-1.50509548e-01 9.88608412e-01 5.32118613e-04 -2.08528213e+00] [ 6.52445986e-03 4.55070245e-04 9.99978612e-01 -1.17125285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63907232899999 meters 0.09659225188231793 Centerline is valid? [True, True] Translation: X:36.66, Y:-2.11, Z:-1.18 [[ 9.88780311e-01 1.49183936e-01 -7.59273916e-03 3.66565141e+01] [-1.49183621e-01 9.88809321e-01 6.10897766e-04 -2.11223373e+00] [ 7.59890739e-03 5.28668642e-04 9.99970988e-01 -1.17702516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69907232899999 meters 0.09319543910413805 Centerline is valid? [True, True] Translation: X:36.71, Y:-2.16, Z:-1.18 [[ 9.89329384e-01 1.45525713e-01 -7.04530932e-03 3.67131226e+01] [-1.45525309e-01 9.89354363e-01 5.72692787e-04 -2.15577259e+00] [ 7.05364904e-03 4.58689016e-04 9.99975018e-01 -1.17739835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75907232899999 meters 0.09417175381133636 Centerline is valid? [True, True] Translation: X:36.77, Y:-2.18, Z:-1.18 [[ 9.89936980e-01 1.41280453e-01 -8.03799296e-03 3.67702111e+01] [-1.41279795e-01 9.89969491e-01 6.52543913e-04 -2.17999824e+00] [ 8.04955950e-03 4.89628644e-04 9.99967482e-01 -1.18068251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.819072329 meters 0.09139288227563391 Centerline is valid? [True, True] Translation: X:36.83, Y:-2.23, Z:-1.18 [[ 9.90678738e-01 1.36061482e-01 -6.55071645e-03 3.68270390e+01] [-1.36060926e-01 9.90700328e-01 5.32445720e-04 -2.22580509e+00] [ 6.56224229e-03 3.63813894e-04 9.99978402e-01 -1.18182175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.879072329 meters 0.08894262730864573 Centerline is valid? [True, True] Translation: X:36.88, Y:-2.27, Z:-1.18 [[ 9.91462176e-01 1.30299377e-01 -4.98259850e-03 3.68836960e+01] [-1.30298986e-01 9.91474665e-01 4.04403565e-04 -2.26696459e+00] [ 4.99281371e-03 2.48276693e-04 9.99987505e-01 -1.18226073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.939072329 meters 0.08526593336347506 Centerline is valid? [True, True] Translation: X:36.94, Y:-2.31, Z:-1.18 [[ 9.92227149e-01 1.24327659e-01 -5.28370973e-03 3.69404405e+01] [-1.24327134e-01 9.92241190e-01 4.28980778e-04 -2.30916567e+00] [ 5.29604861e-03 2.31262115e-04 9.99985949e-01 -1.18222126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.999072329 meters 0.08466073552696118 Centerline is valid? [True, True] Translation: X:37.00, Y:-2.33, Z:-1.18 [[ 9.92550079e-01 1.21730210e-01 -5.10845561e-03 3.69970496e+01] [-1.21729695e-01 9.92563203e-01 4.12862055e-04 -2.33433123e+00] [ 5.12072284e-03 2.12064476e-04 9.99986867e-01 -1.18475473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05907232899999 meters 0.08444233515776828 Centerline is valid? [True, True] Translation: X:37.05, Y:-2.37, Z:-1.19 [[ 9.92850699e-01 1.19220825e-01 -5.82106067e-03 3.70519841e+01] [-1.19220116e-01 9.92867737e-01 4.69742252e-04 -2.36923270e+00] [ 5.83554640e-03 2.27603608e-04 9.99982947e-01 -1.18902541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11907232899999 meters 0.08458120368048007 Centerline is valid? [True, True] Translation: X:37.11, Y:-2.39, Z:-1.19 [[ 9.92807842e-01 1.19628156e-01 -4.65759082e-03 3.71092318e+01] [-1.19627708e-01 9.92818750e-01 3.75541305e-04 -2.38666155e+00] [ 4.66906881e-03 1.84336562e-04 9.99989083e-01 -1.18870786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.179072329 meters 0.08285984390042962 Centerline is valid? [True, True] Translation: X:37.17, Y:-2.42, Z:-1.19 [[ 9.92635425e-01 1.21071826e-01 -4.06511646e-03 3.71659809e+01] [-1.21071501e-01 9.92643735e-01 3.27060372e-04 -2.41565369e+00] [ 4.07481018e-03 1.67518038e-04 9.99991684e-01 -1.18511350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.239072329 meters 0.08387413170434575 Centerline is valid? [True, True] Translation: X:37.22, Y:-2.44, Z:-1.19 [[ 9.92543935e-01 1.21710407e-01 -6.56620221e-03 3.72221165e+01] [-1.21709565e-01 9.92565616e-01 5.29031774e-04 -2.44112215e+00] [ 6.58177522e-03 2.74082339e-04 9.99978302e-01 -1.19115824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.299072329 meters 0.08633822599559722 Centerline is valid? [True, True] Translation: X:37.28, Y:-2.45, Z:-1.19 [[ 9.92654351e-01 1.20956968e-01 -2.59817742e-03 3.72802722e+01] [-1.20956836e-01 9.92657746e-01 2.08527102e-04 -2.45018112e+00] [ 2.60432375e-03 1.07271985e-04 9.99996603e-01 -1.19424126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.359072329 meters 0.08119665424528846 Centerline is valid? [True, True] Translation: X:37.34, Y:-2.48, Z:-1.19 [[ 9.93330839e-01 1.15285189e-01 -1.78014820e-03 3.73379502e+01] [-1.15285117e-01 9.93332432e-01 1.43366398e-04 -2.48459468e+00] [ 1.78480696e-03 6.28143290e-05 9.99998405e-01 -1.18985237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41907232899999 meters 0.078520570974798 Centerline is valid? [True, True] Translation: X:37.39, Y:-2.53, Z:-1.20 [[ 9.94489891e-01 1.04761857e-01 -3.84835934e-03 3.73948631e+01] [-1.04761438e-01 9.94497333e-01 3.10804963e-04 -2.52542165e+00] [ 3.85974361e-03 9.40672668e-05 9.99992547e-01 -1.19588982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47907232899999 meters 0.07695311011814733 Centerline is valid? [True, True] Translation: X:37.45, Y:-2.55, Z:-1.20 [[ 9.95118640e-01 9.86359939e-02 -3.13573378e-03 3.74526874e+01] [-9.86356884e-02 9.95123579e-01 2.52290837e-04 -2.54989157e+00] [ 3.14532758e-03 5.82359459e-05 9.99995052e-01 -1.19716572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53907232899999 meters 0.07566609961861856 Centerline is valid? [True, True] Translation: X:37.51, Y:-2.59, Z:-1.20 [[ 9.96091941e-01 8.82440162e-02 -3.72004422e-03 3.75104172e+01] [-8.82435097e-02 9.96098887e-01 3.00401471e-04 -2.58778819e+00] [ 3.73204054e-03 2.90422738e-05 9.99993035e-01 -1.19977470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.599072329 meters 0.07546208154485207 Centerline is valid? [True, True] Translation: X:37.57, Y:-2.63, Z:-1.20 [[ 9.96792982e-01 7.98136316e-02 -5.79100867e-03 3.75688752e+01] [-7.98122547e-02 9.96809803e-01 4.68835118e-04 -2.62641655e+00] [ 5.80995365e-03 -5.13809566e-06 9.99983122e-01 -1.20136003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.659072329 meters 0.07606115030157702 Centerline is valid? [True, True] Translation: X:37.63, Y:-2.65, Z:-1.20 [[ 9.97231579e-01 7.41505424e-02 -5.55646549e-03 3.76294599e+01] [-7.41491464e-02 9.97247058e-01 4.57105545e-04 -2.65306115e+00] [ 5.57506349e-03 -4.38329115e-05 9.99984458e-01 -1.20488407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.719072329 meters 0.0772571848699312 Centerline is valid? [True, True] Translation: X:37.69, Y:-2.69, Z:-1.20 [[ 9.97940106e-01 6.41425076e-02 -1.13324339e-03 3.76885044e+01] [-6.41424362e-02 9.97940749e-01 9.92999993e-05 -2.69372869e+00] [ 1.13727911e-03 -2.64064598e-05 9.99999353e-01 -1.20385865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77907232899999 meters 0.07978107605586406 Centerline is valid? [True, True] Translation: X:37.75, Y:-2.73, Z:-1.20 [[ 9.98488576e-01 5.49588390e-02 -2.97978822e-04 3.77469016e+01] [-5.49588339e-02 9.98488621e-01 2.51705100e-05 -2.73179380e+00] [ 2.98911805e-04 -8.75589812e-06 9.99999955e-01 -1.20416803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83907232899999 meters 0.07954918763251514 Centerline is valid? [True, True] Translation: X:37.81, Y:-2.75, Z:-1.20 [[ 9.98624106e-01 5.24055708e-02 1.88449850e-03 3.78078820e+01] [-5.24053866e-02 9.98625883e-01 -1.47022166e-04 -2.75222467e+00] [-1.88961376e-03 4.80620066e-05 9.99998214e-01 -1.20109863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89907232899999 meters 0.0796605690018186 Centerline is valid? [True, True] Translation: X:37.87, Y:-2.78, Z:-1.20 [[ 9.98590069e-01 5.29062422e-02 4.33641281e-03 3.78682652e+01] [-5.29052119e-02 9.98599477e-01 -3.52048292e-04 -2.78069094e+00] [-4.34896511e-03 1.22133089e-04 9.99990536e-01 -1.20293825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.959072329 meters 0.07848092015282979 Centerline is valid? [True, True] Translation: X:37.93, Y:-2.80, Z:-1.20 [[ 9.98397212e-01 5.64163566e-02 4.49461093e-03 3.79284455e+01] [-5.64152776e-02 9.98407323e-01 -3.66585277e-04 -2.79519905e+00] [-4.50813387e-03 1.12432996e-04 9.99989832e-01 -1.20353714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.019072329 meters 0.07556526411789063 Centerline is valid? [True, True] Translation: X:37.99, Y:-2.82, Z:-1.20 [[ 9.97949834e-01 6.31695653e-02 1.02827391e-02 3.79882983e+01] [-6.31642559e-02 9.98002791e-01 -8.40604429e-04 -2.81583166e+00] [-1.03153029e-02 1.89379486e-04 9.99946778e-01 -1.19776069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.079072329 meters 0.0753273074788109 Centerline is valid? [True, True] Translation: X:38.05, Y:-2.84, Z:-1.20 [[ 9.97640438e-01 6.77835933e-02 1.09060442e-02 3.80474378e+01] [-6.77779151e-02 9.97700036e-01 -8.89834321e-04 -2.83929641e+00] [-1.09412768e-02 1.48545765e-04 9.99940131e-01 -1.20270274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13907232899999 meters 0.07477980569785056 Centerline is valid? [True, True] Translation: X:38.11, Y:-2.86, Z:-1.20 [[ 9.97402614e-01 7.09380600e-02 1.24827109e-02 3.81078407e+01] [-7.09308536e-02 9.97480714e-01 -1.01964629e-03 -2.85879494e+00] [-1.25235951e-02 1.31588539e-04 9.99921568e-01 -1.20289632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19907232899999 meters 0.07407898761746265 Centerline is valid? [True, True] Translation: X:38.17, Y:-2.89, Z:-1.20 [[ 9.97008562e-01 7.57111244e-02 1.55483863e-02 3.81668880e+01] [-7.57004302e-02 9.97129789e-01 -1.27604044e-03 -2.88883646e+00] [-1.56003696e-02 9.52037099e-05 9.99878302e-01 -1.20216410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25907232899999 meters 0.07368169879219717 Centerline is valid? [True, True] Translation: X:38.23, Y:-2.91, Z:-1.21 [[ 9.96574922e-01 8.14215494e-02 1.44553472e-02 3.82274309e+01] [-8.14128728e-02 9.96679754e-01 -1.18865413e-03 -2.91368107e+00] [-1.45041340e-02 7.73155498e-06 9.99894809e-01 -1.20585588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.319072329 meters 0.07327494316650518 Centerline is valid? [True, True] Translation: X:38.29, Y:-2.94, Z:-1.21 [[ 9.96150399e-01 8.56716806e-02 1.85673489e-02 3.82864971e+01] [-8.56579463e-02 9.96323421e-01 -1.53520069e-03 -2.94050213e+00] [-1.86306078e-02 -6.11502031e-05 9.99826433e-01 -1.20729878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.379072329 meters 0.07329402124295598 Centerline is valid? [True, True] Translation: X:38.35, Y:-2.97, Z:-1.21 [[ 9.96239609e-01 8.46331866e-02 1.85436174e-02 3.83474681e+01] [-8.46192290e-02 9.96412175e-01 -1.53745238e-03 -2.96885250e+00] [-1.86072056e-02 -3.74756462e-05 9.99826870e-01 -1.20806353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.439072329 meters 0.0733692371608304 Centerline is valid? [True, True] Translation: X:38.41, Y:-2.99, Z:-1.21 [[ 9.96383215e-01 8.31377924e-02 1.75669077e-02 3.84086769e+01] [-8.31249492e-02 9.96538061e-01 -1.46128987e-03 -2.98686482e+00] [-1.76275805e-02 -4.24360792e-06 9.99844622e-01 -1.20953057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.499072329 meters 0.0737053516746607 Centerline is valid? [True, True] Translation: X:38.47, Y:-3.02, Z:-1.21 [[ 9.96764583e-01 7.85960435e-02 1.68234295e-02 3.84675860e+01] [-7.85835329e-02 9.96906543e-01 -1.40444765e-03 -3.02394086e+00] [-1.68817710e-02 7.78591556e-05 9.99857490e-01 -1.21305930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55907232899999 meters 0.07412954233077151 Centerline is valid? [True, True] Translation: X:38.53, Y:-3.05, Z:-1.21 [[ 9.97137672e-01 7.33998560e-02 1.81362508e-02 3.85272225e+01] [-7.33843470e-02 9.97302575e-01 -1.52007519e-03 -3.04939684e+00] [-1.81989029e-02 1.84807322e-04 9.99834369e-01 -1.21487453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61907232899999 meters 0.07605469626318784 Centerline is valid? [True, True] Translation: X:38.58, Y:-3.10, Z:-1.21 [[ 9.97835639e-01 6.31866733e-02 1.82066370e-02 3.85847561e+01] [-6.31692805e-02 9.98001655e-01 -1.52939507e-03 -3.09508720e+00] [-1.82668913e-02 3.75984750e-04 9.99833076e-01 -1.21233888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.679072329 meters 0.0797121412735377 Centerline is valid? [True, True] Translation: X:38.64, Y:-3.14, Z:-1.22 [[ 9.98489023e-01 5.28311854e-02 1.51174529e-02 3.86407339e+01] [-5.28180008e-02 9.98603347e-01 -1.27035696e-03 -3.13606701e+00] [-1.51634535e-02 4.69963842e-04 9.99884918e-01 -1.21776680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.739072329 meters 0.08183849398631943 Centerline is valid? [True, True] Translation: X:38.70, Y:-3.16, Z:-1.22 [[ 9.98750427e-01 4.79128199e-02 1.42108001e-02 3.86993008e+01] [-4.79006775e-02 9.98851390e-01 -1.19379001e-03 -3.15957370e+00] [-1.42516753e-02 5.11591333e-04 9.99898309e-01 -1.22181690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.799072329 meters 0.08305050061134482 Centerline is valid? [True, True] Translation: X:38.76, Y:-3.19, Z:-1.22 [[ 9.99063643e-01 4.10104614e-02 1.37833249e-02 3.87578765e+01] [-4.09983780e-02 9.99158542e-01 -1.15821320e-03 -3.18713797e+00] [-1.38192257e-02 5.92034729e-04 9.99904335e-01 -1.22306892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.859072329 meters 0.0880738885762174 Centerline is valid? [True, True] Translation: X:38.82, Y:-3.22, Z:-1.23 [[ 9.99231180e-01 3.72301343e-02 1.22867905e-02 3.88154007e+01] [-3.72202448e-02 9.99306553e-01 -1.03265641e-03 -3.21514192e+00] [-1.23167162e-02 5.74545130e-04 9.99923981e-01 -1.22735733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91907232899999 meters 0.08655791608108146 Centerline is valid? [True, True] Translation: X:38.88, Y:-3.23, Z:-1.23 [[ 9.99400022e-01 3.29608010e-02 1.06386816e-02 3.88752129e+01] [-3.29531484e-02 9.99456498e-01 -8.93858747e-04 -3.22839336e+00] [-1.06623618e-02 5.42744398e-04 9.99943008e-01 -1.22995847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97907232899999 meters 0.08911534954624659 Centerline is valid? [True, True] Translation: X:38.93, Y:-3.25, Z:-1.23 [[ 9.99464275e-01 3.05225107e-02 1.18127140e-02 3.89349111e+01] [-3.05129387e-02 9.99533882e-01 -9.89737149e-04 -3.24891502e+00] [-1.18374172e-02 6.28766303e-04 9.99929738e-01 -1.23207265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03907232899999 meters 0.08807595272802052 Centerline is valid? [True, True] Translation: X:39.00, Y:-3.25, Z:-1.24 [[ 9.99468873e-01 3.06793339e-02 1.09886828e-02 3.89965994e+01] [-3.06710390e-02 9.99529107e-01 -9.22620905e-04 -3.25300694e+00] [-1.10118137e-02 5.85096556e-04 9.99939197e-01 -1.23579482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.099072329 meters 0.08850486379019737 Centerline is valid? [True, True] Translation: X:39.06, Y:-3.26, Z:-1.24 [[ 9.99456842e-01 3.20175263e-02 7.80372963e-03 3.90592172e+01] [-3.20133881e-02 9.99487226e-01 -6.54654202e-04 -3.26038432e+00] [-7.82068849e-03 4.04474796e-04 9.99969336e-01 -1.24050149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.159072329 meters 0.09045142706978392 Centerline is valid? [True, True] Translation: X:39.12, Y:-3.27, Z:-1.24 [[ 9.99476908e-01 3.15893642e-02 6.92988483e-03 3.91197301e+01] [-3.15860607e-02 9.99500864e-01 -5.85655457e-04 -3.26746912e+00] [-6.94492636e-03 3.66461342e-04 9.99975817e-01 -1.24456541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.219072329 meters 0.09000277142062563 Centerline is valid? [True, True] Translation: X:39.18, Y:-3.26, Z:-1.25 [[ 9.99526735e-01 3.03684112e-02 4.90558391e-03 3.91825245e+01] [-3.03667365e-02 9.99538738e-01 -4.15524210e-04 -3.26345184e+00] [-4.91593996e-03 2.66360983e-04 9.99987881e-01 -1.24877421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27907232899999 meters 0.095786697691019 Centerline is valid? [True, True] Translation: X:39.24, Y:-3.27, Z:-1.26 [[ 9.99670854e-01 2.56481903e-02 5.95708227e-04 3.92417139e+01] [-2.56481653e-02 9.99671030e-01 -4.96212564e-05 -3.27380833e+00] [-5.96784952e-04 3.43261007e-05 9.99999821e-01 -1.25571302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33907232899999 meters 0.09992897087194129 Centerline is valid? [True, True] Translation: X:39.30, Y:-3.28, Z:-1.26 [[ 9.99782124e-01 2.07383563e-02 -2.37166418e-03 3.93026222e+01] [-2.07379334e-02 9.99784925e-01 2.02734922e-04 -3.27851929e+00] [ 2.37535848e-03 -1.53507337e-04 9.99997167e-01 -1.26305236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39907232899999 meters 0.10165411119049196 Centerline is valid? [True, False] Translation: X:39.31, Y:-3.27, Z:-1.26 [[ 9.99996963e-01 2.14109925e-03 1.22013522e-03 3.93122396e+01] [-2.14525263e-03 9.99991875e-01 3.41295382e-03 -3.26888374e+00] [-1.21281784e-03 -3.41556096e-03 9.99993431e-01 -1.26485783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.459072329 meters 0.10450208956383479 Centerline is valid? [False, False] Translation: X:39.31, Y:-3.26, Z:-1.27 [[ 9.99999425e-01 5.28434289e-04 9.32779042e-04 3.93136526e+01] [-5.28886840e-04 9.99999743e-01 4.84984211e-04 -3.25960361e+00] [-9.32522520e-04 -4.85477267e-04 9.99999447e-01 -1.26601566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.519072329 meters 0.10806736137895775 Centerline is valid? [False, False] Translation: X:39.32, Y:-3.25, Z:-1.27 [[ 9.99999579e-01 -6.35808249e-04 6.61204921e-04 3.93154496e+01] [ 6.36887821e-04 9.99998463e-01 -1.63380878e-03 -3.25422396e+00] [-6.60165115e-04 1.63422921e-03 9.99998447e-01 -1.26804717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.579072329 meters 0.11255870264878429 Centerline is valid? [False, False] Translation: X:39.32, Y:-3.25, Z:-1.27 [[ 9.99998629e-01 1.65495298e-03 -4.88375195e-05 3.93189973e+01] [-1.65496896e-03 9.99998576e-01 -3.28911938e-04 -3.24764335e+00] [ 4.82931162e-05 3.28992311e-04 9.99999945e-01 -1.27131744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63907232899999 meters 0.11485108864153055 Centerline is valid? [False, False] Translation: X:39.32, Y:-3.24, Z:-1.27 [[ 9.99999888e-01 1.14594710e-04 -4.59557063e-04 3.93212073e+01] [-1.16062485e-04 9.99994889e-01 -3.19513552e-03 -3.24028196e+00] [ 4.59188568e-04 3.19518850e-03 9.99994790e-01 -1.27355611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69907232899999 meters 0.11539458335804226 Centerline is valid? [False, False] Translation: X:39.32, Y:-3.23, Z:-1.27 [[ 9.99996424e-01 2.56795538e-03 -7.46418955e-04 3.93227352e+01] [-2.56976405e-03 9.99993740e-01 -2.43236602e-03 -3.22955420e+00] [ 7.40168075e-04 2.43427544e-03 9.99996763e-01 -1.27486148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75907232899999 meters 0.11894289877510388 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.22, Z:-1.28 [[ 9.99986752e-01 4.96769940e-03 -1.34815173e-03 3.93253920e+01] [-4.96999901e-03 9.99986191e-01 -1.70779335e-03 -3.22042788e+00] [ 1.33964931e-03 1.71447104e-03 9.99997633e-01 -1.27704344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.819072329 meters 0.11874018846936198 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.21, Z:-1.28 [[ 9.99974438e-01 6.70306518e-03 -2.48856985e-03 3.93285932e+01] [-6.70634463e-03 9.99976652e-01 -1.31180702e-03 -3.20867271e+00] [ 2.47971861e-03 1.32846269e-03 9.99996043e-01 -1.27761646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.879072329 meters 0.1248496255780355 Centerline is valid? [False, False] Translation: X:39.34, Y:-3.20, Z:-1.28 [[ 9.99984423e-01 2.02183633e-03 -5.20247843e-03 3.93378437e+01] [-2.04485497e-03 9.99988128e-01 -4.42304374e-03 -3.19613327e+00] [ 5.19347399e-03 4.43361315e-03 9.99976685e-01 -1.27798493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.939072329 meters 0.12223846094490648 Centerline is valid? [False, False] Translation: X:39.34, Y:-3.19, Z:-1.28 [[ 9.99985553e-01 4.88602975e-04 -5.35311303e-03 3.93384533e+01] [-5.29096155e-04 9.99971240e-01 -7.56561426e-03 -3.18652847e+00] [ 5.34926249e-03 7.56833726e-03 9.99957052e-01 -1.27834747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.999072329 meters 0.13091721867779912 Centerline is valid? [False, False] Translation: X:39.34, Y:-3.18, Z:-1.28 [[ 9.99977237e-01 4.07949181e-03 -5.37427298e-03 3.93387087e+01] [-4.10585354e-03 9.99979550e-01 -4.90330432e-03 -3.18185257e+00] [ 5.35416008e-03 4.92525869e-03 9.99973537e-01 -1.27856181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05907232899999 meters 0.1303393882722855 Centerline is valid? [False, False] Translation: X:39.34, Y:-3.17, Z:-1.28 [[ 9.99977129e-01 3.14325238e-03 -5.98847539e-03 3.93429446e+01] [-3.17868600e-03 9.99977444e-01 -5.91666743e-03 -3.17126756e+00] [ 5.96974274e-03 5.93556759e-03 9.99964565e-01 -1.28118966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11907232899999 meters 0.1350379098136346 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.17, Z:-1.28 [[ 9.99971226e-01 -7.31520311e-03 -2.00883967e-03 3.93317587e+01] [ 7.30352968e-03 9.99956750e-01 -5.75815148e-03 -3.16581245e+00] [ 2.05087484e-03 5.74331417e-03 9.99981404e-01 -1.28356471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.179072329 meters 0.13956699683163168 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.16, Z:-1.28 [[ 9.99985403e-01 -4.95592849e-03 -2.15216166e-03 3.93330008e+01] [ 4.94767079e-03 9.99980443e-01 -3.82545660e-03 -3.16016427e+00] [ 2.17107826e-03 3.81475257e-03 9.99990367e-01 -1.28469340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.239072329 meters 0.1493099918244666 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.16, Z:-1.28 [[ 9.99995561e-01 -2.56085893e-03 -1.52315011e-03 3.93322357e+01] [ 2.55874911e-03 9.99995767e-01 -1.38550488e-03 -3.15766705e+00] [ 1.52669175e-03 1.38160137e-03 9.99997880e-01 -1.28475333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.299072329 meters 0.1566489700144695 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.16, Z:-1.28 [[ 9.99994949e-01 -2.82204526e-03 -1.46244884e-03 3.93321174e+01] [ 2.82015447e-03 9.99995187e-01 -1.29335193e-03 -3.15858194e+00] [ 1.46609170e-03 1.28922106e-03 9.99998094e-01 -1.28477319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.359072329 meters 0.16349404483398564 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.16, Z:-1.29 [[ 9.99994077e-01 -3.20976954e-03 -1.24218199e-03 3.93318362e+01] [ 3.20729779e-03 9.99992883e-01 -1.98674707e-03 -3.15655687e+00] [ 1.24855015e-03 1.98275125e-03 9.99997255e-01 -1.28501454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41907232899999 meters 0.1682113877732198 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.15, Z:-1.29 [[ 9.99999297e-01 4.58675834e-04 -1.09350225e-03 3.93316970e+01] [-4.57012820e-04 9.99998739e-01 1.52057914e-03 -3.15479916e+00] [ 1.09419832e-03 -1.52007833e-03 9.99998246e-01 -1.28516794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47907232899999 meters 0.17746896795623332 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.15, Z:-1.29 [[ 9.99998854e-01 -6.29130765e-04 -1.37718176e-03 3.93333335e+01] [ 6.28938439e-04 9.99999792e-01 -1.40080615e-04 -3.15129471e+00] [ 1.37726960e-03 1.39214292e-04 9.99999042e-01 -1.28668469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53907232899999 meters 0.16906985582909953 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.15, Z:-1.29 [[ 9.99998052e-01 -1.36897397e-03 -1.42183297e-03 3.93334966e+01] [ 1.36608428e-03 9.99997004e-01 -2.03135937e-03 -3.14560921e+00] [ 1.42460958e-03 2.02941307e-03 9.99996926e-01 -1.28664574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.599072329 meters 0.16160523517266376 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.14, Z:-1.29 [[ 9.99996717e-01 1.96838940e-03 -1.64050735e-03 3.93346897e+01] [-1.96763555e-03 9.99997958e-01 4.61008004e-04 -3.14083354e+00] [ 1.64141145e-03 -4.57778570e-04 9.99998548e-01 -1.28769886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.659072329 meters 0.16350153530982328 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.13, Z:-1.29 [[ 9.99996742e-01 2.12769341e-03 -1.41000075e-03 3.93330711e+01] [-2.12942507e-03 9.99996979e-01 -1.22776656e-03 -3.13332593e+00] [ 1.40738418e-03 1.23076506e-03 9.99998252e-01 -1.28572562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.719072329 meters 0.16217594610588215 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.13, Z:-1.29 [[ 9.99997254e-01 1.79703112e-03 -1.50422315e-03 3.93331654e+01] [-1.80161218e-03 9.99993727e-01 -3.04966822e-03 -3.12779038e+00] [ 1.49873336e-03 3.05236987e-03 9.99994218e-01 -1.28528708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77907232899999 meters 0.16281807541791837 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.12, Z:-1.29 [[ 9.99985133e-01 5.16031512e-03 -1.76182075e-03 3.93338880e+01] [-5.16454228e-03 9.99983776e-01 -2.40325399e-03 -3.11735999e+00] [ 1.74939062e-03 2.41231726e-03 9.99995560e-01 -1.28530073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83907232899999 meters 0.14921406279957955 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.11, Z:-1.29 [[ 9.99961002e-01 8.60907564e-03 -1.96957890e-03 3.93344927e+01] [-8.61216175e-03 9.99961692e-01 -1.56381149e-03 -3.10750011e+00] [ 1.95604048e-03 1.58071283e-03 9.99996838e-01 -1.28517044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89907232899999 meters 0.13893727901661074 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.10, Z:-1.28 [[ 9.99862681e-01 1.64994433e-02 -1.54547398e-03 3.93323725e+01] [-1.64937232e-02 9.99857331e-01 3.64355534e-03 -3.09685877e+00] [ 1.60537012e-03 -3.61756439e-03 9.99992168e-01 -1.28237225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.959072329 meters 0.14536550041952567 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.09, Z:-1.28 [[ 9.99798344e-01 2.00365091e-02 -1.34547435e-03 3.93318721e+01] [-2.00294051e-02 9.99786380e-01 5.10068208e-03 -3.08859764e+00] [ 1.44738680e-03 -5.07270444e-03 9.99986086e-01 -1.28145543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.019072329 meters 0.13381940336240047 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.08, Z:-1.28 [[ 9.99809886e-01 1.94234942e-02 -1.70891561e-03 3.93330460e+01] [-1.94200641e-02 9.99809410e-01 2.00139682e-03 -3.07953826e+00] [ 1.74746403e-03 -1.96782907e-03 9.99996537e-01 -1.28214477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.079072329 meters 0.138374946937246 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.08, Z:-1.28 [[ 9.99735926e-01 2.29241503e-02 -1.60069735e-03 3.93336605e+01] [-2.29164169e-02 9.99726369e-01 4.69314995e-03 -3.07513092e+00] [ 1.70784582e-03 -4.65522837e-03 9.99987706e-01 -1.28311406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13907232899999 meters 0.13378854872676788 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.07, Z:-1.28 [[ 9.99758205e-01 2.19236103e-02 -1.69923390e-03 3.93338022e+01] [-2.19191838e-02 9.99756414e-01 2.58127765e-03 -3.06904526e+00] [ 1.75541091e-03 -2.54340769e-03 9.99995225e-01 -1.28287093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19907232899999 meters 0.1426694016963544 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.06, Z:-1.28 [[ 9.99978777e-01 5.64451340e-03 3.25332452e-03 3.93289979e+01] [-5.65727645e-03 9.99976285e-01 3.92731806e-03 -3.06478904e+00] [-3.23107957e-03 -3.94563967e-03 9.99986996e-01 -1.27871675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25907232899999 meters 0.14541918966288814 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.06, Z:-1.28 [[ 9.99993990e-01 1.10893894e-03 3.28488375e-03 3.93291151e+01] [-1.10692855e-03 9.99999199e-01 -6.13769069e-04 -3.06439659e+00] [-3.28556175e-03 6.10129249e-04 9.99994416e-01 -1.27911385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.319072329 meters 0.1457291874085596 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.06, Z:-1.28 [[ 9.99994600e-01 7.01428256e-04 3.21065866e-03 3.93292148e+01] [-6.96509982e-04 9.99998583e-01 -1.53272005e-03 -3.06166808e+00] [-3.21172921e-03 1.53047552e-03 9.99993671e-01 -1.27902195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.379072329 meters 0.14778605697181868 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.06, Z:-1.28 [[ 9.99995388e-01 4.99686622e-04 2.99583567e-03 3.93295641e+01] [-4.92980905e-04 9.99997373e-01 -2.23866676e-03 -3.05972183e+00] [-2.99694643e-03 2.23717954e-03 9.99993007e-01 -1.27879641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.439072329 meters 0.14193808355339405 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.06, Z:-1.28 [[ 9.99985352e-01 4.65463845e-03 2.76215449e-03 3.93303736e+01] [-4.65818936e-03 9.99988331e-01 1.28052019e-03 -3.05764851e+00] [-2.75616190e-03 -1.29336807e-03 9.99995365e-01 -1.27937816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.499072329 meters 0.13809990707141975 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.05, Z:-1.28 [[ 9.99958304e-01 8.71585312e-03 2.72490734e-03 3.93305745e+01] [-8.72632041e-03 9.99954501e-01 3.85334147e-03 -3.05210656e+00] [-2.69119820e-03 -3.87695922e-03 9.99988863e-01 -1.27918081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55907232899999 meters 0.1291193277276909 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.05, Z:-1.28 [[ 9.99905724e-01 1.34924296e-02 2.54893656e-03 3.93301229e+01] [-1.35114504e-02 9.99879844e-01 7.59853796e-03 -3.04970081e+00] [-2.44610755e-03 -7.63226143e-03 9.99967882e-01 -1.27734640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61907232899999 meters 0.12069264365087505 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.04, Z:-1.28 [[ 9.99830071e-01 1.82687410e-02 2.46624073e-03 3.93298489e+01] [-1.82939218e-02 9.99776397e-01 1.06060703e-02 -3.04394363e+00] [-2.27192972e-03 -1.06493852e-02 9.99940713e-01 -1.27631299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.679072329 meters 0.11521426979308676 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.04, Z:-1.28 [[ 9.99827813e-01 1.83650808e-02 2.65845313e-03 3.93292965e+01] [-1.83885180e-02 9.99789705e-01 9.07786242e-03 -3.03823785e+00] [-2.49117839e-03 -9.12518434e-03 9.99955262e-01 -1.27549850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.739072329 meters 0.10266657203364438 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.03, Z:-1.27 [[ 9.99824561e-01 1.85450201e-02 2.63235043e-03 3.93291133e+01] [-1.85638790e-02 9.99800804e-01 7.33042278e-03 -3.03178966e+00] [-2.49588323e-03 -7.37800337e-03 9.99969667e-01 -1.27476499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.799072329 meters 0.10797032803843994 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.03, Z:-1.28 [[ 9.99849725e-01 1.72146606e-02 2.04528979e-03 3.93318540e+01] [-1.72243221e-02 9.99840109e-01 4.80400458e-03 -3.02632366e+00] [-1.96226346e-03 -4.83851139e-03 9.99986369e-01 -1.27767686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.859072329 meters 0.10023008362043725 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.02, Z:-1.28 [[ 9.99858391e-01 1.66692353e-02 2.30964878e-03 3.93313853e+01] [-1.66757140e-02 9.99856988e-01 2.81481903e-03 -3.02044298e+00] [-2.26239760e-03 -2.85293547e-03 9.99993371e-01 -1.27762260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91907232899999 meters 0.09898511616413909 Centerline is valid? [False, True] Translation: X:39.33, Y:-3.01, Z:-1.28 [[ 9.99874618e-01 1.56557760e-02 2.37607933e-03 3.93311277e+01] [-1.56565888e-02 9.99877376e-01 3.23892199e-04 -3.01360800e+00] [-2.37071718e-03 -3.61052886e-04 9.99997125e-01 -1.27711382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97907232899999 meters 0.09508762504169525 Centerline is valid? [True, True] Translation: X:39.39, Y:-3.01, Z:-1.27 [[ 9.99863687e-01 1.63156426e-02 2.53123091e-03 3.93941064e+01] [-1.63152742e-02 9.99866883e-01 -1.66126311e-04 -3.00819888e+00] [-2.53360442e-03 1.24805939e-04 9.99996783e-01 -1.27447551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03907232899999 meters 0.1077520213319052 Centerline is valid? [True, False] Translation: X:39.39, Y:-3.01, Z:-1.27 [[ 9.99934028e-01 1.14504831e-02 -9.08471875e-04 3.93857422e+01] [-1.14441691e-02 9.99912235e-01 6.67488258e-03 -3.00539691e+00] [ 9.84822772e-04 -6.66404552e-03 9.99977310e-01 -1.27398422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.099072329 meters 0.09702541300492148 Centerline is valid? [False, True] Translation: X:39.39, Y:-3.00, Z:-1.27 [[ 9.99944130e-01 1.05301701e-02 -9.23429412e-04 3.93859295e+01] [-1.05257209e-02 9.99933570e-01 4.69739528e-03 -2.99980151e+00] [ 9.72832440e-04 -4.68741308e-03 9.99988541e-01 -1.27426047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.159072329 meters 0.09822049568293338 Centerline is valid? [True, True] Translation: X:39.45, Y:-3.00, Z:-1.28 [[ 9.99918125e-01 1.24630795e-02 -2.90088646e-03 3.94468072e+01] [-1.24625742e-02 9.99922321e-01 1.92205579e-04 -2.99695684e+00] [ 2.90305659e-03 -1.56037330e-04 9.99995774e-01 -1.28206751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.219072329 meters 0.09788137591017546 Centerline is valid? [True, True] Translation: X:39.51, Y:-3.00, Z:-1.28 [[ 9.99898338e-01 1.41961964e-02 -1.33454223e-03 3.95078706e+01] [-1.41960925e-02 9.99899227e-01 8.72840742e-05 -2.99633852e+00] [ 1.33564685e-03 -6.83299157e-05 9.99999106e-01 -1.28454261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27907232899999 meters 0.09746704628598662 Centerline is valid? [True, True] Translation: X:39.57, Y:-3.00, Z:-1.29 [[ 9.99880271e-01 1.54646959e-02 -5.35670808e-04 3.95699160e+01] [-1.54646745e-02 9.99880414e-01 4.40397939e-05 -2.99705072e+00] [ 5.36287811e-04 -3.57505464e-05 9.99999856e-01 -1.28631749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33907232899999 meters 0.09136028912412482 Centerline is valid? [True, True] Translation: X:39.63, Y:-2.98, Z:-1.28 [[ 9.99808068e-01 1.95813503e-02 6.31519258e-04 3.96320967e+01] [-1.95813291e-02 9.99808267e-01 -3.98152874e-05 -2.98078926e+00] [-6.32177812e-04 2.74416592e-05 9.99999800e-01 -1.28123277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39907232899999 meters 0.0893164003990893 Centerline is valid? [True, True] Translation: X:39.69, Y:-2.97, Z:-1.28 [[ 9.99699190e-01 2.41773128e-02 4.12148917e-03 3.96920091e+01] [-2.41764168e-02 9.99707672e-01 -2.67091462e-04 -2.97307052e+00] [-4.12674189e-03 1.67368279e-04 9.99991471e-01 -1.28182143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.459072329 meters 0.08464527573124939 Centerline is valid? [True, True] Translation: X:39.75, Y:-2.96, Z:-1.28 [[ 9.99563127e-01 2.86969845e-02 7.07381679e-03 3.97541526e+01] [-2.86944703e-02 9.99588125e-01 -4.56672838e-04 -2.96033859e+00] [-7.08400840e-03 2.53493904e-04 9.99974876e-01 -1.27772991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.519072329 meters 0.08912829768209006 Centerline is valid? [True, True] Translation: X:39.82, Y:-2.96, Z:-1.30 [[ 9.99438583e-01 3.30337390e-02 5.59388338e-03 3.98150189e+01] [-3.30322823e-02 9.99454223e-01 -3.52631492e-04 -2.96216718e+00] [-5.60247911e-03 1.67654784e-04 9.99984292e-01 -1.29529772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.579072329 meters 0.08337916643515139 Centerline is valid? [True, True] Translation: X:39.88, Y:-2.95, Z:-1.29 [[ 9.99371473e-01 3.48124362e-02 6.68985022e-03 3.98785169e+01] [-3.48103665e-02 9.99393845e-01 -4.25603616e-04 -2.95114605e+00] [-6.70061144e-03 1.92459975e-04 9.99977532e-01 -1.28539462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63907232899999 meters 0.08877996442599381 Centerline is valid? [True, True] Translation: X:39.94, Y:-2.97, Z:-1.30 [[ 9.99364389e-01 3.45475246e-02 8.79130173e-03 3.99380745e+01] [-3.45438587e-02 9.99403021e-01 -5.68543742e-04 -2.96596674e+00] [-8.80569529e-03 2.64496885e-04 9.99961194e-01 -1.29797155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69907232899999 meters 0.08120034982961521 Centerline is valid? [True, True] Translation: X:40.00, Y:-2.94, Z:-1.29 [[ 9.99203742e-01 3.89758030e-02 8.53048311e-03 4.00014284e+01] [-3.89724736e-02 9.99240130e-01 -5.56233711e-04 -2.94379340e+00] [-8.54568070e-03 2.23336777e-04 9.99963460e-01 -1.28655423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75907232899999 meters 0.0800006482741809 Centerline is valid? [True, True] Translation: X:40.06, Y:-2.94, Z:-1.29 [[ 9.98970874e-01 4.47466310e-02 7.41164120e-03 4.00638611e+01] [-4.47443317e-02 9.98998358e-01 -4.75833351e-04 -2.94056275e+00] [-7.42550933e-03 1.43714726e-04 9.99972420e-01 -1.28909637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.819072329 meters 0.078476510091688 Centerline is valid? [True, True] Translation: X:40.12, Y:-2.93, Z:-1.29 [[ 9.98449341e-01 5.53094182e-02 6.30722677e-03 4.01244978e+01] [-5.53079094e-02 9.98469260e-01 -4.13519918e-04 -2.93376298e+00] [-6.32044359e-03 6.40391630e-05 9.99980024e-01 -1.29238477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.879072329 meters 0.0774777841211449 Centerline is valid? [True, True] Translation: X:40.19, Y:-2.92, Z:-1.30 [[ 9.97589325e-01 6.90477329e-02 6.92454594e-03 4.01876806e+01] [-6.90462995e-02 9.97613357e-01 -4.46142456e-04 -2.91685440e+00] [-6.93882464e-03 -3.30473203e-05 9.99975926e-01 -1.29581794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.939072329 meters 0.07952559097241955 Centerline is valid? [True, True] Translation: X:40.25, Y:-2.91, Z:-1.31 [[ 9.96804329e-01 7.97081229e-02 5.26735561e-03 4.02481245e+01] [-7.97073997e-02 9.96818243e-01 -3.47432473e-04 -2.90564348e+00] [-5.27828936e-03 -7.35250257e-05 9.99986067e-01 -1.30682798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.999072329 meters 0.08108545088760659 Centerline is valid? [True, True] Translation: X:40.31, Y:-2.90, Z:-1.30 [[ 9.95580827e-01 9.38672438e-02 2.78533737e-03 4.03097555e+01] [-9.38671013e-02 9.95584720e-01 -1.82143643e-04 -2.89544227e+00] [-2.79013665e-03 -8.01128265e-05 9.99996104e-01 -1.30386806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05907232899999 meters 0.0849329489763557 Centerline is valid? [True, True] Translation: X:40.37, Y:-2.89, Z:-1.31 [[ 9.94588724e-01 1.03832015e-01 3.49030106e-03 4.03702063e+01] [-1.03831843e-01 9.94594840e-01 -2.30929223e-04 -2.88503932e+00] [-3.49541327e-03 -1.32724790e-04 9.99993882e-01 -1.30851196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11907232899999 meters 0.08754807419503625 Centerline is valid? [True, True] Translation: X:40.43, Y:-2.88, Z:-1.31 [[ 9.94008654e-01 1.09220000e-01 4.21752362e-03 4.04301154e+01] [-1.09219801e-01 9.94017584e-01 -2.78304455e-04 -2.88271387e+00] [-4.22268905e-03 -1.84000053e-04 9.99991067e-01 -1.31075323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.179072329 meters 0.08734171888453224 Centerline is valid? [True, True] Translation: X:40.49, Y:-2.89, Z:-1.31 [[ 9.93833529e-01 1.10807270e-01 4.08222022e-03 4.04921156e+01] [-1.10807133e-01 9.93841895e-01 -2.60529828e-04 -2.88649537e+00] [-4.08595007e-03 -1.93415840e-04 9.99991634e-01 -1.31225962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.239072329 meters 0.08539581767194061 Centerline is valid? [True, True] Translation: X:40.55, Y:-2.91, Z:-1.31 [[ 9.94263390e-01 1.06917605e-01 2.98940619e-03 4.05520799e+01] [-1.06917496e-01 9.94267877e-01 -1.96691766e-04 -2.90510758e+00] [-2.99330036e-03 -1.24056403e-04 9.99995512e-01 -1.31331472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.299072329 meters 0.08274816265523158 Centerline is valid? [True, True] Translation: X:40.61, Y:-2.92, Z:-1.31 [[ 9.94757186e-01 1.02217480e-01 3.11906050e-03 4.06119478e+01] [-1.02217336e-01 9.94762069e-01 -2.06044430e-04 -2.92124135e+00] [-3.12378441e-03 -1.13857876e-04 9.99995114e-01 -1.31153922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.359072329 meters 0.08166454096980491 Centerline is valid? [True, True] Translation: X:40.67, Y:-2.93, Z:-1.32 [[ 9.95338628e-01 9.64303354e-02 1.48554210e-03 4.06725691e+01] [-9.64302978e-02 9.95339735e-01 -9.70536452e-05 -2.93452912e+00] [-1.48797799e-03 -4.66500247e-05 9.99998892e-01 -1.31637649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41907232899999 meters 0.08194817996040041 Centerline is valid? [True, True] Translation: X:40.73, Y:-2.95, Z:-1.32 [[ 9.95694817e-01 9.26896871e-02 -6.72869461e-04 4.07322283e+01] [-9.26896741e-02 9.95695045e-01 5.06129483e-05 -2.95031649e+00] [ 6.74664087e-04 1.19730008e-05 9.99999772e-01 -1.32272105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47907232899999 meters 0.08062554601104983 Centerline is valid? [True, True] Translation: X:40.79, Y:-2.97, Z:-1.32 [[ 9.96146816e-01 8.76967524e-02 8.95214959e-04 4.07920774e+01] [-8.76967349e-02 9.96147218e-01 -5.88202381e-05 -2.96592892e+00] [-8.96924235e-04 -1.99138361e-05 9.99999598e-01 -1.32239119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53907232899999 meters 0.08020150662357975 Centerline is valid? [True, True] Translation: X:40.85, Y:-2.98, Z:-1.32 [[ 9.96319517e-01 8.57164910e-02 3.20761522e-04 4.08534387e+01] [-8.57164918e-02 9.96319569e-01 -1.12437948e-05 -2.97770714e+00] [-3.20544760e-04 -1.62921401e-05 9.99999948e-01 -1.32413860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.599072329 meters 0.07996182619200784 Centerline is valid? [True, True] Translation: X:40.92, Y:-2.99, Z:-1.33 [[ 9.96529206e-01 8.32438395e-02 -7.13505920e-05 4.09150281e+01] [-8.32438386e-02 9.96529208e-01 1.51679440e-05 -2.99124607e+00] [ 7.23655868e-05 -9.17580205e-06 9.99999997e-01 -1.32658375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.659072329 meters 0.08077462970798469 Centerline is valid? [True, True] Translation: X:40.98, Y:-3.00, Z:-1.34 [[ 9.96634302e-01 8.19489045e-02 -2.10849516e-03 4.09757679e+01] [-8.19487678e-02 9.96636532e-01 1.51321858e-04 -2.99812593e+00] [ 2.11380396e-03 2.19760257e-05 9.99997766e-01 -1.33536390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.719072329 meters 0.08064803631940178 Centerline is valid? [True, True] Translation: X:41.04, Y:-3.01, Z:-1.34 [[ 9.96647440e-01 8.16951665e-02 -4.44752043e-03 4.10370530e+01] [-8.16945973e-02 9.96657362e-01 3.09808895e-04 -3.00762928e+00] [ 4.45796386e-03 5.45681481e-05 9.99990062e-01 -1.33548314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77907232899999 meters 0.08035206273172486 Centerline is valid? [True, True] Translation: X:41.10, Y:-3.01, Z:-1.34 [[ 9.96545544e-01 8.30477474e-02 -2.23278394e-04 4.10972807e+01] [-8.30477459e-02 9.96545569e-01 1.58125820e-05 -3.01116603e+00] [ 2.23820294e-04 2.78480927e-06 9.99999975e-01 -1.33549518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83907232899999 meters 0.0815054104654575 Centerline is valid? [True, True] Translation: X:41.16, Y:-3.01, Z:-1.34 [[ 9.96044906e-01 8.88425450e-02 -1.24430666e-03 4.11584294e+01] [-8.88425084e-02 9.96045682e-01 8.47714121e-05 -3.00558005e+00] [ 1.24691758e-03 2.61111915e-05 9.99999222e-01 -1.33811091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89907232899999 meters 0.08316727303102739 Centerline is valid? [True, True] Translation: X:41.22, Y:-3.00, Z:-1.34 [[ 9.95534908e-01 9.43389403e-02 -3.22654948e-03 4.12200886e+01] [-9.43387240e-02 9.95540133e-01 2.19500774e-04 -3.00124094e+00] [ 3.23286696e-03 8.58678776e-05 9.99994771e-01 -1.34266787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.959072329 meters 0.08589850047459727 Centerline is valid? [True, True] Translation: X:41.28, Y:-2.99, Z:-1.35 [[ 9.94835799e-01 1.01405653e-01 -4.31586327e-03 4.12802998e+01] [-1.01405337e-01 9.94845150e-01 2.92545288e-04 -2.99297849e+00] [ 4.32328139e-03 1.46617044e-04 9.99990644e-01 -1.34682466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.019072329 meters 0.08400470939145875 Centerline is valid? [True, True] Translation: X:41.34, Y:-3.00, Z:-1.34 [[ 9.94428177e-01 1.05342950e-01 -3.93228454e-03 4.13419183e+01] [-1.05342698e-01 9.94435942e-01 2.71599819e-04 -2.99817660e+00] [ 3.93901620e-03 1.44150952e-04 9.99992232e-01 -1.34004815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.079072329 meters 0.085255610468607 Centerline is valid? [True, True] Translation: X:41.40, Y:-3.00, Z:-1.34 [[ 9.93997614e-01 1.09369832e-01 -2.64258412e-03 4.14040674e+01] [-1.09369727e-01 9.94001121e-01 1.84627157e-04 -2.99574040e+00] [ 2.64692422e-03 1.05499750e-04 9.99996491e-01 -1.34078644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13907232899999 meters 0.08904332051957398 Centerline is valid? [True, True] Translation: X:41.46, Y:-2.99, Z:-1.35 [[ 9.93615348e-01 1.12809731e-01 -1.58269308e-03 4.14648952e+01] [-1.12809694e-01 9.93616606e-01 1.12706350e-04 -2.99249115e+00] [ 1.58530450e-03 6.65563628e-05 9.99998741e-01 -1.34757197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19907232899999 meters 0.08748554104288424 Centerline is valid? [True, True] Translation: X:41.53, Y:-3.00, Z:-1.35 [[ 9.93460279e-01 1.14160070e-01 -2.03796768e-03 4.15267124e+01] [-1.14160004e-01 9.93462365e-01 1.49110155e-04 -3.00166508e+00] [ 2.04166661e-03 8.45193816e-05 9.99997912e-01 -1.34643468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25907232899999 meters 0.0873256149939532 Centerline is valid? [True, True] Translation: X:41.59, Y:-3.01, Z:-1.35 [[ 9.93165717e-01 1.16710660e-01 -6.92748218e-04 4.15885611e+01] [-1.16710648e-01 9.93165959e-01 5.76645962e-05 -3.00810959e+00] [ 6.94744021e-04 2.35805936e-05 9.99999758e-01 -1.34604221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.319072329 meters 0.08897905958239304 Centerline is valid? [True, True] Translation: X:41.65, Y:-3.02, Z:-1.35 [[ 9.92910335e-01 1.18864893e-01 4.51838186e-04 4.16495945e+01] [-1.18864894e-01 9.92910437e-01 -2.57479005e-05 -3.01501169e+00] [-4.51695372e-04 -2.81423415e-05 9.99999898e-01 -1.34828990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.379072329 meters 0.08865372314188798 Centerline is valid? [True, True] Translation: X:41.71, Y:-3.03, Z:-1.35 [[ 9.92622305e-01 1.21246476e-01 5.01375844e-04 4.17106567e+01] [-1.21246479e-01 9.92622431e-01 -2.51245970e-05 -3.02812661e+00] [-5.00723178e-04 -3.58508202e-05 9.99999874e-01 -1.34843329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.439072329 meters 0.08953076347969621 Centerline is valid? [True, True] Translation: X:41.77, Y:-3.04, Z:-1.35 [[ 9.92088065e-01 1.25538453e-01 1.16939119e-03 4.17712113e+01] [-1.25538446e-01 9.92088752e-01 -7.98900702e-05 -3.03679075e+00] [-1.17016913e-03 -6.75455677e-05 9.99999313e-01 -1.34808211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.499072329 meters 0.08958925831306648 Centerline is valid? [True, True] Translation: X:41.83, Y:-3.05, Z:-1.35 [[ 9.91396919e-01 1.30853471e-01 3.08513854e-03 4.18319064e+01] [-1.30853444e-01 9.91401700e-01 -2.11367688e-04 -3.04763533e+00] [-3.08626979e-03 -1.94151729e-04 9.99995219e-01 -1.34694869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55907232899999 meters 0.09251997946160255 Centerline is valid? [True, True] Translation: X:41.89, Y:-3.06, Z:-1.35 [[ 9.90857369e-01 1.34886282e-01 2.71375170e-03 4.18902737e+01] [-1.34886275e-01 9.90861069e-01 -1.86305444e-04 -3.06088819e+00] [-2.71408095e-03 -1.81445736e-04 9.99996300e-01 -1.34972365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61907232899999 meters 0.0935852842812695 Centerline is valid? [True, True] Translation: X:41.95, Y:-3.08, Z:-1.35 [[ 9.90580968e-01 1.36880990e-01 3.59736706e-03 4.19512046e+01] [-1.36880996e-01 9.90587468e-01 -2.45595409e-04 -3.07627993e+00] [-3.59712407e-03 -2.49129048e-04 9.99993499e-01 -1.35175421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.679072329 meters 0.0955363837584925 Centerline is valid? [True, True] Translation: X:42.01, Y:-3.08, Z:-1.36 [[ 9.90360318e-01 1.38492288e-01 2.51538361e-03 4.20107889e+01] [-1.38492293e-01 9.90363496e-01 -1.73097376e-04 -3.08491679e+00] [-2.51511676e-03 -1.76932471e-04 9.99996821e-01 -1.35698551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.739072329 meters 0.09570885569956146 Centerline is valid? [True, True] Translation: X:42.07, Y:-3.11, Z:-1.36 [[ 9.90369799e-01 1.38443557e-01 1.02106624e-03 4.20712148e+01] [-1.38443568e-01 9.90370322e-01 -6.09289524e-05 -3.10745206e+00] [-1.01966893e-03 -8.10178592e-05 9.99999477e-01 -1.36216274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.799072329 meters 0.09274148936648592 Centerline is valid? [True, True] Translation: X:42.13, Y:-3.13, Z:-1.36 [[ 9.90715753e-01 1.35889729e-01 4.03462318e-03 4.21300831e+01] [-1.35889711e-01 9.90723931e-01 -2.79646212e-04 -3.13239951e+00] [-4.03519879e-03 -2.71213873e-04 9.99991822e-01 -1.36072821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.859072329 meters 0.09566226807419856 Centerline is valid? [True, True] Translation: X:42.19, Y:-3.14, Z:-1.37 [[ 9.90998799e-01 1.33846375e-01 2.55500014e-03 4.21897292e+01] [-1.33846371e-01 9.91002078e-01 -1.73318689e-04 -3.13900167e+00] [-2.55520853e-03 -1.70218884e-04 9.99996721e-01 -1.36926796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91907232899999 meters 0.09185664196371489 Centerline is valid? [True, True] Translation: X:42.25, Y:-3.17, Z:-1.37 [[ 9.91470973e-01 1.30327477e-01 -2.42887907e-04 4.22492726e+01] [-1.30327476e-01 9.91471002e-01 1.82878423e-05 -3.16905776e+00] [ 2.43199725e-04 1.35231031e-05 9.99999970e-01 -1.36942974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97907232899999 meters 0.09081734200374686 Centerline is valid? [True, True] Translation: X:42.31, Y:-3.18, Z:-1.37 [[ 9.91898367e-01 1.27024335e-01 1.56455911e-03 4.23079168e+01] [-1.27024321e-01 9.91899597e-01 -1.09159409e-04 -3.18437405e+00] [-1.56575145e-03 -9.04620192e-05 9.99998770e-01 -1.37326896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03907232899999 meters 0.08798306647784195 Centerline is valid? [True, True] Translation: X:42.37, Y:-3.20, Z:-1.37 [[ 9.92208267e-01 1.24582207e-01 1.42399048e-03 4.23683328e+01] [-1.24582195e-01 9.92209286e-01 -9.75634079e-05 -3.19988010e+00] [-1.42505124e-03 -8.06006388e-05 9.99998981e-01 -1.37481460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.099072329 meters 0.08680480042376558 Centerline is valid? [True, True] Translation: X:42.43, Y:-3.22, Z:-1.38 [[ 9.92957562e-01 1.18373345e-01 4.79899122e-03 4.24266148e+01] [-1.18373109e-01 9.92969131e-01 -3.34347680e-04 -3.21956076e+00] [-4.80482800e-03 -2.36078451e-04 9.99988429e-01 -1.37531105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.159072329 meters 0.08396700847714891 Centerline is valid? [True, True] Translation: X:42.49, Y:-3.24, Z:-1.38 [[ 9.93547707e-01 1.13297273e-01 5.16534929e-03 4.24862971e+01] [-1.13296938e-01 9.93561108e-01 -3.58390748e-04 -3.23633613e+00] [-5.17269486e-03 -2.29139953e-04 9.99986595e-01 -1.37690641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.219072329 meters 0.08443321856316237 Centerline is valid? [True, True] Translation: X:42.55, Y:-3.24, Z:-1.38 [[ 9.93563688e-01 1.13192963e-01 4.30702225e-03 4.25483236e+01] [-1.13192764e-01 9.93573004e-01 -2.90694010e-04 -3.24273653e+00] [-4.31224555e-03 -1.98700740e-04 9.99990682e-01 -1.38273912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27907232899999 meters 0.08348768927084778 Centerline is valid? [True, True] Translation: X:42.61, Y:-3.26, Z:-1.38 [[ 9.93422036e-01 1.14300734e-01 6.92824276e-03 4.26098591e+01] [-1.14300194e-01 9.93446143e-01 -4.75142068e-04 -3.25602793e+00] [-6.93714514e-03 -3.19882893e-04 9.99975887e-01 -1.37980847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33907232899999 meters 0.08422375741359638 Centerline is valid? [True, True] Translation: X:42.67, Y:-3.26, Z:-1.38 [[ 9.93267827e-01 1.15445148e-01 9.56248668e-03 4.26705253e+01] [-1.15444105e-01 9.93313757e-01 -6.62827434e-04 -3.25818185e+00] [-9.57506978e-03 -4.45567553e-04 9.99954059e-01 -1.38234306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39907232899999 meters 0.08570332909623861 Centerline is valid? [True, True] Translation: X:42.73, Y:-3.26, Z:-1.39 [[ 9.92727376e-01 1.20112304e-01 8.08647177e-03 4.27314082e+01] [-1.20111652e-01 9.92760227e-01 -5.68077863e-04 -3.26091588e+00] [-8.09616069e-03 -4.07333033e-04 9.99967143e-01 -1.38720307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.459072329 meters 0.08774250679044088 Centerline is valid? [True, True] Translation: X:42.79, Y:-3.26, Z:-1.39 [[ 9.92404247e-01 1.22782961e-01 7.62595758e-03 4.27912083e+01] [-1.22782457e-01 9.92433464e-01 -5.36032621e-04 -3.26439955e+00] [-7.63407117e-03 -4.04372757e-04 9.99970778e-01 -1.39122247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.519072329 meters 0.08744818244762495 Centerline is valid? [True, True] Translation: X:42.85, Y:-3.27, Z:-1.39 [[ 9.92298313e-01 1.23579729e-01 8.49170000e-03 4.28532983e+01] [-1.23579207e-01 9.92334537e-01 -5.88193064e-04 -3.27173803e+00] [-8.49929593e-03 -4.65734567e-04 9.99963772e-01 -1.39314365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.579072329 meters 0.08879793310334591 Centerline is valid? [True, True] Translation: X:42.91, Y:-3.28, Z:-1.40 [[ 9.92012369e-01 1.25798405e-01 9.28557560e-03 4.29136135e+01] [-1.25797798e-01 9.92055689e-01 -6.51725140e-04 -3.27585401e+00] [-9.29379408e-03 -5.21585567e-04 9.99956676e-01 -1.39643919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63907232899999 meters 0.0897960974795338 Centerline is valid? [True, True] Translation: X:42.98, Y:-3.28, Z:-1.40 [[ 9.91733065e-01 1.27895636e-01 1.04035366e-02 4.29756310e+01] [-1.27895003e-01 9.91787445e-01 -7.28886346e-04 -3.28305481e+00] [-1.04113184e-02 -6.07699657e-04 9.99945616e-01 -1.39739480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69907232899999 meters 0.09206534671883847 Centerline is valid? [True, True] Translation: X:43.04, Y:-3.29, Z:-1.40 [[ 9.91225626e-01 1.31407523e-01 1.42766000e-02 4.30367558e+01] [-1.31406592e-01 9.91328045e-01 -1.00734485e-03 -3.28983548e+00] [-1.42851667e-02 -8.77533324e-04 9.99897577e-01 -1.39769178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75907232899999 meters 0.09607634545361368 Centerline is valid? [True, True] Translation: X:43.10, Y:-3.29, Z:-1.40 [[ 9.90536092e-01 1.36551834e-01 1.38509036e-02 4.30970048e+01] [-1.36551346e-01 9.90632504e-01 -9.85429703e-04 -3.29291179e+00] [-1.38557175e-02 -9.15255833e-04 9.99903586e-01 -1.40193481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.819072329 meters 0.09832317129281015 Centerline is valid? [True, True] Translation: X:43.16, Y:-3.30, Z:-1.41 [[ 9.90161832e-01 1.39468157e-01 1.13216790e-02 4.31573183e+01] [-1.39468020e-01 9.90226248e-01 -8.05507110e-04 -3.30067950e+00] [-1.13233663e-02 -7.81429756e-04 9.99935583e-01 -1.40698424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.879072329 meters 0.10089464672253037 Centerline is valid? [True, False] Translation: X:43.15, Y:-3.31, Z:-1.41 [[ 9.91110998e-01 1.32479330e-01 1.21744457e-02 4.31513074e+01] [-1.32575787e-01 9.91144594e-01 7.48689642e-03 -3.31008783e+00] [-1.10747771e-02 -9.03438211e-03 9.99897859e-01 -1.41057650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.939072329 meters 0.10364357435164467 Centerline is valid? [False, False] Translation: X:43.14, Y:-3.32, Z:-1.41 [[ 9.92056251e-01 1.24417730e-01 1.85640495e-02 4.31382814e+01] [-1.24654187e-01 9.92125592e-01 1.21714336e-02 -3.32155328e+00] [-1.69035264e-02 -1.43888333e-02 9.99753586e-01 -1.41028895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.999072329 meters 0.09656890046136114 Centerline is valid? [False, True] Translation: X:43.16, Y:-3.33, Z:-1.40 [[ 9.92581112e-01 1.21389045e-01 -6.88730316e-03 4.31606776e+01] [-1.21299085e-01 9.92540437e-01 1.22479706e-02 -3.33034724e+00] [ 8.32269635e-03 -1.13216807e-02 9.99901271e-01 -1.40195558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05907232899999 meters 0.10737394107181407 Centerline is valid? [True, False] Translation: X:43.16, Y:-3.34, Z:-1.41 [[ 9.93504359e-01 1.13665596e-01 -5.40574103e-03 4.31570017e+01] [-1.13549086e-01 9.93361732e-01 1.84139563e-02 -3.33677223e+00] [ 7.46288958e-03 -1.76805289e-02 9.99815835e-01 -1.40848747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11907232899999 meters 0.10983029225728272 Centerline is valid? [False, False] Translation: X:43.15, Y:-3.34, Z:-1.42 [[ 9.94317728e-01 1.06445963e-01 -1.22980306e-03 4.31505574e+01] [-1.06390172e-01 9.94061011e-01 2.28874802e-02 -3.34279488e+00] [ 3.65877914e-03 -2.26265884e-02 9.99737291e-01 -1.41516531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.179072329 meters 0.09734574009967482 Centerline is valid? [False, True] Translation: X:43.14, Y:-3.35, Z:-1.42 [[ 9.95023291e-01 9.95864156e-02 3.34621444e-03 4.31438581e+01] [-9.96373274e-02 9.94755312e-01 2.31143327e-02 -3.35209363e+00] [-1.02679105e-03 -2.33327073e-02 9.99727228e-01 -1.41978490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.239072329 meters 0.09808437414115885 Centerline is valid? [True, True] Translation: X:43.21, Y:-3.35, Z:-1.43 [[ 9.95049103e-01 9.93480939e-02 2.69063670e-03 4.32062862e+01] [-9.93483032e-02 9.95052718e-01 -5.60642526e-05 -3.34672244e+00] [-2.68289524e-03 -2.11523506e-04 9.99996379e-01 -1.43065310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.299072329 meters 0.09774706715214536 Centerline is valid? [True, True] Translation: X:43.27, Y:-3.36, Z:-1.43 [[ 9.95287075e-01 9.69530500e-02 1.93493751e-03 4.32664988e+01] [-9.69531501e-02 9.95288945e-01 -4.22277514e-05 -3.35959762e+00] [-1.92991603e-03 -1.45569552e-04 9.99998127e-01 -1.43303107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.359072329 meters 0.09855718271020704 Centerline is valid? [True, True] Translation: X:43.33, Y:-3.37, Z:-1.43 [[ 9.95330225e-01 9.63444117e-02 5.95799722e-03 4.33262238e+01] [-9.63453498e-02 9.95347958e-01 -1.30026331e-04 -3.36770477e+00] [-5.94280767e-03 -4.44606189e-04 9.99982243e-01 -1.43095762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41907232899999 meters 0.09955161992557102 Centerline is valid? [True, True] Translation: X:43.39, Y:-3.37, Z:-1.43 [[ 9.95225643e-01 9.73821188e-02 6.53017125e-03 4.33881307e+01] [-9.73833047e-02 9.95246941e-01 -1.36870309e-04 -3.37395723e+00] [-6.51246168e-03 -4.99712815e-04 9.99978669e-01 -1.43184189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47907232899999 meters 0.10179692720202932 Centerline is valid? [True, False] Translation: X:43.38, Y:-3.38, Z:-1.44 [[ 9.95886359e-01 9.04883663e-02 4.71338476e-03 4.33844630e+01] [-9.05277362e-02 9.95853771e-01 8.94404436e-03 -3.38280507e+00] [-3.88451003e-03 -9.33394382e-03 9.99948893e-01 -1.43506532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53907232899999 meters 0.10443594899255375 Centerline is valid? [False, False] Translation: X:43.38, Y:-3.39, Z:-1.44 [[ 9.96538189e-01 8.25664818e-02 9.71663501e-03 4.33788687e+01] [-8.27046173e-02 9.96464272e-01 1.47952795e-02 -3.39408234e+00] [-8.46068546e-03 -1.55476716e-02 9.99843331e-01 -1.43728843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.599072329 meters 0.10519747041468912 Centerline is valid? [False, False] Translation: X:43.38, Y:-3.40, Z:-1.44 [[ 9.97221930e-01 7.40637965e-02 7.93570801e-03 4.33768226e+01] [-7.42266117e-02 9.96983308e-01 2.26868484e-02 -3.39930228e+00] [-6.23149430e-03 -2.32128634e-02 9.99711124e-01 -1.43959212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.659072329 meters 0.0974471472464366 Centerline is valid? [False, True] Translation: X:43.37, Y:-3.41, Z:-1.44 [[ 9.97775642e-01 6.52794597e-02 1.35040700e-02 4.33683033e+01] [-6.55963553e-02 9.97544658e-01 2.45310699e-02 -3.40704185e+00] [-1.18695379e-02 -2.53623218e-02 9.99607856e-01 -1.44461148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.719072329 meters 0.10587366530317423 Centerline is valid? [True, False] Translation: X:43.38, Y:-3.41, Z:-1.44 [[ 9.98267146e-01 5.86959879e-02 -4.18176959e-03 4.33758980e+01] [-5.85958936e-02 9.98060893e-01 2.09993993e-02 -3.41316592e+00] [ 5.40624117e-03 -2.07179759e-02 9.99770743e-01 -1.44372656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77907232899999 meters 0.09440794598718068 Centerline is valid? [False, True] Translation: X:43.37, Y:-3.42, Z:-1.45 [[ 9.98915976e-01 4.65020715e-02 -2.10493326e-03 4.33712984e+01] [-4.64425682e-02 9.98663773e-01 2.26661884e-02 -3.41862531e+00] [ 3.15614531e-03 -2.25438592e-02 9.99740873e-01 -1.45081561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83907232899999 meters 0.09164582143079689 Centerline is valid? [True, True] Translation: X:43.43, Y:-3.42, Z:-1.46 [[ 9.99239074e-01 3.89056439e-02 -2.76130782e-03 4.34305474e+01] [-3.89059674e-02 9.99242874e-01 -6.35222541e-05 -3.41831058e+00] [ 2.75674579e-03 1.70905271e-04 9.99996186e-01 -1.46403535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89907232899999 meters 0.08637487808929747 Centerline is valid? [True, True] Translation: X:43.49, Y:-3.43, Z:-1.46 [[ 9.99423530e-01 3.39129474e-02 -1.58754596e-03 4.34917190e+01] [-3.39130477e-02 9.99424787e-01 -3.63214262e-05 -3.43326977e+00] [ 1.58540101e-03 9.01390098e-05 9.99998739e-01 -1.46102721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.959072329 meters 0.08424033313272133 Centerline is valid? [True, True] Translation: X:43.55, Y:-3.44, Z:-1.47 [[ 9.99665365e-01 2.54904555e-02 -4.40394798e-03 4.35518061e+01] [-2.54911461e-02 9.99675043e-01 -1.00761180e-04 -3.44056669e+00] [ 4.39994844e-03 2.12989144e-04 9.99990297e-01 -1.46663390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.019072329 meters 0.08149757848847812 Centerline is valid? [True, True] Translation: X:43.61, Y:-3.45, Z:-1.46 [[ 9.99858801e-01 1.65668949e-02 -2.81369527e-03 4.36131416e+01] [-1.65671401e-02 9.99862753e-01 -6.38436116e-05 -3.45267849e+00] [ 2.81225141e-03 1.10449481e-04 9.99996040e-01 -1.46408538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.079072329 meters 0.08035718759439567 Centerline is valid? [True, True] Translation: X:43.67, Y:-3.46, Z:-1.47 [[ 9.99926617e-01 1.17366573e-02 -3.00207227e-03 4.36736615e+01] [-1.17369161e-02 9.99931118e-01 -6.86215886e-05 -3.45762531e+00] [ 3.00106009e-03 1.03851623e-04 9.99995491e-01 -1.46633506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13907232899999 meters 0.07834677172034824 Centerline is valid? [True, True] Translation: X:43.73, Y:-3.46, Z:-1.47 [[ 9.99963632e-01 8.13574886e-03 -2.55811419e-03 4.37348964e+01] [-8.13592201e-03 9.99966901e-01 -5.72847933e-05 -3.46280132e+00] [ 2.55756346e-03 7.80953275e-05 9.99996726e-01 -1.46627666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19907232899999 meters 0.07939598888506934 Centerline is valid? [True, True] Translation: X:43.80, Y:-3.46, Z:-1.47 [[ 9.99962356e-01 8.53751756e-03 -1.54828189e-03 4.37955386e+01] [-8.53757114e-03 9.99963554e-01 -2.80058800e-05 -3.45605986e+00] [ 1.54798636e-03 4.12233925e-05 9.99998801e-01 -1.47333971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25907232899999 meters 0.08013676393610117 Centerline is valid? [True, True] Translation: X:43.86, Y:-3.45, Z:-1.48 [[ 9.99949854e-01 9.54878882e-03 -3.01813437e-03 4.38560971e+01] [-9.54903467e-03 9.99954405e-01 -6.70588277e-05 -3.45228949e+00] [ 3.01735642e-03 9.58757347e-05 9.99995443e-01 -1.47677811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.319072329 meters 0.08136338910186523 Centerline is valid? [True, True] Translation: X:43.92, Y:-3.45, Z:-1.48 [[ 9.99911595e-01 1.29523228e-02 -3.00651743e-03 4.39167706e+01] [-1.29525739e-02 9.99916110e-01 -6.40589964e-05 -3.44606698e+00] [ 3.00543550e-03 1.02995472e-04 9.99995478e-01 -1.47882432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.379072329 meters 0.08007539748002104 Centerline is valid? [True, True] Translation: X:43.98, Y:-3.45, Z:-1.47 [[ 9.99862668e-01 1.64332445e-02 -2.14309981e-03 4.39789222e+01] [-1.64333803e-02 9.99864962e-01 -4.57688962e-05 -3.44600343e+00] [ 2.14205828e-03 8.09809849e-05 9.99997703e-01 -1.47465278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.439072329 meters 0.08081107287515508 Centerline is valid? [True, True] Translation: X:44.04, Y:-3.44, Z:-1.47 [[ 9.99773090e-01 2.13017459e-02 -5.60019006e-05 4.40403279e+01] [-2.13017460e-02 9.99773092e-01 -1.70470631e-07 -3.43931862e+00] [ 5.59855620e-05 1.36337021e-06 9.99999998e-01 -1.47437462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49907232899999 meters 0.08159326190273312 Centerline is valid? [True, True] Translation: X:44.10, Y:-3.43, Z:-1.48 [[ 9.99748925e-01 2.23582198e-02 -1.48228012e-03 4.41020599e+01] [-2.23582901e-02 9.99750022e-01 -3.08539814e-05 -3.43322613e+00] [ 1.48121974e-03 6.39874836e-05 9.99998901e-01 -1.47987293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55907232899999 meters 0.08207703890608332 Centerline is valid? [True, True] Translation: X:44.16, Y:-3.43, Z:-1.49 [[ 9.99778278e-01 2.06097702e-02 -4.31658970e-03 4.41630503e+01] [-2.06103567e-02 9.99787580e-01 -9.14386690e-05 -3.42934442e+00] [ 4.31378824e-03 1.80384848e-04 9.99990679e-01 -1.48690382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61907232899999 meters 0.08037504347965393 Centerline is valid? [True, True] Translation: X:44.22, Y:-3.43, Z:-1.48 [[ 9.99851601e-01 1.70626393e-02 -2.37554613e-03 4.42241018e+01] [-1.70628109e-02 9.99854418e-01 -5.19642395e-05 -3.43444091e+00] [ 2.37431365e-03 9.24900223e-05 9.99997177e-01 -1.48355919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.679072329 meters 0.07924214379148016 Centerline is valid? [True, True] Translation: X:44.28, Y:-3.44, Z:-1.48 [[ 9.99935764e-01 1.13340846e-02 -8.03514181e-05 4.42832567e+01] [-1.13340848e-02 9.99935767e-01 -2.23367143e-06 -3.43593436e+00] [ 8.03209403e-05 3.14423773e-06 9.99999997e-01 -1.48323203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.739072329 meters 0.07934896310366038 Centerline is valid? [True, True] Translation: X:44.35, Y:-3.44, Z:-1.49 [[ 9.99947042e-01 9.75531768e-03 -3.27835387e-03 4.43454491e+01] [-9.75558175e-03 9.99952411e-01 -6.45683745e-05 -3.43508161e+00] [ 3.27756797e-03 9.65472043e-05 9.99994624e-01 -1.48865125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.799072329 meters 0.07869047437155904 Centerline is valid? [True, True] Translation: X:44.41, Y:-3.44, Z:-1.49 [[ 9.99938471e-01 9.22215944e-03 -6.16489435e-03 4.44078809e+01] [-9.22314968e-03 9.99957457e-01 -1.32213073e-04 -3.43716700e+00] [ 6.16341279e-03 1.89064681e-04 9.99980988e-01 -1.48928350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.859072329 meters 0.07868993101132057 Centerline is valid? [True, True] Translation: X:44.47, Y:-3.43, Z:-1.49 [[ 9.99949522e-01 8.59905217e-03 -5.19706770e-03 4.44692244e+01] [-8.59975042e-03 9.99963015e-01 -1.12022635e-04 -3.43277420e+00] [ 5.19591220e-03 1.56710466e-04 9.99986489e-01 -1.49268317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91907232899999 meters 0.07765891889859751 Centerline is valid? [True, True] Translation: X:44.53, Y:-3.44, Z:-1.49 [[ 9.99975603e-01 4.79643467e-03 -5.07806559e-03 4.45311795e+01] [-4.79704778e-03 9.99988488e-01 -1.08562845e-04 -3.43542771e+00] [ 5.07748642e-03 1.32919920e-04 9.99987101e-01 -1.49033707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97907232899999 meters 0.07747269220505465 Centerline is valid? [True, True] Translation: X:44.59, Y:-3.44, Z:-1.49 [[ 9.99982129e-01 2.56363111e-03 -5.40087312e-03 4.45914070e+01] [-2.56430159e-03 9.99996705e-01 -1.17221475e-04 -3.43587310e+00] [ 5.40055482e-03 1.31068848e-04 9.99985408e-01 -1.49176954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03907232899999 meters 0.07789016822484061 Centerline is valid? [True, True] Translation: X:44.65, Y:-3.44, Z:-1.50 [[ 9.99969848e-01 -4.63527462e-03 -6.23039402e-03 4.46502202e+01] [ 4.63451389e-03 9.99989251e-01 -1.36531290e-04 -3.43500720e+00] [ 6.23095991e-03 1.07652325e-04 9.99980582e-01 -1.50116954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.099072329 meters 0.07689291450057319 Centerline is valid? [True, True] Translation: X:44.71, Y:-3.44, Z:-1.50 [[ 9.99917040e-01 -1.19096943e-02 -4.90644975e-03 4.47106078e+01] [ 1.19093065e-02 9.99929076e-01 -1.08249296e-04 -3.43935539e+00] [ 4.90739098e-03 4.98079018e-05 9.99987957e-01 -1.49956444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.159072329 meters 0.07676733316191495 Centerline is valid? [True, True] Translation: X:44.77, Y:-3.44, Z:-1.50 [[ 9.99858452e-01 -1.59106445e-02 -5.47061551e-03 4.47683129e+01] [ 1.59101773e-02 9.99873417e-01 -1.28914000e-04 -3.43916868e+00] [ 5.47197412e-03 4.18572894e-05 9.99985028e-01 -1.50125606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.219072329 meters 0.07634067991494267 Centerline is valid? [True, True] Translation: X:44.83, Y:-3.44, Z:-1.50 [[ 9.99767405e-01 -2.11873834e-02 -4.02873217e-03 4.48276879e+01] [ 2.11871616e-02 9.99775522e-01 -9.77339888e-05 -3.43887966e+00] [ 4.02989853e-03 1.23538569e-05 9.99991880e-01 -1.49599101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27907232899999 meters 0.07685673012098186 Centerline is valid? [True, True] Translation: X:44.88, Y:-3.44, Z:-1.50 [[ 9.99697344e-01 -2.42587475e-02 -4.09077055e-03 4.48842228e+01] [ 2.42585489e-02 9.99705713e-01 -9.81778364e-05 -3.43668709e+00] [ 4.09194836e-03 -1.08803504e-06 9.99991628e-01 -1.50049060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33907232899999 meters 0.07751196410253408 Centerline is valid? [True, True] Translation: X:44.94, Y:-3.43, Z:-1.50 [[ 9.99560163e-01 -2.93844109e-02 -4.00467178e-03 4.49426342e+01] [ 2.93842520e-02 9.99568185e-01 -9.85140808e-05 -3.43406216e+00] [ 4.00583728e-03 -1.92035342e-05 9.99991976e-01 -1.50306377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39907232899999 meters 0.07748401823208799 Centerline is valid? [True, True] Translation: X:45.00, Y:-3.43, Z:-1.50 [[ 9.99475801e-01 -3.20263319e-02 -4.73689518e-03 4.50019202e+01] [ 3.20261375e-02 9.99487025e-01 -1.16896246e-04 -3.42916805e+00] [ 4.73820903e-03 -3.48694876e-05 9.99988774e-01 -1.50115480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.459072329 meters 0.0789920038772973 Centerline is valid? [True, True] Translation: X:45.06, Y:-3.43, Z:-1.51 [[ 9.99365256e-01 -3.53951108e-02 -4.03379499e-03 4.50595269e+01] [ 3.53950113e-02 9.99373396e-01 -9.60606103e-05 -3.42718442e+00] [ 4.03466748e-03 -4.67765832e-05 9.99991860e-01 -1.50957770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.519072329 meters 0.08097720590000819 Centerline is valid? [True, True] Translation: X:45.12, Y:-3.43, Z:-1.51 [[ 9.99151842e-01 -4.08085323e-02 -5.50088157e-03 4.51175537e+01] [ 4.08084371e-02 9.99166980e-01 -1.29600978e-04 -3.42661008e+00] [ 5.50158805e-03 -9.49913236e-05 9.99984862e-01 -1.51346191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.579072329 meters 0.08051922194609622 Centerline is valid? [True, True] Translation: X:45.18, Y:-3.42, Z:-1.51 [[ 9.98929442e-01 -4.58484358e-02 -6.15550323e-03 4.51766945e+01] [ 4.58484082e-02 9.98948398e-01 -1.45657800e-04 -3.42032793e+00] [ 6.15570827e-03 -1.36718160e-04 9.99981044e-01 -1.50774402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63907232899999 meters 0.0809346854119723 Centerline is valid? [True, True] Translation: X:45.24, Y:-3.41, Z:-1.51 [[ 9.98862931e-01 -4.72916669e-02 -6.02848206e-03 4.52355448e+01] [ 4.72916254e-02 9.98881114e-01 -1.49515863e-04 -3.41201755e+00] [ 6.02880773e-03 -1.35750862e-04 9.99981817e-01 -1.51158772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69907232899999 meters 0.08186752462763866 Centerline is valid? [True, True] Translation: X:45.29, Y:-3.40, Z:-1.52 [[ 9.98834205e-01 -4.77753113e-02 -6.91019793e-03 4.52935564e+01] [ 4.77752944e-02 9.98858095e-01 -1.67607932e-04 -3.40420268e+00] [ 6.91031466e-03 -1.62724205e-04 9.99976110e-01 -1.51539996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75907232899999 meters 0.07957022951112762 Centerline is valid? [True, True] Translation: X:45.35, Y:-3.39, Z:-1.51 [[ 9.99010173e-01 -4.40786962e-02 -5.97855787e-03 4.53518054e+01] [ 4.40786220e-02 9.99028055e-01 -1.44237811e-04 -3.38647582e+00] [ 5.97910485e-03 -1.19431552e-04 9.99982118e-01 -1.51303083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.819072329 meters 0.07812789008365553 Centerline is valid? [True, True] Translation: X:45.41, Y:-3.37, Z:-1.52 [[ 9.99226749e-01 -3.89417568e-02 -5.42621255e-03 4.54099109e+01] [ 3.89416163e-02 9.99241479e-01 -1.31582955e-04 -3.36872439e+00] [ 5.42722073e-03 -7.98242795e-05 9.99985269e-01 -1.51535010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.879072329 meters 0.07718147855968799 Centerline is valid? [True, True] Translation: X:45.47, Y:-3.35, Z:-1.52 [[ 9.99547110e-01 -2.96497050e-02 -5.14497282e-03 4.54687791e+01] [ 2.96494225e-02 9.99560351e-01 -1.31186709e-04 -3.34676335e+00] [ 5.14660048e-03 -2.14181773e-05 9.99986756e-01 -1.51912565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.939072329 meters 0.07684208958996053 Centerline is valid? [True, True] Translation: X:45.53, Y:-3.34, Z:-1.52 [[ 9.99658796e-01 -2.57098857e-02 -4.61436437e-03 4.55279168e+01] [ 2.57096082e-02 9.99669446e-01 -1.19457037e-04 -3.33554484e+00] [ 4.61591030e-03 7.82778088e-07 9.99989347e-01 -1.51896189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99907232899999 meters 0.07621298500231552 Centerline is valid? [True, True] Translation: X:45.59, Y:-3.32, Z:-1.52 [[ 9.99784871e-01 -2.05957399e-02 -2.45496545e-03 4.55856847e+01] [ 2.05956350e-02 9.99787885e-01 -6.80179937e-05 -3.31543131e+00] [ 2.45584560e-03 1.74417888e-05 9.99996984e-01 -1.52157607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05907232899999 meters 0.07591772869574602 Centerline is valid? [True, True] Translation: X:45.64, Y:-3.30, Z:-1.52 [[ 9.99821248e-01 -1.89006013e-02 -4.88759894e-04 4.56446817e+01] [ 1.89005943e-02 9.99821368e-01 -1.90795612e-05 -3.30196763e+00] [ 4.89033201e-04 9.83829827e-06 9.99999880e-01 -1.52378476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11907232899999 meters 0.07621455389326678 Centerline is valid? [True, True] Translation: X:45.70, Y:-3.29, Z:-1.53 [[ 9.99803086e-01 -1.97974560e-02 -1.36034363e-03 4.57021231e+01] [ 1.97974246e-02 9.99804011e-01 -3.65047357e-05 -3.29034667e+00] [ 1.36079972e-03 9.56624682e-06 9.99999074e-01 -1.52892843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.179072329 meters 0.0765645705791518 Centerline is valid? [True, True] Translation: X:45.76, Y:-3.28, Z:-1.53 [[ 9.99771115e-01 -2.12077533e-02 -2.81926997e-03 4.57611149e+01] [ 2.12076172e-02 9.99775090e-01 -7.81682028e-05 -3.28460527e+00] [ 2.82029366e-03 1.83603131e-05 9.99996023e-01 -1.53220191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.239072329 meters 0.07648396426507262 Centerline is valid? [True, True] Translation: X:45.82, Y:-3.27, Z:-1.53 [[ 9.99769134e-01 -2.13483598e-02 -2.43422232e-03 4.58185075e+01] [ 2.13482673e-02 9.99772098e-01 -6.39997717e-05 -3.27363583e+00] [ 2.43503385e-03 1.20185675e-05 9.99997035e-01 -1.53491660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.299072329 meters 0.07628594866769367 Centerline is valid? [True, True] Translation: X:45.88, Y:-3.26, Z:-1.54 [[ 9.99776355e-01 -2.10032211e-02 -2.47090689e-03 4.58761354e+01] [ 2.10031083e-02 9.99779408e-01 -7.16109297e-05 -3.26349041e+00] [ 2.47186589e-03 1.96981892e-05 9.99996945e-01 -1.53578261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.359072329 meters 0.07635376008391583 Centerline is valid? [True, True] Translation: X:45.93, Y:-3.25, Z:-1.54 [[ 9.99853936e-01 -1.69160423e-02 -2.44018868e-03 4.59348881e+01] [ 1.69159212e-02 9.99856913e-01 -7.02589673e-05 -3.24835706e+00] [ 2.44102802e-03 2.89706655e-05 9.99997020e-01 -1.53760563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41907232899999 meters 0.07639786606029303 Centerline is valid? [True, True] Translation: X:45.99, Y:-3.23, Z:-1.54 [[ 9.99952525e-01 -9.50065005e-03 -2.16477395e-03 4.59937552e+01] [ 9.50053327e-03 9.99954867e-01 -6.42233843e-05 -3.23069597e+00] [ 2.16528641e-03 4.36538283e-05 9.99997655e-01 -1.53529820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47907232899999 meters 0.0773357638274078 Centerline is valid? [True, True] Translation: X:46.05, Y:-3.22, Z:-1.54 [[ 9.99987284e-01 -3.18876220e-03 -3.90683198e-03 4.60537391e+01] [ 3.18838891e-03 9.99994912e-01 -1.01773392e-04 -3.21604772e+00] [ 3.90713663e-03 8.93155983e-05 9.99992363e-01 -1.53951264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53907232899999 meters 0.0791239600893996 Centerline is valid? [True, True] Translation: X:46.11, Y:-3.20, Z:-1.54 [[ 9.99983297e-01 4.76290633e-03 -3.27420086e-03 4.61123360e+01] [-4.76321509e-03 9.99988652e-01 -8.65102729e-05 -3.19572990e+00] [ 3.27375166e-03 1.02104551e-04 9.99994636e-01 -1.54348314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.599072329 meters 0.07959198098324015 Centerline is valid? [True, True] Translation: X:46.17, Y:-3.19, Z:-1.54 [[ 9.99947596e-01 9.99999662e-03 -2.19209180e-03 4.61723492e+01] [-1.00001473e-02 9.99949996e-01 -5.77900460e-05 -3.18773933e+00] [ 2.19140428e-03 7.97082584e-05 9.99997596e-01 -1.54122840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.659072329 meters 0.08173673982389472 Centerline is valid? [True, True] Translation: X:46.23, Y:-3.17, Z:-1.54 [[ 9.99857991e-01 1.66491929e-02 -2.60817652e-03 4.62311258e+01] [-1.66494252e-02 9.99861386e-01 -6.73913540e-05 -3.17392470e+00] [ 2.60669298e-03 1.10806424e-04 9.99996596e-01 -1.54399026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.719072329 meters 0.083274341540752 Centerline is valid? [True, True] Translation: X:46.29, Y:-3.16, Z:-1.55 [[ 9.99753764e-01 2.20931435e-02 -2.07469204e-03 4.62921218e+01] [-2.20933008e-02 9.99755912e-01 -5.29402776e-05 -3.16234165e+00] [ 2.07301601e-03 9.87640370e-05 9.99997846e-01 -1.54695807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77907232899999 meters 0.08413322451967106 Centerline is valid? [True, True] Translation: X:46.35, Y:-3.16, Z:-1.55 [[ 9.99710210e-01 2.39290494e-02 -2.62598281e-03 4.63536803e+01] [-2.39293004e-02 9.99713651e-01 -6.41842373e-05 -3.15792718e+00] [ 2.62369500e-03 1.27003569e-04 9.99996550e-01 -1.55044240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83907232899999 meters 0.0840514277121263 Centerline is valid? [True, True] Translation: X:46.41, Y:-3.16, Z:-1.55 [[ 9.99744626e-01 2.25733178e-02 1.06211948e-03 4.64147149e+01] [-2.25733603e-02 9.99745189e-01 2.80397721e-05 -3.15817352e+00] [-1.06121589e-03 -5.20082171e-05 9.99999436e-01 -1.54883092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89907232899999 meters 0.08247326330475993 Centerline is valid? [True, True] Translation: X:46.48, Y:-3.16, Z:-1.55 [[ 9.99788589e-01 2.05304031e-02 -1.13127499e-03 4.64769485e+01] [-2.05304403e-02 9.99789228e-01 -2.12819457e-05 -3.16262941e+00] [ 1.13059962e-03 4.45030200e-05 9.99999360e-01 -1.55069866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.959072329 meters 0.08319105603668936 Centerline is valid? [True, True] Translation: X:46.54, Y:-3.16, Z:-1.56 [[ 9.99819748e-01 1.88017197e-02 -2.63961229e-03 4.65383693e+01] [-1.88019418e-02 9.99823226e-01 -5.93641222e-05 -3.16078572e+00] [ 2.63802952e-03 1.08983258e-04 9.99996514e-01 -1.55688722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.019072329 meters 0.08066535802961494 Centerline is valid? [True, True] Translation: X:46.60, Y:-3.17, Z:-1.55 [[ 9.99902362e-01 1.38785649e-02 -1.62845793e-03 4.65994487e+01] [-1.38786496e-02 9.99903686e-01 -4.07369819e-05 -3.17126409e+00] [ 1.62773571e-03 6.33338014e-05 9.99998673e-01 -1.55482785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.079072329 meters 0.08021361030891448 Centerline is valid? [True, True] Translation: X:46.66, Y:-3.18, Z:-1.55 [[ 9.99931295e-01 1.16997879e-02 -7.20938302e-04 4.66606212e+01] [-1.16998033e-02 9.99931555e-01 -1.71317354e-05 -3.17564068e+00] [ 7.20688520e-04 2.55653947e-05 9.99999740e-01 -1.55459954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13907232899999 meters 0.08017286713155938 Centerline is valid? [True, True] Translation: X:46.72, Y:-3.18, Z:-1.56 [[ 9.99942384e-01 1.04428099e-02 -2.48540383e-03 4.67234193e+01] [-1.04429749e-02 9.99945469e-01 -5.33971742e-05 -3.18042481e+00] [ 2.48471068e-03 7.93491073e-05 9.99996910e-01 -1.55916979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19907232899999 meters 0.08040961358899686 Centerline is valid? [True, True] Translation: X:46.79, Y:-3.18, Z:-1.56 [[ 9.99930081e-01 1.13433180e-02 -3.34089485e-03 4.67858576e+01] [-1.13436319e-02 9.99935656e-01 -7.50178791e-05 -3.18038428e+00] [ 3.33982894e-03 1.12910515e-04 9.99994416e-01 -1.56230896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25907232899999 meters 0.08126778822727075 Centerline is valid? [True, True] Translation: X:46.85, Y:-3.18, Z:-1.56 [[ 9.99893278e-01 1.40675102e-02 -3.94186615e-03 4.68473448e+01] [-1.40679992e-02 9.99901036e-01 -9.63560084e-05 -3.18348682e+00] [ 3.94012056e-03 1.51799895e-04 9.99992226e-01 -1.56470091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.319072329 meters 0.08215640707425992 Centerline is valid? [True, True] Translation: X:46.91, Y:-3.19, Z:-1.57 [[ 9.99833921e-01 1.78783921e-02 -3.53470711e-03 4.69089122e+01] [-1.78788082e-02 9.99840158e-01 -8.61613859e-05 -3.18720848e+00] [ 3.53260169e-03 1.49343427e-04 9.99993749e-01 -1.56508990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.379072329 meters 0.08310865675598068 Centerline is valid? [True, True] Translation: X:46.97, Y:-3.19, Z:-1.57 [[ 9.99782840e-01 2.08161045e-02 -9.81042045e-04 4.69696188e+01] [-2.08161312e-02 9.99783321e-01 -1.70270169e-05 -3.18870075e+00] [ 9.80475037e-04 3.74448192e-05 9.99999519e-01 -1.56729902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.439072329 meters 0.08397028452546669 Centerline is valid? [True, True] Translation: X:47.03, Y:-3.19, Z:-1.57 [[ 9.99743472e-01 2.26466044e-02 -3.49408638e-04 4.70313608e+01] [-2.26466074e-02 9.99743533e-01 -4.57842625e-06 -3.19195928e+00] [ 3.49215340e-04 1.24901720e-05 9.99999939e-01 -1.56937701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49907232899999 meters 0.08457666293743678 Centerline is valid? [True, True] Translation: X:47.09, Y:-3.20, Z:-1.57 [[ 9.99685437e-01 2.50802052e-02 1.00956099e-04 4.70931276e+01] [-2.50802063e-02 9.99685442e-01 9.33011884e-06 -3.19989867e+00] [-1.00690341e-04 -1.18591837e-05 9.99999995e-01 -1.56961699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55907232899999 meters 0.0859887488747314 Centerline is valid? [True, True] Translation: X:47.15, Y:-3.20, Z:-1.57 [[ 9.99661582e-01 2.60136804e-02 -9.76239429e-05 4.71539977e+01] [-2.60136801e-02 9.99661587e-01 4.42342586e-06 -3.20319508e+00] [ 9.77059752e-05 -1.88237087e-06 9.99999995e-01 -1.57290466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61907232899999 meters 0.08745768320398674 Centerline is valid? [True, True] Translation: X:47.21, Y:-3.21, Z:-1.58 [[ 9.99614583e-01 2.76820684e-02 -2.09482130e-03 4.72139800e+01] [-2.76822338e-02 9.99616772e-01 -4.99601561e-05 -3.20604304e+00] [ 2.09263551e-03 1.07930234e-04 9.99997805e-01 -1.57802508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.679072329 meters 0.08457315255794222 Centerline is valid? [True, True] Translation: X:47.28, Y:-3.23, Z:-1.58 [[ 9.99673932e-01 2.53539056e-02 -3.03479629e-03 4.72762203e+01] [-2.53542345e-02 9.99678527e-01 -6.99307013e-05 -3.22533303e+00] [ 3.03204767e-03 1.46852836e-04 9.99995393e-01 -1.57576113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.739072329 meters 0.08359765531618868 Centerline is valid? [True, True] Translation: X:47.34, Y:-3.24, Z:-1.58 [[ 9.99770396e-01 2.12758264e-02 -2.54843118e-03 4.73369492e+01] [-2.12760498e-02 9.99773637e-01 -6.05861317e-05 -3.23773958e+00] [ 2.54656529e-03 1.14792770e-04 9.99996751e-01 -1.57736225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.799072329 meters 0.08211018091110583 Centerline is valid? [True, True] Translation: X:47.40, Y:-3.25, Z:-1.58 [[ 9.99852688e-01 1.69266360e-02 -2.84460708e-03 4.73980172e+01] [-1.69268952e-02 9.99856728e-01 -6.70451401e-05 -3.24820846e+00] [ 2.84306468e-03 1.15185629e-04 9.99995952e-01 -1.57932581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.859072329 meters 0.07954398275740905 Centerline is valid? [True, True] Translation: X:47.46, Y:-3.27, Z:-1.58 [[ 9.99969365e-01 7.58629047e-03 -1.92788543e-03 4.74593834e+01] [-7.58639291e-03 9.99971222e-01 -4.58282646e-05 -3.27198851e+00] [ 1.92748229e-03 6.04525571e-05 9.99998141e-01 -1.57703441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91907232899999 meters 0.07852089509236308 Centerline is valid? [True, True] Translation: X:47.52, Y:-3.29, Z:-1.58 [[ 9.99997947e-01 1.93074676e-03 -6.15423313e-04 4.75209136e+01] [-1.93075578e-03 9.99998136e-01 -1.40721770e-05 -3.28664555e+00] [ 6.15394996e-04 1.52603802e-05 9.99999811e-01 -1.57652425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97907232899999 meters 0.07813279268200966 Centerline is valid? [True, True] Translation: X:47.58, Y:-3.30, Z:-1.58 [[ 9.99988289e-01 -3.29935771e-03 -3.54066357e-03 4.75828555e+01] [ 3.29908500e-03 9.99994555e-01 -8.28588420e-05 -3.30165816e+00] [ 3.54091767e-03 7.11769216e-05 9.99993728e-01 -1.58255290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03907232899999 meters 0.07836264268478248 Centerline is valid? [True, True] Translation: X:47.64, Y:-3.31, Z:-1.59 [[ 9.99966352e-01 -5.86123765e-03 -5.73948939e-03 4.76420755e+01] [ 5.86053854e-03 9.99982817e-01 -1.38618726e-04 -3.31452485e+00] [ 5.74020324e-03 1.04977562e-04 9.99983519e-01 -1.58698399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.099072329 meters 0.07816354890614534 Centerline is valid? [True, True] Translation: X:47.70, Y:-3.32, Z:-1.59 [[ 9.99966321e-01 -7.10027945e-03 -4.11625881e-03 4.77014764e+01] [ 7.09990112e-03 9.99974790e-01 -1.06517309e-04 -3.32319484e+00] [ 4.11691134e-03 7.72886910e-05 9.99991522e-01 -1.58617937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.159072329 meters 0.07775736317385595 Centerline is valid? [True, True] Translation: X:47.76, Y:-3.33, Z:-1.58 [[ 9.99972899e-01 -7.29112277e-03 1.02014815e-03 4.77613919e+01] [ 7.29110260e-03 9.99973419e-01 2.34884220e-05 -3.33070371e+00] [-1.02029229e-03 -1.60497806e-05 9.99999479e-01 -1.58448367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.219072329 meters 0.0780684503959558 Centerline is valid? [True, True] Translation: X:47.82, Y:-3.33, Z:-1.59 [[ 9.99995795e-01 -2.73355317e-03 9.68512222e-04 4.78207664e+01] [ 2.73353402e-03 9.99996264e-01 2.10978229e-05 -3.33396944e+00] [-9.68566275e-04 -1.84502730e-05 9.99999531e-01 -1.58634003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27907232899999 meters 0.07888941570386429 Centerline is valid? [True, True] Translation: X:47.88, Y:-3.34, Z:-1.59 [[ 9.99999388e-01 8.08610664e-04 7.54490881e-04 4.78796680e+01] [-8.08623870e-04 9.99999673e-01 1.71980232e-05 -3.33524853e+00] [-7.54476727e-04 -1.78081120e-05 9.99999715e-01 -1.59005729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33907232899999 meters 0.07939564958951768 Centerline is valid? [True, True] Translation: X:47.94, Y:-3.34, Z:-1.59 [[ 9.99971741e-01 5.72103243e-03 4.87709816e-03 4.79397561e+01] [-5.72167774e-03 9.99983624e-01 1.18370402e-04 -3.33697634e+00] [-4.87634109e-03 -1.46272240e-04 9.99988100e-01 -1.59040836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39907232899999 meters 0.08043442069953921 Centerline is valid? [True, True] Translation: X:48.00, Y:-3.34, Z:-1.59 [[ 9.99948744e-01 9.31224985e-03 3.97381503e-03 4.79998268e+01] [-9.31271328e-03 9.99956631e-01 9.81338896e-05 -3.34057590e+00] [-3.97272884e-03 -1.35135860e-04 9.99992100e-01 -1.59487655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.459072329 meters 0.08037736425808517 Centerline is valid? [True, True] Translation: X:48.06, Y:-3.35, Z:-1.59 [[ 9.99917758e-01 1.26580729e-02 2.06163377e-03 4.80614027e+01] [-1.26582041e-02 9.99919880e-01 5.06209402e-05 -3.34848152e+00] [-2.06082783e-03 -7.67133581e-05 9.99997874e-01 -1.59464185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.519072329 meters 0.08078396801735017 Centerline is valid? [True, True] Translation: X:48.12, Y:-3.35, Z:-1.60 [[ 9.99868009e-01 1.58657689e-02 3.49883543e-03 4.81235111e+01] [-1.58661821e-02 9.99874120e-01 9.03619476e-05 -3.35455961e+00] [-3.49696133e-03 -1.45863181e-04 9.99993875e-01 -1.59627076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.579072329 meters 0.07996653365483106 Centerline is valid? [True, True] Translation: X:48.19, Y:-3.36, Z:-1.60 [[ 9.99833623e-01 1.81092699e-02 2.18644716e-03 4.81853981e+01] [-1.81094342e-02 9.99836009e-01 5.53708569e-05 -3.36214204e+00] [-2.18508587e-03 -9.49569654e-05 9.99997608e-01 -1.59726407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63907232899999 meters 0.08067470894861403 Centerline is valid? [True, True] Translation: X:48.25, Y:-3.37, Z:-1.60 [[ 9.99790340e-01 2.02374275e-02 3.11805356e-03 4.82462290e+01] [-2.02377667e-02 9.99795192e-01 7.72594824e-05 -3.36922807e+00] [-3.11585143e-03 -1.40345725e-04 9.99995136e-01 -1.59898207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69907232899999 meters 0.08128068812870524 Centerline is valid? [True, True] Translation: X:48.31, Y:-3.38, Z:-1.60 [[ 9.99747760e-01 2.21851238e-02 3.49809879e-03 4.83070675e+01] [-2.21855591e-02 9.99753867e-01 8.56856840e-05 -3.37799233e+00] [-3.49533684e-03 -1.63271348e-04 9.99993878e-01 -1.59935921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75907232899999 meters 0.0821614829148822 Centerline is valid? [True, True] Translation: X:48.37, Y:-3.38, Z:-1.60 [[ 9.99695788e-01 2.43802015e-02 3.73316539e-03 4.83685728e+01] [-2.43807201e-02 9.99702742e-01 9.34756987e-05 -3.38150673e+00] [-3.72977672e-03 -1.84464523e-04 9.99993027e-01 -1.60481041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.819072329 meters 0.08337996294102948 Centerline is valid? [True, True] Translation: X:48.43, Y:-3.38, Z:-1.61 [[ 9.99658437e-01 2.58436476e-02 3.88790355e-03 4.84294525e+01] [-2.58442060e-02 9.99665978e-01 9.34573320e-05 -3.37974354e+00] [-3.88418963e-03 -1.93905191e-04 9.99992438e-01 -1.60884749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.879072329 meters 0.08391235499879487 Centerline is valid? [True, True] Translation: X:48.49, Y:-3.38, Z:-1.61 [[ 9.99576419e-01 2.88140493e-02 4.09069206e-03 4.84901235e+01] [-2.88146779e-02 9.99584766e-01 9.48131068e-05 -3.38286127e+00] [-4.08626152e-03 -2.12644920e-04 9.99991629e-01 -1.61171071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.939072329 meters 0.08533792522410649 Centerline is valid? [True, True] Translation: X:48.55, Y:-3.39, Z:-1.62 [[ 9.99489226e-01 3.18596139e-02 2.50043717e-03 4.85507113e+01] [-3.18598587e-02 9.99492344e-01 5.81072038e-05 -3.38666850e+00] [-2.49731653e-03 -1.37741099e-04 9.99996872e-01 -1.61756449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99907232899999 meters 0.08555693835548182 Centerline is valid? [True, True] Translation: X:48.61, Y:-3.39, Z:-1.62 [[ 9.99467728e-01 3.26045446e-02 1.09755186e-03 4.86126683e+01] [-3.26045995e-02 9.99468328e-01 3.22145345e-05 -3.39004449e+00] [-1.09591798e-03 -6.79826264e-05 9.99999397e-01 -1.62142238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05907232899999 meters 0.08298490321679323 Centerline is valid? [True, True] Translation: X:48.67, Y:-3.40, Z:-1.62 [[ 9.99542444e-01 2.98904281e-02 4.63312503e-03 4.86739049e+01] [-2.98912397e-02 9.99553151e-01 1.06016290e-04 -3.40205353e+00] [-4.62788586e-03 -2.44457633e-04 9.99989261e-01 -1.61948852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11907232899999 meters 0.08086903304540297 Centerline is valid? [True, True] Translation: X:48.73, Y:-3.42, Z:-1.62 [[ 9.99725795e-01 2.24670533e-02 6.60050512e-03 4.87345565e+01] [-2.24685340e-02 9.99747539e-01 1.50255666e-04 -3.41631338e+00] [-6.59546295e-03 -2.98518139e-04 9.99978205e-01 -1.61837105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.179072329 meters 0.07922967094833712 Centerline is valid? [True, True] Translation: X:48.79, Y:-3.43, Z:-1.62 [[ 9.99858946e-01 1.57599827e-02 5.80620449e-03 4.87949830e+01] [-1.57610164e-02 9.99875779e-01 1.32327609e-04 -3.42569219e+00] [-5.80339776e-03 -2.23820628e-04 9.99983135e-01 -1.62310519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.239072329 meters 0.07948179365223458 Centerline is valid? [True, True] Translation: X:48.85, Y:-3.43, Z:-1.63 [[ 9.99946245e-01 9.52701037e-03 4.09192234e-03 4.88547704e+01] [-9.52747127e-03 9.99954608e-01 9.31585146e-05 -3.43047586e+00] [-4.09084908e-03 -1.32139179e-04 9.99991624e-01 -1.63181571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.299072329 meters 0.07743616196752001 Centerline is valid? [True, True] Translation: X:48.92, Y:-3.44, Z:-1.63 [[ 9.99971920e-01 5.99448389e-03 4.49731914e-03 4.89164978e+01] [-5.99500881e-03 9.99982024e-01 1.03247773e-04 -3.44157272e+00] [-4.49661938e-03 -1.30206341e-04 9.99989882e-01 -1.63082802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.359072329 meters 0.07722641432029806 Centerline is valid? [True, True] Translation: X:48.98, Y:-3.44, Z:-1.63 [[ 9.99983926e-01 3.28253227e-03 4.62314370e-03 4.89784561e+01] [-3.28308023e-03 9.99994605e-01 1.10942065e-04 -3.44367068e+00] [-4.62275458e-03 -1.26118433e-04 9.99989307e-01 -1.63497812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41907232899999 meters 0.07738890118000107 Centerline is valid? [True, True] Translation: X:49.04, Y:-3.44, Z:-1.64 [[ 9.99981348e-01 3.78794344e-03 4.79106813e-03 4.90411330e+01] [-3.78853530e-03 9.99992817e-01 1.14465690e-04 -3.44368100e+00] [-4.79060013e-03 -1.32614686e-04 9.99988516e-01 -1.63667585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47907232899999 meters 0.07830192402750133 Centerline is valid? [True, True] Translation: X:49.10, Y:-3.44, Z:-1.64 [[ 9.99976908e-01 5.82659238e-03 3.49788854e-03 4.91023519e+01] [-5.82690448e-03 9.99983020e-01 7.90400170e-05 -3.43948273e+00] [-3.49736861e-03 -9.94200542e-05 9.99993879e-01 -1.64014019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53907232899999 meters 0.08012586492583466 Centerline is valid? [True, True] Translation: X:49.16, Y:-3.43, Z:-1.64 [[ 9.99938540e-01 1.02051919e-02 4.33244419e-03 4.91629004e+01] [-1.02057056e-02 9.99947916e-01 9.64800003e-05 -3.43211355e+00] [-4.33123394e-03 -1.40689721e-04 9.99990610e-01 -1.64160668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.599072329 meters 0.07847822778642467 Centerline is valid? [True, True] Translation: X:49.23, Y:-3.44, Z:-1.64 [[ 9.99921408e-01 1.16694798e-02 4.58261355e-03 4.92251345e+01] [-1.16700967e-02 9.99931896e-01 1.07909598e-04 -3.43717485e+00] [-4.58104221e-03 -1.61380661e-04 9.99989494e-01 -1.63732123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.659072329 meters 0.07977278161467997 Centerline is valid? [True, True] Translation: X:49.29, Y:-3.43, Z:-1.64 [[ 9.99907951e-01 1.32239998e-02 3.03583180e-03 4.92856147e+01] [-1.32242813e-02 9.99912553e-01 7.26676010e-05 -3.42976447e+00] [-3.03460537e-03 -1.12807606e-04 9.99995389e-01 -1.64385313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.719072329 meters 0.08031424065109305 Centerline is valid? [True, True] Translation: X:49.35, Y:-3.43, Z:-1.65 [[ 9.99911641e-01 1.32284195e-02 1.31148948e-03 4.93464846e+01] [-1.32284764e-02 9.99912499e-01 3.47150243e-05 -3.42831998e+00] [-1.31091549e-03 -5.20609644e-05 9.99999139e-01 -1.64692250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77907232899999 meters 0.0798859869807368 Centerline is valid? [True, True] Translation: X:49.41, Y:-3.43, Z:-1.65 [[ 9.99928865e-01 1.16486683e-02 2.56387896e-03 4.94077623e+01] [-1.16488499e-02 9.99932148e-01 5.59048150e-05 -3.42667048e+00] [-2.56305378e-03 -8.57670794e-05 9.99996712e-01 -1.64816528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83907232899999 meters 0.07988754194451306 Centerline is valid? [True, True] Translation: X:49.47, Y:-3.42, Z:-1.65 [[ 9.99942034e-01 1.07669099e-02 4.26720257e-05 4.94693151e+01] [-1.07669102e-02 9.99942035e-01 7.97775731e-06 -3.42231236e+00] [-4.25836565e-05 -8.43674074e-06 9.99999999e-01 -1.65202276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89907232899999 meters 0.07821995977275889 Centerline is valid? [True, True] Translation: X:49.53, Y:-3.43, Z:-1.65 [[ 9.99966456e-01 8.00770877e-03 1.72139226e-03 4.95311820e+01] [-8.00778597e-03 9.99967936e-01 3.79562891e-05 -3.42698887e+00] [-1.72103312e-03 -5.17395566e-05 9.99998518e-01 -1.64731991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.959072329 meters 0.07777836045404546 Centerline is valid? [True, True] Translation: X:49.59, Y:-3.42, Z:-1.65 [[ 9.99991997e-01 2.51901401e-03 3.10813386e-03 4.95903962e+01] [-2.51922865e-03 9.99996825e-01 6.51446984e-05 -3.42407265e+00] [-3.10795989e-03 -7.29742769e-05 9.99995168e-01 -1.65078158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.019072329 meters 0.07729521013694805 Centerline is valid? [True, True] Translation: X:49.65, Y:-3.42, Z:-1.66 [[ 9.99999379e-01 -1.09951602e-03 -1.84531972e-04 4.96526239e+01] [ 1.09951675e-03 9.99999396e-01 3.87232232e-06 -3.42194488e+00] [ 1.84527602e-04 -4.07521591e-06 9.99999983e-01 -1.65565463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.079072329 meters 0.07654339759428487 Centerline is valid? [True, True] Translation: X:49.71, Y:-3.43, Z:-1.65 [[ 9.99972678e-01 -7.20249627e-03 -1.66326368e-03 4.97128993e+01] [ 7.20244757e-03 9.99974061e-01 -3.52677858e-05 -3.42583873e+00] [ 1.66347455e-03 2.32872528e-05 9.99998616e-01 -1.65359185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13907232899999 meters 0.07599883925268829 Centerline is valid? [True, True] Translation: X:49.77, Y:-3.42, Z:-1.65 [[ 9.99940835e-01 -1.08102577e-02 -1.21027920e-03 4.97714528e+01] [ 1.08102322e-02 9.99941567e-01 -2.76027765e-05 -3.42398167e+00] [ 1.21050688e-03 1.45177441e-05 9.99999267e-01 -1.65452599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19907232899999 meters 0.07648054608955082 Centerline is valid? [True, True] Translation: X:49.83, Y:-3.42, Z:-1.66 [[ 9.99890915e-01 -1.47126573e-02 -1.30200390e-03 4.98290474e+01] [ 1.47126305e-02 9.99891763e-01 -3.01690476e-05 -3.41977178e+00] [ 1.30230684e-03 1.10098543e-05 9.99999152e-01 -1.65876944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25907232899999 meters 0.07628447096328879 Centerline is valid? [True, True] Translation: X:49.89, Y:-3.42, Z:-1.66 [[ 9.99843800e-01 -1.75048818e-02 -2.44037052e-03 4.98883815e+01] [ 1.75047885e-02 9.99846778e-01 -5.96003623e-05 -3.41965518e+00] [ 2.44103989e-03 1.68728831e-05 9.99997021e-01 -1.65513140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.319072329 meters 0.0772838991553486 Centerline is valid? [True, True] Translation: X:49.95, Y:-3.42, Z:-1.66 [[ 9.99765497e-01 -2.12787774e-02 -4.02053260e-03 4.99460220e+01] [ 2.12785927e-02 9.99773581e-01 -8.87161155e-05 -3.41519926e+00] [ 4.02151005e-03 3.14403559e-06 9.99991914e-01 -1.66189662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.379072329 meters 0.07742578613271174 Centerline is valid? [True, True] Translation: X:50.00, Y:-3.41, Z:-1.66 [[ 9.99712096e-01 -2.32655055e-02 -5.86870392e-03 5.00046756e+01] [ 2.32651157e-02 9.99729321e-01 -1.34694803e-04 -3.40825280e+00] [ 5.87024913e-03 -1.88005150e-06 9.99982770e-01 -1.65883710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.439072329 meters 0.07806721070682793 Centerline is valid? [True, True] Translation: X:50.06, Y:-3.40, Z:-1.66 [[ 9.99675723e-01 -2.48656341e-02 -5.49074304e-03 5.00625911e+01] [ 2.48653385e-02 9.99690802e-01 -1.22097024e-04 -3.40303015e+00] [ 5.49208134e-03 -1.44717535e-05 9.99984918e-01 -1.65884850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49907232899999 meters 0.07816542456117785 Centerline is valid? [True, True] Translation: X:50.12, Y:-3.40, Z:-1.66 [[ 9.99652509e-01 -2.54120011e-02 -7.00646582e-03 5.01218344e+01] [ 2.54114915e-02 9.99677063e-01 -1.61755871e-04 -3.40083968e+00] [ 7.00831371e-03 -1.63450842e-05 9.99975441e-01 -1.65539879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55907232899999 meters 0.07855016024349988 Centerline is valid? [True, True] Translation: X:50.18, Y:-3.39, Z:-1.66 [[ 9.99659743e-01 -2.46177062e-02 -8.62365173e-03 5.01803701e+01] [ 2.46169011e-02 9.99696938e-01 -1.99504890e-04 -3.39050020e+00] [ 8.62594958e-03 -1.28505747e-05 9.99962796e-01 -1.66030728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61907232899999 meters 0.07792425183968754 Centerline is valid? [True, True] Translation: X:50.24, Y:-3.38, Z:-1.66 [[ 9.99710333e-01 -2.28719425e-02 -7.49166029e-03 5.02396118e+01] [ 2.28712620e-02 9.99738403e-01 -1.76504577e-04 -3.38474513e+00] [ 7.49373750e-03 5.10972440e-06 9.99971922e-01 -1.65850301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.679072329 meters 0.07782709795100642 Centerline is valid? [True, True] Translation: X:50.30, Y:-3.38, Z:-1.66 [[ 9.99769694e-01 -2.03692557e-02 -6.75662245e-03 5.02989424e+01] [ 2.03686285e-02 9.99792525e-01 -1.61634918e-04 -3.38075919e+00] [ 6.75851300e-03 2.39745605e-05 9.99977161e-01 -1.65891631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.739072329 meters 0.07730477845441963 Centerline is valid? [True, True] Translation: X:50.36, Y:-3.37, Z:-1.66 [[ 9.99901073e-01 -1.24124135e-02 -6.61630960e-03 5.03576930e+01] [ 1.24116248e-02 9.99922960e-01 -1.60252770e-04 -3.36721004e+00] [ 6.61778900e-03 7.81177645e-05 9.99978099e-01 -1.65997321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.799072329 meters 0.0782747018841427 Centerline is valid? [True, True] Translation: X:50.42, Y:-3.35, Z:-1.67 [[ 9.99962977e-01 -2.38381820e-03 -8.26818461e-03 5.04159791e+01] [ 2.38231230e-03 9.99997144e-01 -1.91976678e-04 -3.35209678e+00] [ 8.26861863e-03 1.72272172e-04 9.99965800e-01 -1.66606684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.859072329 meters 0.07913499319380023 Centerline is valid? [True, True] Translation: X:50.47, Y:-3.35, Z:-1.67 [[ 9.99958140e-01 3.92781922e-03 -8.26379250e-03 5.04749269e+01] [-3.92954688e-03 9.99992261e-01 -1.92837024e-04 -3.34631647e+00] [ 8.26297112e-03 2.25301912e-04 9.99965836e-01 -1.66619829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91907232899999 meters 0.08142381526444394 Centerline is valid? [True, True] Translation: X:50.53, Y:-3.33, Z:-1.67 [[ 9.99867293e-01 1.47946122e-02 -6.82024471e-03 5.05335370e+01] [-1.47960370e-02 9.99890520e-01 -1.58504668e-04 -3.32969138e+00] [ 6.81715302e-03 2.59396227e-04 9.99976729e-01 -1.67095918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97907232899999 meters 0.08532075585266503 Centerline is valid? [True, True] Translation: X:50.59, Y:-3.32, Z:-1.68 [[ 9.99636660e-01 2.58550817e-02 -7.61985209e-03 5.05926872e+01] [-2.58571705e-02 9.99665632e-01 -1.75721333e-04 -3.31559267e+00] [ 7.61276096e-03 3.72685301e-04 9.99970953e-01 -1.67567225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03907232899999 meters 0.08740299549874933 Centerline is valid? [True, True] Translation: X:50.65, Y:-3.31, Z:-1.67 [[ 9.99501601e-01 3.08568132e-02 -6.66384197e-03 5.06534064e+01] [-3.08585233e-02 9.99523751e-01 -1.53932087e-04 -3.31222435e+00] [ 6.65591846e-03 3.59491690e-04 9.99977785e-01 -1.67465028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.099072329 meters 0.09052030544049293 Centerline is valid? [True, True] Translation: X:50.71, Y:-3.30, Z:-1.68 [[ 9.99207587e-01 3.94263920e-02 -5.45503495e-03 5.07139003e+01] [-3.94276659e-02 9.99222419e-01 -1.26147835e-04 -3.30309142e+00] [ 5.44581967e-03 3.41127169e-04 9.99985113e-01 -1.67643077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.159072329 meters 0.09478203926350683 Centerline is valid? [True, True] Translation: X:50.77, Y:-3.30, Z:-1.68 [[ 9.98939025e-01 4.55155850e-02 -7.01107289e-03 5.07737327e+01] [-4.55178382e-02 9.98963513e-01 -1.62072054e-04 -3.29608005e+00] [ 6.99642920e-03 4.81028981e-04 9.99975409e-01 -1.68246638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.219072329 meters 0.09813295886553963 Centerline is valid? [True, True] Translation: X:50.83, Y:-3.29, Z:-1.69 [[ 9.98868680e-01 4.69937810e-02 -7.27633044e-03 5.08342965e+01] [-4.69962172e-02 9.98895054e-01 -1.64099303e-04 -3.29410763e+00] [ 7.26057884e-03 5.05873660e-04 9.99973514e-01 -1.68585069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27907232899999 meters 0.09484014505237029 Centerline is valid? [True, True] Translation: X:50.90, Y:-3.31, Z:-1.68 [[ 9.98803378e-01 4.86423878e-02 -5.07254862e-03 5.08964263e+01] [-4.86435635e-02 9.98816195e-01 -1.08594642e-04 -3.30542870e+00] [ 5.06126141e-03 3.55211536e-04 9.99987129e-01 -1.68356002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33907232899999 meters 0.10112987500979564 Centerline is valid? [True, False] Translation: X:50.89, Y:-3.31, Z:-1.69 [[ 9.99159535e-01 4.07278307e-02 -4.63320613e-03 5.08914320e+01] [-4.06960237e-02 9.99148680e-01 6.76380323e-03 -3.30835888e+00] [ 4.90473683e-03 -6.56956543e-03 9.99966392e-01 -1.68735482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39907232899999 meters 0.10171343018031068 Centerline is valid? [False, False] Translation: X:50.88, Y:-3.31, Z:-1.69 [[ 9.99635799e-01 2.69263200e-02 1.80080980e-03 5.08815730e+01] [-2.69350873e-02 9.99624501e-01 5.03566679e-03 -3.31219631e+00] [-1.66454163e-03 -5.08233776e-03 9.99985699e-01 -1.69213051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.459072329 meters 0.0900649710238796 Centerline is valid? [False, True] Translation: X:50.88, Y:-3.32, Z:-1.70 [[ 9.99858886e-01 1.57248204e-02 5.91092734e-03 5.08750185e+01] [-1.57693814e-02 9.99847005e-01 7.56928027e-03 -3.31679297e+00] [-5.79099742e-03 -7.66142380e-03 9.99953882e-01 -1.69807927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.519072329 meters 0.08890519373012397 Centerline is valid? [True, True] Translation: X:50.94, Y:-3.31, Z:-1.71 [[ 9.99883996e-01 1.42487015e-02 5.38234358e-03 5.09360437e+01] [-1.42504357e-02 9.99898417e-01 2.83977676e-04 -3.31322179e+00] [-5.37775051e-03 -3.60645474e-04 9.99985475e-01 -1.70710206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.579072329 meters 0.08747612771217422 Centerline is valid? [True, True] Translation: X:51.00, Y:-3.32, Z:-1.71 [[ 9.99944437e-01 1.01356260e-02 2.89691404e-03 5.09967066e+01] [-1.01361092e-02 9.99948617e-01 1.52142586e-04 -3.31947409e+00] [-2.89522312e-03 -1.81497570e-04 9.99995792e-01 -1.71136560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63907232899999 meters 0.08497374465319942 Centerline is valid? [True, True] Translation: X:51.06, Y:-3.33, Z:-1.71 [[ 9.99989550e-01 4.08394810e-03 2.05443272e-03 5.10573722e+01] [-4.08417834e-03 9.99991654e-01 1.07890810e-04 -3.32784511e+00] [-2.05397496e-03 -1.16280352e-04 9.99997884e-01 -1.71297552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69907232899999 meters 0.08383289187369196 Centerline is valid? [True, True] Translation: X:51.12, Y:-3.33, Z:-1.72 [[ 9.99991831e-01 -6.08498444e-04 3.99587594e-03 5.11173339e+01] [ 6.07667005e-04 9.99999793e-01 2.09284877e-04 -3.32986218e+00] [-3.99600246e-03 -2.06855006e-04 9.99991995e-01 -1.71597273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75907232899999 meters 0.0828703172454892 Centerline is valid? [True, True] Translation: X:51.18, Y:-3.33, Z:-1.72 [[ 9.99975538e-01 -4.73678634e-03 5.14641048e-03 5.11779995e+01] [ 4.73545547e-03 9.99988751e-01 2.70757661e-04 -3.33185076e+00] [-5.14763511e-03 -2.46380440e-04 9.99986720e-01 -1.71956285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.819072329 meters 0.08234706039970241 Centerline is valid? [True, True] Translation: X:51.24, Y:-3.33, Z:-1.72 [[ 9.99930880e-01 -6.20396754e-03 9.98725624e-03 5.12393668e+01] [ 6.19903234e-03 9.99980648e-01 5.25031156e-04 -3.33154291e+00] [-9.99032024e-03 -4.63083542e-04 9.99949988e-01 -1.71858424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.879072329 meters 0.08265664181066736 Centerline is valid? [True, True] Translation: X:51.30, Y:-3.33, Z:-1.72 [[ 9.99931274e-01 -6.69068103e-03 9.62712540e-03 5.13010809e+01] [ 6.68610615e-03 9.99977519e-01 5.07313939e-04 -3.32802515e+00] [-9.63030325e-03 -4.42911092e-04 9.99953529e-01 -1.72256515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.939072329 meters 0.08267615381262965 Centerline is valid? [True, True] Translation: X:51.36, Y:-3.33, Z:-1.73 [[ 9.99911490e-01 -8.22669388e-03 1.04563000e-02 5.13623735e+01] [ 8.22139985e-03 9.99966053e-01 5.49184623e-04 -3.32896575e+00] [-1.04604630e-02 -4.63170591e-04 9.99945181e-01 -1.72606843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99907232899999 meters 0.08223681559830164 Centerline is valid? [True, True] Translation: X:51.42, Y:-3.33, Z:-1.73 [[ 9.99879123e-01 -1.01680293e-02 1.17622406e-02 5.14237195e+01] [ 1.01614709e-02 9.99948180e-01 6.17212329e-04 -3.32901641e+00] [-1.17679069e-02 -4.97616057e-04 9.99930632e-01 -1.72731643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05907232899999 meters 0.08239499812392664 Centerline is valid? [True, True] Translation: X:51.48, Y:-3.33, Z:-1.73 [[ 9.99840678e-01 -1.05729887e-02 1.43816229e-02 5.14844574e+01] [ 1.05632366e-02 9.99943923e-01 7.53893935e-04 -3.32534483e+00] [-1.43887873e-02 -6.01857338e-04 9.99896295e-01 -1.73174325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11907232899999 meters 0.08193630503452677 Centerline is valid? [True, True] Translation: X:51.55, Y:-3.33, Z:-1.73 [[ 9.99861171e-01 -9.41192638e-03 1.37497404e-02 5.15458997e+01] [ 9.40290810e-03 9.99955532e-01 7.20388084e-04 -3.32628038e+00] [-1.37559092e-02 -5.91000528e-04 9.99905208e-01 -1.73168200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.179072329 meters 0.08254115842907749 Centerline is valid? [True, True] Translation: X:51.61, Y:-3.32, Z:-1.73 [[ 9.99855852e-01 -9.67647094e-03 1.39514074e-02 5.16073047e+01] [ 9.66719279e-03 9.99953003e-01 7.32320528e-04 -3.32372499e+00] [-1.39578380e-02 -5.97344020e-04 9.99902406e-01 -1.73476311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.239072329 meters 0.08302175798864356 Centerline is valid? [True, True] Translation: X:51.67, Y:-3.32, Z:-1.74 [[ 9.99868210e-01 -9.04620352e-03 1.34806572e-02 5.16680848e+01] [ 9.03752935e-03 9.99958913e-01 7.04234139e-04 -3.32072249e+00] [-1.34864740e-02 -5.82309493e-04 9.99908884e-01 -1.73883688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.299072329 meters 0.08423167629270982 Centerline is valid? [True, True] Translation: X:51.73, Y:-3.32, Z:-1.74 [[ 9.99862672e-01 -7.04310975e-03 1.50010602e-02 5.17288272e+01] [ 7.03214788e-03 9.99974967e-01 7.83362923e-04 -3.31614454e+00] [-1.50062020e-02 -6.77765671e-04 9.99887171e-01 -1.74045283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.359072329 meters 0.08345754684955818 Centerline is valid? [True, True] Translation: X:51.79, Y:-3.32, Z:-1.74 [[ 9.99860412e-01 -4.55160805e-03 1.60760285e-02 5.17907212e+01] [ 4.53871143e-03 9.99989348e-01 8.38620513e-04 -3.31593344e+00] [-1.60796743e-02 -7.65538998e-04 9.99870421e-01 -1.73946957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41907232899999 meters 0.08526563942166937 Centerline is valid? [True, True] Translation: X:51.85, Y:-3.31, Z:-1.75 [[ 9.99914196e-01 -1.68948150e-03 1.29902575e-02 5.18498588e+01] [ 1.68082146e-03 9.99998358e-01 6.77545429e-04 -3.30978039e+00] [-1.29913809e-02 -6.55652989e-04 9.99915393e-01 -1.74581598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47907232899999 meters 0.08628157650018074 Centerline is valid? [True, True] Translation: X:51.91, Y:-3.31, Z:-1.75 [[ 9.99940463e-01 -7.14613980e-04 1.08885333e-02 5.19111428e+01] [ 7.08478301e-04 9.99999588e-01 5.67345992e-04 -3.30649869e+00] [-1.08889343e-02 -5.59597924e-04 9.99940557e-01 -1.75117553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53907232899999 meters 0.08656932580030156 Centerline is valid? [True, True] Translation: X:51.97, Y:-3.30, Z:-1.76 [[ 9.99944931e-01 -1.56905583e-03 1.03765740e-02 5.19736556e+01] [ 1.56352534e-03 9.99998631e-01 5.41068751e-04 -3.30486803e+00] [-1.03774088e-02 -5.24814919e-04 9.99946016e-01 -1.75653867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.599072329 meters 0.0843087246759621 Centerline is valid? [True, True] Translation: X:52.04, Y:-3.31, Z:-1.76 [[ 9.99943104e-01 -3.45118244e-03 1.00935044e-02 5.20355687e+01] [ 3.44606571e-03 9.99993925e-01 5.24280299e-04 -3.30982404e+00] [-1.00952525e-02 -4.89467590e-04 9.99948922e-01 -1.75695765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.659072329 meters 0.08415690641584117 Centerline is valid? [True, True] Translation: X:52.10, Y:-3.31, Z:-1.76 [[ 9.99919929e-01 -3.92862698e-03 1.20291690e-02 5.20982158e+01] [ 3.92138692e-03 9.99992116e-01 6.25402782e-04 -3.31065875e+00] [-1.20315311e-02 -5.78181680e-04 9.99927451e-01 -1.75719022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.719072329 meters 0.08362137784257695 Centerline is valid? [True, True] Translation: X:52.16, Y:-3.31, Z:-1.76 [[ 9.99892200e-01 -4.72316563e-03 1.39025233e-02 5.21592935e+01] [ 4.71361090e-03 9.99988632e-01 7.19953003e-04 -3.31092458e+00] [-1.39057657e-02 -6.54344307e-04 9.99903096e-01 -1.75806745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77907232899999 meters 0.08402577295465805 Centerline is valid? [True, True] Translation: X:52.22, Y:-3.31, Z:-1.76 [[ 9.99916078e-01 -4.22493391e-03 1.22469184e-02 5.22218454e+01] [ 4.21747547e-03 9.99990905e-01 6.34767829e-04 -3.31162024e+00] [-1.22494889e-02 -5.83063480e-04 9.99924802e-01 -1.76142851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83907232899999 meters 0.08443025587198469 Centerline is valid? [True, True] Translation: X:52.28, Y:-3.31, Z:-1.76 [[ 9.99900497e-01 -3.97147946e-03 1.35360131e-02 5.22842140e+01] [ 3.96236151e-03 9.99991905e-01 7.00358921e-04 -3.31221653e+00] [-1.35386850e-02 -6.46654656e-04 9.99908139e-01 -1.76298655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89907232899999 meters 0.08485313061879246 Centerline is valid? [True, True] Translation: X:52.35, Y:-3.31, Z:-1.77 [[ 9.99889211e-01 -3.78775165e-03 1.43950809e-02 5.23464193e+01] [ 3.77743745e-03 9.99992589e-01 7.43630832e-04 -3.31076401e+00] [-1.43977909e-02 -6.89171928e-04 9.99896109e-01 -1.76606875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.959072329 meters 0.08565445081706174 Centerline is valid? [True, True] Translation: X:52.41, Y:-3.31, Z:-1.77 [[ 9.99899360e-01 -3.37200178e-03 1.37804288e-02 5.24082348e+01] [ 3.36252190e-03 9.99994094e-01 7.11034594e-04 -3.30892058e+00] [-1.37827450e-02 -6.64626041e-04 9.99904793e-01 -1.77073316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.019072329 meters 0.08575598434222081 Centerline is valid? [True, True] Translation: X:52.47, Y:-3.31, Z:-1.77 [[ 9.99910589e-01 -2.99087911e-03 1.30333842e-02 5.24702987e+01] [ 2.98238166e-03 9.99995327e-01 6.71363152e-04 -3.31401581e+00] [-1.30353313e-02 -6.32432598e-04 9.99914836e-01 -1.77160468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.079072329 meters 0.08713069235689666 Centerline is valid? [True, True] Translation: X:52.53, Y:-3.31, Z:-1.77 [[ 9.99892872e-01 -1.55136325e-03 1.45546147e-02 5.25310808e+01] [ 1.54062833e-03 9.99998533e-01 7.48744470e-04 -3.30969824e+00] [-1.45557549e-02 -7.26241008e-04 9.99893796e-01 -1.77449785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13907232899999 meters 0.089241889524782 Centerline is valid? [True, True] Translation: X:52.59, Y:-3.31, Z:-1.78 [[ 9.99899136e-01 9.05028593e-04 1.41738864e-02 5.25919700e+01] [-9.15435352e-04 9.99999316e-01 7.27749844e-04 -3.30696300e+00] [-1.41732181e-02 -7.40651717e-04 9.99899281e-01 -1.77726349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19907232899999 meters 0.08795846580555448 Centerline is valid? [True, True] Translation: X:52.65, Y:-3.32, Z:-1.78 [[ 9.99903767e-01 2.93488457e-03 1.35588521e-02 5.26541016e+01] [-2.94459671e-03 9.99995422e-01 6.96387021e-04 -3.31512178e+00] [-1.35567462e-02 -7.36245357e-04 9.99907832e-01 -1.77603997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25907232899999 meters 0.09228516502499173 Centerline is valid? [True, True] Translation: X:52.71, Y:-3.30, Z:-1.78 [[ 9.99878463e-01 6.51868622e-03 1.41621408e-02 5.27132065e+01] [-6.52962177e-03 9.99978418e-01 7.26065627e-04 -3.30250813e+00] [-1.41571022e-02 -8.18450806e-04 9.99899448e-01 -1.78227628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.319072329 meters 0.09220883809605647 Centerline is valid? [True, True] Translation: X:52.77, Y:-3.30, Z:-1.78 [[ 9.99862762e-01 8.06562761e-03 1.44707552e-02 5.27749963e+01] [-8.07724182e-03 9.99967102e-01 7.44332308e-04 -3.30378816e+00] [-1.44642756e-02 -8.61113946e-04 9.99895016e-01 -1.78213426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.379072329 meters 0.09374234008610574 Centerline is valid? [True, True] Translation: X:52.84, Y:-3.30, Z:-1.78 [[ 9.99846568e-01 9.84536236e-03 1.44882359e-02 5.28372684e+01] [-9.85715234e-03 9.99951141e-01 7.42576019e-04 -3.30302144e+00] [-1.44802171e-02 -8.85274834e-04 9.99894764e-01 -1.78262162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.439072329 meters 0.09518310111323156 Centerline is valid? [True, True] Translation: X:52.90, Y:-3.30, Z:-1.79 [[ 9.99822382e-01 1.11522378e-02 1.51931741e-02 5.28974347e+01] [-1.11653515e-02 9.99937362e-01 7.78579039e-04 -3.29565520e+00] [-1.51835395e-02 -9.48077879e-04 9.99884274e-01 -1.78608884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49907232899999 meters 0.09678528863644009 Centerline is valid? [True, True] Translation: X:52.96, Y:-3.29, Z:-1.79 [[ 9.99796832e-01 1.22907061e-02 1.59760104e-02 5.29592441e+01] [-1.23053538e-02 9.99923951e-01 8.18875346e-04 -3.29154054e+00] [-1.59647309e-02 -1.01529944e-03 9.99872040e-01 -1.78801382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55907232899999 meters 0.09591108776046267 Centerline is valid? [True, True] Translation: X:53.02, Y:-3.29, Z:-1.79 [[ 9.99817109e-01 1.01772932e-02 1.61916911e-02 5.30206614e+01] [-1.01919407e-02 9.99947723e-01 8.22370825e-04 -3.29253455e+00] [-1.61824751e-02 -9.87245176e-04 9.99868568e-01 -1.78886702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61907232899999 meters 0.09373916671738595 Centerline is valid? [True, True] Translation: X:53.08, Y:-3.29, Z:-1.80 [[ 9.99892426e-01 3.64814926e-03 1.42066131e-02 5.30802884e+01] [-3.65874859e-03 9.99993047e-01 7.20164894e-04 -3.29486280e+00] [-1.42038870e-02 -7.72065848e-04 9.99898822e-01 -1.79697516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.679072329 meters 0.08640585004791736 Centerline is valid? [True, True] Translation: X:53.14, Y:-3.31, Z:-1.80 [[ 9.99889676e-01 -4.30741982e-03 1.42155709e-02 5.31424990e+01] [ 4.29759662e-03 9.99990505e-01 7.21492291e-04 -3.31427129e+00] [-1.42185437e-02 -6.60319904e-04 9.99898693e-01 -1.79570007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.739072329 meters 0.08498241830889477 Centerline is valid? [True, True] Translation: X:53.20, Y:-3.32, Z:-1.80 [[ 9.99842590e-01 -8.96462885e-03 1.53111210e-02 5.32029236e+01] [ 8.95378605e-03 9.99959613e-01 7.76569834e-04 -3.31868313e+00] [-1.53174643e-02 -6.39355092e-04 9.99882476e-01 -1.79599470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.799072329 meters 0.08135186604208725 Centerline is valid? [True, True] Translation: X:53.26, Y:-3.33, Z:-1.80 [[ 9.99724370e-01 -1.39831200e-02 1.88588745e-02 5.32635476e+01] [ 1.39675566e-02 9.99901991e-01 9.56727879e-04 -3.32597877e+00] [-1.88704042e-02 -6.93051779e-04 9.99821698e-01 -1.79640234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.859072329 meters 0.08181733132187408 Centerline is valid? [True, True] Translation: X:53.32, Y:-3.33, Z:-1.80 [[ 9.99735931e-01 -1.44064474e-02 1.79031367e-02 5.33243453e+01] [ 1.43924752e-02 9.99896010e-01 9.09042792e-04 -3.32732829e+00] [-1.79143710e-02 -6.51132291e-04 9.99839313e-01 -1.79943789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91907232899999 meters 0.0819568902829173 Centerline is valid? [True, True] Translation: X:53.39, Y:-3.33, Z:-1.80 [[ 9.99744943e-01 -1.35764965e-02 1.80479278e-02 5.33853216e+01] [ 1.35621972e-02 9.99907611e-01 9.14458352e-04 -3.32945195e+00] [-1.80586755e-02 -6.69455557e-04 9.99836705e-01 -1.79985909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97907232899999 meters 0.08267382811384114 Centerline is valid? [True, True] Translation: X:53.45, Y:-3.33, Z:-1.80 [[ 9.99754735e-01 -1.21271821e-02 1.85310787e-02 5.34465968e+01] [ 1.21118469e-02 9.99926207e-01 9.39550732e-04 -3.32565894e+00] [-1.85411053e-02 -7.14874704e-04 9.99827843e-01 -1.80353079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03907232899999 meters 0.08469795329670379 Centerline is valid? [True, True] Translation: X:53.51, Y:-3.32, Z:-1.81 [[ 9.99793658e-01 -8.46745544e-03 1.84646793e-02 5.35063061e+01] [ 8.45161220e-03 9.99963847e-01 9.35897012e-04 -3.32377541e+00] [-1.84719364e-02 -7.79647588e-04 9.99829075e-01 -1.80576979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.099072329 meters 0.08531161214943354 Centerline is valid? [True, True] Translation: X:53.57, Y:-3.32, Z:-1.81 [[ 9.99805851e-01 -7.52310767e-03 1.82116164e-02 5.35681227e+01] [ 7.50755292e-03 9.99971393e-01 9.22329742e-04 -3.32448169e+00] [-1.82180342e-02 -7.85425999e-04 9.99833729e-01 -1.80875289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.159072329 meters 0.08519452049745957 Centerline is valid? [True, True] Translation: X:53.63, Y:-3.33, Z:-1.81 [[ 9.99812206e-01 -6.15821949e-03 1.83746661e-02 5.36307503e+01] [ 6.14217757e-03 9.99980705e-01 9.29353399e-04 -3.32955949e+00] [-1.83800347e-02 -8.16318410e-04 9.99830740e-01 -1.81107537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.219072329 meters 0.08679081004452618 Centerline is valid? [True, True] Translation: X:53.69, Y:-3.33, Z:-1.81 [[ 9.99816447e-01 -5.82109975e-03 1.82534265e-02 5.36920102e+01] [ 5.80524171e-03 9.99982725e-01 9.21637983e-04 -3.32829117e+00] [-1.82584761e-02 -8.15503261e-04 9.99832968e-01 -1.81496757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27907232899999 meters 0.08655956071307362 Centerline is valid? [True, True] Translation: X:53.75, Y:-3.33, Z:-1.82 [[ 9.99823845e-01 -5.16269551e-03 1.80450863e-02 5.37542463e+01] [ 5.14710161e-03 9.99986339e-01 9.10500387e-04 -3.33462638e+00] [-1.80495405e-02 -8.17460105e-04 9.99836760e-01 -1.81831409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33907232899999 meters 0.08577801477881343 Centerline is valid? [True, True] Translation: X:53.82, Y:-3.34, Z:-1.82 [[ 9.99803508e-01 -5.27952621e-03 1.91068509e-02 5.38166506e+01] [ 5.26209113e-03 9.99985692e-01 9.62664935e-04 -3.33855558e+00] [-1.91116599e-02 -8.61933789e-04 9.99816984e-01 -1.82045312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39907232899999 meters 0.08576771238293979 Centerline is valid? [True, True] Translation: X:53.88, Y:-3.35, Z:-1.83 [[ 9.99794418e-01 -8.92572597e-03 1.82058666e-02 5.38776466e+01] [ 8.91053216e-03 9.99959881e-01 9.15505399e-04 -3.34595563e+00] [-1.82133077e-02 -7.53093227e-04 9.99833840e-01 -1.82510848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.459072329 meters 0.08422588521331784 Centerline is valid? [True, True] Translation: X:53.94, Y:-3.36, Z:-1.83 [[ 9.99774253e-01 -1.26942575e-02 1.70381410e-02 5.39401587e+01] [ 1.26814947e-02 9.99919219e-01 8.56909238e-04 -3.35708887e+00] [-1.70476425e-02 -6.40646698e-04 9.99854473e-01 -1.82690937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.519072329 meters 0.08424540357351079 Centerline is valid? [True, True] Translation: X:54.00, Y:-3.36, Z:-1.83 [[ 9.99710504e-01 -1.53084650e-02 1.85623268e-02 5.39993572e+01] [ 1.52938206e-02 9.99882610e-01 9.30643103e-04 -3.35639414e+00] [-1.85743945e-02 -6.46484790e-04 9.99827272e-01 -1.82979250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.579072329 meters 0.08214737520593453 Centerline is valid? [True, True] Translation: X:54.06, Y:-3.37, Z:-1.83 [[ 9.99615173e-01 -2.04513916e-02 1.87415951e-02 5.40597788e+01] [ 2.04373651e-02 9.99790694e-01 9.39660667e-04 -3.36808980e+00] [-1.87568897e-02 -5.56270239e-04 9.99823919e-01 -1.83067829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63907232899999 meters 0.08216492594900775 Centerline is valid? [True, True] Translation: X:54.12, Y:-3.37, Z:-1.84 [[ 9.99575189e-01 -2.45234160e-02 1.57494118e-02 5.41178450e+01] [ 2.45140265e-02 9.99699175e-01 7.88988197e-04 -3.37249234e+00] [-1.57640226e-02 -4.02571528e-04 9.99875659e-01 -1.83939426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69907232899999 meters 0.08088583149331245 Centerline is valid? [True, True] Translation: X:54.18, Y:-3.38, Z:-1.84 [[ 9.99504588e-01 -2.72142141e-02 1.58102760e-02 5.41772022e+01] [ 2.72051157e-02 9.99629560e-01 7.90302246e-04 -3.37737470e+00] [-1.58259267e-02 -3.59790334e-04 9.99874697e-01 -1.84111266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75907232899999 meters 0.0800220807137825 Centerline is valid? [True, True] Translation: X:54.24, Y:-3.38, Z:-1.84 [[ 9.99404669e-01 -3.02909680e-02 1.65156090e-02 5.42365966e+01] [ 3.02813373e-02 9.99541068e-01 8.32949815e-04 -3.38449104e+00] [-1.65332603e-02 -3.32339207e-04 9.99863261e-01 -1.84137637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.819072329 meters 0.07993520773259123 Centerline is valid? [True, True] Translation: X:54.29, Y:-3.38, Z:-1.85 [[ 9.99362699e-01 -3.16501000e-02 1.65065928e-02 5.42942127e+01] [ 3.16406521e-02 9.99498962e-01 8.33275468e-04 -3.38331982e+00] [-1.65246956e-02 -3.10465061e-04 9.99863410e-01 -1.84574049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.879072329 meters 0.08051175169263627 Centerline is valid? [True, True] Translation: X:54.35, Y:-3.38, Z:-1.85 [[ 9.99438166e-01 -2.99627373e-02 1.50195450e-02 5.43529016e+01] [ 2.99547600e-02 9.99550970e-01 7.55863984e-04 -3.38133265e+00] [-1.50354486e-02 -3.05532447e-04 9.99886915e-01 -1.84853213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.939072329 meters 0.08187045987085388 Centerline is valid? [True, True] Translation: X:54.41, Y:-3.37, Z:-1.85 [[ 9.99554848e-01 -2.58301303e-02 1.49301938e-02 5.44116232e+01] [ 2.58216752e-02 9.99666277e-01 7.58834957e-04 -3.37489031e+00] [-1.49448120e-02 -3.72974546e-04 9.99888250e-01 -1.85059469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99907232899999 meters 0.08295733047459458 Centerline is valid? [True, True] Translation: X:54.47, Y:-3.37, Z:-1.85 [[ 9.99658100e-01 -2.20005574e-02 1.41300923e-02 5.44704370e+01] [ 2.19925932e-02 9.99757875e-01 7.18796509e-04 -3.36890908e+00] [-1.41424849e-02 -4.07793382e-04 9.99899907e-01 -1.85282566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05907232899999 meters 0.0846079331962454 Centerline is valid? [True, True] Translation: X:54.53, Y:-3.36, Z:-1.85 [[ 9.99804257e-01 -1.34823193e-02 1.44801276e-02 5.45307759e+01] [ 1.34730373e-02 9.99908962e-01 7.38386694e-04 -3.35747799e+00] [-1.44887645e-02 -5.43150862e-04 9.99894885e-01 -1.85456687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11907232899999 meters 0.08845870961132202 Centerline is valid? [True, True] Translation: X:54.59, Y:-3.34, Z:-1.86 [[ 9.99904852e-01 -5.69281382e-03 1.25649731e-02 5.45892556e+01] [ 5.68521471e-03 9.99983634e-01 6.40421392e-04 -3.34293676e+00] [-1.25684133e-02 -5.68925888e-04 9.99920853e-01 -1.85952863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.179072329 meters 0.08908390385619082 Centerline is valid? [True, True] Translation: X:54.65, Y:-3.34, Z:-1.86 [[ 9.99933808e-01 -2.67556060e-03 1.11901888e-02 5.46502032e+01] [ 2.66933446e-03 9.99996274e-01 5.71290787e-04 -3.33961167e+00] [-1.11916756e-02 -5.41382616e-04 9.99937225e-01 -1.86089205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.239072329 meters 0.09018909917093706 Centerline is valid? [True, True] Translation: X:54.71, Y:-3.33, Z:-1.86 [[ 9.99919038e-01 -4.07255969e-04 1.27181685e-02 5.47117462e+01] [ 3.99019087e-04 9.99999709e-01 6.50177624e-04 -3.33098883e+00] [-1.27184296e-02 -6.45050193e-04 9.99918909e-01 -1.86468803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.299072329 meters 0.09141484189757138 Centerline is valid? [True, True] Translation: X:54.77, Y:-3.32, Z:-1.87 [[ 9.99925077e-01 -1.85976231e-04 1.22395388e-02 5.47722098e+01] [ 1.78322702e-04 9.99999788e-01 6.26400213e-04 -3.32361425e+00] [-1.22396527e-02 -6.24170693e-04 9.99924898e-01 -1.86895515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.359072329 meters 0.09147924871538253 Centerline is valid? [True, True] Translation: X:54.83, Y:-3.32, Z:-1.87 [[ 9.99916036e-01 -8.38198718e-05 1.29581302e-02 5.48345529e+01] [ 7.52759853e-05 9.99999779e-01 6.59831956e-04 -3.31944104e+00] [-1.29581827e-02 -6.58801118e-04 9.99915822e-01 -1.86937160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41907232899999 meters 0.09049093307356236 Centerline is valid? [True, True] Translation: X:54.90, Y:-3.32, Z:-1.87 [[ 9.99940272e-01 -6.79677903e-04 1.09082825e-02 5.48975047e+01] [ 6.73607043e-04 9.99999616e-01 5.60201090e-04 -3.31893939e+00] [-1.09086590e-02 -5.52819735e-04 9.99940346e-01 -1.87081357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47907232899999 meters 0.09217527107751962 Centerline is valid? [True, True] Translation: X:54.96, Y:-3.31, Z:-1.87 [[ 9.99932961e-01 -6.03996529e-04 1.15632778e-02 5.49582921e+01] [ 5.97250844e-04 9.99999649e-01 5.86815599e-04 -3.30928948e+00] [-1.15636281e-02 -5.79870082e-04 9.99932971e-01 -1.87476098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53907232899999 meters 0.09081715895405856 Centerline is valid? [True, True] Translation: X:55.02, Y:-3.31, Z:-1.88 [[ 9.99938914e-01 -1.33684558e-03 1.09718125e-02 5.50198200e+01] [ 1.33080185e-03 9.99998959e-01 5.58124311e-04 -3.30512731e+00] [-1.09725472e-02 -5.43488909e-04 9.99939652e-01 -1.87744479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.599072329 meters 0.09169839572547447 Centerline is valid? [True, True] Translation: X:55.08, Y:-3.30, Z:-1.88 [[ 9.99969671e-01 -2.57446882e-03 7.35048023e-03 5.50802491e+01] [ 2.57180488e-03 9.99996624e-01 3.71845730e-04 -3.29917883e+00] [-7.35141272e-03 -3.52930451e-04 9.99972916e-01 -1.88328339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.659072329 meters 0.09135731959257193 Centerline is valid? [True, True] Translation: X:55.14, Y:-3.29, Z:-1.88 [[ 9.99972723e-01 -2.16608858e-03 7.06125487e-03 5.51419302e+01] [ 2.16363683e-03 9.99997596e-01 3.54830946e-04 -3.29155993e+00] [-7.06200649e-03 -3.39543276e-04 9.99975006e-01 -1.88487703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.719072329 meters 0.09014973356439507 Centerline is valid? [True, True] Translation: X:55.20, Y:-3.29, Z:-1.88 [[ 9.99970102e-01 -1.93841726e-03 7.48587930e-03 5.52043486e+01] [ 1.93565977e-03 9.99998056e-01 3.75586554e-04 -3.28831165e+00] [-7.48659279e-03 -3.61085209e-04 9.99971910e-01 -1.88413318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77907232899999 meters 0.08934720464704864 Centerline is valid? [True, True] Translation: X:55.27, Y:-3.28, Z:-1.89 [[ 9.99956959e-01 -4.80339505e-03 7.93767148e-03 5.52654050e+01] [ 4.80039785e-03 9.99988399e-01 3.96601389e-04 -3.28407964e+00] [-7.93948443e-03 -3.58480338e-04 9.99968418e-01 -1.88603789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83907232899999 meters 0.0895999055834881 Centerline is valid? [True, True] Translation: X:55.33, Y:-3.28, Z:-1.89 [[ 9.99943747e-01 -8.03284216e-03 6.92653953e-03 5.53253565e+01] [ 8.03064120e-03 9.99967694e-01 3.45512059e-04 -3.27676853e+00] [-6.92909121e-03 -2.89868069e-04 9.99975952e-01 -1.89220059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89907232899999 meters 0.08714478884574182 Centerline is valid? [True, True] Translation: X:55.39, Y:-3.28, Z:-1.89 [[ 9.99888034e-01 -1.26057370e-02 8.06316937e-03 5.53859690e+01] [ 1.26029109e-02 9.99920500e-01 4.01207065e-04 -3.27794395e+00] [-8.06758585e-03 -2.99542738e-04 9.99967412e-01 -1.88908864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.959072329 meters 0.08446210728024048 Centerline is valid? [True, True] Translation: X:55.45, Y:-3.28, Z:-1.88 [[ 9.99827229e-01 -1.57845861e-02 9.81629189e-03 5.54465162e+01] [ 1.57805504e-02 9.99875360e-01 4.88448310e-04 -3.28221841e+00] [-9.82277835e-03 -3.33457432e-04 9.99951700e-01 -1.88441189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.019072329 meters 0.0847802495911294 Centerline is valid? [True, True] Translation: X:55.50, Y:-3.27, Z:-1.89 [[ 9.99777385e-01 -1.94540058e-02 8.16837706e-03 5.55040584e+01] [ 1.94513491e-02 9.99810723e-01 4.04566823e-04 -3.27433835e+00] [-8.17470142e-03 -2.45590807e-04 9.99966556e-01 -1.89261276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.079072329 meters 0.08417096444847075 Centerline is valid? [True, True] Translation: X:55.56, Y:-3.27, Z:-1.90 [[ 9.99710154e-01 -2.23981988e-02 8.82773613e-03 5.55619753e+01] [ 2.23952006e-02 9.99749100e-01 4.38353531e-04 -3.27086144e+00] [-8.83533958e-03 -2.40527554e-04 9.99960939e-01 -1.89541972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13907232899999 meters 0.08242508082645722 Centerline is valid? [True, True] Translation: X:55.62, Y:-3.27, Z:-1.89 [[ 9.99673387e-01 -2.33423259e-02 1.04046055e-02 5.56214695e+01] [ 2.33382419e-02 9.99727494e-01 5.13780834e-04 -3.27272558e+00] [-1.04137631e-02 -2.70787826e-04 9.99945739e-01 -1.88989800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19907232899999 meters 0.08394958119970598 Centerline is valid? [True, True] Translation: X:55.68, Y:-3.26, Z:-1.90 [[ 9.99728960e-01 -2.12460387e-02 9.51910200e-03 5.56794587e+01] [ 2.12424606e-02 9.99774240e-01 4.76850623e-04 -3.26051336e+00] [-9.52708416e-03 -2.74512228e-04 9.99954579e-01 -1.89572645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25907232899999 meters 0.0846397134042253 Centerline is valid? [True, True] Translation: X:55.74, Y:-3.25, Z:-1.90 [[ 9.99786497e-01 -1.85832347e-02 9.03463850e-03 5.57380876e+01] [ 1.85798990e-02 9.99827276e-01 4.53016908e-04 -3.25122143e+00] [-9.04149653e-03 -2.85057517e-04 9.99959084e-01 -1.89902533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.319072329 meters 0.08603002710275544 Centerline is valid? [True, True] Translation: X:55.80, Y:-3.24, Z:-1.90 [[ 9.99868086e-01 -1.39283523e-02 8.35533739e-03 5.57982050e+01] [ 1.39253230e-02 9.99902950e-01 4.20619206e-04 -3.24188203e+00] [-8.36038504e-03 -3.04212948e-04 9.99965005e-01 -1.90009421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.379072329 meters 0.08718946855065456 Centerline is valid? [True, True] Translation: X:55.86, Y:-3.23, Z:-1.90 [[ 9.99903551e-01 -1.11532748e-02 8.27600640e-03 5.58571907e+01] [ 1.11502195e-02 9.99937748e-01 4.15231024e-04 -3.23477734e+00] [-8.28012239e-03 -3.22911688e-04 9.99965667e-01 -1.90318675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.439072329 meters 0.08768731728262895 Centerline is valid? [True, True] Translation: X:55.92, Y:-3.23, Z:-1.91 [[ 9.99905008e-01 -1.03267625e-02 9.12864711e-03 5.59164383e+01] [ 1.03230496e-02 9.99946613e-01 4.53756126e-04 -3.22996800e+00] [-9.13284559e-03 -3.59477547e-04 9.99958230e-01 -1.90525841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49907232899999 meters 0.08892539660970457 Centerline is valid? [True, True] Translation: X:55.97, Y:-3.22, Z:-1.90 [[ 9.99893711e-01 -8.04234832e-03 1.21609276e-02 5.59744255e+01] [ 8.03546678e-03 9.99967526e-01 6.14628646e-04 -3.22355268e+00] [-1.21654757e-02 -5.16844587e-04 9.99925864e-01 -1.90436912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55907232899999 meters 0.08912140064126814 Centerline is valid? [True, True] Translation: X:56.04, Y:-3.22, Z:-1.91 [[ 9.99866708e-01 -8.13419920e-03 1.41563387e-02 5.60355869e+01] [ 8.12484820e-03 9.99966735e-01 7.17939526e-04 -3.22160658e+00] [-1.41617077e-02 -6.02825727e-04 9.99899536e-01 -1.90566548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61907232899999 meters 0.08595762409932803 Centerline is valid? [True, True] Translation: X:56.10, Y:-3.23, Z:-1.91 [[ 9.99813082e-01 -1.19047083e-02 1.52341646e-02 5.60967727e+01] [ 1.18943295e-02 9.99928962e-01 7.71714281e-04 -3.23006296e+00] [-1.52422694e-02 -5.90369860e-04 9.99883656e-01 -1.90576279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.679072329 meters 0.08506655675303885 Centerline is valid? [True, True] Translation: X:56.16, Y:-3.23, Z:-1.91 [[ 9.99752268e-01 -1.45966167e-02 1.68030141e-02 5.61573381e+01] [ 1.45843809e-02 9.99893281e-01 8.50504577e-04 -3.23283004e+00] [-1.68136354e-02 -6.05232321e-04 9.99858458e-01 -1.90582851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.739072329 meters 0.08352957872450595 Centerline is valid? [True, True] Translation: X:56.22, Y:-3.24, Z:-1.90 [[ 9.99656434e-01 -1.77071987e-02 1.93253587e-02 5.62179306e+01] [ 1.76915992e-02 9.99843013e-01 9.77882854e-04 -3.23848659e+00] [-1.93396404e-02 -6.35650386e-04 9.99812770e-01 -1.90456304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.799072329 meters 0.0832331342128777 Centerline is valid? [True, True] Translation: X:56.28, Y:-3.24, Z:-1.91 [[ 9.99640063e-01 -2.07749740e-02 1.69748324e-02 5.62769997e+01] [ 2.07634498e-02 9.99784051e-01 8.54872041e-04 -3.23863633e+00] [-1.69889266e-02 -5.02108260e-04 9.99855552e-01 -1.90976595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.859072329 meters 0.08248381532333232 Centerline is valid? [True, True] Translation: X:56.34, Y:-3.24, Z:-1.92 [[ 9.99532361e-01 -2.61756396e-02 1.58080498e-02 5.63358594e+01] [ 2.61662079e-02 9.99657283e-01 8.03210016e-04 -3.24448634e+00] [-1.58236566e-02 -3.89197686e-04 9.99874722e-01 -1.91625360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91907232899999 meters 0.0811596352808942 Centerline is valid? [True, True] Translation: X:56.40, Y:-3.25, Z:-1.92 [[ 9.99332915e-01 -3.15754849e-02 1.83497858e-02 5.63961256e+01] [ 3.15636593e-02 9.99501307e-01 9.33782334e-04 -3.24985362e+00] [-1.83701195e-02 -3.53973034e-04 9.99831192e-01 -1.92002151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97907232899999 meters 0.08047198719876951 Centerline is valid? [True, True] Translation: X:56.45, Y:-3.26, Z:-1.92 [[ 9.99152606e-01 -3.62328940e-02 1.95255393e-02 5.64548446e+01] [ 3.62203841e-02 9.99343332e-01 9.94076407e-04 -3.25815012e+00] [-1.95487358e-02 -2.86011499e-04 9.99808864e-01 -1.92052913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03907232899999 meters 0.07999568154211353 Centerline is valid? [True, True] Translation: X:56.51, Y:-3.26, Z:-1.92 [[ 9.99118845e-01 -3.72134746e-02 1.94085467e-02 5.65129782e+01] [ 3.72013438e-02 9.99307304e-01 9.85820177e-04 -3.26068759e+00] [-1.94317883e-02 -2.62927497e-04 9.99811150e-01 -1.91985252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.099072329 meters 0.08077075490601152 Centerline is valid? [True, True] Translation: X:56.57, Y:-3.25, Z:-1.93 [[ 9.99192860e-01 -3.57552348e-02 1.83082654e-02 5.65706272e+01] [ 3.57440490e-02 9.99360537e-01 9.37946342e-04 -3.25493542e+00] [-1.83300945e-02 -2.82777751e-04 9.99831950e-01 -1.92695077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.159072329 meters 0.0814677900544349 Centerline is valid? [True, True] Translation: X:56.63, Y:-3.25, Z:-1.93 [[ 9.99299696e-01 -3.39306436e-02 1.57743153e-02 5.66294584e+01] [ 3.39220863e-02 9.99424152e-01 8.09811925e-04 -3.25150844e+00] [-1.57927092e-02 -2.74147124e-04 9.99875250e-01 -1.93230667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.219072329 meters 0.08165974185382865 Centerline is valid? [True, True] Translation: X:56.69, Y:-3.25, Z:-1.93 [[ 9.99354786e-01 -3.31340968e-02 1.38615796e-02 5.66887457e+01] [ 3.31274653e-02 9.99450884e-01 7.07806293e-04 -3.25270285e+00] [-1.38774205e-02 -2.48150609e-04 9.99903673e-01 -1.93225215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27907232899999 meters 0.08198189720386205 Centerline is valid? [True, True] Translation: X:56.75, Y:-3.25, Z:-1.93 [[ 9.99430749e-01 -3.10687019e-02 1.31496426e-02 5.67477429e+01] [ 3.10625198e-02 9.99517216e-01 6.74163951e-04 -3.24775076e+00] [-1.31642396e-02 -2.65319150e-04 9.99913312e-01 -1.93456441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33907232899999 meters 0.08242336396894351 Centerline is valid? [True, True] Translation: X:56.80, Y:-3.24, Z:-1.94 [[ 9.99440159e-01 -3.03245736e-02 1.41346471e-02 5.68044878e+01] [ 3.03172599e-02 9.99540059e-01 7.31462139e-04 -3.24216706e+00] [-1.41503272e-02 -3.02528867e-04 9.99899833e-01 -1.93756663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39907232899999 meters 0.08201839689999595 Centerline is valid? [True, True] Translation: X:56.86, Y:-3.24, Z:-1.94 [[ 9.99442280e-01 -3.03430331e-02 1.39438116e-02 5.68639414e+01] [ 3.03359325e-02 9.99539500e-01 7.20505663e-04 -3.24069189e+00] [-1.39592528e-02 -2.97105296e-04 9.99902521e-01 -1.93812467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.459072329 meters 0.08288249367828907 Centerline is valid? [True, True] Translation: X:56.92, Y:-3.23, Z:-1.94 [[ 9.99552786e-01 -2.74062430e-02 1.19635384e-02 5.69217470e+01] [ 2.74007314e-02 9.99624334e-01 6.24399247e-04 -3.22849735e+00] [-1.19761565e-02 -2.96310305e-04 9.99928239e-01 -1.94441055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.519072329 meters 0.08389326131286046 Centerline is valid? [True, True] Translation: X:56.98, Y:-3.22, Z:-1.95 [[ 9.99682509e-01 -2.30836859e-02 1.01006993e-02 5.69815981e+01] [ 2.30795260e-02 9.99733493e-01 5.28233671e-04 -3.21907618e+00] [-1.01102010e-02 -2.94946609e-04 9.99948847e-01 -1.94643830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.579072329 meters 0.08503515357890784 Centerline is valid? [True, True] Translation: X:57.04, Y:-3.21, Z:-1.95 [[ 9.99768585e-01 -1.93285900e-02 9.44366327e-03 5.70410672e+01] [ 1.93247889e-02 9.99813137e-01 4.93598119e-04 -3.20810778e+00] [-9.45143916e-03 -3.10987093e-04 9.99955286e-01 -1.94741926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63907232899999 meters 0.08694937521708677 Centerline is valid? [True, True] Translation: X:57.10, Y:-3.19, Z:-1.95 [[ 9.99817919e-01 -1.64945066e-02 9.59483573e-03 5.70990576e+01] [ 1.64904532e-02 9.99863898e-01 5.01419504e-04 -3.19078671e+00] [-9.60180052e-03 -3.43105015e-04 9.99953843e-01 -1.95377780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69907232899999 meters 0.0870155540977416 Centerline is valid? [True, True] Translation: X:57.16, Y:-3.18, Z:-1.95 [[ 9.99874130e-01 -1.36639009e-02 8.06363931e-03 5.71577257e+01] [ 1.36609510e-02 9.99906596e-01 4.20795467e-04 -3.18141883e+00] [-8.06863584e-03 -3.10585520e-04 9.99967400e-01 -1.95463143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75907232899999 meters 0.08735355543560148 Centerline is valid? [True, True] Translation: X:57.22, Y:-3.17, Z:-1.95 [[ 9.99874323e-01 -1.32966993e-02 8.63345389e-03 5.72160924e+01] [ 1.32933346e-02 9.99911540e-01 4.47002322e-04 -3.17353053e+00] [-8.63863383e-03 -3.32178753e-04 9.99962631e-01 -1.95270103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.819072329 meters 0.08849186390723479 Centerline is valid? [True, True] Translation: X:57.27, Y:-3.16, Z:-1.95 [[ 9.99906260e-01 -1.11803673e-02 7.90387644e-03 5.72746009e+01] [ 1.11774367e-02 9.99937444e-01 4.14859328e-04 -3.15974086e+00] [-7.90802029e-03 -3.26475360e-04 9.99968678e-01 -1.95424126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.879072329 meters 0.0890498826176766 Centerline is valid? [True, True] Translation: X:57.33, Y:-3.15, Z:-1.96 [[ 9.99923500e-01 -1.02475531e-02 6.92682024e-03 5.73327872e+01] [ 1.02453100e-02 9.99947451e-01 3.59237529e-04 -3.14991563e+00] [-6.93013755e-03 -2.88242627e-04 9.99975945e-01 -1.95790486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.939072329 meters 0.08969368394233093 Centerline is valid? [True, True] Translation: X:57.39, Y:-3.14, Z:-1.96 [[ 9.99932757e-01 -9.05787210e-03 7.24124020e-03 5.73907008e+01] [ 9.05537451e-03 9.99958928e-01 3.77625683e-04 -3.13565191e+00] [-7.24436328e-03 -3.12028149e-04 9.99973711e-01 -1.96067701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99907232899999 meters 0.09061904122563734 Centerline is valid? [True, True] Translation: X:57.45, Y:-3.13, Z:-1.96 [[ 9.99928277e-01 -7.98080958e-03 8.93009682e-03 5.74482516e+01] [ 7.97689651e-03 9.99968072e-01 4.73721782e-04 -3.12506039e+00] [-8.93359238e-03 -4.02453347e-04 9.99960014e-01 -1.95899282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05907232899999 meters 0.08809514143145272 Centerline is valid? [True, True] Translation: X:57.51, Y:-3.12, Z:-1.95 [[ 9.99923486e-01 -6.53557969e-03 1.05027399e-02 5.75088866e+01] [ 6.53005146e-03 9.99978522e-01 5.60567550e-04 -3.12177836e+00] [-1.05061779e-02 -4.91941227e-04 9.99944688e-01 -1.95154468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11907232899999 meters 0.08855657096342318 Centerline is valid? [True, True] Translation: X:57.57, Y:-3.11, Z:-1.96 [[ 9.99942481e-01 -5.16782041e-03 9.39831653e-03 5.75693247e+01] [ 5.16332917e-03 9.99986544e-01 5.02077418e-04 -3.11189837e+00] [-9.40078471e-03 -4.53521937e-04 9.99955709e-01 -1.95512813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.179072329 meters 0.088088397894617 Centerline is valid? [True, True] Translation: X:57.63, Y:-3.11, Z:-1.96 [[ 9.99966223e-01 -4.32156836e-03 6.99113219e-03 5.76300899e+01] [ 4.31906224e-03 9.99990603e-01 3.73530186e-04 -3.10699081e+00] [-6.99268073e-03 -3.43322435e-04 9.99975492e-01 -1.95654304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.239072329 meters 0.08808957756551593 Centerline is valid? [True, True] Translation: X:57.69, Y:-3.10, Z:-1.96 [[ 9.99964380e-01 -6.48856153e-03 5.39791934e-03 5.76905746e+01] [ 6.48709305e-03 9.99978917e-01 2.89510904e-04 -3.10088087e+00] [-5.39968405e-03 -2.54483787e-04 9.99985389e-01 -1.96060926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.299072329 meters 0.08767351131999533 Centerline is valid? [True, True] Translation: X:57.75, Y:-3.10, Z:-1.96 [[ 9.99959450e-01 -7.20661997e-03 5.40031037e-03 5.77497150e+01] [ 7.20517647e-03 9.99974001e-01 2.86706083e-04 -3.09805652e+00] [-5.40223615e-03 -2.47784268e-04 9.99985377e-01 -1.96329699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.359072329 meters 0.0866574903686337 Centerline is valid? [True, True] Translation: X:57.81, Y:-3.10, Z:-1.96 [[ 9.99931333e-01 -9.46334585e-03 6.91186635e-03 5.78097196e+01] [ 9.46103364e-03 9.99955176e-01 3.67147837e-04 -3.09679239e+00] [-6.91503098e-03 -3.01729226e-04 9.99976045e-01 -1.96289289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41907232899999 meters 0.08503028454433972 Centerline is valid? [True, True] Translation: X:57.87, Y:-3.10, Z:-1.96 [[ 9.99912227e-01 -1.04231615e-02 8.17904305e-03 5.78687552e+01] [ 1.04199965e-02 9.99945618e-01 4.29481734e-04 -3.09829001e+00] [-8.18307481e-03 -3.44218437e-04 9.99966459e-01 -1.95989267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47907232899999 meters 0.08609255946387659 Centerline is valid? [True, True] Translation: X:57.93, Y:-3.09, Z:-1.97 [[ 9.99916597e-01 -9.77043256e-03 8.44619183e-03 5.79256640e+01] [ 9.76697551e-03 9.99952200e-01 4.50453669e-04 -3.08902493e+00] [-8.45018924e-03 -3.67922351e-04 9.99964229e-01 -1.96538557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53907232899999 meters 0.08843661514995306 Centerline is valid? [True, True] Translation: X:57.98, Y:-3.08, Z:-1.97 [[ 9.99934579e-01 -9.06390411e-03 6.97736013e-03 5.79838815e+01] [ 9.06152371e-03 9.99958874e-01 3.72698751e-04 -3.08213485e+00] [-6.98045129e-03 -3.09448854e-04 9.99975588e-01 -1.97074443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.599072329 meters 0.08617928249232783 Centerline is valid? [True, True] Translation: X:58.04, Y:-3.09, Z:-1.97 [[ 9.99936875e-01 -8.99789441e-03 6.72933102e-03 5.80432767e+01] [ 8.99571044e-03 9.99959475e-01 3.54743631e-04 -3.08903160e+00] [-6.73225026e-03 -2.94186125e-04 9.99977295e-01 -1.96577581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.659072329 meters 0.08724693279513897 Centerline is valid? [True, True] Translation: X:58.10, Y:-3.08, Z:-1.97 [[ 9.99919417e-01 -1.04946713e-02 7.14289117e-03 5.81013117e+01] [ 1.04921961e-02 9.99944882e-01 3.83909898e-04 -3.08386918e+00] [-7.14652647e-03 -3.08934347e-04 9.99974416e-01 -1.97409652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.719072329 meters 0.09007120738380474 Centerline is valid? [True, True] Translation: X:58.16, Y:-3.08, Z:-1.98 [[ 9.99919829e-01 -9.48381583e-03 8.39002156e-03 5.81591597e+01] [ 9.48036969e-03 9.99954959e-01 4.50419301e-04 -3.07651130e+00] [-8.39391536e-03 -3.70842685e-04 9.99964702e-01 -1.98074320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77907232899999 meters 0.08728569175822314 Centerline is valid? [True, True] Translation: X:58.22, Y:-3.08, Z:-1.97 [[ 9.99922368e-01 -7.62460114e-03 9.85514344e-03 5.82193458e+01] [ 7.61976617e-03 9.99970830e-01 5.28058338e-04 -3.08453140e+00] [-9.85888220e-03 -4.52923455e-04 9.99951297e-01 -1.97387441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83907232899999 meters 0.08677523597101178 Centerline is valid? [True, True] Translation: X:58.28, Y:-3.09, Z:-1.97 [[ 9.99921625e-01 -6.08077881e-03 1.09438151e-02 5.82798834e+01] [ 6.07461946e-03 9.99981372e-01 5.95968574e-04 -3.08587724e+00] [-1.09472352e-02 -5.29442353e-04 9.99939937e-01 -1.97285078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89907232899999 meters 0.08962910613043817 Centerline is valid? [True, True] Translation: X:58.34, Y:-3.08, Z:-1.97 [[ 9.99912409e-01 -2.68396027e-03 1.29603766e-02 5.83398770e+01] [ 2.67501491e-03 9.99996172e-01 7.07494407e-04 -3.08331017e+00] [-1.29622259e-02 -6.72763236e-04 9.99915760e-01 -1.97357523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.959072329 meters 0.09065566846575825 Centerline is valid? [True, True] Translation: X:58.40, Y:-3.08, Z:-1.98 [[ 9.99914279e-01 9.56898064e-04 1.30583182e-02 5.84007934e+01] [-9.66258632e-04 9.99999281e-01 7.10537648e-04 -3.07975031e+00] [-1.30576289e-02 -7.23094453e-04 9.99914484e-01 -1.97765042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.019072329 meters 0.09238500271375177 Centerline is valid? [True, True] Translation: X:58.46, Y:-3.08, Z:-1.98 [[ 9.99904792e-01 7.54643502e-03 1.15523957e-02 5.84607655e+01] [-7.55419645e-03 9.99971269e-01 6.28356628e-04 -3.07573766e+00] [-1.15473219e-02 -7.15565870e-04 9.99933071e-01 -1.98349757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.079072329 meters 0.09527538440222272 Centerline is valid? [True, True] Translation: X:58.52, Y:-3.07, Z:-1.99 [[ 9.99894010e-01 9.84182750e-03 1.07288463e-02 5.85203515e+01] [-9.84864899e-03 9.99951331e-01 5.83159219e-04 -3.07297957e+00] [-1.07225848e-02 -6.88762051e-04 9.99942274e-01 -1.98724314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13907232899999 meters 0.0948448525502321 Centerline is valid? [True, True] Translation: X:58.58, Y:-3.08, Z:-1.99 [[ 9.99890407e-01 7.89728738e-03 1.25222595e-02 5.85815425e+01] [-7.90643319e-03 9.99968512e-01 6.81026651e-04 -3.08024109e+00] [-1.25164869e-02 -7.79958424e-04 9.99921362e-01 -1.98633570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19907232899999 meters 0.09266391646039741 Centerline is valid? [True, True] Translation: X:58.64, Y:-3.09, Z:-1.99 [[ 9.99882909e-01 6.34733991e-03 1.39240535e-02 5.86435108e+01] [-6.35851198e-03 9.99979497e-01 7.58233257e-04 -3.08758825e+00] [-1.39189552e-02 -8.46680736e-04 9.99902768e-01 -1.98902773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25907232899999 meters 0.09245424614624008 Centerline is valid? [True, True] Translation: X:58.71, Y:-3.09, Z:-1.99 [[ 9.99882384e-01 4.81746898e-03 1.45605348e-02 5.87057711e+01] [-4.82949959e-03 9.99988025e-01 7.91198841e-04 -3.09175056e+00] [-1.45565489e-02 -8.61425881e-04 9.99893677e-01 -1.99000271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.319072329 meters 0.09075650516507279 Centerline is valid? [True, True] Translation: X:58.77, Y:-3.10, Z:-1.99 [[ 9.99856930e-01 1.02132782e-03 1.68842002e-02 5.87672849e+01] [-1.03693086e-03 9.99999043e-01 9.15391999e-04 -3.10107388e+00] [-1.68832491e-02 -9.32768782e-04 9.99857033e-01 -1.98988324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.379072329 meters 0.09099017597645606 Centerline is valid? [True, True] Translation: X:58.83, Y:-3.10, Z:-1.99 [[ 9.99874530e-01 1.97436244e-03 1.57170720e-02 5.88292290e+01] [-1.98802048e-03 9.99997660e-01 8.53417152e-04 -3.10108084e+00] [-1.57153502e-02 -8.84555934e-04 9.99876115e-01 -1.99439819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.439072329 meters 0.09412219448217675 Centerline is valid? [True, True] Translation: X:58.89, Y:-3.10, Z:-2.00 [[ 9.99862459e-01 5.76511325e-03 1.55507547e-02 5.88890770e+01] [-5.77890700e-03 9.99982947e-01 8.42223962e-04 -3.09594277e+00] [-1.55456340e-02 -9.31974487e-04 9.99878725e-01 -1.99851519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49907232899999 meters 0.0945162985828102 Centerline is valid? [True, True] Translation: X:58.95, Y:-3.10, Z:-2.00 [[ 9.99825754e-01 9.21466431e-03 1.62342962e-02 5.89499398e+01] [-9.23014916e-03 9.99957015e-01 8.79165091e-04 -3.09621967e+00] [-1.62254972e-02 -1.02885688e-03 9.99867829e-01 -1.99938006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55907232899999 meters 0.09528904858959032 Centerline is valid? [True, True] Translation: X:59.01, Y:-3.09, Z:-2.00 [[ 9.99792752e-01 1.20931526e-02 1.63770666e-02 5.90106884e+01] [-1.21092974e-02 9.99926286e-01 8.87009931e-04 -3.09339344e+00] [-1.63651326e-02 -1.08514087e-03 9.99865493e-01 -2.00133830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61907232899999 meters 0.0965267833138842 Centerline is valid? [True, True] Translation: X:59.07, Y:-3.09, Z:-2.01 [[ 9.99734682e-01 1.64238690e-02 1.61500111e-02 5.90712988e+01] [-1.64401119e-02 9.99864471e-01 8.73495490e-04 -3.08763474e+00] [-1.61334761e-02 -1.13877172e-03 9.99869199e-01 -2.00566884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.679072329 meters 0.09878250009881329 Centerline is valid? [True, True] Translation: X:59.13, Y:-3.08, Z:-2.01 [[ 9.99711198e-01 1.70496033e-02 1.69361110e-02 5.91316507e+01] [-1.70676126e-02 9.99853915e-01 9.19385435e-04 -3.08360089e+00] [-1.69179617e-02 -1.20817890e-03 9.99856151e-01 -2.00803386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.739072329 meters 0.09809082540756124 Centerline is valid? [True, True] Translation: X:59.19, Y:-3.08, Z:-2.01 [[ 9.99727733e-01 1.65385338e-02 1.64601719e-02 5.91937784e+01] [-1.65554442e-02 9.99862552e-01 8.91612095e-04 -3.08172947e+00] [-1.64431635e-02 -1.16387480e-03 9.99864125e-01 -2.00970891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.799072329 meters 0.09724457273358252 Centerline is valid? [True, True] Translation: X:59.25, Y:-3.08, Z:-2.01 [[ 9.99776463e-01 1.33481767e-02 1.63966597e-02 5.92545617e+01] [-1.33643992e-02 9.99910305e-01 8.80200198e-04 -3.07716143e+00] [-1.63834399e-02 -1.09913495e-03 9.99865178e-01 -2.01469579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.859072329 meters 0.09377680142136623 Centerline is valid? [True, True] Translation: X:59.31, Y:-3.08, Z:-2.02 [[ 9.99892132e-01 4.74584849e-03 1.38996789e-02 5.93148048e+01] [-4.75666755e-03 9.99988409e-01 7.45411670e-04 -3.08465893e+00] [-1.38959802e-02 -8.11447416e-04 9.99903117e-01 -2.01912190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91907232899999 meters 0.08912636100907609 Centerline is valid? [True, True] Translation: X:59.38, Y:-3.09, Z:-2.02 [[ 9.99890701e-01 -3.49154456e-03 1.43664691e-02 5.93757170e+01] [ 3.48082537e-03 9.99993645e-01 7.71062735e-04 -3.09355464e+00] [-1.43690700e-02 -7.20971288e-04 9.99896500e-01 -2.01971139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97907232899999 meters 0.08190120988430177 Centerline is valid? [True, True] Translation: X:59.44, Y:-3.11, Z:-2.02 [[ 9.99750316e-01 -1.62447770e-02 1.53431967e-02 5.94373772e+01] [ 1.62340541e-02 9.99867880e-01 8.23167740e-04 -3.11119478e+00] [-1.53545418e-02 -5.73879922e-04 9.99881947e-01 -2.01865129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03907232899999 meters 0.07959093755308176 Centerline is valid? [True, True] Translation: X:59.50, Y:-3.12, Z:-2.02 [[ 9.99619510e-01 -2.37498385e-02 1.40278610e-02 5.94979639e+01] [ 2.37416146e-02 9.99717845e-01 7.52511758e-04 -3.11809568e+00] [-1.40417750e-02 -4.19181365e-04 9.99901322e-01 -2.02272780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.099072329 meters 0.07698048286740138 Centerline is valid? [True, True] Translation: X:59.56, Y:-3.13, Z:-2.03 [[ 9.99266314e-01 -3.59275379e-02 1.32681875e-02 5.95594410e+01] [ 3.59212542e-02 9.99354370e-01 7.11678270e-04 -3.12926129e+00] [-1.32851900e-02 -2.34546186e-04 9.99911720e-01 -2.02686358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.159072329 meters 0.07458565714778381 Centerline is valid? [True, True] Translation: X:59.62, Y:-3.14, Z:-2.02 [[ 9.98758684e-01 -4.71916760e-02 1.59385609e-02 5.96205407e+01] [ 4.71840387e-02 9.98885847e-01 8.55091221e-04 -3.14246396e+00] [-1.59611561e-02 -1.01984108e-04 9.99872607e-01 -2.02447503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.219072329 meters 0.07434927500125868 Centerline is valid? [True, True] Translation: X:59.68, Y:-3.14, Z:-2.03 [[ 9.98590044e-01 -5.05833555e-02 1.61012013e-02 5.96792857e+01] [ 5.05760668e-02 9.98719842e-01 8.59815998e-04 -3.14263720e+00] [-1.61240816e-02 -4.42682610e-05 9.99869998e-01 -2.02607617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27907232899999 meters 0.07430170865314897 Centerline is valid? [True, True] Translation: X:59.74, Y:-3.14, Z:-2.03 [[ 9.98333947e-01 -5.58415394e-02 1.45276270e-02 5.97375510e+01] [ 5.58360788e-02 9.98439643e-01 7.81528549e-04 -3.14194562e+00] [-1.45486005e-02 3.09392445e-05 9.99894163e-01 -2.03268440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33907232899999 meters 0.07421758438484682 Centerline is valid? [True, True] Translation: X:59.80, Y:-3.14, Z:-2.03 [[ 9.98194049e-01 -5.85517260e-02 1.34289370e-02 5.97963645e+01] [ 5.85473407e-02 9.98284374e-01 7.19790003e-04 -3.14108546e+00] [-1.34480429e-02 6.77384550e-05 9.99909569e-01 -2.03275872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39907232899999 meters 0.07385696931094327 Centerline is valid? [True, True] Translation: X:59.86, Y:-3.14, Z:-2.03 [[ 9.98023206e-01 -6.10687102e-02 1.48422956e-02 5.98550987e+01] [ 6.10635650e-02 9.98133559e-01 8.00025560e-04 -3.13959120e+00] [-1.48634499e-02 1.07879410e-04 9.99889527e-01 -2.03339804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.459072329 meters 0.07388176168811869 Centerline is valid? [True, True] Translation: X:59.91, Y:-3.13, Z:-2.04 [[ 9.98020182e-01 -6.10862331e-02 1.49729325e-02 5.99125227e+01] [ 6.10809562e-02 9.98132487e-01 8.09914346e-04 -3.13208372e+00] [-1.49944450e-02 1.06250171e-04 9.99887571e-01 -2.03540293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.519072329 meters 0.07349253859654346 Centerline is valid? [True, True] Translation: X:59.97, Y:-3.13, Z:-2.04 [[ 9.98048042e-01 -6.02218896e-02 1.65357370e-02 5.99702370e+01] [ 6.02151846e-02 9.98185011e-01 9.03526046e-04 -3.12641782e+00] [-1.65601368e-02 9.39400533e-05 9.99862867e-01 -2.03544218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.579072329 meters 0.07329840957656031 Centerline is valid? [True, True] Translation: X:60.03, Y:-3.12, Z:-2.04 [[ 9.98144968e-01 -5.87652443e-02 1.59144489e-02 6.00284559e+01] [ 5.87588873e-02 9.98271827e-01 8.67148255e-04 -3.11950568e+00] [-1.59379042e-02 6.95756440e-05 9.99872981e-01 -2.03759109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63907232899999 meters 0.07333849340603556 Centerline is valid? [True, True] Translation: X:60.09, Y:-3.11, Z:-2.04 [[ 9.98307761e-01 -5.58585928e-02 1.61688278e-02 6.00863427e+01] [ 5.58515676e-02 9.98438690e-01 8.86076965e-04 -3.10790017e+00] [-1.61930783e-02 1.84768680e-05 9.99868883e-01 -2.04154531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69907232899999 meters 0.07391230880928262 Centerline is valid? [True, True] Translation: X:60.14, Y:-3.10, Z:-2.04 [[ 9.98456192e-01 -5.31884383e-02 1.60069315e-02 6.01438543e+01] [ 5.31811047e-02 9.98584493e-01 8.83767864e-04 -3.09826623e+00] [-1.60312798e-02 -3.11371964e-05 9.99871490e-01 -2.04359406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75907232899999 meters 0.07437593089059526 Centerline is valid? [True, True] Translation: X:60.20, Y:-3.09, Z:-2.04 [[ 9.98517670e-01 -5.22003356e-02 1.54138883e-02 6.02021699e+01] [ 5.21934503e-02 9.98636632e-01 8.48908043e-04 -3.09121100e+00] [-1.54371868e-02 -4.31456662e-05 9.99880839e-01 -2.04371560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.819072329 meters 0.07440686661044058 Centerline is valid? [True, True] Translation: X:60.26, Y:-3.09, Z:-2.04 [[ 9.98436270e-01 -5.32528782e-02 1.70042884e-02 6.02607654e+01] [ 5.32445667e-02 9.98581058e-01 9.41461388e-04 -3.08822919e+00] [-1.70302958e-02 -3.46032316e-05 9.99854973e-01 -2.04445418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.879072329 meters 0.07463626282034423 Centerline is valid? [True, True] Translation: X:60.32, Y:-3.08, Z:-2.04 [[ 9.98368080e-01 -5.43589347e-02 1.75009323e-02 6.03195152e+01] [ 5.43502226e-02 9.98521460e-01 9.73402570e-04 -3.08332918e+00] [-1.75279696e-02 -2.06344875e-05 9.99846373e-01 -2.04484522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.939072329 meters 0.07496652706272541 Centerline is valid? [True, True] Translation: X:60.38, Y:-3.08, Z:-2.05 [[ 9.98286789e-01 -5.63145048e-02 1.58796771e-02 6.03784949e+01] [ 5.63075331e-02 9.98413079e-01 8.86143256e-04 -3.07980497e+00] [-1.59043800e-02 9.52033947e-06 9.99873517e-01 -2.04927174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99907232899999 meters 0.07537430579191645 Centerline is valid? [True, True] Translation: X:60.44, Y:-3.08, Z:-2.05 [[ 9.98060571e-01 -6.02417433e-02 1.56852857e-02 6.04370064e+01] [ 6.02353347e-02 9.98183815e-01 8.81119538e-04 -3.08108641e+00] [-1.57098785e-02 6.53977644e-05 9.99876590e-01 -2.05117501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05907232899999 meters 0.07526914314407404 Centerline is valid? [True, True] Translation: X:60.50, Y:-3.08, Z:-2.05 [[ 9.97866419e-01 -6.30063982e-02 1.71114825e-02 6.04957973e+01] [ 6.29991689e-02 9.98013116e-01 9.61733098e-04 -3.07857377e+00] [-1.71380793e-02 1.18328010e-04 9.99853125e-01 -2.05075327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11907232899999 meters 0.07579822788285011 Centerline is valid? [True, True] Translation: X:60.55, Y:-3.08, Z:-2.06 [[ 9.97825431e-01 -6.41086604e-02 1.53130231e-02 6.05533927e+01] [ 6.41029127e-02 9.97942917e-01 8.66389729e-04 -3.07612118e+00] [-1.53370661e-02 1.17103680e-04 9.99882373e-01 -2.05652936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.179072329 meters 0.0762229879456054 Centerline is valid? [True, True] Translation: X:60.61, Y:-3.07, Z:-2.06 [[ 9.97788940e-01 -6.51614743e-02 1.30848442e-02 6.06106468e+01] [ 6.51573589e-02 9.97874726e-01 7.41027972e-04 -3.07253390e+00] [-1.31053218e-02 1.13184372e-04 9.99914115e-01 -2.06308115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.239072329 meters 0.07584535046388029 Centerline is valid? [True, True] Translation: X:60.67, Y:-3.07, Z:-2.06 [[ 9.97766375e-01 -6.54675726e-02 1.32761855e-02 6.06682723e+01] [ 6.54634048e-02 9.97854690e-01 7.48727362e-04 -3.06573519e+00] [-1.32967214e-02 1.22049322e-04 9.99911587e-01 -2.06410880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.299072329 meters 0.07565438161323405 Centerline is valid? [True, True] Translation: X:60.73, Y:-3.06, Z:-2.06 [[ 9.97882542e-01 -6.39412687e-02 1.19141608e-02 6.07274368e+01] [ 6.39377707e-02 9.97953659e-01 6.74660784e-04 -3.06086366e+00] [-1.19329190e-02 8.85326637e-05 9.99928796e-01 -2.06349781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35907232899999 meters 0.07553668373953006 Centerline is valid? [True, True] Translation: X:60.78, Y:-3.05, Z:-2.07 [[ 9.98102118e-01 -6.06152098e-02 1.08608393e-02 6.07845346e+01] [ 6.06120439e-02 9.98161207e-01 6.20726175e-04 -3.05248737e+00] [-1.08784939e-02 3.87495600e-05 9.99940827e-01 -2.06685237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41907232899999 meters 0.07539207995356449 Centerline is valid? [True, True] Translation: X:60.84, Y:-3.04, Z:-2.07 [[ 9.98374051e-01 -5.55290142e-02 1.28756896e-02 6.08433085e+01] [ 5.55241590e-02 9.98457074e-01 7.34519791e-04 -3.03981789e+00] [-1.28966105e-02 -1.84136622e-05 9.99916835e-01 -2.06937027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47907232899999 meters 0.07643364574964327 Centerline is valid? [True, True] Translation: X:60.90, Y:-3.02, Z:-2.07 [[ 9.98992735e-01 -4.27713016e-02 1.35694624e-02 6.09021272e+01] [ 4.27646319e-02 9.99084869e-01 7.81435295e-04 -3.01909301e+00] [-1.35904676e-02 -2.00355118e-04 9.99907625e-01 -2.07052236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53907232899999 meters 0.07846002117906486 Centerline is valid? [True, True] Translation: X:60.96, Y:-3.00, Z:-2.07 [[ 9.99383870e-01 -3.25244024e-02 1.31925546e-02 6.09613886e+01] [ 3.25171970e-02 9.99470887e-01 7.60360686e-04 -3.00340450e+00] [-1.32103045e-02 -3.30907307e-04 9.99912685e-01 -2.07147091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.599072329 meters 0.07984582469427338 Centerline is valid? [True, True] Translation: X:61.02, Y:-2.99, Z:-2.07 [[ 9.99502340e-01 -2.73331704e-02 1.57470818e-02 6.10203506e+01] [ 2.73222550e-02 9.99626265e-01 9.07932579e-04 -2.99166254e+00] [-1.57660132e-02 -4.77234953e-04 9.99875595e-01 -2.07091760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.659072329 meters 0.08128356997507943 Centerline is valid? [True, True] Translation: X:61.08, Y:-2.98, Z:-2.07 [[ 9.99581026e-01 -2.35748846e-02 1.67927509e-02 6.10798156e+01] [ 2.35619305e-02 9.99721910e-01 9.68866232e-04 -2.98220210e+00] [-1.68109219e-02 -5.72790673e-04 9.99858522e-01 -2.07293083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.719072329 meters 0.08045870867300046 Centerline is valid? [True, True] Translation: X:61.14, Y:-2.98, Z:-2.08 [[ 9.99594482e-01 -2.44785105e-02 1.45490214e-02 6.11385270e+01] [ 2.44689421e-02 9.99700242e-01 8.35337288e-04 -2.98169856e+00] [-1.45651080e-02 -4.78999381e-04 9.99893808e-01 -2.07740831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77907232899999 meters 0.07932117046570684 Centerline is valid? [True, True] Translation: X:61.20, Y:-2.98, Z:-2.08 [[ 9.99498830e-01 -2.72803942e-02 1.60583237e-02 6.11981417e+01] [ 2.72690188e-02 9.99627701e-01 9.26957251e-04 -2.98318026e+00] [-1.60776330e-02 -4.88597955e-04 9.99870627e-01 -2.07764909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83907232899999 meters 0.0789221222676468 Centerline is valid? [True, True] Translation: X:61.26, Y:-2.98, Z:-2.08 [[ 9.99408307e-01 -3.07984745e-02 1.53130551e-02 6.12558798e+01] [ 3.07884525e-02 9.99525527e-01 8.89847059e-04 -2.98476642e+00] [-1.53331954e-02 -4.17855274e-04 9.99882352e-01 -2.08130678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89907232899999 meters 0.07828370369960319 Centerline is valid? [True, True] Translation: X:61.31, Y:-2.99, Z:-2.08 [[ 9.99341390e-01 -3.32392816e-02 1.45580354e-02 6.13148189e+01] [ 3.32305133e-02 9.99447358e-01 8.43850811e-04 -2.98594693e+00] [-1.45780390e-02 -3.59524052e-04 9.99893670e-01 -2.08475732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.959072329 meters 0.07756562922905448 Centerline is valid? [True, True] Translation: X:61.37, Y:-2.99, Z:-2.09 [[ 9.99277625e-01 -3.47515518e-02 1.53804350e-02 6.13743945e+01] [ 3.47418831e-02 9.99395917e-01 8.95460283e-04 -2.98769567e+00] [-1.54022625e-02 -3.60468151e-04 9.99881313e-01 -2.08616900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.019072329 meters 0.07774554896822007 Centerline is valid? [True, True] Translation: X:61.43, Y:-2.99, Z:-2.09 [[ 9.99295051e-01 -3.44197890e-02 1.49892753e-02 6.14325882e+01] [ 3.44104689e-02 9.99407398e-01 8.79325760e-04 -2.98713455e+00] [-1.50106588e-02 -3.62917890e-04 9.99887268e-01 -2.08850865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.079072329 meters 0.07790468755661573 Centerline is valid? [True, True] Translation: X:61.49, Y:-2.98, Z:-2.09 [[ 9.99359681e-01 -3.26989421e-02 1.45260638e-02 6.14914134e+01] [ 3.26900400e-02 9.99465176e-01 8.49922240e-04 -2.98469706e+00] [-1.45460864e-02 -3.74520414e-04 9.99894130e-01 -2.09116349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13907232899999 meters 0.07909976360966019 Centerline is valid? [True, True] Translation: X:61.55, Y:-2.98, Z:-2.10 [[ 9.99454380e-01 -2.99289918e-02 1.39713092e-02 6.15492583e+01] [ 2.99203912e-02 9.99551945e-01 8.24256801e-04 -2.97842673e+00] [-1.39897185e-02 -4.05780034e-04 9.99902057e-01 -2.09658458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19907232899999 meters 0.07946831160807213 Centerline is valid? [True, True] Translation: X:61.61, Y:-2.98, Z:-2.10 [[ 9.99487966e-01 -2.82632021e-02 1.49998799e-02 6.16079091e+01] [ 2.82531349e-02 9.99600411e-01 8.82681307e-04 -2.97571609e+00] [-1.50188335e-02 -4.58435714e-04 9.99887106e-01 -2.09792739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25907232899999 meters 0.08035634994826045 Centerline is valid? [True, True] Translation: X:61.67, Y:-2.97, Z:-2.10 [[ 9.99525499e-01 -2.56554335e-02 1.70462576e-02 6.16670815e+01] [ 2.56419643e-02 9.99670682e-01 1.00829149e-03 -2.97101278e+00] [-1.70665121e-02 -5.70713530e-04 9.99854194e-01 -2.10005058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.319072329 meters 0.08212171516419159 Centerline is valid? [True, True] Translation: X:61.73, Y:-2.96, Z:-2.10 [[ 9.99611300e-01 -2.20860982e-02 1.70133214e-02 6.17251308e+01] [ 2.20720468e-02 9.99755869e-01 1.01325700e-03 -2.96296814e+00] [-1.70315468e-02 -6.37344321e-04 9.99854750e-01 -2.10314111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.379072329 meters 0.08519485089702232 Centerline is valid? [True, True] Translation: X:61.78, Y:-2.95, Z:-2.11 [[ 9.99731461e-01 -1.60228949e-02 1.67413294e-02 6.17846248e+01] [ 1.60083950e-02 9.99871358e-01 9.99770571e-04 -2.95355501e+00] [-1.67551950e-02 -7.31500279e-04 9.99859354e-01 -2.10621818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.439072329 meters 0.08871576656039612 Centerline is valid? [True, True] Translation: X:61.84, Y:-2.94, Z:-2.11 [[ 9.99764525e-01 -1.16624828e-02 1.82997612e-02 6.18430564e+01] [ 1.16444371e-02 9.99931605e-01 1.09236497e-03 -2.94468962e+00] [-1.83112493e-02 -8.79017325e-04 9.99831949e-01 -2.10737180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49907232899999 meters 0.0905634336810931 Centerline is valid? [True, True] Translation: X:61.90, Y:-2.94, Z:-2.11 [[ 9.99744670e-01 -9.02337474e-03 2.07164986e-02 6.19038288e+01] [ 8.99964505e-03 9.99958736e-01 1.23839542e-03 -2.93735109e+00] [-2.07268183e-02 -1.05163808e-03 9.99784623e-01 -2.10895360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55907232899999 meters 0.09248307962896526 Centerline is valid? [True, True] Translation: X:61.96, Y:-2.93, Z:-2.11 [[ 9.99773283e-01 -7.37970803e-03 1.99730199e-02 6.19642082e+01] [ 7.35733590e-03 9.99972222e-01 1.19336810e-03 -2.93116256e+00] [-1.99812718e-02 -1.04614933e-03 9.99799807e-01 -2.11431373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61907232899999 meters 0.09246743322711 Centerline is valid? [True, True] Translation: X:62.03, Y:-2.93, Z:-2.12 [[ 9.99797990e-01 -7.38716081e-03 1.86925072e-02 6.20265154e+01] [ 7.36756662e-03 9.99972235e-01 1.11688684e-03 -2.92875939e+00] [-1.87002388e-02 -9.78942924e-04 9.99824656e-01 -2.11795695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.679072329 meters 0.08657046430452467 Centerline is valid? [True, True] Translation: X:62.09, Y:-2.94, Z:-2.12 [[ 9.99761831e-01 -1.11808554e-02 1.87422101e-02 6.20882447e+01] [ 1.11618576e-02 9.99937080e-01 1.11794021e-03 -2.94161835e+00] [-1.87535303e-02 -9.08476071e-04 9.99823724e-01 -2.11777918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.739072329 meters 0.08588301748447359 Centerline is valid? [True, True] Translation: X:62.15, Y:-2.94, Z:-2.12 [[ 9.99683015e-01 -1.66518576e-02 1.88834465e-02 6.21481234e+01] [ 1.66335621e-02 9.99861019e-01 1.12552515e-03 -2.94354492e+00] [-1.88995641e-02 -8.11069401e-04 9.99821058e-01 -2.12189090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.799072329 meters 0.08222154730877944 Centerline is valid? [True, True] Translation: X:62.21, Y:-2.95, Z:-2.12 [[ 9.99586504e-01 -2.06618445e-02 1.99977512e-02 6.22090818e+01] [ 2.06421283e-02 9.99786218e-01 1.19186087e-03 -2.95052154e+00] [-2.00181021e-02 -7.78571899e-04 9.99799315e-01 -2.12300822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85907232899999 meters 0.08009531653681536 Centerline is valid? [True, True] Translation: X:62.27, Y:-2.96, Z:-2.12 [[ 9.99469516e-01 -2.51968202e-02 2.06350770e-02 6.22693668e+01] [ 2.51767735e-02 9.99682257e-01 1.23074435e-03 -2.95791519e+00] [-2.06595312e-02 -7.10566796e-04 9.99786317e-01 -2.12314242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91907232899999 meters 0.08176483833150758 Centerline is valid? [True, True] Translation: X:62.33, Y:-2.95, Z:-2.13 [[ 9.99401816e-01 -2.81986519e-02 2.00211657e-02 6.23269366e+01] [ 2.81803851e-02 9.99602141e-01 1.19397279e-03 -2.95102600e+00] [-2.00468686e-02 -6.29054412e-04 9.99798843e-01 -2.13131926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97907232899999 meters 0.08068880956556586 Centerline is valid? [True, True] Translation: X:62.39, Y:-2.95, Z:-2.13 [[ 9.99387880e-01 -2.85150542e-02 2.02671575e-02 6.23850242e+01] [ 2.84964196e-02 9.99593165e-01 1.20771435e-03 -2.95044158e+00] [-2.02933501e-02 -6.29433657e-04 9.99793871e-01 -2.13305937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03907232899999 meters 0.08009761280332586 Centerline is valid? [True, True] Translation: X:62.44, Y:-2.95, Z:-2.13 [[ 9.99328839e-01 -2.82341363e-02 2.33389377e-02 6.24446008e+01] [ 2.82091692e-02 9.99601064e-01 1.39837011e-03 -2.95056906e+00] [-2.33691088e-02 -7.39059539e-04 9.99726632e-01 -2.13095598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.099072329 meters 0.08013879788186713 Centerline is valid? [True, True] Translation: X:62.50, Y:-2.95, Z:-2.14 [[ 9.99323689e-01 -2.88569330e-02 2.27912665e-02 6.25022305e+01] [ 2.88331278e-02 9.99583297e-01 1.37248128e-03 -2.94550460e+00] [-2.28213749e-02 -7.14409555e-04 9.99739303e-01 -2.13571775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.159072329 meters 0.08030186664996566 Centerline is valid? [True, True] Translation: X:62.56, Y:-2.94, Z:-2.14 [[ 9.99287067e-01 -2.96048883e-02 2.34287829e-02 6.25597141e+01] [ 2.95798916e-02 9.99561421e-01 1.41283612e-03 -2.94142709e+00] [-2.34603343e-02 -7.18808001e-04 9.99724510e-01 -2.14025074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.219072329 meters 0.07854105912756525 Centerline is valid? [True, True] Translation: X:62.62, Y:-2.95, Z:-2.14 [[ 9.99102916e-01 -3.49375767e-02 2.39317599e-02 6.26187998e+01] [ 3.49129674e-02 9.99389311e-01 1.44548941e-03 -2.94592455e+00] [-2.39676469e-02 -6.08663929e-04 9.99712549e-01 -2.14014540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27907232899999 meters 0.07783542379908445 Centerline is valid? [True, True] Translation: X:62.68, Y:-2.95, Z:-2.14 [[ 9.99007633e-01 -3.84380055e-02 2.25004397e-02 6.26771456e+01] [ 3.84171694e-02 9.99260866e-01 1.35771214e-03 -2.94535750e+00] [-2.25359966e-02 -4.91961580e-04 9.99745911e-01 -2.14471479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33907232899999 meters 0.07633789594551166 Centerline is valid? [True, True] Translation: X:62.74, Y:-2.95, Z:-2.15 [[ 9.98822326e-01 -4.25409275e-02 2.33287380e-02 6.27359504e+01] [ 4.25194793e-02 9.99094636e-01 1.41487691e-03 -2.94645219e+00] [-2.33678072e-02 -4.21284854e-04 9.99726847e-01 -2.14617233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39907232899999 meters 0.0762297899575261 Centerline is valid? [True, True] Translation: X:62.79, Y:-2.94, Z:-2.15 [[ 9.98775445e-01 -4.36837901e-02 2.32236176e-02 6.27944911e+01] [ 4.36628563e-02 9.99045331e-01 1.40795508e-03 -2.94255061e+00] [-2.32629516e-02 -3.92221481e-04 9.99729304e-01 -2.14880612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.459072329 meters 0.07533338596603824 Centerline is valid? [True, True] Translation: X:62.85, Y:-2.94, Z:-2.15 [[ 9.98686979e-01 -4.58959939e-02 2.27569023e-02 6.28532613e+01] [ 4.58763597e-02 9.98946166e-01 1.38437898e-03 -2.94078615e+00] [-2.27964577e-02 -3.38557429e-04 9.99740070e-01 -2.15052772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.519072329 meters 0.07439895848159962 Centerline is valid? [True, True] Translation: X:62.91, Y:-2.94, Z:-2.15 [[ 9.98429494e-01 -5.08403025e-02 2.35331359e-02 6.29119820e+01] [ 5.08204980e-02 9.98706767e-01 1.43924606e-03 -2.94044427e+00] [-2.35758737e-02 -2.41020030e-04 9.99722021e-01 -2.15255604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.579072329 meters 0.07393728365359575 Centerline is valid? [True, True] Translation: X:62.97, Y:-2.94, Z:-2.15 [[ 9.98349279e-01 -5.24388686e-02 2.34282273e-02 6.29707206e+01] [ 5.24196958e-02 9.98624116e-01 1.43217157e-03 -2.93695316e+00] [-2.34710942e-02 -2.01706904e-04 9.99724496e-01 -2.15329193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63907232899999 meters 0.07349641603873595 Centerline is valid? [True, True] Translation: X:63.03, Y:-2.94, Z:-2.15 [[ 9.98111021e-01 -5.69070270e-02 2.31512568e-02 6.30300913e+01] [ 5.68893833e-02 9.98379477e-01 1.42054531e-03 -2.93511276e+00] [-2.31945786e-02 -1.00801214e-04 9.99730964e-01 -2.15457792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69907232899999 meters 0.07389970800417021 Centerline is valid? [True, True] Translation: X:63.09, Y:-2.93, Z:-2.16 [[ 9.98025016e-01 -5.99876446e-02 1.86426851e-02 6.30870419e+01] [ 5.99766454e-02 9.98199119e-01 1.14905289e-03 -2.92954840e+00] [-1.86780408e-02 -2.86578168e-05 9.99825550e-01 -2.16435630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75907232899999 meters 0.07399808406633422 Centerline is valid? [True, True] Translation: X:63.14, Y:-2.93, Z:-2.17 [[ 9.97895657e-01 -6.22160206e-02 1.82599048e-02 6.31449700e+01] [ 6.22058625e-02 9.98062707e-01 1.12431525e-03 -2.92615192e+00] [-1.82944804e-02 1.39238202e-05 9.99832642e-01 -2.16646656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.819072329 meters 0.07390746867531252 Centerline is valid? [True, True] Translation: X:63.20, Y:-2.92, Z:-2.17 [[ 9.97623008e-01 -6.65985702e-02 1.76907739e-02 6.32034813e+01] [ 6.65896023e-02 9.97779847e-01 1.09615393e-03 -2.92402259e+00] [-1.77245000e-02 8.44732174e-05 9.99842905e-01 -2.16589711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.879072329 meters 0.07432858355123978 Centerline is valid? [True, True] Translation: X:63.26, Y:-2.92, Z:-2.17 [[ 9.97301306e-01 -7.12620412e-02 1.76586289e-02 6.32609696e+01] [ 7.12537834e-02 9.97457615e-01 1.09716719e-03 -2.92242468e+00] [-1.76919202e-02 1.64037846e-04 9.99843472e-01 -2.16739317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.939072329 meters 0.07474503018894005 Centerline is valid? [True, True] Translation: X:63.32, Y:-2.92, Z:-2.17 [[ 9.97099506e-01 -7.42718006e-02 1.66215279e-02 6.33190740e+01] [ 7.42648826e-02 9.97238015e-01 1.03391591e-03 -2.91708450e+00] [-1.66524103e-02 2.03478777e-04 9.99861318e-01 -2.16985191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99907232899999 meters 0.07519295557037504 Centerline is valid? [True, True] Translation: X:63.38, Y:-2.91, Z:-2.17 [[ 9.96929859e-01 -7.66768326e-02 1.58593373e-02 6.33777149e+01] [ 7.66708674e-02 9.97055971e-01 9.84698746e-04 -2.91027245e+00] [-1.58881505e-02 2.34273564e-04 9.99873748e-01 -2.17191353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05907232899999 meters 0.07497629696867136 Centerline is valid? [True, True] Translation: X:63.44, Y:-2.90, Z:-2.17 [[ 9.96897203e-01 -7.72360779e-02 1.51840094e-02 6.34361082e+01] [ 7.72306299e-02 9.97012806e-01 9.45717801e-04 -2.90456220e+00] [-1.52116954e-02 2.29887181e-04 9.99884269e-01 -2.17119160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11907232899999 meters 0.07550612444934279 Centerline is valid? [True, True] Translation: X:63.49, Y:-2.90, Z:-2.17 [[ 9.96780690e-01 -7.89419923e-02 1.40149365e-02 6.34933827e+01] [ 7.89374374e-02 9.96879185e-01 8.78749977e-04 -2.89946799e+00] [-1.40405687e-02 2.30382164e-04 9.99901400e-01 -2.17210007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.179072329 meters 0.07542861626308962 Centerline is valid? [True, True] Translation: X:63.55, Y:-2.89, Z:-2.17 [[ 9.96737866e-01 -7.96685978e-02 1.29050811e-02 6.35521060e+01] [ 7.96648239e-02 9.96821380e-01 8.07056756e-04 -2.89016011e+00] [-1.29283579e-02 2.23656987e-04 9.99916400e-01 -2.17499436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.239072329 meters 0.0753618970454675 Centerline is valid? [True, True] Translation: X:63.61, Y:-2.88, Z:-2.18 [[ 9.96706022e-01 -8.03204464e-02 1.12130119e-02 6.36101047e+01] [ 8.03176220e-02 9.96769073e-01 7.02699742e-04 -2.87882642e+00] [-1.12332247e-02 2.00217390e-04 9.99936885e-01 -2.17766075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.299072329 meters 0.07588211932747839 Centerline is valid? [True, True] Translation: X:63.67, Y:-2.87, Z:-2.18 [[ 9.96639769e-01 -8.16107002e-02 6.99032915e-03 6.36693334e+01] [ 8.16096032e-02 9.96664275e-01 4.42505528e-04 -2.87190243e+00] [-7.00312452e-03 1.29459381e-04 9.99975469e-01 -2.18123898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35907232899999 meters 0.07666800631824823 Centerline is valid? [True, True] Translation: X:63.73, Y:-2.87, Z:-2.19 [[ 9.96539265e-01 -8.29565018e-02 5.26429101e-03 6.37267199e+01] [ 8.29559073e-02 9.96553163e-01 3.31563845e-04 -2.86580244e+00] [-5.27365124e-03 1.06287647e-04 9.99986089e-01 -2.18656684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41907232899999 meters 0.07682956669486274 Centerline is valid? [True, True] Translation: X:63.79, Y:-2.86, Z:-2.19 [[ 9.96334804e-01 -8.54252265e-02 4.41453513e-03 6.37853606e+01] [ 8.54248548e-02 9.96344579e-01 2.73037501e-04 -2.85936210e+00] [-4.42172244e-03 1.05074258e-04 9.99990219e-01 -2.18567857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47907232899999 meters 0.0763065550480218 Centerline is valid? [True, True] Translation: X:63.84, Y:-2.85, Z:-2.19 [[ 9.96394434e-01 -8.47604166e-02 3.71532901e-03 6.38433861e+01] [ 8.47601554e-02 9.96401357e-01 2.27997207e-04 -2.85089830e+00] [-3.72128401e-03 8.77367164e-05 9.99993072e-01 -2.18569527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53907232899999 meters 0.07629236297611365 Centerline is valid? [True, True] Translation: X:63.90, Y:-2.84, Z:-2.19 [[ 9.96760030e-01 -8.03951296e-02 2.46271657e-03 6.38999463e+01] [ 8.03949921e-02 9.96763072e-01 1.54934048e-04 -2.83784904e+00] [-2.46720088e-03 4.35580126e-05 9.99996956e-01 -2.19175563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.599072329 meters 0.07566699555561147 Centerline is valid? [True, True] Translation: X:63.96, Y:-2.83, Z:-2.19 [[ 9.97110176e-01 -7.59519230e-02 1.61291233e-03 6.39581673e+01] [ 7.59518677e-02 9.97111481e-01 9.55808392e-05 -2.82759428e+00] [-1.61551295e-03 2.71990762e-05 9.99998695e-01 -2.19270182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.659072329 meters 0.07419852316192972 Centerline is valid? [True, True] Translation: X:64.02, Y:-2.81, Z:-2.19 [[ 9.97726953e-01 -6.72917161e-02 3.57089190e-03 6.40174816e+01] [ 6.72913293e-02 9.97733344e-01 2.28499827e-04 -2.81076204e+00] [-3.57817406e-03 1.23096260e-05 9.99993598e-01 -2.18965404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.719072329 meters 0.07482976397583034 Centerline is valid? [True, True] Translation: X:64.08, Y:-2.79, Z:-2.20 [[ 9.98315307e-01 -5.80072941e-02 1.30471341e-03 6.40755253e+01] [ 5.80072353e-02 9.98316159e-01 8.29204395e-05 -2.78781282e+00] [-1.30732647e-03 -7.09792623e-06 9.99999145e-01 -2.19648430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77907232899999 meters 0.07581540954960612 Centerline is valid? [True, True] Translation: X:64.13, Y:-2.77, Z:-2.20 [[ 9.98797182e-01 -4.89488630e-02 2.86332758e-03 6.41336373e+01] [ 4.89485571e-02 9.98801285e-01 1.76857488e-04 -2.77063232e+00] [-2.86855224e-03 -3.64890067e-05 9.99995885e-01 -2.19532671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83907232899999 meters 0.07603329540702773 Centerline is valid? [True, True] Translation: X:64.19, Y:-2.76, Z:-2.19 [[ 9.99011243e-01 -4.44055903e-02 2.16320625e-03 6.41927124e+01] [ 4.44053951e-02 9.99013584e-01 1.38204274e-04 -2.76225754e+00] [-2.16720947e-03 -4.20095956e-05 9.99997651e-01 -2.19240110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89907232899999 meters 0.07779388065631757 Centerline is valid? [True, True] Translation: X:64.25, Y:-2.75, Z:-2.20 [[ 9.99189739e-01 -4.02315905e-02 1.13336452e-03 6.42497368e+01] [ 4.02315363e-02 9.99190382e-01 7.05658610e-05 -2.74764720e+00] [-1.13528590e-03 -2.49116884e-05 9.99999355e-01 -2.19917410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.959072329 meters 0.07810300709491075 Centerline is valid? [True, True] Translation: X:64.31, Y:-2.74, Z:-2.20 [[ 9.99254924e-01 -3.85728945e-02 1.31484132e-03 6.43086169e+01] [ 3.85728266e-02 9.99255789e-01 7.70136765e-05 -2.74072284e+00] [-1.31683344e-03 -2.62391491e-05 9.99999133e-01 -2.20119444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.019072329 meters 0.07800954898661201 Centerline is valid? [True, True] Translation: X:64.37, Y:-2.74, Z:-2.20 [[ 9.99267456e-01 -3.82640043e-02 6.45476891e-04 6.43677733e+01] [ 3.82639906e-02 9.99267665e-01 3.35240751e-05 -2.73840290e+00] [-6.46286951e-04 -8.80099556e-06 9.99999791e-01 -2.20196053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.079072329 meters 0.07718818281669838 Centerline is valid? [True, True] Translation: X:64.43, Y:-2.74, Z:-2.20 [[ 9.99288577e-01 -3.77114401e-02 4.31820741e-04 6.44266178e+01] [ 3.77114353e-02 9.99288671e-01 1.91656745e-05 -2.73743401e+00] [-4.32236339e-04 -2.86745966e-06 9.99999907e-01 -2.20132582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13907232899999 meters 0.07819399723419249 Centerline is valid? [True, True] Translation: X:64.48, Y:-2.73, Z:-2.21 [[ 9.99349357e-01 -3.60627049e-02 5.86597716e-04 6.44833966e+01] [ 3.60626907e-02 9.99349529e-01 3.46754739e-05 -2.72947085e+00] [-5.87466642e-04 -1.34986205e-05 9.99999827e-01 -2.20778307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19907232899999 meters 0.07952864039109528 Centerline is valid? [True, True] Translation: X:64.54, Y:-2.72, Z:-2.21 [[ 9.99448777e-01 -3.31943557e-02 -5.26062657e-04 6.45422744e+01] [ 3.31943411e-02 9.99448915e-01 -3.64727368e-05 -2.72473970e+00] [ 5.26983441e-04 1.89903289e-05 9.99999861e-01 -2.21058477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25907232899999 meters 0.08060844929453763 Centerline is valid? [True, True] Translation: X:64.60, Y:-2.72, Z:-2.21 [[ 9.99521605e-01 -3.09231351e-02 5.66511010e-04 6.45999485e+01] [ 3.09231207e-02 9.99521765e-01 3.41896513e-05 -2.72106459e+00] [-5.67297336e-04 -1.66550068e-05 9.99999839e-01 -2.21270242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.319072329 meters 0.08131793677341922 Centerline is valid? [True, True] Translation: X:64.66, Y:-2.71, Z:-2.21 [[ 9.99570758e-01 -2.89470551e-02 4.51314121e-03 6.46589217e+01] [ 2.89460423e-02 9.99580934e-01 2.89581278e-04 -2.71397858e+00] [-4.51963243e-03 -1.58819401e-04 9.99989774e-01 -2.21418389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.379072329 meters 0.08372944582025954 Centerline is valid? [True, True] Translation: X:64.72, Y:-2.71, Z:-2.22 [[ 9.99673619e-01 -2.49894516e-02 5.30866960e-03 6.47173450e+01] [ 2.49879492e-02 9.99687691e-01 3.49174013e-04 -2.70727428e+00] [-5.31573732e-03 -2.16407283e-04 9.99985848e-01 -2.21607276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.439072329 meters 0.0849656116928461 Centerline is valid? [True, True] Translation: X:64.78, Y:-2.70, Z:-2.22 [[ 9.99731013e-01 -2.24707046e-02 5.74185065e-03 6.47768226e+01] [ 2.24689000e-02 9.99747471e-01 3.78610953e-04 -2.70385109e+00] [-5.74890832e-03 -2.49496043e-04 9.99983444e-01 -2.21805222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49907232899999 meters 0.0860776673602145 Centerline is valid? [True, True] Translation: X:64.83, Y:-2.70, Z:-2.22 [[ 9.99765609e-01 -2.04272109e-02 7.17335469e-03 6.48348862e+01] [ 2.04243570e-02 9.99791290e-01 4.70892736e-04 -2.69763004e+00] [-7.18147657e-03 -3.24271205e-04 9.99974160e-01 -2.22040539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55907232899999 meters 0.0884732395867826 Centerline is valid? [True, True] Translation: X:64.89, Y:-2.69, Z:-2.22 [[ 9.99809591e-01 -1.80247281e-02 7.47608420e-03 6.48929997e+01] [ 1.80215400e-02 9.99837477e-01 4.93597189e-04 -2.69337329e+00] [-7.48376612e-03 -3.58772653e-04 9.99971932e-01 -2.22267067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61907232899999 meters 0.08788779752501659 Centerline is valid? [True, True] Translation: X:64.95, Y:-2.69, Z:-2.23 [[ 9.99776435e-01 -1.99790126e-02 6.92237850e-03 6.49525404e+01] [ 1.99763530e-02 9.99800350e-01 4.53135300e-04 -2.69468132e+00] [-6.93004965e-03 -3.14750118e-04 9.99975937e-01 -2.22644475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.679072329 meters 0.0883607394012413 Centerline is valid? [True, True] Translation: X:65.01, Y:-2.69, Z:-2.23 [[ 9.99722029e-01 -2.22053959e-02 7.92364553e-03 6.50116109e+01] [ 2.22019199e-02 9.99753368e-01 5.26389194e-04 -2.69333633e+00] [-7.93337999e-03 -3.50322730e-04 9.99968469e-01 -2.23189243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.739072329 meters 0.08572589975351705 Centerline is valid? [True, True] Translation: X:65.07, Y:-2.70, Z:-2.23 [[ 9.99648062e-01 -2.44734172e-02 1.02374242e-02 6.50723341e+01] [ 2.44677225e-02 9.99700388e-01 6.81157127e-04 -2.70174446e+00] [-1.02510272e-02 -4.30430947e-04 9.99947364e-01 -2.22996837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.799072329 meters 0.08535296606237776 Centerline is valid? [True, True] Translation: X:65.13, Y:-2.70, Z:-2.23 [[ 9.99599495e-01 -2.61481965e-02 1.08222204e-02 6.51313305e+01] [ 2.61419414e-02 9.99657982e-01 7.19066720e-04 -2.70268238e+00] [-1.08373213e-02 -4.35864878e-04 9.99941180e-01 -2.23146299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85907232899999 meters 0.08243137609752366 Centerline is valid? [True, True] Translation: X:65.19, Y:-2.71, Z:-2.23 [[ 9.99504475e-01 -2.89909672e-02 1.22608225e-02 6.51922817e+01] [ 2.89831249e-02 9.99579567e-01 8.16859531e-04 -2.71128167e+00] [-1.22793492e-02 -4.61097806e-04 9.99924500e-01 -2.23055787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91907232899999 meters 0.08321983087848701 Centerline is valid? [True, True] Translation: X:65.25, Y:-2.71, Z:-2.23 [[ 9.99449006e-01 -2.93568960e-02 1.54873274e-02 6.52502693e+01] [ 2.93444414e-02 9.99568828e-01 1.03086215e-03 -2.70754699e+00] [-1.55109126e-02 -5.75827178e-04 9.99879533e-01 -2.23156450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97907232899999 meters 0.08265286514880998 Centerline is valid? [True, True] Translation: X:65.31, Y:-2.71, Z:-2.23 [[ 9.99417115e-01 -2.96556821e-02 1.69106569e-02 6.53091155e+01] [ 2.96408957e-02 9.99559980e-01 1.12440715e-03 -2.70729224e+00] [-1.69365610e-02 -6.22504731e-04 9.99856372e-01 -2.23102267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03907232899999 meters 0.0831731280454929 Centerline is valid? [True, True] Translation: X:65.37, Y:-2.71, Z:-2.24 [[ 9.99471070e-01 -2.95176016e-02 1.36488953e-02 6.53673223e+01] [ 2.95078884e-02 9.99564131e-01 9.12533098e-04 -2.70728629e+00] [-1.36698820e-02 -5.09300352e-04 9.99906433e-01 -2.23763311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.099072329 meters 0.08422072554942185 Centerline is valid? [True, True] Translation: X:65.43, Y:-2.70, Z:-2.24 [[ 9.99530476e-01 -2.81790674e-02 1.20319704e-02 6.54267667e+01] [ 2.81714001e-02 9.99602782e-01 8.06288874e-04 -2.70052714e+00] [-1.20499115e-02 -4.66952851e-04 9.99927288e-01 -2.24380749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.159072329 meters 0.08448759905979777 Centerline is valid? [True, True] Translation: X:65.49, Y:-2.70, Z:-2.24 [[ 9.99448264e-01 -2.83011827e-02 1.73842093e-02 6.54861217e+01] [ 2.82852341e-02 9.99599217e-01 1.16266357e-03 -2.69683929e+00] [-1.74101468e-02 -6.70305658e-04 9.99848207e-01 -2.24187898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.219072329 meters 0.08577576365617154 Centerline is valid? [True, True] Translation: X:65.54, Y:-2.69, Z:-2.24 [[ 9.99437949e-01 -2.77024596e-02 1.88774804e-02 6.55429377e+01] [ 2.76834232e-02 9.99615935e-01 1.26904790e-03 -2.69289489e+00] [-1.89053860e-02 -7.45741350e-04 9.99820999e-01 -2.24129286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27907232899999 meters 0.08478576563128432 Centerline is valid? [True, True] Translation: X:65.60, Y:-2.69, Z:-2.25 [[ 9.99463496e-01 -2.73368646e-02 1.80392694e-02 6.56015900e+01] [ 2.73194289e-02 9.99626020e-01 1.21231318e-03 -2.69201929e+00] [-1.80656639e-02 -7.18840229e-04 9.99836544e-01 -2.24529048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33907232899999 meters 0.08582615689541616 Centerline is valid? [True, True] Translation: X:65.66, Y:-2.69, Z:-2.25 [[ 9.99456778e-01 -2.70662395e-02 1.88033677e-02 6.56586442e+01] [ 2.70471381e-02 9.99633353e-01 1.26946600e-03 -2.68705846e+00] [-1.88308332e-02 -7.60199110e-04 9.99822395e-01 -2.24884931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39907232899999 meters 0.08772898534888268 Centerline is valid? [True, True] Translation: X:65.72, Y:-2.68, Z:-2.25 [[ 9.99487964e-01 -2.38244432e-02 2.13589687e-02 6.57164876e+01] [ 2.37989134e-02 9.99715716e-01 1.44870639e-03 -2.68027245e+00] [-2.13874113e-02 -9.39644355e-04 9.99770822e-01 -2.24878039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.459072329 meters 0.08923699616145446 Centerline is valid? [True, True] Translation: X:65.78, Y:-2.67, Z:-2.25 [[ 9.99527500e-01 -2.18476678e-02 2.16207389e-02 6.57755254e+01] [ 2.18210042e-02 9.99760815e-01 1.46842456e-03 -2.67174672e+00] [-2.16476492e-02 -9.95944495e-04 9.99765166e-01 -2.25277237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.519072329 meters 0.09005357107677596 Centerline is valid? [True, True] Translation: X:65.84, Y:-2.67, Z:-2.25 [[ 9.99642939e-01 -1.80123909e-02 1.97369795e-02 6.58358212e+01] [ 1.79894124e-02 9.99837278e-01 1.34117694e-03 -2.66824104e+00] [-1.97579257e-02 -9.85641397e-04 9.99804307e-01 -2.25495393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.579072329 meters 0.09216070811797361 Centerline is valid? [True, True] Translation: X:65.89, Y:-2.66, Z:-2.26 [[ 9.99653199e-01 -1.58771927e-02 2.10094348e-02 6.58936816e+01] [ 1.58506871e-02 9.99873351e-01 1.42754053e-03 -2.65944525e+00] [-2.10294393e-02 -1.09403149e-03 9.99778258e-01 -2.25740144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63907232899999 meters 0.09310965652120468 Centerline is valid? [True, True] Translation: X:65.95, Y:-2.65, Z:-2.26 [[ 9.99712251e-01 -1.39073636e-02 1.95448381e-02 6.59531786e+01] [ 1.38840119e-02 9.99902728e-01 1.32996923e-03 -2.65382268e+00] [-1.95614333e-02 -1.05822577e-03 9.99808097e-01 -2.26072141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69907232899999 meters 0.0940695782049883 Centerline is valid? [True, True] Translation: X:66.01, Y:-2.65, Z:-2.27 [[ 9.99727945e-01 -1.40342875e-02 1.86299385e-02 6.60126136e+01] [ 1.40130561e-02 9.99901006e-01 1.26969900e-03 -2.64883754e+00] [-1.86459136e-02 -1.00829120e-03 9.99825641e-01 -2.26589255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75907232899999 meters 0.0947872021928795 Centerline is valid? [True, True] Translation: X:66.07, Y:-2.64, Z:-2.27 [[ 9.99728676e-01 -1.38634579e-02 1.87184278e-02 6.60731153e+01] [ 1.38420497e-02 9.99903384e-01 1.27277869e-03 -2.64254990e+00] [-1.87342644e-02 -1.01333194e-03 9.99823985e-01 -2.26888578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.819072329 meters 0.09579271045854519 Centerline is valid? [True, True] Translation: X:66.13, Y:-2.63, Z:-2.27 [[ 9.99708091e-01 -1.24777531e-02 2.06890963e-02 6.61337002e+01] [ 1.24512981e-02 9.99921490e-01 1.40702141e-03 -2.63461804e+00] [-2.07050285e-02 -1.14900458e-03 9.99784968e-01 -2.26813349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.879072329 meters 0.09586278475554263 Centerline is valid? [True, True] Translation: X:66.19, Y:-2.63, Z:-2.27 [[ 9.99743976e-01 -9.69173339e-03 2.04463376e-02 6.61940536e+01] [ 9.66531799e-03 9.99952323e-01 1.39036528e-03 -2.62761104e+00] [-2.04588379e-02 -1.19238896e-03 9.99789985e-01 -2.26918057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.939072329 meters 0.09971594179166544 Centerline is valid? [True, True] Translation: X:66.25, Y:-2.61, Z:-2.28 [[ 9.99816897e-01 -5.98210200e-03 1.81765551e-02 6.62521575e+01] [ 5.96063619e-03 9.99981473e-01 1.23490878e-03 -2.61277825e+00] [-1.81836057e-02 -1.12633883e-03 9.99834030e-01 -2.27529958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99907232899999 meters 0.09904857299858381 Centerline is valid? [True, True] Translation: X:66.31, Y:-2.61, Z:-2.28 [[ 9.99855555e-01 -3.90304466e-03 1.65419006e-02 6.63126110e+01] [ 3.88497059e-03 9.99991821e-01 1.12461779e-03 -2.60905008e+00] [-1.65461547e-02 -1.06019055e-03 9.99862541e-01 -2.27712100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05907232899999 meters 0.09788950773555503 Centerline is valid? [True, True] Translation: X:66.37, Y:-2.60, Z:-2.28 [[ 9.99831679e-01 -3.48281876e-03 1.80134506e-02 6.63743219e+01] [ 3.46130712e-03 9.99993259e-01 1.22523876e-03 -2.60326860e+00] [-1.80175964e-02 -1.16268245e-03 9.99836994e-01 -2.27843651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11907232899999 meters 0.09814309786138943 Centerline is valid? [True, True] Translation: X:66.44, Y:-2.59, Z:-2.28 [[ 9.99846399e-01 -6.51918701e-04 1.75143877e-02 6.64351503e+01] [ 6.31180751e-04 9.99999093e-01 1.18955397e-03 -2.59437219e+00] [-1.75151473e-02 -1.17831651e-03 9.99845904e-01 -2.27962141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.179072329 meters 0.10024091464038988 Centerline is valid? [True, False] Translation: X:66.44, Y:-2.59, Z:-2.28 [[ 9.99850185e-01 3.10343618e-03 1.70287033e-02 6.64364351e+01] [-3.18865062e-03 9.99982519e-01 4.97929768e-03 -2.59284363e+00] [-1.70129527e-02 -5.03285029e-03 9.99842603e-01 -2.27974544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.239072329 meters 0.10106244707976127 Centerline is valid? [False, False] Translation: X:66.43, Y:-2.59, Z:-2.28 [[ 9.99838877e-01 -1.19709427e-03 1.79105048e-02 6.64344067e+01] [ 1.21274557e-03 9.99998892e-01 -8.63025688e-04 -2.58537751e+00] [-1.79094518e-02 8.84607520e-04 9.99839222e-01 -2.27985406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.299072329 meters 0.09941460782569261 Centerline is valid? [False, True] Translation: X:66.44, Y:-2.58, Z:-2.28 [[ 9.99840962e-01 -1.79520365e-03 1.77434171e-02 6.64350190e+01] [ 1.82940002e-03 9.99996500e-01 -1.91122760e-03 -2.58168460e+00] [-1.77399240e-02 1.94338344e-03 9.99840746e-01 -2.28024664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35907232899999 meters 0.09873975082498913 Centerline is valid? [True, True] Translation: X:66.50, Y:-2.58, Z:-2.28 [[ 9.99877226e-01 -3.85658709e-03 1.51874757e-02 6.64964300e+01] [ 3.84122827e-03 9.99992081e-01 1.04032314e-03 -2.57524560e+00] [-1.51913675e-02 -9.81856851e-04 9.99884122e-01 -2.28211288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41907232899999 meters 0.10064326296081125 Centerline is valid? [True, False] Translation: X:66.50, Y:-2.57, Z:-2.28 [[ 9.99901979e-01 -7.70949407e-04 1.39798803e-02 6.64996168e+01] [ 7.10586762e-04 9.99990406e-01 4.32227598e-03 -2.57295353e+00] [-1.39830785e-02 -4.31191839e-03 9.99892935e-01 -2.28262056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47907232899999 meters 0.09695478929565615 Centerline is valid? [False, True] Translation: X:66.50, Y:-2.57, Z:-2.28 [[ 9.99996636e-01 -5.15807151e-04 -2.54212087e-03 6.65028772e+01] [ 5.27822972e-04 9.99988682e-01 4.72828917e-03 -2.56944575e+00] [ 2.53965321e-03 -4.72961505e-03 9.99985590e-01 -2.27576942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53907232899999 meters 0.09419955901691027 Centerline is valid? [True, True] Translation: X:66.56, Y:-2.56, Z:-2.28 [[ 9.99985151e-01 -4.55995346e-03 -2.98410036e-03 6.65626233e+01] [ 4.55944574e-03 9.99989590e-01 -1.76922200e-04 -2.56344876e+00] [ 2.98487605e-03 1.63313729e-04 9.99995532e-01 -2.27760475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.599072329 meters 0.09241243240549914 Centerline is valid? [True, True] Translation: X:66.62, Y:-2.56, Z:-2.28 [[ 9.99917104e-01 -1.19145756e-02 -4.88142169e-03 6.66219463e+01] [ 1.19133041e-02 9.99928992e-01 -2.89482981e-04 -2.56089152e+00] [ 4.88452414e-03 2.31305123e-04 9.99988044e-01 -2.27873893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.659072329 meters 0.0907874348863188 Centerline is valid? [True, True] Translation: X:66.68, Y:-2.56, Z:-2.28 [[ 9.99862644e-01 -1.55084543e-02 -5.84639976e-03 6.66820251e+01] [ 1.55066922e-02 9.99879704e-01 -3.46603265e-04 -2.55782001e+00] [ 5.85107174e-03 2.55897335e-04 9.99982850e-01 -2.27997323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.719072329 meters 0.08941319768226398 Centerline is valid? [True, True] Translation: X:66.74, Y:-2.55, Z:-2.28 [[ 9.99753884e-01 -2.15618795e-02 -5.22075792e-03 6.67409167e+01] [ 2.15605558e-02 9.99767496e-01 -3.09703515e-04 -2.55355445e+00] [ 5.22622186e-03 1.97064850e-04 9.99986324e-01 -2.28151276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77907232899999 meters 0.08766925021690293 Centerline is valid? [True, True] Translation: X:66.80, Y:-2.55, Z:-2.28 [[ 9.99589851e-01 -2.79735553e-02 -6.13276063e-03 6.67996671e+01] [ 2.79718470e-02 9.99608645e-01 -3.64170853e-04 -2.55090388e+00] [ 6.14054770e-03 1.92476847e-04 9.99981128e-01 -2.28249476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83907232899999 meters 0.08720960205426702 Centerline is valid? [True, True] Translation: X:66.86, Y:-2.55, Z:-2.28 [[ 9.99538806e-01 -2.99328693e-02 -5.11850285e-03 6.68588603e+01] [ 2.99316948e-02 9.99551900e-01 -3.05926350e-04 -2.54630621e+00] [ 5.12536650e-03 1.52579794e-04 9.99986854e-01 -2.28377811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89907232899999 meters 0.08631504083262483 Centerline is valid? [True, True] Translation: X:66.92, Y:-2.54, Z:-2.28 [[ 9.99388284e-01 -3.45035725e-02 -5.70633167e-03 6.69177697e+01] [ 3.45021949e-02 9.99404564e-01 -3.39703849e-04 -2.54113186e+00] [ 5.71465492e-03 1.42615079e-04 9.99983661e-01 -2.28493576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.959072329 meters 0.08479302668867388 Centerline is valid? [True, True] Translation: X:66.98, Y:-2.54, Z:-2.28 [[ 9.99138741e-01 -4.09675449e-02 -6.59060951e-03 6.69768087e+01] [ 4.09658446e-02 9.99160470e-01 -3.92841454e-04 -2.54211945e+00] [ 6.60117025e-03 1.22513231e-04 9.99978205e-01 -2.28420842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.019072329 meters 0.08394021106828856 Centerline is valid? [True, True] Translation: X:67.04, Y:-2.54, Z:-2.29 [[ 9.98997302e-01 -4.44288044e-02 -5.52005844e-03 6.70357585e+01] [ 4.44276603e-02 9.99012550e-01 -3.29773480e-04 -2.53944413e+00] [ 5.52925910e-03 8.41995357e-05 9.99984710e-01 -2.28566537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.079072329 meters 0.08287455730576153 Centerline is valid? [True, True] Translation: X:67.09, Y:-2.54, Z:-2.29 [[ 9.98740120e-01 -4.97698141e-02 -6.41395957e-03 6.70948938e+01] [ 4.97683545e-02 9.98760713e-01 -3.87075968e-04 -2.53893421e+00] [ 6.42527552e-03 6.73760853e-05 9.99979355e-01 -2.29121580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13907232899999 meters 0.08201189009623515 Centerline is valid? [True, True] Translation: X:67.15, Y:-2.54, Z:-2.29 [[ 9.98609067e-01 -5.24364035e-02 -5.50946514e-03 6.71544106e+01] [ 5.24353557e-02 9.98624264e-01 -3.34555661e-04 -2.53879394e+00] [ 5.51942847e-03 4.51995520e-05 9.99984767e-01 -2.28862868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19907232899999 meters 0.0811180347828528 Centerline is valid? [True, True] Translation: X:67.21, Y:-2.54, Z:-2.29 [[ 9.98474009e-01 -5.51081459e-02 -3.57006906e-03 6.72135159e+01] [ 5.51077144e-02 9.98480391e-01 -2.19196983e-04 -2.53924233e+00] [ 3.57672350e-03 2.21241437e-05 9.99993603e-01 -2.28512899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25907232899999 meters 0.08119165449094558 Centerline is valid? [True, True] Translation: X:67.27, Y:-2.53, Z:-2.29 [[ 9.98428855e-01 -5.59199333e-02 -3.57518114e-03 6.72701872e+01] [ 5.59195117e-02 9.98435256e-01 -2.17845954e-04 -2.53451664e+00] [ 3.58176882e-03 1.75813033e-05 9.99993585e-01 -2.29009580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.319072329 meters 0.0809083002776999 Centerline is valid? [True, True] Translation: X:67.33, Y:-2.53, Z:-2.29 [[ 9.98508263e-01 -5.45061797e-02 -3.21336318e-03 6.73278488e+01] [ 5.45058198e-02 9.98513433e-01 -1.99522316e-04 -2.53112348e+00] [ 3.21946150e-03 2.40776872e-05 9.99994817e-01 -2.28992027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.379072329 meters 0.08123395758984579 Centerline is valid? [True, True] Translation: X:67.39, Y:-2.53, Z:-2.29 [[ 9.98569721e-01 -5.32704515e-02 -4.55761492e-03 6.73853525e+01] [ 5.32697366e-02 9.98580121e-01 -2.78211565e-04 -2.52656257e+00] [ 4.56596411e-03 3.50306984e-05 9.99989575e-01 -2.29452206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.439072329 meters 0.08152268319861453 Centerline is valid? [True, True] Translation: X:67.44, Y:-2.52, Z:-2.30 [[ 9.98711968e-01 -5.02136258e-02 -7.27985201e-03 6.74448552e+01] [ 5.02117312e-02 9.98738497e-01 -4.42910134e-04 -2.52257460e+00] [ 7.29290858e-03 7.68056799e-05 9.99973403e-01 -2.29670143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49907232899999 meters 0.0819234925129889 Centerline is valid? [True, True] Translation: X:67.50, Y:-2.52, Z:-2.30 [[ 9.98758188e-01 -4.93088147e-02 -7.12195292e-03 6.75029763e+01] [ 4.93069682e-02 9.98783577e-01 -4.34728039e-04 -2.51993425e+00] [ 7.13472553e-03 8.30262828e-05 9.99974544e-01 -2.30113753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55907232899999 meters 0.08162197078782818 Centerline is valid? [True, True] Translation: X:67.56, Y:-2.52, Z:-2.30 [[ 9.98847922e-01 -4.76591780e-02 -5.60632744e-03 6.75615250e+01] [ 4.76579852e-02 9.98863653e-01 -3.46245904e-04 -2.51870745e+00] [ 5.61645850e-03 7.86607318e-05 9.99984224e-01 -2.30184385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61907232899999 meters 0.08154374387773607 Centerline is valid? [True, True] Translation: X:67.62, Y:-2.52, Z:-2.30 [[ 9.99042338e-01 -4.36204557e-02 -3.41512977e-03 6.76203556e+01] [ 4.36199806e-02 9.99048173e-01 -2.13515953e-04 -2.51987359e+00] [ 3.42119282e-03 6.43435828e-05 9.99994146e-01 -2.29787454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.679072329 meters 0.08178395165697486 Centerline is valid? [True, True] Translation: X:67.68, Y:-2.52, Z:-2.30 [[ 9.99118361e-01 -4.18574350e-02 -3.23369607e-03 6.76793926e+01] [ 4.18569966e-02 9.99123591e-01 -2.03132180e-04 -2.52011303e+00] [ 3.23936462e-03 6.76002850e-05 9.99994751e-01 -2.29730473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.739072329 meters 0.08295380609861365 Centerline is valid? [True, True] Translation: X:67.74, Y:-2.52, Z:-2.30 [[ 9.99303474e-01 -3.72117607e-02 -2.80196573e-03 6.77375090e+01] [ 3.72114195e-02 9.99307400e-01 -1.73820677e-04 -2.51629575e+00] [ 2.80649327e-03 6.94344837e-05 9.99996059e-01 -2.30093411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.799072329 meters 0.08561566113988744 Centerline is valid? [True, True] Translation: X:67.80, Y:-2.51, Z:-2.30 [[ 9.99535193e-01 -3.00744690e-02 -4.99232602e-03 6.77966536e+01] [ 3.00733045e-02 9.99547648e-01 -3.08183039e-04 -2.51229542e+00] [ 4.99933617e-03 1.57904053e-04 9.99987491e-01 -2.30399010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85907232899999 meters 0.08719430395935684 Centerline is valid? [True, True] Translation: X:67.86, Y:-2.51, Z:-2.31 [[ 9.99692088e-01 -2.41036965e-02 -5.89421094e-03 6.78568493e+01] [ 2.41019701e-02 9.99709439e-01 -3.63755494e-04 -2.50769320e+00] [ 5.90126617e-03 2.21581394e-04 9.99982563e-01 -2.30567195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91907232899999 meters 0.08930914803286619 Centerline is valid? [True, True] Translation: X:67.92, Y:-2.51, Z:-2.31 [[ 9.99866554e-01 -1.55740399e-02 -4.93191918e-03 6.79174505e+01] [ 1.55727288e-02 9.99878691e-01 -3.04127409e-04 -2.50510980e+00] [ 4.93605739e-03 2.27283384e-04 9.99987792e-01 -2.30539274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97907232899999 meters 0.09353657835933143 Centerline is valid? [True, True] Translation: X:67.98, Y:-2.50, Z:-2.30 [[ 9.99974180e-01 -7.02494833e-03 -1.51339604e-03 6.79761672e+01] [ 7.02481419e-03 9.99975321e-01 -9.39302861e-05 -2.49766023e+00] [ 1.51401855e-03 8.32965348e-05 9.99998850e-01 -2.30328198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03907232899999 meters 0.09709643794233636 Centerline is valid? [True, True] Translation: X:68.04, Y:-2.49, Z:-2.31 [[ 9.99997213e-01 1.97605114e-03 -1.29195125e-03 6.80360371e+01] [-1.97615590e-03 9.99998044e-01 -7.98105231e-05 -2.49223234e+00] [ 1.29179101e-03 8.23633977e-05 9.99999162e-01 -2.30542319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.099072329 meters 0.10052145876348699 Centerline is valid? [True, False] Translation: X:68.04, Y:-2.49, Z:-2.31 [[ 9.99996775e-01 2.43000255e-03 -7.37866632e-04 6.80351498e+01] [-2.42983909e-03 9.99997023e-01 2.22345597e-04 -2.49407324e+00] [ 7.38404736e-04 -2.20551983e-04 9.99999703e-01 -2.30623880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.159072329 meters 0.10815936929923384 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.50, Z:-2.31 [[ 9.99994271e-01 3.37695327e-03 2.31936044e-04 6.80328120e+01] [-3.37713271e-03 9.99993995e-01 7.77694240e-04 -2.49588251e+00] [-2.29308415e-04 -7.78473063e-04 9.99999671e-01 -2.30637923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.219072329 meters 0.11187581502835578 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.50, Z:-2.31 [[ 9.99992659e-01 3.79384960e-03 5.37139210e-04 6.80322263e+01] [-3.79449710e-03 9.99992069e-01 1.20961963e-03 -2.49803265e+00] [-5.32545835e-04 -1.21164892e-03 9.99999124e-01 -2.30673818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27907232899999 meters 0.11792386199943906 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.50, Z:-2.31 [[ 9.99989088e-01 4.52262928e-03 1.17026159e-03 6.80306345e+01] [-4.52475938e-03 9.99988100e-01 1.82398782e-03 -2.50032190e+00] [-1.16199844e-03 -1.82926307e-03 9.99997652e-01 -2.30681997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33907232899999 meters 0.11510562946339133 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.51, Z:-2.31 [[ 9.99989288e-01 4.61565677e-03 3.45740635e-04 6.80323408e+01] [-4.61672180e-03 9.99984395e-01 3.14574061e-03 -2.50613647e+00] [-3.31215581e-04 -3.14730311e-03 9.99994992e-01 -2.30605345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39907232899999 meters 0.11669248113493373 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.51, Z:-2.31 [[ 9.99990126e-01 4.43599901e-03 -2.63222564e-04 6.80344201e+01] [-4.43499854e-03 9.99983368e-01 3.68696181e-03 -2.51003191e+00] [ 2.79573545e-04 -3.68575801e-03 9.99993168e-01 -2.30687972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.459072329 meters 0.11122704742514282 Centerline is valid? [False, False] Translation: X:68.04, Y:-2.51, Z:-2.31 [[ 9.99991251e-01 4.16578292e-03 -3.80391679e-04 6.80353563e+01] [-4.16446049e-03 9.99985502e-01 3.41351372e-03 -2.51019066e+00] [ 3.94606122e-04 -3.41189973e-03 9.99994102e-01 -2.30786618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.519072329 meters 0.11356425677057987 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.51, Z:-2.31 [[ 9.99989590e-01 4.56164198e-03 -1.05249082e-04 6.80339848e+01] [-4.56121751e-03 9.99982635e-01 3.73156758e-03 -2.51023390e+00] [ 1.22269330e-04 -3.73104867e-03 9.99993032e-01 -2.30677028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.579072329 meters 0.11773930250423023 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.51, Z:-2.31 [[ 9.99990444e-01 4.36839250e-03 -1.68989393e-04 6.80342970e+01] [-4.36779930e-03 9.99984802e-01 3.36434355e-03 -2.50924736e+00] [ 1.83683598e-04 -3.36357329e-03 9.99994326e-01 -2.30704406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63907232899999 meters 0.1322680102842341 Centerline is valid? [False, False] Translation: X:68.04, Y:-2.51, Z:-2.31 [[ 9.99993385e-01 3.63715968e-03 -2.06240746e-05 6.80351364e+01] [-3.63711838e-03 9.99991877e-01 1.73680237e-03 -2.50501031e+00] [ 2.69409346e-05 -1.73671587e-03 9.99998492e-01 -2.30929134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69907232899999 meters 0.15500021708510767 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.50, Z:-2.31 [[ 9.99970937e-01 7.62404615e-03 7.01902745e-06 6.80347344e+01] [-7.62397655e-03 9.99956936e-01 5.29156878e-03 -2.50120656e+00] [ 3.33244394e-05 -5.29146850e-03 9.99986000e-01 -2.30873200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75907232899999 meters 0.15981429800041194 Centerline is valid? [False, False] Translation: X:68.04, Y:-2.50, Z:-2.31 [[ 9.99975750e-01 6.96350335e-03 9.06601550e-05 6.80354640e+01] [-6.96381217e-03 9.99967633e-01 4.02979670e-03 -2.49780346e+00] [-6.25957177e-05 -4.03033032e-03 9.99991876e-01 -2.31032800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.819072329 meters 0.1807390813861318 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.49, Z:-2.31 [[ 9.99942484e-01 1.07084842e-02 5.97153423e-04 6.80344873e+01] [-1.07121772e-02 9.99921051e-01 6.56819774e-03 -2.49060109e+00] [-5.26770837e-04 -6.57421677e-03 9.99978251e-01 -2.31070209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.879072329 meters 0.2223758702801464 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.48, Z:-2.31 [[ 9.99946392e-01 1.02719804e-02 1.30376600e-03 6.80330974e+01] [-1.02781198e-02 9.99935692e-01 4.79299724e-03 -2.48324047e+00] [-1.25444858e-03 -4.80614056e-03 9.99987664e-01 -2.31115513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.939072329 meters 0.24682441832339408 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.47, Z:-2.31 [[ 9.99905859e-01 1.35972189e-02 1.84074295e-03 6.80320506e+01] [-1.36093043e-02 9.99884805e-01 6.72044092e-03 -2.47346338e+00] [-1.74915160e-03 -6.74485948e-03 9.99975723e-01 -2.31148509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99907232899999 meters 0.26789009332490016 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.46, Z:-2.32 [[ 9.99926976e-01 1.17484692e-02 2.83135583e-03 6.80321086e+01] [-1.17533699e-02 9.99929447e-01 1.72047794e-03 -2.46021520e+00] [-2.81094309e-03 -1.75363027e-03 9.99994512e-01 -2.31783230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05907232899999 meters 0.27840426049355793 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.45, Z:-2.32 [[ 9.99941967e-01 1.03752962e-02 2.90102169e-03 6.80327117e+01] [-1.03751198e-02 9.99946174e-01 -7.58262551e-05 -2.45327627e+00] [-2.90165226e-03 4.57234070e-05 9.99995789e-01 -2.31881476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11907232899999 meters 0.2497906337420191 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.44, Z:-2.32 [[ 9.99960165e-01 8.37880029e-03 3.07625043e-03 6.80333152e+01] [-8.37173171e-03 9.99962303e-01 -2.30352127e-03 -2.44346324e+00] [-3.09543521e-03 2.27767597e-03 9.99992615e-01 -2.31991500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.179072329 meters 0.23790901361279826 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.44, Z:-2.32 [[ 9.99966989e-01 7.73297182e-03 2.49429174e-03 6.80342428e+01] [-7.72541870e-03 9.99965587e-01 -3.02371447e-03 -2.44058353e+00] [-2.51758820e-03 3.00434521e-03 9.99992318e-01 -2.31913918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.239072329 meters 0.25802227745881384 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.44, Z:-2.32 [[ 9.99993171e-01 2.68280290e-03 2.54181234e-03 6.80343151e+01] [-2.66158863e-03 9.99961904e-01 -8.31306254e-03 -2.43662180e+00] [-2.56401782e-03 8.30624051e-03 9.99962215e-01 -2.31941058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.299072329 meters 0.28700702059173955 Centerline is valid? [False, False] Translation: X:68.04, Y:-2.43, Z:-2.32 [[ 9.99979183e-01 -1.33723614e-03 -6.31224607e-03 6.80386390e+01] [ 1.37103262e-03 9.99984734e-01 5.35282641e-03 -2.43261954e+00] [ 6.30499171e-03 -5.36136928e-03 9.99965751e-01 -2.31548419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35907232899999 meters 0.3950027622288591 Centerline is valid? [False, False] Translation: X:68.04, Y:-2.43, Z:-2.31 [[ 9.99856588e-01 -5.27590679e-03 -1.60924636e-02 6.80380121e+01] [ 5.53439733e-03 9.99855700e-01 1.60608195e-02 -2.43135725e+00] [ 1.60054061e-02 -1.61475783e-02 9.99741508e-01 -2.30871419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41907232899999 meters 0.47559778231895866 Centerline is valid? [False, False] Translation: X:68.04, Y:-2.42, Z:-2.30 [[ 9.99550214e-01 -1.29838698e-02 -2.70330910e-02 6.80355790e+01] [ 1.36106481e-02 9.99639762e-01 2.31321583e-02 -2.42454031e+00] [ 2.67230077e-02 -2.34896917e-02 9.99366857e-01 -2.29641175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47907232899999 meters 0.502828590521587 Centerline is valid? [False, False] Translation: X:68.09, Y:-2.41, Z:-2.30 [[ 9.99332314e-01 -1.63017262e-02 -3.26983040e-02 6.80879843e+01] [ 1.70424906e-02 9.99601455e-01 2.25052138e-02 -2.40577778e+00] [ 3.23183985e-02 -2.30474479e-02 9.99211858e-01 -2.29655825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53907232899999 meters 0.5118626951580069 Centerline is valid? [False, False] Translation: X:68.10, Y:-2.40, Z:-2.30 [[ 9.99588626e-01 -7.71747413e-03 -2.76228097e-02 6.81048422e+01] [ 8.31733572e-03 9.99730633e-01 2.16675599e-02 -2.39750422e+00] [ 2.74481502e-02 -2.18883946e-02 9.99383559e-01 -2.29849373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.599072329 meters 0.4911868495440704 Centerline is valid? [False, False] Translation: X:68.12, Y:-2.38, Z:-2.30 [[ 9.99742281e-01 -7.57660472e-03 -2.14001514e-02 6.81220660e+01] [ 7.85968541e-03 9.99882316e-01 1.31749888e-02 -2.38464174e+00] [ 2.12978112e-02 -1.33397918e-02 9.99684177e-01 -2.30165191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.659072329 meters 0.49013796122771597 Centerline is valid? [False, False] Translation: X:68.16, Y:-2.36, Z:-2.30 [[ 9.99716531e-01 -8.33835405e-03 -2.23008897e-02 6.81637743e+01] [ 8.62524811e-03 9.99880881e-01 1.27995935e-02 -2.36415225e+00] [ 2.21915057e-02 -1.29883159e-02 9.99669366e-01 -2.30045553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.719072329 meters 0.5138368093891178 Centerline is valid? [False, False] Translation: X:68.22, Y:-2.34, Z:-2.31 [[ 9.99531053e-01 -2.00447730e-02 -2.31491185e-02 6.82240680e+01] [ 2.01435079e-02 9.99788937e-01 4.03986766e-03 -2.33773923e+00] [ 2.30632544e-02 -4.50427762e-03 9.99723861e-01 -2.31100471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77907232899999 meters 0.5222363472777858 Centerline is valid? [False, False] Translation: X:68.25, Y:-2.33, Z:-2.31 [[ 9.99706609e-01 -1.23817119e-02 -2.08180087e-02 6.82473696e+01] [ 1.24464302e-02 9.99918093e-01 2.98207405e-03 -2.33450007e+00] [ 2.07793804e-02 -3.24030903e-03 9.99778834e-01 -2.31263322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83907232899999 meters 0.5134982964296391 Centerline is valid? [False, False] Translation: X:68.27, Y:-2.33, Z:-2.31 [[ 9.99836849e-01 -4.55795825e-03 -1.74785900e-02 6.82683788e+01] [ 4.60011148e-03 9.99986606e-01 2.37226053e-03 -2.33215621e+00] [ 1.74675432e-02 -2.45227695e-03 9.99844424e-01 -2.31293214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89907232899999 meters 0.5227893877378114 Centerline is valid? [False, False] Translation: X:68.30, Y:-2.31, Z:-2.31 [[ 9.99668719e-01 -1.44908329e-02 -2.12712964e-02 6.82974655e+01] [ 1.45142629e-02 9.99894214e-01 9.47502835e-04 -2.31160806e+00] [ 2.12553161e-02 -1.25592613e-03 9.99773291e-01 -2.31339647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.959072329 meters 0.5131990791697668 Centerline is valid? [False, False] Translation: X:68.32, Y:-2.31, Z:-2.32 [[ 9.99786305e-01 -6.49592025e-03 -1.96251956e-02 6.83243138e+01] [ 6.51481056e-03 9.99978374e-01 8.98773319e-04 -2.30652891e+00] [ 1.96189328e-02 -1.02643569e-03 9.99807003e-01 -2.31557297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.019072329 meters 0.5151274674523537 Centerline is valid? [False, False] Translation: X:68.38, Y:-2.29, Z:-2.31 [[ 9.99606929e-01 -1.27447945e-02 -2.49711221e-02 6.83771858e+01] [ 1.26732776e-02 9.99915130e-01 -3.02016075e-03 -2.29047370e+00] [ 2.50074941e-02 2.70250765e-03 9.99683611e-01 -2.31282789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.079072329 meters 0.5115006790043002 Centerline is valid? [False, False] Translation: X:68.42, Y:-2.29, Z:-2.31 [[ 9.99520295e-01 -4.75926772e-03 -3.06027678e-02 6.84157937e+01] [ 4.70800089e-03 9.99987391e-01 -1.74707313e-03 -2.29120266e+00] [ 3.06106967e-02 1.60215719e-03 9.99530099e-01 -2.31428428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13907232899999 meters 0.518505357643871 Centerline is valid? [False, False] Translation: X:68.46, Y:-2.28, Z:-2.31 [[ 9.99374723e-01 -6.23123122e-03 -3.48042282e-02 6.84601309e+01] [ 6.16764815e-03 9.99979110e-01 -1.93394300e-03 -2.28354448e+00] [ 3.48155520e-02 1.71807352e-03 9.99392278e-01 -2.31245439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19907232899999 meters 0.5136236834060375 Centerline is valid? [False, False] Translation: X:68.49, Y:-2.27, Z:-2.32 [[ 9.99448374e-01 -6.18773967e-03 -3.26291209e-02 6.84898668e+01] [ 5.88174005e-03 9.99937900e-01 -9.46577407e-03 -2.27318987e+00] [ 3.26856664e-02 9.26863649e-03 9.99422703e-01 -2.31634307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25907232899999 meters 0.5209477438457009 Centerline is valid? [False, False] Translation: X:68.53, Y:-2.25, Z:-2.31 [[ 9.99436120e-01 -5.69949811e-03 -3.30901348e-02 6.85305713e+01] [ 5.36723882e-03 9.99934375e-01 -1.01211960e-02 -2.25357789e+00] [ 3.31456490e-02 9.93788626e-03 9.99401123e-01 -2.31289581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.319072329 meters 0.5195770292443337 Centerline is valid? [False, False] Translation: X:68.56, Y:-2.23, Z:-2.32 [[ 9.99508136e-01 7.28064041e-03 -3.05037362e-02 6.85597038e+01] [-7.49052146e-03 9.99949015e-01 -6.77188981e-03 -2.23304175e+00] [ 3.04528773e-02 6.99704785e-03 9.99511713e-01 -2.31623463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.379072329 meters 0.5138858769919677 Centerline is valid? [False, False] Translation: X:68.58, Y:-2.20, Z:-2.32 [[ 9.99309551e-01 2.53624968e-02 -2.71507947e-02 6.85773893e+01] [-2.56204956e-02 9.99629433e-01 -9.19706483e-03 -2.19926642e+00] [ 2.69074730e-02 9.88633154e-03 9.99589040e-01 -2.31617831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.439072329 meters 0.5102474822013213 Centerline is valid? [False, False] Translation: X:68.57, Y:-2.16, Z:-2.32 [[ 9.98979410e-01 3.72394891e-02 -2.55608809e-02 6.85744801e+01] [-3.74491406e-02 9.99268305e-01 -7.77278528e-03 -2.16073445e+00] [ 2.52527236e-02 8.72208547e-03 9.99643049e-01 -2.31824148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49907232899999 meters 0.49644579080753204 Centerline is valid? [False, False] Translation: X:68.55, Y:-2.10, Z:-2.32 [[ 9.97586229e-01 6.36236864e-02 -2.78162134e-02 6.85543314e+01] [-6.38873072e-02 9.97919260e-01 -8.69262125e-03 -2.09579301e+00] [ 2.72052785e-02 1.04487422e-02 9.99575258e-01 -2.32031567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55907232899999 meters 0.48860143355196434 Centerline is valid? [False, False] Translation: X:68.53, Y:-2.02, Z:-2.32 [[ 9.94668291e-01 9.94455939e-02 -2.73050202e-02 6.85289584e+01] [-9.97950927e-02 9.94938667e-01 -1.17468373e-02 -2.02325337e+00] [ 2.59986492e-02 1.44091136e-02 9.99558126e-01 -2.32169875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61907232899999 meters 0.47252117012557476 Centerline is valid? [False, False] Translation: X:68.47, Y:-1.93, Z:-2.32 [[ 9.91276678e-01 1.29155351e-01 -2.62572600e-02 6.84729914e+01] [-1.29464919e-01 9.91528980e-01 -1.04458998e-02 -1.93064679e+00] [ 2.46856903e-02 1.37541709e-02 9.99600640e-01 -2.32167565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.679072329 meters 0.4656810790206721 Centerline is valid? [False, False] Translation: X:68.41, Y:-1.87, Z:-2.32 [[ 9.92937417e-01 1.15606966e-01 -2.66517530e-02 6.84063513e+01] [-1.15946032e-01 9.93188435e-01 -1.15433850e-02 -1.87095973e+00] [ 2.51357172e-02 1.45520239e-02 9.99578128e-01 -2.32036063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.739072329 meters 0.46423837214890057 Centerline is valid? [False, False] Translation: X:68.34, Y:-1.78, Z:-2.32 [[ 9.88550789e-01 1.49293893e-01 -2.18785733e-02 6.83414651e+01] [-1.49602107e-01 9.88658262e-01 -1.31928248e-02 -1.77930736e+00] [ 1.96608241e-02 1.63148581e-02 9.99673585e-01 -2.31811223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.799072329 meters 0.6199689061842787 Centerline is valid? [False, False] Translation: X:68.28, Y:-1.71, Z:-2.32 [[ 9.86086820e-01 1.65045017e-01 -1.98223604e-02 6.82828525e+01] [-1.65286418e-01 9.86181809e-01 -1.12178595e-02 -1.70913216e+00] [ 1.76969995e-02 1.43381503e-02 9.99740583e-01 -2.31720898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85907232899999 meters 0.5655549590306708 Centerline is valid? [False, False] Translation: X:68.25, Y:-1.62, Z:-2.32 [[ 9.77185792e-01 2.11195923e-01 -2.24546271e-02 6.82492241e+01] [-2.11450212e-01 9.77341617e-01 -9.60063695e-03 -1.61536009e+00] [ 1.99182262e-02 1.41296417e-02 9.99701764e-01 -2.32034459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91907232899999 meters 0.4713838478099897 Centerline is valid? [False, False] Translation: X:68.21, Y:-1.50, Z:-2.31 [[ 9.68921654e-01 2.45331234e-01 -3.16767258e-02 6.82091878e+01] [-2.45901434e-01 9.69170704e-01 -1.55123140e-02 -1.49702835e+00] [ 2.68944995e-02 2.28195692e-02 9.99377783e-01 -2.31484726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97907232899999 meters 0.41925335762223576 Centerline is valid? [False, False] Translation: X:68.15, Y:-1.39, Z:-2.31 [[ 9.69269005e-01 2.43415308e-01 -3.55890979e-02 6.81532030e+01] [-2.44036503e-01 9.69661592e-01 -1.42331174e-02 -1.38691460e+00] [ 3.10448227e-02 2.24807585e-02 9.99265147e-01 -2.30859589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03907232899999 meters 0.4382145631078044 Centerline is valid? [False, False] Translation: X:68.10, Y:-1.25, Z:-2.30 [[ 9.67001898e-01 2.51988997e-01 -3.75349666e-02 6.80962828e+01] [-2.52607865e-01 9.67485420e-01 -1.26976146e-02 -1.25285617e+00] [ 3.31148737e-02 2.17602452e-02 9.99214640e-01 -2.30259191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.099072329 meters 0.4483041079300268 Centerline is valid? [False, False] Translation: X:68.03, Y:-1.13, Z:-2.30 [[ 9.67056301e-01 2.50941011e-01 -4.27869062e-02 6.80324296e+01] [-2.51799794e-01 9.67648079e-01 -1.59392199e-02 -1.12616716e+00] [ 3.74028637e-02 2.61878572e-02 9.98957067e-01 -2.29947124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.159072329 meters 0.4456405077352882 Centerline is valid? [False, False] Translation: X:67.96, Y:-1.03, Z:-2.30 [[ 9.70465816e-01 2.36171736e-01 -4.91834357e-02 6.79569147e+01] [-2.37364686e-01 9.71216014e-01 -1.99364166e-02 -1.02576309e+00] [ 4.30593223e-02 3.10220215e-02 9.98590772e-01 -2.29837073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.219072329 meters 0.44687959747768047 Centerline is valid? [False, False] Translation: X:67.88, Y:-0.92, Z:-2.30 [[ 9.70767945e-01 2.34394387e-01 -5.16611004e-02 6.78821371e+01] [-2.35858994e-01 9.71484121e-01 -2.42721479e-02 -9.15321507e-01] [ 4.44986835e-02 3.57473583e-02 9.98369668e-01 -2.29517724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27907232899999 meters 0.4407348131760406 Centerline is valid? [False, False] Translation: X:67.80, Y:-0.81, Z:-2.29 [[ 9.71580509e-01 2.30021220e-01 -5.58708598e-02 6.78031195e+01] [-2.31758580e-01 9.72403423e-01 -2.68242999e-02 -8.14963832e-01] [ 4.81588572e-02 3.90105181e-02 9.98077604e-01 -2.29380442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33907232899999 meters 0.43969082475772786 Centerline is valid? [False, False] Translation: X:67.72, Y:-0.74, Z:-2.30 [[ 9.76099617e-01 2.09768164e-01 -5.68054223e-02 6.77212051e+01] [-2.11470540e-01 9.77044794e-01 -2.57619940e-02 -7.38637212e-01] [ 5.00973960e-02 3.71589458e-02 9.98052836e-01 -2.29573659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39907232899999 meters 0.4357601251475989 Centerline is valid? [False, False] Translation: X:67.64, Y:-0.66, Z:-2.30 [[ 9.77173740e-01 2.04043558e-01 -5.91414199e-02 6.76386124e+01] [-2.06001142e-01 9.78119521e-01 -2.90814708e-02 -6.61140119e-01] [ 5.19134906e-02 4.06008497e-02 9.97825917e-01 -2.29574508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.459072329 meters 0.42280827839647556 Centerline is valid? [False, False] Translation: X:67.55, Y:-0.60, Z:-2.29 [[ 9.79014625e-01 1.93248997e-01 -6.46930411e-02 6.75536416e+01] [-1.95981722e-01 9.79835573e-01 -3.89026406e-02 -5.98723615e-01] [ 5.58706467e-02 5.07649077e-02 9.97146627e-01 -2.29482502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.519072329 meters 0.46332506681218105 Centerline is valid? [False, False] Translation: X:67.47, Y:-0.56, Z:-2.29 [[ 9.82141298e-01 1.76533862e-01 -6.50712448e-02 6.74699930e+01] [-1.79128163e-01 9.83151558e-01 -3.64158585e-02 -5.55665997e-01] [ 5.75462636e-02 4.74216111e-02 9.97215934e-01 -2.29492093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.579072329 meters 0.47074842243645015 Centerline is valid? [False, False] Translation: X:67.42, Y:-0.52, Z:-2.30 [[ 9.83249159e-01 1.71955712e-01 -6.04344707e-02 6.74208060e+01] [-1.73867683e-01 9.84373491e-01 -2.79080576e-02 -5.23569252e-01] [ 5.46911410e-02 3.79481756e-02 9.97781948e-01 -2.29968552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63907232899999 meters 0.4699976181879193 Centerline is valid? [False, False] Translation: X:67.38, Y:-0.50, Z:-2.30 [[ 9.85076135e-01 1.59983896e-01 -6.34835481e-02 6.73790846e+01] [-1.62485027e-01 9.86040084e-01 -3.63808923e-02 -5.04962986e-01] [ 5.67769662e-02 4.61530748e-02 9.97319542e-01 -2.30431835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69907232899999 meters 0.4832526928393243 Centerline is valid? [False, False] Translation: X:67.35, Y:-0.49, Z:-2.31 [[ 9.86907934e-01 1.48980850e-01 -6.17854042e-02 6.73518360e+01] [-1.51285376e-01 9.87889887e-01 -3.44428015e-02 -4.93265138e-01] [ 5.59058582e-02 4.33391022e-02 9.97494991e-01 -2.31014982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75907232899999 meters 0.48565776505600855 Centerline is valid? [False, False] Translation: X:67.33, Y:-0.49, Z:-2.31 [[ 9.88473799e-01 1.39137370e-01 -5.96685948e-02 6.73256025e+01] [-1.41193932e-01 9.89473045e-01 -3.17390514e-02 -4.86465194e-01] [ 5.46243781e-02 3.97980642e-02 9.97713532e-01 -2.31336154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.819072329 meters 0.4952022096063589 Centerline is valid? [False, False] Translation: X:67.30, Y:-0.48, Z:-2.32 [[ 9.90499284e-01 1.25299015e-01 -5.66685599e-02 6.72984629e+01] [-1.27300942e-01 9.91308255e-01 -3.32026093e-02 -4.83334681e-01] [ 5.20157570e-02 4.01011217e-02 9.97840799e-01 -2.31689508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.879072329 meters 0.5043954800878786 Centerline is valid? [False, False] Translation: X:67.27, Y:-0.48, Z:-2.32 [[ 9.91469540e-01 1.17586147e-01 -5.62285513e-02 6.72748559e+01] [-1.19249535e-01 9.92491877e-01 -2.71923422e-02 -4.81625421e-01] [ 5.26089377e-02 3.36656076e-02 9.98047557e-01 -2.32320255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.939072329 meters 0.5318578025054717 Centerline is valid? [False, False] Translation: X:67.25, Y:-0.48, Z:-2.33 [[ 9.92115363e-01 1.14089229e-01 -5.18724778e-02 6.72536322e+01] [-1.15324999e-01 9.93095551e-01 -2.14795541e-02 -4.75734024e-01] [ 4.90637412e-02 2.72923891e-02 9.98422693e-01 -2.32890507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99907232899999 meters 0.5097278955101375 Centerline is valid? [False, False] Translation: X:67.25, Y:-0.48, Z:-2.33 [[ 9.93059504e-01 1.06328957e-01 -5.02690116e-02 6.72467105e+01] [-1.07904969e-01 9.93716131e-01 -2.97450675e-02 -4.75545830e-01] [ 4.67903657e-02 3.49628981e-02 9.98292671e-01 -2.33001207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05907232899999 meters 0.5355568057281362 Centerline is valid? [False, False] Translation: X:67.22, Y:-0.47, Z:-2.34 [[ 9.93432702e-01 1.02919558e-01 -4.99903047e-02 6.72227809e+01] [-1.04035676e-01 9.94367273e-01 -2.02559668e-02 -4.73684343e-01] [ 4.76239878e-02 2.53237150e-02 9.98544273e-01 -2.33553266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11907232899999 meters 0.5382024205335415 Centerline is valid? [False, False] Translation: X:67.19, Y:-0.47, Z:-2.34 [[ 9.94046314e-01 9.81690373e-02 -4.72733072e-02 6.71949419e+01] [-9.88684243e-02 9.95019658e-01 -1.26851878e-02 -4.68979466e-01] [ 4.57925773e-02 1.72835015e-02 9.98801442e-01 -2.33978548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.179072329 meters 0.5453218613225372 Centerline is valid? [False, False] Translation: X:67.18, Y:-0.46, Z:-2.34 [[ 9.94477164e-01 9.59513913e-02 -4.25264810e-02 6.71816109e+01] [-9.69033650e-02 9.95074015e-01 -2.09151434e-02 -4.61957576e-01] [ 4.03101590e-02 2.49205916e-02 9.98876396e-01 -2.34068311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.239072329 meters 0.5952856260302233 Centerline is valid? [False, False] Translation: X:67.18, Y:-0.45, Z:-2.34 [[ 9.94095400e-01 1.00887418e-01 -3.99507742e-02 6.71778264e+01] [-1.01801324e-01 9.94571562e-01 -2.15382996e-02 -4.47152060e-01] [ 3.75609605e-02 2.54781663e-02 9.98969488e-01 -2.34182895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.299072329 meters 0.591305481569524 Centerline is valid? [False, False] Translation: X:67.15, Y:-0.42, Z:-2.35 [[ 9.93376472e-01 1.09954899e-01 -3.33632261e-02 6.71508339e+01] [-1.10198577e-01 9.93894098e-01 -5.54945493e-03 -4.20658809e-01] [ 3.25493238e-02 9.18927799e-03 9.99427886e-01 -2.34698127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35907232899999 meters 0.5804952050446858 Centerline is valid? [False, False] Translation: X:67.13, Y:-0.40, Z:-2.35 [[ 9.93963381e-01 1.06560756e-01 -2.61075213e-02 6.71279115e+01] [-1.06770421e-01 9.94260659e-01 -6.76898313e-03 -4.00525776e-01] [ 2.52363734e-02 9.51563241e-03 9.99636223e-01 -2.35335132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41907232899999 meters 0.5699790123704549 Centerline is valid? [False, False] Translation: X:67.08, Y:-0.37, Z:-2.35 [[ 9.93731292e-01 1.08032821e-01 -2.87580960e-02 6.70840584e+01] [-1.08262497e-01 9.94100775e-01 -6.54840624e-03 -3.71627067e-01] [ 2.78810027e-02 9.62077948e-03 9.99564951e-01 -2.35459043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47907232899999 meters 0.541305977132328 Centerline is valid? [False, False] Translation: X:67.03, Y:-0.34, Z:-2.35 [[ 9.94725050e-01 9.99273461e-02 -2.31646248e-02 6.70348605e+01] [-9.99715303e-02 9.94990012e-01 -7.54348478e-04 -3.38109021e-01] [ 2.29731902e-02 3.06617231e-03 9.99731379e-01 -2.35438370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53907232899999 meters 0.5396344318740709 Centerline is valid? [False, False] Translation: X:67.00, Y:-0.33, Z:-2.36 [[ 9.96302237e-01 8.33209206e-02 -2.09636900e-02 6.69979724e+01] [-8.33988592e-02 9.96512114e-01 -2.86987919e-03 -3.28295885e-01] [ 2.06514501e-02 4.60761488e-03 9.99776119e-01 -2.35558801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.599072329 meters 0.4919586530425431 Centerline is valid? [False, False] Translation: X:66.97, Y:-0.31, Z:-2.36 [[ 9.97310294e-01 7.08993666e-02 -1.85864816e-02 6.69668256e+01] [-7.09779108e-02 9.97471391e-01 -3.59999480e-03 -3.08910408e-01] [ 1.82842463e-02 4.90954150e-03 9.99820775e-01 -2.35824951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.659072329 meters 0.45149375999352126 Centerline is valid? [False, False] Translation: X:66.94, Y:-0.28, Z:-2.36 [[ 9.97996551e-01 6.14027878e-02 -1.52506217e-02 6.69354208e+01] [-6.14488253e-02 9.98106931e-01 -2.56826361e-03 -2.83854177e-01] [ 1.50640526e-02 3.50025101e-03 9.99880404e-01 -2.36334241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.719072329 meters 0.4251957349856883 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.26, Z:-2.37 [[ 9.98450250e-01 5.46799281e-02 -1.03539165e-02 6.69154936e+01] [-5.47465767e-02 9.98480616e-01 -6.26669881e-03 -2.64178051e-01] [ 9.99552226e-03 6.82382848e-03 9.99926760e-01 -2.36665424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77907232899999 meters 0.4017207909741727 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.25, Z:-2.37 [[ 9.98478552e-01 5.49177605e-02 -4.96185536e-03 6.68991442e+01] [-5.49449004e-02 9.98474187e-01 -5.50969583e-03 -2.48633876e-01] [ 4.65170434e-03 5.77394177e-03 9.99972511e-01 -2.36881011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83907232899999 meters 0.39520855090793644 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.24, Z:-2.37 [[ 9.98929849e-01 4.58060394e-02 6.40027107e-03 6.68813912e+01] [-4.58114990e-02 9.98949851e-01 7.08956485e-04 -2.40831791e-01] [-6.36107534e-03 -1.00140381e-03 9.99979267e-01 -2.37346049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89907232899999 meters 0.39512672434754964 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.23, Z:-2.37 [[ 9.99106609e-01 4.15987863e-02 7.45154755e-03 6.68804007e+01] [-4.15475081e-02 9.99112641e-01 -6.90907236e-03 -2.29336248e-01] [-7.73234437e-03 6.59330662e-03 9.99948368e-01 -2.37429845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.959072329 meters 0.38139986800163456 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.22, Z:-2.38 [[ 9.99406610e-01 3.05847768e-02 1.58429264e-02 6.68666841e+01] [-3.05889585e-02 9.99532048e-01 2.16286292e-05 -2.19578339e-01] [-1.58348512e-02 -5.06234413e-04 9.99874493e-01 -2.37618992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.019072329 meters 0.38262790178283 Centerline is valid? [False, False] Translation: X:66.86, Y:-0.21, Z:-2.37 [[ 9.99408906e-01 3.00126714e-02 1.67654028e-02 6.68635493e+01] [-2.99830820e-02 9.99548378e-01 -2.01354185e-03 -2.13890616e-01] [-1.68182630e-02 1.50967320e-03 9.99857423e-01 -2.37383326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.079072329 meters 0.3820337780117097 Centerline is valid? [False, False] Translation: X:66.86, Y:-0.20, Z:-2.37 [[ 9.99404957e-01 2.94474943e-02 1.79604159e-02 6.68607528e+01] [-2.93634182e-02 9.99556658e-01 -4.92712948e-03 -2.04418755e-01] [-1.80975450e-02 4.39681842e-03 9.99826558e-01 -2.37237046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13907232899999 meters 0.38200807825728467 Centerline is valid? [False, False] Translation: X:66.86, Y:-0.20, Z:-2.37 [[ 9.99394887e-01 2.88465116e-02 1.94355225e-02 6.68562988e+01] [-2.87042580e-02 9.99559367e-01 -7.55895640e-03 -1.97159065e-01] [-1.96450081e-02 6.99650012e-03 9.99782538e-01 -2.36945018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19907232899999 meters 0.38143013410654364 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.19, Z:-2.37 [[ 9.99390464e-01 2.85171366e-02 2.01363532e-02 6.68543885e+01] [-2.83403041e-02 9.99557697e-01 -9.01323752e-03 -1.92808570e-01] [-2.03844785e-02 8.43707325e-03 9.99756615e-01 -2.36858668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25907232899999 meters 0.3782591842130515 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.19, Z:-2.37 [[ 9.99432014e-01 2.51459124e-02 2.24350699e-02 6.68498307e+01] [-2.47988438e-02 9.99570482e-01 -1.56163229e-02 -1.86255549e-01] [-2.28181203e-02 1.50510892e-02 9.99626329e-01 -2.36861283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.319072329 meters 0.3724811634833122 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.18, Z:-2.37 [[ 9.99405049e-01 2.52600215e-02 2.34836126e-02 6.68476502e+01] [-2.48687302e-02 9.99549422e-01 -1.68076945e-02 -1.82665792e-01] [-2.38975942e-02 1.62136871e-02 9.99582924e-01 -2.36867991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.379072329 meters 0.3698617608227267 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.18, Z:-2.37 [[ 9.99259109e-01 2.93916332e-02 2.48468202e-02 6.68449601e+01] [-2.90384803e-02 9.99473749e-01 -1.44565722e-02 -1.76551217e-01] [-2.52586468e-02 1.37243476e-02 9.99586736e-01 -2.36818206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.439072329 meters 0.35826269537077265 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.17, Z:-2.37 [[ 9.99198816e-01 2.95739710e-02 2.69649216e-02 6.68397780e+01] [-2.91456406e-02 9.99444833e-01 -1.61418200e-02 -1.72621653e-01] [-2.74273292e-02 1.53429775e-02 9.99506045e-01 -2.36708094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49907232899999 meters 0.3529299220648901 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.17, Z:-2.37 [[ 9.99158240e-01 2.96501042e-02 2.83493049e-02 6.68359423e+01] [-2.91774239e-02 9.99430623e-01 -1.69442818e-02 -1.71380431e-01] [-2.88355632e-02 1.61028591e-02 9.99454455e-01 -2.36597002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55907232899999 meters 0.3488721490074645 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.17, Z:-2.37 [[ 9.99003079e-01 3.38949696e-02 2.90513114e-02 6.68348741e+01] [-3.35204677e-02 9.99349763e-01 -1.32826829e-02 -1.69222132e-01] [-2.94826373e-02 1.22956276e-02 9.99489666e-01 -2.36607974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61907232899999 meters 0.3477501594894811 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.17, Z:-2.37 [[ 9.99077572e-01 3.07742769e-02 2.99491062e-02 6.68339750e+01] [-3.02641309e-02 9.99391507e-01 -1.73406378e-02 -1.70006007e-01] [-3.04645280e-02 1.64182587e-02 9.99400997e-01 -2.36828294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.679072329 meters 0.336523093489136 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.17, Z:-2.37 [[ 9.99039739e-01 3.09932082e-02 3.09680601e-02 6.68307466e+01] [-3.04691800e-02 9.99386799e-01 -1.72526620e-02 -1.71619582e-01] [-3.14837858e-02 1.62925236e-02 9.99371465e-01 -2.36710214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.739072329 meters 0.3478880359155725 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.17, Z:-2.37 [[ 9.99030664e-01 3.12034625e-02 3.10495747e-02 6.68306332e+01] [-3.06864348e-02 9.99384631e-01 -1.69912627e-02 -1.72440333e-01] [-3.15606539e-02 1.60219917e-02 9.99373414e-01 -2.36721833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.799072329 meters 0.33929783810025854 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.17, Z:-2.37 [[ 9.99024847e-01 3.16053157e-02 3.08295286e-02 6.68319177e+01] [-3.11134670e-02 9.99382855e-01 -1.63052799e-02 -1.74323780e-01] [-3.13258358e-02 1.53301662e-02 9.99391654e-01 -2.36839418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85907232899999 meters 0.3481374244142659 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.18, Z:-2.37 [[ 9.99016994e-01 3.19683138e-02 3.07094950e-02 6.68324421e+01] [-3.15022322e-02 9.99382821e-01 -1.55430209e-02 -1.76729038e-01] [-3.11874259e-02 1.45603244e-02 9.99407495e-01 -2.36884196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91907232899999 meters 0.3513951404106259 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.18, Z:-2.37 [[ 9.99006595e-01 3.24065150e-02 3.05882422e-02 6.68334760e+01] [-3.19646611e-02 9.99379040e-01 -1.48254548e-02 -1.78721022e-01] [-3.10496894e-02 1.38329843e-02 9.99422116e-01 -2.37006600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97907232899999 meters 0.331529326730454 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.18, Z:-2.37 [[ 9.98992555e-01 3.26585292e-02 3.07781541e-02 6.68329845e+01] [-3.22274731e-02 9.99376837e-01 -1.43989085e-02 -1.80266259e-01] [-3.12292214e-02 1.33925003e-02 9.99422522e-01 -2.37001715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03907232899999 meters 0.3447663654537315 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.18, Z:-2.37 [[ 9.98974273e-01 3.31669003e-02 3.08278978e-02 6.68329127e+01] [-3.27632064e-02 9.99371837e-01 -1.35093804e-02 -1.83145961e-01] [-3.12565971e-02 1.24855027e-02 9.99433408e-01 -2.37000072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.099072329 meters 0.3365248076267683 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.19, Z:-2.37 [[ 9.99083569e-01 2.99317334e-02 3.05959794e-02 6.68341724e+01] [-2.94471257e-02 9.99435560e-01 -1.61687666e-02 -1.88061199e-01] [-3.10626690e-02 1.52529854e-02 9.99401049e-01 -2.37149690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.159072329 meters 0.35265245280656043 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.19, Z:-2.37 [[ 9.99096287e-01 2.99938083e-02 3.01161243e-02 6.68351933e+01] [-2.95602623e-02 9.99454322e-01 -1.47393810e-02 -1.92460277e-01] [-3.05417807e-02 1.38358203e-02 9.99437727e-01 -2.37175338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21907232899999 meters 0.3522958947444194 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.20, Z:-2.37 [[ 9.99232756e-01 2.60198834e-02 2.92722479e-02 6.68366848e+01] [-2.55357162e-02 9.99532832e-01 -1.67941893e-02 -1.99447726e-01] [-2.96955557e-02 1.60338162e-02 9.99430383e-01 -2.37190618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27907232899999 meters 0.3554329216678007 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.21, Z:-2.37 [[ 9.99387517e-01 2.43119172e-02 2.51698388e-02 6.68459942e+01] [-2.39788160e-02 9.99621952e-01 -1.34524789e-02 -2.07758213e-01] [-2.54873790e-02 1.28406966e-02 9.99592672e-01 -2.37432922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33907232899999 meters 0.3554644257237602 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.22, Z:-2.37 [[ 9.99423289e-01 2.37559128e-02 2.42640877e-02 6.68472730e+01] [-2.34961173e-02 9.99664105e-01 -1.09365923e-02 -2.15718401e-01] [-2.45157463e-02 1.03601732e-02 9.99645760e-01 -2.37348616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39907232899999 meters 0.36248502297084345 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.23, Z:-2.37 [[ 9.99557602e-01 1.91136930e-02 2.27874416e-02 6.68498110e+01] [-1.88697904e-02 9.99762850e-01 -1.08707999e-02 -2.28761940e-01] [-2.29898187e-02 1.04359964e-02 9.99681228e-01 -2.37317432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.459072329 meters 0.3588246436025123 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.23, Z:-2.37 [[ 9.99583086e-01 1.89883071e-02 2.17508305e-02 6.68523553e+01] [-1.87888278e-02 9.99779857e-01 -9.33906792e-03 -2.33091884e-01] [-2.19233753e-02 8.92650172e-03 9.99719802e-01 -2.37384859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.519072329 meters 0.3624030685639672 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.24, Z:-2.37 [[ 9.99817936e-01 1.48570856e-02 1.19734101e-02 6.68731185e+01] [-1.48135092e-02 9.99883354e-01 -3.71993946e-03 -2.44787687e-01] [-1.20272809e-02 3.54189397e-03 9.99921397e-01 -2.37320216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.579072329 meters 0.38092769585200975 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.26, Z:-2.37 [[ 9.99977651e-01 1.63513533e-04 6.68364926e-03 6.68838305e+01] [-1.40328121e-04 9.99993972e-01 -3.46929673e-03 -2.62076385e-01] [-6.68417625e-03 3.46828129e-03 9.99971646e-01 -2.36976137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63907232899999 meters 0.38407943373707837 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.27, Z:-2.36 [[ 9.99963521e-01 -5.10312463e-03 -6.84947794e-03 6.69165017e+01] [ 5.08127337e-03 9.99981958e-01 -3.20382783e-03 -2.74954255e-01] [ 6.86570389e-03 3.16890689e-03 9.99971410e-01 -2.36349720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69907232899999 meters 0.3927694780596782 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.29, Z:-2.37 [[ 9.99896218e-01 -9.92565895e-03 -1.04419456e-02 6.69251566e+01] [ 9.89898127e-03 9.99947615e-01 -2.60344742e-03 -2.88460226e-01] [ 1.04672395e-02 2.49981261e-03 9.99942092e-01 -2.36548717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75907232899999 meters 0.4005947651109124 Centerline is valid? [False, False] Translation: X:66.95, Y:-0.31, Z:-2.36 [[ 9.99596106e-01 -2.05300313e-02 -1.96504963e-02 6.69478643e+01] [ 2.03526286e-02 9.99750665e-01 -9.18573084e-03 -3.08304512e-01] [ 1.98341801e-02 8.78208153e-03 9.99764712e-01 -2.36091736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.819072329 meters 0.40632324616110066 Centerline is valid? [False, False] Translation: X:66.95, Y:-0.32, Z:-2.36 [[ 9.99437716e-01 -2.48870180e-02 -2.24697200e-02 6.69547179e+01] [ 2.47061192e-02 9.99660360e-01 -8.29285061e-03 -3.23582392e-01] [ 2.26684727e-02 7.73304810e-03 9.99713129e-01 -2.36215181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.879072329 meters 0.4113155510574744 Centerline is valid? [False, False] Translation: X:66.98, Y:-0.34, Z:-2.36 [[ 9.99279482e-01 -3.32307516e-02 -1.83367072e-02 6.69777324e+01] [ 3.31224385e-02 9.99432198e-01 -6.17940457e-03 -3.41492511e-01] [ 1.85316419e-02 5.56759574e-03 9.99812773e-01 -2.36121082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.939072329 meters 0.4142553550735944 Centerline is valid? [False, False] Translation: X:66.98, Y:-0.36, Z:-2.36 [[ 9.99257157e-01 -3.31156503e-02 -1.97101143e-02 6.69795271e+01] [ 3.31060600e-02 9.99451514e-01 -8.12752054e-04 -3.58129560e-01] [ 1.97262184e-02 1.59624080e-04 9.99805406e-01 -2.35915235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99907232899999 meters 0.41715495738663305 Centerline is valid? [False, False] Translation: X:66.99, Y:-0.38, Z:-2.36 [[ 9.99217414e-01 -3.24304847e-02 -2.26455832e-02 6.69863800e+01] [ 3.25778872e-02 9.99450151e-01 6.17071580e-03 -3.78578918e-01] [ 2.24330123e-02 -6.90363194e-03 9.99724512e-01 -2.36019664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05907232899999 meters 0.41435792572183217 Centerline is valid? [False, False] Translation: X:66.99, Y:-0.39, Z:-2.36 [[ 9.99243893e-01 -3.09959898e-02 -2.34710485e-02 6.69888286e+01] [ 3.12354158e-02 9.99462987e-01 9.90386230e-03 -3.90602319e-01] [ 2.31514643e-02 -1.06295019e-02 9.99675459e-01 -2.36086539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11907232899999 meters 0.4106939248749322 Centerline is valid? [False, False] Translation: X:66.99, Y:-0.40, Z:-2.36 [[ 9.99643292e-01 -1.90732913e-02 -1.86948794e-02 6.69893617e+01] [ 1.92347038e-02 9.99778927e-01 8.49258466e-03 -3.99656610e-01] [ 1.85287649e-02 -8.84914575e-03 9.99789167e-01 -2.35880296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.179072329 meters 0.4160775179275863 Centerline is valid? [False, False] Translation: X:66.99, Y:-0.40, Z:-2.36 [[ 9.99669645e-01 -1.85352325e-02 -1.78057608e-02 6.69873191e+01] [ 1.86942557e-02 9.99786463e-01 8.80644129e-03 -4.01036567e-01] [ 1.76387292e-02 -9.13639749e-03 9.99802681e-01 -2.35896474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.239072329 meters 0.4002466327379272 Centerline is valid? [False, False] Translation: X:66.97, Y:-0.41, Z:-2.36 [[ 9.99914792e-01 -3.46468121e-03 -1.25858780e-02 6.69691919e+01] [ 3.55644339e-03 9.99967206e-01 7.27583380e-03 -4.06504755e-01] [ 1.25602568e-02 -7.31997481e-03 9.99894323e-01 -2.36367386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.299072329 meters 0.39499151990294823 Centerline is valid? [False, False] Translation: X:66.96, Y:-0.40, Z:-2.36 [[ 9.99940112e-01 -2.59555842e-03 -1.06318257e-02 6.69646594e+01] [ 2.66203085e-03 9.99976970e-01 6.24283891e-03 -4.03638518e-01] [ 1.06153772e-02 -6.27076729e-03 9.99923993e-01 -2.36407395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35907232899999 meters 0.3875414549665299 Centerline is valid? [False, False] Translation: X:66.96, Y:-0.40, Z:-2.36 [[ 9.99968926e-01 2.68437313e-03 -7.41222237e-03 6.69568465e+01] [-2.62420930e-03 9.99963632e-01 8.11467133e-03 -3.97086870e-01] [ 7.43373561e-03 -8.09496795e-03 9.99939604e-01 -2.36362934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41907232899999 meters 0.3735052711589046 Centerline is valid? [False, False] Translation: X:66.95, Y:-0.39, Z:-2.36 [[ 9.99982742e-01 4.49888036e-03 -3.77836005e-03 6.69486709e+01] [-4.47674633e-03 9.99972890e-01 5.84627204e-03 -3.90553769e-01] [ 3.80455929e-03 -5.82925639e-03 9.99975772e-01 -2.36422993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47907232899999 meters 0.3662399423840063 Centerline is valid? [False, False] Translation: X:66.94, Y:-0.39, Z:-2.36 [[ 9.99982479e-01 5.91496303e-03 -2.33374305e-04 6.69398921e+01] [-5.91389359e-03 9.99973077e-01 4.34410954e-03 -3.86840237e-01] [ 2.59063269e-04 -4.34265327e-03 9.99990537e-01 -2.36317650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53907232899999 meters 0.36291111469561105 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.38, Z:-2.37 [[ 9.99980204e-01 4.47899235e-03 4.41919174e-03 6.69304651e+01] [-4.46628433e-03 9.99985875e-01 -2.88133547e-03 -3.78467318e-01] [-4.43203480e-03 2.86154106e-03 9.99986084e-01 -2.36601546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.599072329 meters 0.3510227013462933 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.38, Z:-2.37 [[ 9.99631284e-01 2.39275869e-02 1.28361764e-02 6.69032042e+01] [-2.38785401e-02 9.99707021e-01 -3.96074663e-03 -3.80313134e-01] [-1.29271867e-02 3.65277709e-03 9.99909768e-01 -2.36733853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.659072329 meters 0.3495288855564222 Centerline is valid? [False, False] Translation: X:66.89, Y:-0.38, Z:-2.37 [[ 9.99531208e-01 2.56625193e-02 1.66972830e-02 6.68945715e+01] [-2.55709351e-02 9.99656899e-01 -5.67557707e-03 -3.76486674e-01] [-1.68372037e-02 5.24595127e-03 9.99844482e-01 -2.36747306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71907232899999 meters 0.34348130091244156 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.38, Z:-2.37 [[ 9.98753161e-01 4.15854957e-02 2.76182867e-02 6.68719101e+01] [-4.16671258e-02 9.99128698e-01 2.38651634e-03 -3.79687563e-01] [-2.74949784e-02 -3.53431537e-03 9.99615694e-01 -2.37344474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77907232899999 meters 0.3431553610565916 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.38, Z:-2.38 [[ 9.98333197e-01 4.33240104e-02 3.81294835e-02 6.68495988e+01] [-4.32801945e-02 9.99061023e-01 -1.97420004e-03 -3.82244667e-01] [-3.81792110e-02 3.20657976e-04 9.99270857e-01 -2.37878665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83907232899999 meters 0.33470289758465277 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.38, Z:-2.38 [[ 9.98022375e-01 4.56666038e-02 4.31960717e-02 6.68383753e+01] [-4.55558785e-02 9.98955503e-01 -3.54474571e-03 -3.79425413e-01] [-4.33128300e-02 1.56990053e-03 9.99060326e-01 -2.37885272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89907232899999 meters 0.3245717386715694 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.38, Z:-2.38 [[ 9.97671547e-01 4.86673267e-02 4.77804887e-02 6.68275314e+01] [-4.85406421e-02 9.98813946e-01 -3.80881682e-03 -3.81065582e-01] [-4.79091834e-02 1.48065257e-03 9.98850598e-01 -2.37772067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.959072329 meters 0.32654967624496517 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.97946017e-01 5.09863879e-02 3.87831878e-02 6.68164450e+01] [-5.07771890e-02 9.98689751e-01 -6.36073396e-03 -3.89930833e-01] [-3.90566830e-02 4.37836786e-03 9.99227404e-01 -2.37773906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.019072329 meters 0.33814986297833716 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.97941637e-01 5.10612937e-02 3.87973447e-02 6.68167725e+01] [-5.08555750e-02 9.98686326e-01 -6.27156403e-03 -3.90193453e-01] [-3.90666118e-02 4.28559360e-03 9.99227418e-01 -2.37838779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.079072329 meters 0.3340872263198239 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.98153738e-01 4.71862011e-02 3.82436529e-02 6.68173806e+01] [-4.68369495e-02 9.98852713e-01 -9.97783450e-03 -3.92025594e-01] [-3.86705926e-02 8.16819676e-03 9.99218628e-01 -2.37811884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13907232899999 meters 0.33596729039382395 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.98331088e-01 4.32320712e-02 3.82887177e-02 6.68169679e+01] [-4.27207607e-02 9.98987925e-01 -1.40734304e-02 -3.92929395e-01] [-3.88583902e-02 1.24142200e-02 9.99167610e-01 -2.37848779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19907232899999 meters 0.3334263900318489 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.98352004e-01 4.30053739e-02 3.79975601e-02 6.68174955e+01] [-4.24897498e-02 9.98994915e-01 -1.42752054e-02 -3.92126939e-01] [-3.85732798e-02 1.26371731e-02 9.99175862e-01 -2.37814970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25907232899999 meters 0.3318097760441262 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.98395419e-01 4.25795585e-02 3.73305212e-02 6.68185716e+01] [-4.20654013e-02 9.99010326e-01 -1.44523743e-02 -3.91284925e-01] [-3.79089519e-02 1.28588610e-02 9.99198459e-01 -2.37726197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.319072329 meters 0.3321838646595844 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.98565416e-01 3.83736834e-02 3.73439480e-02 6.68176891e+01] [-3.76873013e-02 9.99110572e-01 -1.89138276e-02 -3.91004222e-01] [-3.80365265e-02 1.74793015e-02 9.99123464e-01 -2.37658667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.379072329 meters 0.34627055414184904 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.98603591e-01 3.79488193e-02 3.67526129e-02 6.68190419e+01] [-3.72601431e-02 9.99120260e-01 -1.92454738e-02 -3.89657033e-01] [-3.74506232e-02 1.78491916e-02 9.99139058e-01 -2.37649259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.439072329 meters 0.3351320642090781 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.99071187e-01 2.81048339e-02 3.26631458e-02 6.68166626e+01] [-2.76826384e-02 9.99528187e-01 -1.33069605e-02 -3.91117147e-01] [-3.30217248e-02 1.23903988e-02 9.99377828e-01 -2.37574851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49907232899999 meters 0.34406076392228124 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.99121503e-01 2.74529416e-02 3.16632125e-02 6.68185239e+01] [-2.70437753e-02 9.99546046e-01 -1.32791872e-02 -3.90774130e-01] [-3.20133916e-02 1.24112287e-02 9.99410378e-01 -2.37500388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55907232899999 meters 0.33750786049203463 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.39, Z:-2.37 [[ 9.99292013e-01 2.46031807e-02 2.84632331e-02 6.68252932e+01] [-2.42218428e-02 9.99613201e-01 -1.36657060e-02 -3.88388031e-01] [-2.87884434e-02 1.29665989e-02 9.99501422e-01 -2.37470455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61907232899999 meters 0.34489272358431167 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.39, Z:-2.37 [[ 9.99345135e-01 2.37175621e-02 2.73272378e-02 6.68273633e+01] [-2.33446498e-02 9.99631044e-01 -1.38853831e-02 -3.87167186e-01] [-2.76464827e-02 1.32383452e-02 9.99530099e-01 -2.37388064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.679072329 meters 0.34814397122116486 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.39, Z:-2.37 [[ 9.99472030e-01 2.13732474e-02 2.44713153e-02 6.68327350e+01] [-2.10487801e-02 9.99688098e-01 -1.34408008e-02 -3.87754229e-01] [-2.47509562e-02 1.29186132e-02 9.99610174e-01 -2.37235896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.739072329 meters 0.35057428747391955 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.39, Z:-2.37 [[ 9.99728580e-01 1.36746936e-02 1.88618358e-02 6.68439670e+01] [-1.34126946e-02 9.99812763e-01 -1.39476932e-02 -3.85357629e-01] [-1.90490346e-02 1.36909195e-02 9.99724809e-01 -2.36931184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.799072329 meters 0.3514049304948378 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.39, Z:-2.37 [[ 9.99778090e-01 1.25086548e-02 1.69500396e-02 6.68480208e+01] [-1.22797550e-02 9.99832899e-01 -1.35418320e-02 -3.85883741e-01] [-1.71165973e-02 1.33306846e-02 9.99764630e-01 -2.36899014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85907232899999 meters 0.3576012455525444 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.39, Z:-2.37 [[ 9.99869533e-01 6.87278974e-03 1.46178424e-02 6.68525840e+01] [-6.62915267e-03 9.99839390e-01 -1.66507552e-02 -3.89076524e-01] [-1.47299317e-02 1.65516789e-02 9.99754505e-01 -2.36799448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91907232899999 meters 0.3584363876836269 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.39, Z:-2.36 [[ 9.99921159e-01 -7.63007739e-03 9.97286847e-03 6.68684580e+01] [ 7.77556018e-03 9.99862722e-01 -1.46314171e-02 -3.87499945e-01] [-9.85986056e-03 1.47078082e-02 9.99843219e-01 -2.36414694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97907232899999 meters 0.3619861847214061 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.39, Z:-2.37 [[ 9.99968104e-01 -5.32445919e-03 5.95323520e-03 6.68780895e+01] [ 5.38150205e-03 9.99939369e-01 -9.60722037e-03 -3.88448938e-01] [-5.90172099e-03 9.63895129e-03 9.99936128e-01 -2.36506418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03907232899999 meters 0.371247351074052 Centerline is valid? [False, False] Translation: X:66.89, Y:-0.39, Z:-2.37 [[ 9.99919262e-01 -1.26956853e-02 5.37624126e-04 6.68920878e+01] [ 1.27014808e-02 9.99839004e-01 -1.26743152e-02 -3.88584316e-01] [-3.76628454e-04 1.26801205e-02 9.99919533e-01 -2.36720977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.099072329 meters 0.37603046001165596 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.39, Z:-2.37 [[ 9.99892023e-01 -1.44606182e-02 -2.61393342e-03 6.68995153e+01] [ 1.44270544e-02 9.99818625e-01 -1.24328929e-02 -3.88570048e-01] [ 2.79324664e-03 1.23938391e-02 9.99919292e-01 -2.36743255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.159072329 meters 0.38150628157441946 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.39, Z:-2.37 [[ 9.99870326e-01 -1.55769769e-02 -4.08517037e-03 6.69020991e+01] [ 1.55257154e-02 9.99803895e-01 -1.22932721e-02 -3.88807312e-01] [ 4.27586127e-03 1.22282528e-02 9.99916090e-01 -2.36608144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21907232899999 meters 0.381230452941359 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.39, Z:-2.36 [[ 9.99893634e-01 -1.31434217e-02 -6.32226000e-03 6.69053504e+01] [ 1.30952961e-02 9.99885414e-01 -7.59418631e-03 -3.90343293e-01] [ 6.42134915e-03 7.51058668e-03 9.99951177e-01 -2.36307343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27907232899999 meters 0.3847478607196831 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.39, Z:-2.36 [[ 9.99918391e-01 -1.01896948e-02 -7.70597511e-03 6.69059741e+01] [ 1.01685065e-02 9.99944424e-01 -2.78378360e-03 -3.91360820e-01] [ 7.73391275e-03 2.70519815e-03 9.99966434e-01 -2.35945970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33907232899999 meters 0.38623141682204104 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.39, Z:-2.36 [[ 9.99939825e-01 -6.72054633e-03 -8.67067867e-03 6.69082671e+01] [ 6.72770737e-03 9.99977051e-01 7.96988142e-04 -3.88631683e-01] [ 8.66512350e-03 -8.55273972e-04 9.99962091e-01 -2.35946800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39907232899999 meters 0.3855374567557142 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.38, Z:-2.36 [[ 9.99938565e-01 -7.35603182e-03 -8.29183356e-03 6.69078192e+01] [ 7.35242706e-03 9.99972862e-01 -4.65135972e-04 -3.84590125e-01] [ 8.29503009e-03 4.04142295e-04 9.99965514e-01 -2.35999960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.459072329 meters 0.38703363400061924 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.38, Z:-2.36 [[ 9.99938587e-01 -8.11384191e-03 -7.54900809e-03 6.69058753e+01] [ 8.09887650e-03 9.99965182e-01 -2.01089667e-03 -3.79217906e-01] [ 7.56506134e-03 1.94963470e-03 9.99969484e-01 -2.35993460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.519072329 meters 0.3860605075073368 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.38, Z:-2.36 [[ 9.99938444e-01 -8.69094435e-03 -6.89748211e-03 6.69036654e+01] [ 8.66891002e-03 9.99957246e-01 -3.21804191e-03 -3.75565382e-01] [ 6.92515504e-03 3.15805017e-03 9.99971034e-01 -2.35909167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.579072329 meters 0.3868260005918561 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.37, Z:-2.36 [[ 9.99935817e-01 -9.50814062e-03 -6.16088349e-03 6.69013919e+01] [ 9.47715523e-03 9.99942393e-01 -5.03920105e-03 -3.69875092e-01] [ 6.20844201e-03 4.98048997e-03 9.99968324e-01 -2.35836263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63907232899999 meters 0.3862419354270867 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.37, Z:-2.36 [[ 9.99962344e-01 -5.97611423e-03 -6.29260736e-03 6.69012631e+01] [ 5.96353918e-03 9.99980187e-01 -2.01525511e-03 -3.65568366e-01] [ 6.30452608e-03 1.97765301e-03 9.99978171e-01 -2.35794761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69907232899999 meters 0.3883363697807594 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.36, Z:-2.36 [[ 9.99957150e-01 -6.31347494e-03 -6.77043261e-03 6.69027815e+01] [ 6.29759375e-03 9.99977375e-01 -2.36442777e-03 -3.64102369e-01] [ 6.78520718e-03 2.32168902e-03 9.99974285e-01 -2.35832486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75907232899999 meters 0.39197129288806665 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.36, Z:-2.36 [[ 9.99915063e-01 -1.07396940e-02 -7.38416341e-03 6.69047394e+01] [ 1.06924868e-02 9.99922333e-01 -6.40306474e-03 -3.64669570e-01] [ 7.45235686e-03 6.32356581e-03 9.99952236e-01 -2.35880974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.819072329 meters 0.3964325594598133 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.37, Z:-2.36 [[ 9.99938613e-01 -7.05818561e-03 -8.54123207e-03 6.69065880e+01] [ 7.04911430e-03 9.99974559e-01 -1.09170062e-03 -3.67469953e-01] [ 8.54872019e-03 1.03142549e-03 9.99962927e-01 -2.35744880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.879072329 meters 0.3922389856798832 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.37, Z:-2.36 [[ 9.99935730e-01 -7.06887709e-03 -8.86373995e-03 6.69077515e+01] [ 7.05940110e-03 9.99974477e-01 -1.09990594e-03 -3.67031069e-01] [ 8.87128882e-03 1.03726255e-03 9.99960111e-01 -2.35779116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.939072329 meters 0.39789374488060164 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.37, Z:-2.36 [[ 9.99930056e-01 -6.40684853e-03 -9.94157259e-03 6.69120449e+01] [ 6.40726847e-03 9.99979473e-01 1.03909762e-05 -3.69362399e-01] [ 9.94130195e-03 -7.40885740e-05 9.99950581e-01 -2.35960713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99907232899999 meters 0.3965959951137236 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.37, Z:-2.36 [[ 9.99941254e-01 -2.25687710e-03 -1.06016981e-02 6.69127654e+01] [ 2.30388252e-03 9.99987562e-01 4.42364471e-03 -3.69593577e-01] [ 1.05915826e-02 -4.44780991e-03 9.99934016e-01 -2.35823831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05907232899999 meters 0.3947905565252438 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.37, Z:-2.36 [[ 9.99938317e-01 -5.57962767e-03 -9.60369326e-03 6.69116631e+01] [ 5.57632093e-03 9.99984383e-01 -3.71063135e-04 -3.67711021e-01] [ 9.60561368e-03 3.17486971e-04 9.99953815e-01 -2.35982167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11907232899999 meters 0.3950925078468436 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.37, Z:-2.36 [[ 9.99945464e-01 -5.36749564e-03 -8.95874404e-03 6.69105741e+01] [ 5.36178973e-03 9.99985407e-01 -6.60805318e-04 -3.66912465e-01] [ 8.96216018e-03 6.12734378e-04 9.99959651e-01 -2.36065953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.179072329 meters 0.3886858427590123 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.36, Z:-2.36 [[ 9.99977333e-01 -3.74350003e-03 -5.59638887e-03 6.69023775e+01] [ 3.73059522e-03 9.99990363e-01 -2.31458118e-03 -3.62755771e-01] [ 5.60499957e-03 2.29365085e-03 9.99981661e-01 -2.35979826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.239072329 meters 0.3823370449800834 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.36, Z:-2.36 [[ 9.99988630e-01 -2.86272193e-03 -3.81364027e-03 6.68987173e+01] [ 2.84885851e-03 9.99989333e-01 -3.63570508e-03 -3.58980705e-01] [ 3.82400760e-03 3.62479923e-03 9.99986119e-01 -2.36032232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.299072329 meters 0.37984466980134757 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.36, Z:-2.36 [[ 9.99994737e-01 -2.10641560e-03 -2.46769200e-03 6.68965158e+01] [ 2.09435926e-03 9.99985909e-01 -4.87811563e-03 -3.55188055e-01] [ 2.47793257e-03 4.87292172e-03 9.99985057e-01 -2.36183341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35907232899999 meters 0.3769490853156748 Centerline is valid? [False, False] Translation: X:66.89, Y:-0.35, Z:-2.36 [[ 9.99998597e-01 -1.33686456e-03 -1.00895156e-03 6.68939351e+01] [ 1.33066838e-03 9.99980405e-01 -6.11708950e-03 -3.51457521e-01] [ 1.01710950e-03 6.11573834e-03 9.99980781e-01 -2.36306668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41907232899999 meters 0.3727660801352762 Centerline is valid? [False, False] Translation: X:66.89, Y:-0.35, Z:-2.36 [[ 9.99990080e-01 -3.67378662e-03 2.51840951e-03 6.68858662e+01] [ 3.70256369e-03 9.99926800e-01 -1.15188834e-02 -3.48370637e-01] [-2.47590724e-03 1.15280937e-02 9.99930484e-01 -2.36295449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47907232899999 meters 0.3716040937020065 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.34, Z:-2.36 [[ 9.99987356e-01 1.79477915e-03 4.69756900e-03 6.68821245e+01] [-1.75362015e-03 9.99960169e-01 -8.75126675e-03 -3.44026056e-01] [-4.71308849e-03 8.74291834e-03 9.99950673e-01 -2.36478279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53907232899999 meters 0.36582651117784637 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.34, Z:-2.37 [[ 9.99971485e-01 2.96455574e-03 6.94557697e-03 6.68774165e+01] [-2.89601517e-03 9.99947219e-01 -9.85759361e-03 -3.41291213e-01] [-6.97443377e-03 9.83719802e-03 9.99927291e-01 -2.36515976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.599072329 meters 0.3586571673593878 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.34, Z:-2.37 [[ 9.99931441e-01 4.70869100e-03 1.07210795e-02 6.68690692e+01] [-4.58772313e-03 9.99925855e-01 -1.12799532e-02 -3.38235419e-01] [-1.07733984e-02 1.12299945e-02 9.99878903e-01 -2.36520315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.659072329 meters 0.357569279122435 Centerline is valid? [False, False] Translation: X:66.86, Y:-0.33, Z:-2.37 [[ 9.99874805e-01 6.52789545e-03 1.44138898e-02 6.68615272e+01] [-6.33573686e-03 9.99890984e-01 -1.33371458e-02 -3.32891128e-01] [-1.44993820e-02 1.32441535e-02 9.99807162e-01 -2.36622099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71907232899999 meters 0.35085673072342 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.33, Z:-2.37 [[ 9.99799593e-01 8.32426703e-03 1.82066211e-02 6.68530467e+01] [-8.05251376e-03 9.99855835e-01 -1.49487915e-02 -3.29635700e-01] [-1.83284341e-02 1.47991866e-02 9.99722488e-01 -2.36582569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77907232899999 meters 0.3373019052364325 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.34, Z:-2.36 [[ 9.99741407e-01 1.68034140e-02 1.53220180e-02 6.68270901e+01] [-1.65914776e-02 9.99766341e-01 -1.38559109e-02 -3.35745816e-01] [-1.55512644e-02 1.35981130e-02 9.99786602e-01 -2.36135835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83907232899999 meters 0.3343692660068268 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.33, Z:-2.36 [[ 9.99598433e-01 2.22481488e-02 1.75497294e-02 6.68230812e+01] [-2.20479266e-02 9.99690530e-01 -1.15210219e-02 -3.30139522e-01] [-1.78006197e-02 1.11294603e-02 9.99779612e-01 -2.36212893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89907232899999 meters 0.3326126214215372 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.33, Z:-2.36 [[ 9.99544305e-01 2.32691647e-02 1.92283265e-02 6.68200904e+01] [-2.30283108e-02 9.99654728e-01 -1.26539112e-02 -3.27027810e-01] [-1.95161334e-02 1.22053490e-02 9.99735040e-01 -2.36311535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.959072329 meters 0.33400016268502 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.33, Z:-2.36 [[ 9.99493422e-01 2.14925287e-02 2.34727596e-02 6.68108835e+01] [-2.10660535e-02 9.99611183e-01 -1.82675644e-02 -3.25048856e-01] [-2.38562491e-02 1.77638320e-02 9.99557565e-01 -2.36330375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.019072329 meters 0.3308245774218942 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.32, Z:-2.36 [[ 9.99448999e-01 2.20621889e-02 2.47983627e-02 6.68078228e+01] [-2.15904219e-02 9.99583794e-01 -1.91335593e-02 -3.22986143e-01] [-2.52101697e-02 1.85876095e-02 9.99509354e-01 -2.36287378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.079072329 meters 0.3261358648053433 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.32, Z:-2.36 [[ 9.99416421e-01 2.25744252e-02 2.56361466e-02 6.68064958e+01] [-2.20733545e-02 9.99562969e-01 -1.96631147e-02 -3.21607569e-01] [-2.60688263e-02 1.90857640e-02 9.99477939e-01 -2.36369198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13907232899999 meters 0.3335386923527576 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.32, Z:-2.36 [[ 9.99353712e-01 2.60800578e-02 2.47383975e-02 6.68085542e+01] [-2.57277594e-02 9.99564488e-01 -1.44539599e-02 -3.24578748e-01] [-2.51045837e-02 1.38081550e-02 9.99589463e-01 -2.36383045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19907232899999 meters 0.33000883283289795 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.33, Z:-2.36 [[ 9.99385609e-01 2.57753407e-02 2.37494525e-02 6.68104627e+01] [-2.54599997e-02 9.99584873e-01 -1.34859269e-02 -3.27068712e-01] [-2.40871978e-02 1.28729802e-02 9.99626977e-01 -2.36337319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25907232899999 meters 0.3247049617527409 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.33, Z:-2.36 [[ 9.99522405e-01 2.30886643e-02 2.05396015e-02 6.68181264e+01] [-2.28356106e-02 9.99661451e-01 -1.24707027e-02 -3.29184041e-01] [-2.08205797e-02 1.19957124e-02 9.99711261e-01 -2.36458234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.319072329 meters 0.3352574616142757 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.33, Z:-2.37 [[ 9.99650726e-01 2.07357642e-02 1.63845935e-02 6.68274027e+01] [-2.05673529e-02 9.99734572e-01 -1.03811657e-02 -3.33529362e-01] [-1.65955060e-02 1.00405521e-02 9.99811871e-01 -2.36519947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.379072329 meters 0.3468950353606201 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.34, Z:-2.36 [[ 9.99701297e-01 1.95205707e-02 1.47059292e-02 6.68300581e+01] [-1.93942668e-02 9.99774210e-01 -8.68286065e-03 -3.38399205e-01] [-1.48721031e-02 8.39505634e-03 9.99854161e-01 -2.36323532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.439072329 meters 0.3516145611943503 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.35, Z:-2.36 [[ 9.99841447e-01 1.39061290e-02 1.11220672e-02 6.68377159e+01] [-1.37953384e-02 9.99855066e-01 -9.97678328e-03 -3.46191496e-01] [-1.12591937e-02 9.82176875e-03 9.99888375e-01 -2.36330721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49907232899999 meters 0.3572146452180551 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.35, Z:-2.36 [[ 9.99928676e-01 8.69398827e-03 8.18885935e-03 6.68439926e+01] [-8.60251538e-03 9.99900942e-01 -1.11401660e-02 -3.54593744e-01] [-8.28490065e-03 1.10689266e-02 9.99904415e-01 -2.36306343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55907232899999 meters 0.3626179833251419 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.36, Z:-2.36 [[ 9.99951084e-01 7.61147628e-03 6.31621307e-03 6.68471386e+01] [-7.55568779e-03 9.99932646e-01 -8.80993394e-03 -3.61377585e-01] [-6.38284425e-03 8.76177966e-03 9.99941244e-01 -2.36090870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61907232899999 meters 0.3647898258112887 Centerline is valid? [False, False] Translation: X:66.86, Y:-0.37, Z:-2.36 [[ 9.99937874e-01 -8.72512479e-03 6.93692141e-03 6.68591165e+01] [ 8.77482869e-03 9.99935814e-01 -7.16726981e-03 -3.68068705e-01] [-6.87394084e-03 7.22769483e-03 9.99950253e-01 -2.35756773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.679072329 meters 0.3737679043654532 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.37, Z:-2.35 [[ 9.99705666e-01 -2.42342170e-02 -1.13279547e-03 6.68777606e+01] [ 2.42222350e-02 9.99660440e-01 -9.60670513e-03 -3.70936059e-01] [ 1.36522180e-03 9.57643872e-03 9.99953213e-01 -2.35360417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.739072329 meters 0.38093410160345165 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.37, Z:-2.35 [[ 9.99494571e-01 -2.95999031e-02 -1.15952051e-02 6.69000749e+01] [ 2.95214791e-02 9.99540487e-01 -6.87728452e-03 -3.74611143e-01] [ 1.17934439e-02 6.53150094e-03 9.99909123e-01 -2.34871151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.799072329 meters 0.38310947801808454 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.38, Z:-2.35 [[ 9.99315727e-01 -3.44213147e-02 -1.35370499e-02 6.69053653e+01] [ 3.42944162e-02 9.99366647e-01 -9.49722593e-03 -3.79035172e-01] [ 1.38553832e-02 9.02648201e-03 9.99863266e-01 -2.34948600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85907232899999 meters 0.387380647399727 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.38, Z:-2.35 [[ 9.99374780e-01 -3.13891789e-02 -1.62716851e-02 6.69112312e+01] [ 3.13384585e-02 9.99503173e-01 -3.36282446e-03 -3.84962091e-01] [ 1.63691572e-02 2.85079243e-03 9.99861952e-01 -2.34925446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91907232899999 meters 0.3925205648814418 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.39, Z:-2.35 [[ 9.99450137e-01 -2.79505171e-02 -1.78379596e-02 6.69131848e+01] [ 2.79982879e-02 9.99605008e-01 2.43389832e-03 -3.89801371e-01] [ 1.77628850e-02 -2.93199234e-03 9.99837929e-01 -2.34650880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97907232899999 meters 0.3924222916586113 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.39, Z:-2.35 [[ 9.99389409e-01 -2.86754210e-02 -1.99632176e-02 6.69190633e+01] [ 2.87452036e-02 9.99581593e-01 3.21736749e-03 -3.91174370e-01] [ 1.98626055e-02 -3.78924975e-03 9.99795538e-01 -2.34792306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03907232899999 meters 0.3958939572418987 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.39, Z:-2.35 [[ 9.99460195e-01 -2.50587980e-02 -2.12456062e-02 6.69216611e+01] [ 2.52290829e-02 9.99651381e-01 7.78523736e-03 -3.91707858e-01] [ 2.10431109e-02 -8.31704201e-03 9.99743974e-01 -2.34773756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.099072329 meters 0.39662576196509236 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.39, Z:-2.35 [[ 9.99520723e-01 -2.16899628e-02 -2.20877550e-02 6.69218299e+01] [ 2.19575232e-02 9.99687557e-01 1.19438823e-02 -3.91606106e-01] [ 2.18217915e-02 -1.24231502e-02 9.99684688e-01 -2.34519904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.159072329 meters 0.401991007584624 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.39, Z:-2.35 [[ 9.99511829e-01 -2.18323431e-02 -2.23484219e-02 6.69224421e+01] [ 2.20993674e-02 9.99686472e-01 1.17718008e-02 -3.90898088e-01] [ 2.20844091e-02 -1.22599401e-02 9.99680935e-01 -2.34504093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21907232899999 meters 0.403372489755578 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.39, Z:-2.35 [[ 9.99498218e-01 -2.20431140e-02 -2.27467088e-02 6.69238759e+01] [ 2.23085638e-02 9.99685187e-01 1.14827696e-02 -3.89696758e-01] [ 2.24864318e-02 -1.19844541e-02 9.99675314e-01 -2.34565474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27907232899999 meters 0.402585299056903 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.39, Z:-2.35 [[ 9.99479329e-01 -2.26795985e-02 -2.29501003e-02 6.69244187e+01] [ 2.29248569e-02 9.99682255e-01 1.04804939e-02 -3.85600605e-01] [ 2.27051146e-02 -1.10011648e-02 9.99681675e-01 -2.34547877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33907232899999 meters 0.40281249172101397 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.38, Z:-2.34 [[ 9.99450356e-01 -2.32717269e-02 -2.36095711e-02 6.69254290e+01] [ 2.35088031e-02 9.99675457e-01 9.81413017e-03 -3.83307144e-01] [ 2.33735170e-02 -1.03637687e-02 9.99673082e-01 -2.34458464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39907232899999 meters 0.4070102799304835 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.38, Z:-2.34 [[ 9.99426218e-01 -2.38485428e-02 -2.40516500e-02 6.69260526e+01] [ 2.40733561e-02 9.99668766e-01 9.10124368e-03 -3.80965740e-01] [ 2.38266319e-02 -9.67502549e-03 9.99669288e-01 -2.34397116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.459072329 meters 0.4141205181317502 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.38, Z:-2.34 [[ 9.99402827e-01 -2.44553931e-02 -2.44115452e-02 6.69267871e+01] [ 2.46599795e-02 9.99662958e-01 8.11512005e-03 -3.77414842e-01] [ 2.42048591e-02 -8.71226212e-03 9.99669056e-01 -2.34381285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.519072329 meters 0.4119786637968408 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.38, Z:-2.34 [[ 9.99379964e-01 -2.46714496e-02 -2.51198564e-02 6.69289829e+01] [ 2.48797203e-02 9.99658341e-01 8.01252834e-03 -3.76679319e-01] [ 2.49135932e-02 -8.63253528e-03 9.99652336e-01 -2.34442440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.579072329 meters 0.4125484306643782 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.37, Z:-2.34 [[ 9.99359967e-01 -2.50836419e-02 -2.55042479e-02 6.69297929e+01] [ 2.52815116e-02 9.99652494e-01 7.46563489e-03 -3.74564051e-01] [ 2.53081197e-02 -8.10564258e-03 9.99646836e-01 -2.34410566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63907232899999 meters 0.4156789068211847 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.37, Z:-2.34 [[ 9.99435115e-01 -2.12921197e-02 -2.60018476e-02 6.69298513e+01] [ 2.15838021e-02 9.99706647e-01 1.09890715e-02 -3.72057571e-01] [ 2.57602393e-02 -1.15440827e-02 9.99601493e-01 -2.34272047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69907232899999 meters 0.41643610757557575 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.37, Z:-2.34 [[ 9.99429911e-01 -2.14605757e-02 -2.60633262e-02 6.69304005e+01] [ 2.17457640e-02 9.99706183e-01 1.07084090e-02 -3.70964658e-01] [ 2.58258598e-02 -1.12690712e-02 9.99602938e-01 -2.34319247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75907232899999 meters 0.419234509396119 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.37, Z:-2.34 [[ 9.99422258e-01 -2.19729087e-02 -2.59295635e-02 6.69302759e+01] [ 2.22337983e-02 9.99704605e-01 9.81639940e-03 -3.67671776e-01] [ 2.57062092e-02 -1.03872407e-02 9.99615574e-01 -2.34349136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.819072329 meters 0.41443381740259994 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.36, Z:-2.34 [[ 9.99413303e-01 -2.25877766e-02 -2.57457109e-02 6.69293904e+01] [ 2.28221590e-02 9.99700399e-01 8.84652481e-03 -3.64271168e-01] [ 2.55381741e-02 -9.42890729e-03 9.99629380e-01 -2.34291406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.879072329 meters 0.42048009639137596 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.36, Z:-2.34 [[ 9.99399893e-01 -2.32704917e-02 -2.56581186e-02 6.69287284e+01] [ 2.34752741e-02 9.99694695e-01 7.70903558e-03 -3.60560790e-01] [ 2.54708919e-02 -8.30674070e-03 9.99641051e-01 -2.34233491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.939072329 meters 0.41982115596244857 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.36, Z:-2.34 [[ 9.99388953e-01 -2.37928513e-02 -2.56051025e-02 6.69284391e+01] [ 2.39745328e-02 9.99689361e-01 6.81203520e-03 -3.57567038e-01] [ 2.54350708e-02 -7.42174309e-03 9.99648926e-01 -2.34210354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99907232899999 meters 0.4162180415813184 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.35, Z:-2.34 [[ 9.99462819e-01 -1.99673479e-02 -2.59880479e-02 6.69281855e+01] [ 2.02391087e-02 9.99742764e-01 1.02364370e-02 -3.54789028e-01] [ 2.57769684e-02 -1.07569131e-02 9.99609842e-01 -2.34063396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05907232899999 meters 0.4195968088423426 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.35, Z:-2.34 [[ 9.99461028e-01 -2.01575512e-02 -2.59099744e-02 6.69281382e+01] [ 2.04194989e-02 9.99742628e-01 9.88538562e-03 -3.53539963e-01] [ 2.57040407e-02 -1.04091264e-02 9.99615402e-01 -2.34084540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11907232899999 meters 0.41941029667652846 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.35, Z:-2.34 [[ 9.99474358e-01 -2.02185098e-02 -2.53420317e-02 6.69276499e+01] [ 2.04633308e-02 9.99746048e-01 9.43883340e-03 -3.51900636e-01] [ 2.51447569e-02 -9.95245433e-03 9.99634278e-01 -2.34222445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.179072329 meters 0.4193896386789223 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.35, Z:-2.34 [[ 9.99476786e-01 -2.04221029e-02 -2.50817078e-02 6.69270727e+01] [ 2.06532246e-02 9.99746275e-01 8.99050210e-03 -3.50389241e-01] [ 2.48917390e-02 -9.50381629e-03 9.99644976e-01 -2.34241277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.239072329 meters 0.41433804401129143 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.35, Z:-2.34 [[ 9.99544985e-01 -1.64728502e-02 -2.52679470e-02 6.69263313e+01] [ 1.67950466e-02 9.99779655e-01 1.25924011e-02 -3.48235042e-01] [ 2.50549466e-02 -1.30110477e-02 9.99601402e-01 -2.34085726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.299072329 meters 0.4147080281533137 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.35, Z:-2.34 [[ 9.99551417e-01 -1.66208923e-02 -2.49140772e-02 6.69254332e+01] [ 1.69197309e-02 9.99786837e-01 1.18323332e-02 -3.45775205e-01] [ 2.47121024e-02 -1.22485649e-02 9.99619570e-01 -2.34086466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35907232899999 meters 0.4172748517892922 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.34, Z:-2.34 [[ 9.99566705e-01 -1.64335782e-02 -2.44200692e-02 6.69250305e+01] [ 1.67153216e-02 9.99795544e-01 1.13783755e-02 -3.44184655e-01] [ 2.42280889e-02 -1.17816346e-02 9.99637031e-01 -2.34219313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41907232899999 meters 0.4123418798255733 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.34, Z:-2.34 [[ 9.99585170e-01 -1.62678038e-02 -2.37664913e-02 6.69234762e+01] [ 1.65247946e-02 9.99806660e-01 1.06570626e-02 -3.42068451e-01] [ 2.35885293e-02 -1.10453781e-02 9.99660733e-01 -2.34224932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47907232899999 meters 0.41254261434333467 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.34, Z:-2.34 [[ 9.99619080e-01 -1.59476770e-02 -2.25248136e-02 6.69200454e+01] [ 1.61712908e-02 9.99821400e-01 9.78041856e-03 -3.39859245e-01] [ 2.23648158e-02 -1.01409483e-02 9.99698443e-01 -2.34142389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53907232899999 meters 0.4073089374473739 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.34, Z:-2.34 [[ 9.99633116e-01 -1.58337064e-02 -2.19755931e-02 6.69184793e+01] [ 1.60509218e-02 9.99823701e-01 9.74344539e-03 -3.40122000e-01] [ 2.18174440e-02 -1.00925992e-02 9.99711028e-01 -2.34117327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.599072329 meters 0.4079720519835014 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.34, Z:-2.34 [[ 9.99656458e-01 -1.53824249e-02 -2.12213775e-02 6.69172470e+01] [ 1.55879670e-02 9.99832850e-01 9.55442737e-03 -3.39742770e-01] [ 2.10708601e-02 -9.88194316e-03 9.99729146e-01 -2.34211416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.659072329 meters 0.4035999937142983 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.34, Z:-2.34 [[ 9.99696032e-01 -1.44151685e-02 -2.00011711e-02 6.69158417e+01] [ 1.46034666e-02 9.99850109e-01 9.30044628e-03 -3.38677071e-01] [ 1.98641056e-02 -9.58970567e-03 9.99756698e-01 -2.34425739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71907232899999 meters 0.4039138404005196 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.34, Z:-2.35 [[ 9.99710995e-01 -1.42299345e-02 -1.93761551e-02 6.69147584e+01] [ 1.44122838e-02 9.99852849e-01 9.30411521e-03 -3.38924092e-01] [ 1.92409069e-02 -9.58068092e-03 9.99768972e-01 -2.34507466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77907232899999 meters 0.39811713041455854 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.34, Z:-2.34 [[ 9.99727185e-01 -1.44143732e-02 -1.83788096e-02 6.69111608e+01] [ 1.45812038e-02 9.99853400e-01 8.97587073e-03 -3.39127667e-01] [ 1.82467337e-02 -9.24140715e-03 9.99790805e-01 -2.34348771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83907232899999 meters 0.3994497234101214 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.34, Z:-2.34 [[ 9.99775200e-01 -1.01525028e-02 -1.86138858e-02 6.69109316e+01] [ 1.04008098e-02 9.99857563e-01 1.32919552e-02 -3.39261480e-01] [ 1.84762879e-02 -1.34825666e-02 9.99738389e-01 -2.34241620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89907232899999 meters 0.39974987691607666 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.34, Z:-2.34 [[ 9.99736026e-01 -1.42815726e-02 -1.79976605e-02 6.69097996e+01] [ 1.44452471e-02 9.99855182e-01 8.99725791e-03 -3.39576990e-01] [ 1.78665591e-02 -9.25486352e-03 9.99797546e-01 -2.34272373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.959072329 meters 0.395568624537173 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.34, Z:-2.34 [[ 9.99750626e-01 -1.41573285e-02 -1.72701038e-02 6.69083808e+01] [ 1.43121735e-02 9.99858182e-01 8.87566763e-03 -3.39603292e-01] [ 1.71419989e-02 -9.12062698e-03 9.99811465e-01 -2.34343997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.019072329 meters 0.39623756172842145 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.34, Z:-2.34 [[ 9.99766341e-01 -1.41496976e-02 -1.63416596e-02 6.69058177e+01] [ 1.42810275e-02 9.99866432e-01 7.94796545e-03 -3.36999015e-01] [ 1.62270155e-02 -8.17948403e-03 9.99834876e-01 -2.34293078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.079072329 meters 0.3963697846512657 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.33, Z:-2.34 [[ 9.99782554e-01 -1.40175755e-02 -1.54386933e-02 6.69035526e+01] [ 1.41291491e-02 9.99874674e-01 7.14166873e-03 -3.34839697e-01] [ 1.53366495e-02 -7.35825139e-03 9.99855311e-01 -2.34271985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13907232899999 meters 0.38866540890088425 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.33, Z:-2.34 [[ 9.99822016e-01 -1.34853370e-02 -1.31940400e-02 6.68974186e+01] [ 1.35601449e-02 9.99892393e-01 5.59688451e-03 -3.31234169e-01] [ 1.31171444e-02 -5.77480145e-03 9.99897291e-01 -2.34127451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19907232899999 meters 0.38980846033272987 Centerline is valid? [False, False] Translation: X:66.89, Y:-0.33, Z:-2.34 [[ 9.99843337e-01 -1.31831749e-02 -1.18112592e-02 6.68939541e+01] [ 1.32339412e-02 9.99903479e-01 4.23032570e-03 -3.27552285e-01] [ 1.17543501e-02 -4.38597248e-03 9.99921296e-01 -2.34079468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25907232899999 meters 0.38531181657813657 Centerline is valid? [False, False] Translation: X:66.89, Y:-0.32, Z:-2.34 [[ 9.99874427e-01 -1.27678258e-02 -9.38688544e-03 6.68879107e+01] [ 1.27816556e-02 9.99917310e-01 1.41480351e-03 -3.19812082e-01] [ 9.36804528e-03 -1.53460578e-03 9.99954941e-01 -2.33982507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.319072329 meters 0.3769128847818341 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.31, Z:-2.34 [[ 9.99939426e-01 -8.18242151e-03 -7.36158436e-03 6.68829991e+01] [ 8.19928372e-03 9.99963824e-01 2.26331122e-03 -3.09835667e-01] [ 7.34279868e-03 -2.32353384e-03 9.99970342e-01 -2.33938298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.379072329 meters 0.3722193402530807 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.30, Z:-2.34 [[ 9.99955587e-01 -7.50739351e-03 -5.69766754e-03 6.68797975e+01] [ 7.50570234e-03 9.99971781e-01 -3.18141960e-04 -3.02083424e-01] [ 5.69989518e-03 2.75362834e-04 9.99983718e-01 -2.34027783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.439072329 meters 0.3632562266545364 Centerline is valid? [False, False] Translation: X:66.86, Y:-0.30, Z:-2.35 [[ 9.99983327e-01 3.88980561e-03 4.26802315e-03 6.68590972e+01] [-3.89635674e-03 9.99991242e-01 1.52769381e-03 -2.99343521e-01] [-4.26204334e-03 -1.54429808e-03 9.99989725e-01 -2.34545851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49907232899999 meters 0.3590973159742202 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.29, Z:-2.35 [[ 9.99966477e-01 4.95408788e-03 6.51932455e-03 6.68542093e+01] [-4.94985039e-03 9.99987528e-01 -6.65964137e-04 -2.93374608e-01] [-6.52254248e-03 6.33672131e-04 9.99978527e-01 -2.34529958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55907232899999 meters 0.3543799890250814 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.29, Z:-2.35 [[ 9.99785958e-01 1.36991134e-02 1.55039649e-02 6.68355154e+01] [-1.37051675e-02 9.99906039e-01 2.84299254e-04 -2.87287505e-01] [-1.54986135e-02 -4.96722837e-04 9.99879766e-01 -2.34761019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61907232899999 meters 0.34321350999574046 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.29, Z:-2.34 [[ 9.99714306e-01 2.20294164e-02 9.27424816e-03 6.68202695e+01] [-2.19973944e-02 9.99751758e-01 -3.54076192e-03 -2.85548751e-01] [-9.34994682e-03 3.33574105e-03 9.99950724e-01 -2.34469587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.679072329 meters 0.3393210655923317 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.28, Z:-2.35 [[ 9.99641579e-01 2.36369609e-02 1.25701020e-02 6.68136253e+01] [-2.35578998e-02 9.99701982e-01 -6.40094539e-03 -2.78254521e-01] [-1.27176548e-02 6.10252596e-03 9.99900505e-01 -2.34510346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.739072329 meters 0.33112596896194424 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.27, Z:-2.34 [[ 9.99476865e-01 2.86540966e-02 1.49979466e-02 6.68084080e+01] [-2.85939831e-02 9.99582254e-01 -4.20737073e-03 -2.73004094e-01] [-1.51122396e-02 3.77631868e-03 9.99878672e-01 -2.34448058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.799072329 meters 0.3164964418425834 Centerline is valid? [False, False] Translation: X:66.80, Y:-0.26, Z:-2.35 [[ 9.99363290e-01 3.04732035e-02 1.85579789e-02 6.68017190e+01] [-3.03349120e-02 9.99510221e-01 -7.68838937e-03 -2.63595537e-01] [-1.87831795e-02 7.12053944e-03 9.99798225e-01 -2.34575895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85907232899999 meters 0.31064869080220536 Centerline is valid? [False, False] Translation: X:66.80, Y:-0.26, Z:-2.35 [[ 9.99358085e-01 2.83932964e-02 2.18458146e-02 6.67953219e+01] [-2.80824936e-02 9.99501814e-01 -1.44047848e-02 -2.57594526e-01] [-2.22439306e-02 1.37820532e-02 9.99657573e-01 -2.34675232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91907232899999 meters 0.3056943653583323 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.25, Z:-2.35 [[ 9.98657512e-01 3.88506004e-02 3.42608396e-02 6.67709587e+01] [-3.84354384e-02 9.99180449e-01 -1.26944059e-02 -2.53017827e-01] [-3.47259464e-02 1.13605335e-02 9.99332301e-01 -2.34927089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97907232899999 meters 0.30232643274816723 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.25, Z:-2.35 [[ 9.98159740e-01 4.45556070e-02 4.11331018e-02 6.67561994e+01] [-4.41912981e-02 9.98975758e-01 -9.72444788e-03 -2.50503154e-01] [-4.15242502e-02 7.88882720e-03 9.99106352e-01 -2.34976106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03907232899999 meters 0.282305381983231 Centerline is valid? [False, False] Translation: X:66.75, Y:-0.24, Z:-2.35 [[ 9.97874276e-01 4.66887950e-02 4.54652180e-02 6.67470113e+01] [-4.61649225e-02 9.98855549e-01 -1.25056778e-02 -2.44448762e-01] [-4.59970603e-02 1.03801960e-02 9.98887642e-01 -2.34807254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.099072329 meters 0.2773147327845618 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.24, Z:-2.34 [[ 9.97530573e-01 5.85977917e-02 3.87176182e-02 6.67335490e+01] [-5.81881380e-02 9.98237947e-01 -1.16250081e-02 -2.41800746e-01] [-3.93305955e-02 9.34339492e-03 9.99182569e-01 -2.34340987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.159072329 meters 0.275434043296614 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.23, Z:-2.35 [[ 9.96916193e-01 6.94292726e-02 3.65743047e-02 6.67432007e+01] [-6.90988866e-02 9.97557437e-01 -1.02227016e-02 -2.27556315e-01] [-3.71947244e-02 7.66393302e-03 9.99278648e-01 -2.34611833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21907232899999 meters 0.2769217909617607 Centerline is valid? [False, False] Translation: X:66.75, Y:-0.22, Z:-2.35 [[ 9.95546907e-01 8.11833920e-02 4.79125568e-02 6.67502743e+01] [-8.09427239e-02 9.96694556e-01 -6.94528553e-03 -2.18533782e-01] [-4.83180264e-02 3.03618467e-03 9.98827387e-01 -2.35321891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27907232899999 meters 0.27459402898623375 Centerline is valid? [False, False] Translation: X:66.75, Y:-0.21, Z:-2.36 [[ 9.94079870e-01 8.76741674e-02 6.41751760e-02 6.67451528e+01] [-8.79957398e-02 9.96118430e-01 2.19616929e-03 -2.10806848e-01] [-6.37335283e-02 -7.83030977e-03 9.97936232e-01 -2.36433204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33907232899999 meters 0.2712552517795813 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.21, Z:-2.37 [[ 9.94153281e-01 8.59855293e-02 6.53126558e-02 6.67440765e+01] [-8.59365806e-02 9.96294236e-01 -3.56368364e-03 -2.06225346e-01] [-6.53770477e-02 -2.06989853e-03 9.97858486e-01 -2.36751334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39907232899999 meters 0.2727229633351379 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.21, Z:-2.37 [[ 9.94086480e-01 8.62386460e-02 6.59921671e-02 6.67427512e+01] [-8.61607862e-02 9.96273093e-01 -4.03032463e-03 -2.05184424e-01] [-6.60937902e-02 -1.67944578e-03 9.97812002e-01 -2.36752816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.459072329 meters 0.2708848597408773 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.20, Z:-2.37 [[ 9.93771139e-01 8.97780876e-02 6.60213401e-02 6.67430852e+01] [-8.99698474e-02 9.95944487e-01 -6.89723676e-05 -2.04034776e-01] [-6.57597819e-02 -5.87138715e-03 9.97818209e-01 -2.36688113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.519072329 meters 0.2688137320454926 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.20, Z:-2.37 [[ 9.94049188e-01 8.63944679e-02 6.63491408e-02 6.67419623e+01] [-8.62531417e-02 9.96260721e-01 -4.99704368e-03 -2.02418443e-01] [-6.65327598e-02 -7.55514627e-04 9.97783955e-01 -2.36698243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.579072329 meters 0.2729052642460645 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.20, Z:-2.37 [[ 9.93817362e-01 8.93791004e-02 6.58667466e-02 6.67430735e+01] [-8.94874493e-02 9.95987089e-01 -1.30945107e-03 -2.00194504e-01] [-6.57194667e-02 -4.59289194e-03 9.97827569e-01 -2.36613671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63907232899999 meters 0.2692827146582404 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.20, Z:-2.36 [[ 9.93824408e-01 8.89820340e-02 6.62966289e-02 6.67408136e+01] [-8.90374851e-02 9.96026012e-01 -2.12370458e-03 -1.98389652e-01] [-6.62221384e-02 -3.79229566e-03 9.97797698e-01 -2.36381079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69907232899999 meters 0.2755138558229537 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.20, Z:-2.36 [[ 9.93455532e-01 9.26376552e-02 6.68159535e-02 6.67403654e+01] [-9.29428088e-02 9.95670369e-01 1.46640361e-03 -1.96415293e-01] [-6.63908209e-02 -7.66686917e-03 9.97764240e-01 -2.36342248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75907232899999 meters 0.2660958939367007 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.19, Z:-2.37 [[ 9.92817574e-01 9.80332264e-02 6.85766065e-02 6.67387284e+01] [-9.84550355e-02 9.95137589e-01 2.79017895e-03 -1.88137405e-01] [-6.79696286e-02 -9.52185093e-03 9.97641952e-01 -2.36517188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.819072329 meters 0.2644241480378912 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.18, Z:-2.37 [[ 9.92028699e-01 1.04111347e-01 7.09921672e-02 6.67362491e+01] [-1.04580518e-01 9.94512154e-01 2.91405555e-03 -1.77250008e-01] [-7.02991868e-02 -1.03152244e-02 9.97472616e-01 -2.36735659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.879072329 meters 0.2640248626783292 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.16, Z:-2.37 [[ 9.90599066e-01 1.14341922e-01 7.50960346e-02 6.67307820e+01] [-1.15133049e-01 9.93330245e-01 6.27731131e-03 -1.64163318e-01] [-7.38774027e-02 -1.48643341e-02 9.97156548e-01 -2.36652846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.939072329 meters 0.2609902278134736 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.15, Z:-2.37 [[ 9.86318025e-01 1.37084327e-01 9.15676809e-02 6.67272881e+01] [-1.38867155e-01 9.90220886e-01 1.33607714e-02 -1.46788806e-01] [-8.88406778e-02 -2.58937130e-02 9.95709219e-01 -2.37194009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99907232899999 meters 0.2610155296131772 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.14, Z:-2.38 [[ 9.83805088e-01 1.46110555e-01 1.03823185e-01 6.67339189e+01] [-1.48572218e-01 9.88766489e-01 1.63439803e-02 -1.35387652e-01] [-1.00268858e-01 -3.15045319e-02 9.94461473e-01 -2.37902420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05907232899999 meters 0.2592472534316481 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.13, Z:-2.38 [[ 9.81967863e-01 1.56021703e-01 1.06753661e-01 6.67326967e+01] [-1.59066367e-01 9.87053506e-01 2.05734560e-02 -1.25510303e-01] [-1.02161669e-01 -3.71833895e-02 9.94072628e-01 -2.38177746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11907232899999 meters 0.2598769714966371 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.10, Z:-2.38 [[ 9.80023940e-01 1.67542923e-01 1.07156173e-01 6.67387476e+01] [-1.70678092e-01 9.85108902e-01 2.07229440e-02 -1.04554268e-01] [-1.02088517e-01 -3.85981924e-02 9.94026214e-01 -2.38363576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.179072329 meters 0.25686142511771676 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.09, Z:-2.39 [[ 9.77267178e-01 1.82073178e-01 1.08619617e-01 6.67438744e+01] [-1.85810096e-01 9.82261179e-01 2.52504472e-02 -8.57038902e-02] [-1.02095404e-01 -4.48590547e-02 9.93762645e-01 -2.38567041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.239072329 meters 0.25551347142997094 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.08, Z:-2.39 [[ 9.75706464e-01 1.89073178e-01 1.10671717e-01 6.67441878e+01] [-1.93050205e-01 9.80836386e-01 2.62983224e-02 -7.68128442e-02] [-1.03578540e-01 -4.70246409e-02 9.93509018e-01 -2.38954615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.299072329 meters 0.25414060939203587 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.06, Z:-2.39 [[ 9.71665018e-01 2.09755347e-01 1.08948551e-01 6.67603103e+01] [-2.13385097e-01 9.76705143e-01 2.26685666e-02 -6.19066629e-02] [-1.01655757e-01 -4.52742502e-02 9.93788886e-01 -2.39218073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35907232899999 meters 0.2571131967441393 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.05, Z:-2.40 [[ 9.67791422e-01 2.22808146e-01 1.17201935e-01 6.67786702e+01] [-2.27536207e-01 9.73353399e-01 2.84681548e-02 -4.99634291e-02] [-1.07735965e-01 -5.42189197e-02 9.92699990e-01 -2.39734216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41907232899999 meters 0.2624779030331581 Centerline is valid? [False, False] Translation: X:66.79, Y:-0.04, Z:-2.40 [[ 9.65058324e-01 2.29925787e-01 1.25684381e-01 6.67934592e+01] [-2.35241747e-01 9.71503324e-01 2.90277897e-02 -4.18716775e-02] [-1.15428557e-01 -5.75797235e-02 9.91645513e-01 -2.40489968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47907232899999 meters 0.2618025570198723 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.04, Z:-2.41 [[ 9.64956494e-01 2.32949981e-01 1.20802611e-01 6.68080295e+01] [-2.38018532e-01 9.70822313e-01 2.91756005e-02 -4.19965220e-02] [-1.10481415e-01 -5.69064454e-02 9.92247708e-01 -2.40840543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53907232899999 meters 0.2586360794503083 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.04, Z:-2.41 [[ 9.63790918e-01 2.35773430e-01 1.24571084e-01 6.68336100e+01] [-2.41722191e-01 9.69721249e-01 3.48005909e-02 -3.96206124e-02] [-1.12594173e-01 -6.36520889e-02 9.91600204e-01 -2.41139570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.599072329 meters 0.2570176599549174 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.04, Z:-2.42 [[ 9.63093594e-01 2.35048338e-01 1.31160239e-01 6.68507185e+01] [-2.41582405e-01 9.69707610e-01 3.61260739e-02 -3.89415298e-02] [-1.18695709e-01 -6.64787964e-02 9.90702730e-01 -2.41548504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.659072329 meters 0.257027278492521 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.04, Z:-2.42 [[ 9.63966947e-01 2.31718679e-01 1.30668203e-01 6.68825065e+01] [-2.37837168e-01 9.70739984e-01 3.31265124e-02 -3.87265830e-02] [-1.19168818e-01 -6.30106184e-02 9.90872572e-01 -2.42073690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71907232899999 meters 0.25982039520319855 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.04, Z:-2.42 [[ 9.65340494e-01 2.26728755e-01 1.29274139e-01 6.69160592e+01] [-2.32793451e-01 9.71941802e-01 3.37096817e-02 -4.05909089e-02] [-1.18003985e-01 -6.26354936e-02 9.91035748e-01 -2.42461575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77907232899999 meters 0.26219878675265534 Centerline is valid? [False, False] Translation: X:66.94, Y:-0.05, Z:-2.43 [[ 9.67123949e-01 2.19122268e-01 1.29060837e-01 6.69449460e+01] [-2.25342645e-01 9.73630182e-01 3.55662924e-02 -4.76269726e-02] [-1.17864160e-01 -6.34799236e-02 9.90998657e-01 -2.42928631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83907232899999 meters 0.2637354349309255 Centerline is valid? [False, False] Translation: X:66.97, Y:-0.05, Z:-2.43 [[ 9.68304917e-01 2.12106803e-01 1.31895004e-01 6.69679947e+01] [-2.18317221e-01 9.75271715e-01 3.43900274e-02 -4.76069696e-02] [-1.21339108e-01 -6.20949833e-02 9.90666964e-01 -2.43408690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89907232899999 meters 0.2649938354237529 Centerline is valid? [False, False] Translation: X:67.00, Y:-0.05, Z:-2.44 [[ 9.70924921e-01 2.00293982e-01 1.31099651e-01 6.69965367e+01] [-2.05829708e-01 9.78128097e-01 2.99926172e-02 -5.18881523e-02] [-1.22224912e-01 -5.61047825e-02 9.90915397e-01 -2.43897438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.959072329 meters 0.2681596246426914 Centerline is valid? [False, False] Translation: X:67.03, Y:-0.05, Z:-2.44 [[ 9.73673878e-01 1.88806303e-01 1.27715929e-01 6.70314833e+01] [-1.93964152e-01 9.80576388e-01 2.91179468e-02 -5.13311131e-02] [-1.19737572e-01 -5.31236960e-02 9.91383269e-01 -2.44214133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.019072329 meters 0.26837193011823984 Centerline is valid? [False, False] Translation: X:67.05, Y:-0.05, Z:-2.44 [[ 9.76732520e-01 1.74753501e-01 1.24317333e-01 6.70497979e+01] [-1.80014901e-01 9.83132060e-01 3.23417398e-02 -5.46075239e-02] [-1.16568523e-01 -5.39682014e-02 9.91715288e-01 -2.44417050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.079072329 meters 0.2714205963348946 Centerline is valid? [False, False] Translation: X:67.08, Y:-0.05, Z:-2.45 [[ 9.79511386e-01 1.60517042e-01 1.21621235e-01 6.70828037e+01] [-1.65440368e-01 9.85717887e-01 3.14600049e-02 -5.22736814e-02] [-1.14834360e-01 -5.09364948e-02 9.92077892e-01 -2.44841565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13907232899999 meters 0.27552922926638745 Centerline is valid? [False, False] Translation: X:67.12, Y:-0.05, Z:-2.45 [[ 9.83861425e-01 1.43795235e-01 1.06487683e-01 6.71190086e+01] [-1.47640753e-01 9.88612454e-01 2.91139947e-02 -4.66733499e-02] [-1.01088596e-01 -4.43660580e-02 9.93887694e-01 -2.44948949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19907232899999 meters 0.2790234919077427 Centerline is valid? [False, False] Translation: X:67.12, Y:-0.05, Z:-2.45 [[ 9.84959123e-01 1.38510084e-01 1.03298025e-01 6.71238173e+01] [-1.42035633e-01 9.89477876e-01 2.75574377e-02 -5.35418281e-02] [-9.83941273e-02 -4.18149500e-02 9.94268629e-01 -2.44832573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25907232899999 meters 0.286153807308768 Centerline is valid? [False, False] Translation: X:67.16, Y:-0.05, Z:-2.45 [[ 9.88054178e-01 1.17215248e-01 1.00047619e-01 6.71588894e+01] [-1.20533840e-01 9.92320574e-01 2.77753930e-02 -4.57549786e-02] [-9.60236114e-02 -3.95027169e-02 9.94594893e-01 -2.44852013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.319072329 meters 0.29136365242194806 Centerline is valid? [False, False] Translation: X:67.19, Y:-0.04, Z:-2.45 [[ 9.91996818e-01 9.30402653e-02 8.53570303e-02 6.71909393e+01] [-9.49504308e-02 9.95308413e-01 1.85897564e-02 -3.99912673e-02] [-8.32269745e-02 -2.65456660e-02 9.96176991e-01 -2.44552213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.379072329 meters 0.29680961054058114 Centerline is valid? [False, False] Translation: X:67.21, Y:-0.04, Z:-2.44 [[ 9.94258484e-01 7.69983210e-02 7.43056229e-02 6.72136748e+01] [-7.79772498e-02 9.96901307e-01 1.03601218e-02 -3.77451159e-02] [-7.32776606e-02 -1.60947871e-02 9.97181700e-01 -2.44239500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.439072329 meters 0.31038389589247534 Centerline is valid? [False, False] Translation: X:67.24, Y:-0.04, Z:-2.44 [[ 9.96710688e-01 4.73081938e-02 6.58007532e-02 6.72439609e+01] [-4.79168393e-02 9.98821636e-01 7.70171024e-03 -3.55342887e-02] [-6.53588620e-02 -1.08293410e-02 9.97803059e-01 -2.44203993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49907232899999 meters 0.32687162372987405 Centerline is valid? [False, False] Translation: X:67.28, Y:-0.03, Z:-2.44 [[ 9.98372381e-01 1.44773905e-02 5.51633480e-02 6.72767094e+01] [-1.46786077e-02 9.99887000e-01 3.24421787e-03 -3.19568704e-02] [-5.51101467e-02 -4.04865866e-03 9.98472073e-01 -2.44075532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55907232899999 meters 0.3379657355595273 Centerline is valid? [False, False] Translation: X:67.31, Y:-0.03, Z:-2.44 [[ 9.98771393e-01 -2.03446830e-02 4.51862723e-02 6.73099332e+01] [ 2.04814084e-02 9.99786944e-01 -2.56485850e-03 -3.00177656e-02] [-4.51244639e-02 3.48718579e-03 9.98975286e-01 -2.43708725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61907232899999 meters 0.3494349522550518 Centerline is valid? [False, False] Translation: X:67.33, Y:-0.03, Z:-2.43 [[ 9.98292282e-01 -4.49547492e-02 3.73040278e-02 6.73319541e+01] [ 4.52381164e-02 9.98953179e-01 -6.78674318e-03 -2.91032860e-02] [-3.69598808e-02 8.46271729e-03 9.99280916e-01 -2.43191416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.679072329 meters 0.36327040840271185 Centerline is valid? [False, False] Translation: X:67.29, Y:-0.07, Z:-2.43 [[ 9.96070402e-01 -8.18302707e-02 3.38756701e-02 6.72924331e+01] [ 8.21785069e-02 9.96576843e-01 -9.01607499e-03 -7.31251048e-02] [-3.30219204e-02 1.17644974e-02 9.99385386e-01 -2.43008500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.739072329 meters 0.3657397221880633 Centerline is valid? [False, False] Translation: X:67.24, Y:-0.12, Z:-2.43 [[ 9.94407155e-01 -1.01089533e-01 3.05829479e-02 6.72444349e+01] [ 1.01462642e-01 9.94779630e-01 -1.09004734e-02 -1.17770471e-01] [-2.93213699e-02 1.39425354e-02 9.99472793e-01 -2.42662482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.799072329 meters 0.38675169159872275 Centerline is valid? [False, False] Translation: X:67.22, Y:-0.16, Z:-2.42 [[ 9.91449299e-01 -1.26602133e-01 3.16257541e-02 6.72193329e+01] [ 1.27057597e-01 9.91812426e-01 -1.28248922e-02 -1.56220299e-01] [-2.97431572e-02 1.67335227e-02 9.99417497e-01 -2.42209213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85907232899999 meters 0.40239516639298756 Centerline is valid? [False, False] Translation: X:67.19, Y:-0.20, Z:-2.42 [[ 9.89269102e-01 -1.44041868e-01 2.44659843e-02 6.71858044e+01] [ 1.44429903e-01 9.89402804e-01 -1.49028151e-02 -2.02629009e-01] [-2.20600842e-02 1.82765142e-02 9.99589577e-01 -2.41595913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91907232899999 meters 0.40615163806981525 Centerline is valid? [False, False] Translation: X:67.11, Y:-0.26, Z:-2.41 [[ 9.92164237e-01 -1.23257828e-01 2.04361041e-02 6.71083582e+01] [ 1.23587965e-01 9.92208443e-01 -1.57613912e-02 -2.55465252e-01] [-1.83341602e-02 1.81635452e-02 9.99666917e-01 -2.41160369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97907232899999 meters 0.44466797244328393 Centerline is valid? [False, False] Translation: X:67.05, Y:-0.31, Z:-2.41 [[ 9.91147775e-01 -1.32029247e-01 1.39415062e-02 6.70457995e+01] [ 1.32242175e-01 9.91093918e-01 -1.56477952e-02 -3.13216925e-01] [-1.17513754e-02 1.73529325e-02 9.99780366e-01 -2.40641428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03907232899999 meters 0.43898022634225886 Centerline is valid? [False, False] Translation: X:66.97, Y:-0.37, Z:-2.40 [[ 9.92046700e-01 -1.25329830e-01 1.16524314e-02 6.69718042e+01] [ 1.25507768e-01 9.91962773e-01 -1.60516852e-02 -3.65064378e-01] [-9.54702319e-03 1.73864920e-02 9.99803263e-01 -2.40164209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.099072329 meters 0.42420276161003495 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.42, Z:-2.40 [[ 9.92174869e-01 -1.24563578e-01 8.54078512e-03 6.68953201e+01] [ 1.24681727e-01 9.92082242e-01 -1.50761859e-02 -4.21048553e-01] [-6.59521761e-03 1.60230926e-02 9.99849871e-01 -2.39872815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.159072329 meters 0.416970428155613 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.47, Z:-2.40 [[ 9.93030752e-01 -1.17810246e-01 3.26662612e-03 6.68295056e+01] [ 1.17846525e-01 9.92915979e-01 -1.51675769e-02 -4.67479318e-01] [-1.45658930e-03 1.54468308e-02 9.99879630e-01 -2.39795253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21907232899999 meters 0.3940572333118486 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.50, Z:-2.39 [[ 9.93421129e-01 -1.14475252e-01 3.14281180e-03 6.67835661e+01] [ 1.14512195e-01 9.93278636e-01 -1.68673847e-02 -5.03284266e-01] [-1.19078969e-03 1.71163066e-02 9.99852796e-01 -2.39498364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27907232899999 meters 0.37892682679753564 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.53, Z:-2.40 [[ 9.93897862e-01 -1.09987518e-01 8.35378903e-03 6.67652482e+01] [ 1.10107234e-01 9.93797921e-01 -1.55591833e-02 -5.30635977e-01] [-6.59066222e-03 1.63840516e-02 9.99844051e-01 -2.39677812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33907232899999 meters 0.3689844413839568 Centerline is valid? [False, False] Translation: X:66.75, Y:-0.55, Z:-2.40 [[ 9.94896785e-01 -1.00624781e-01 7.41899609e-03 6.67531137e+01] [ 1.00730218e-01 9.94792109e-01 -1.55590314e-02 -5.49708142e-01] [-5.81473464e-03 1.62269474e-02 9.99851426e-01 -2.39722585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39907232899999 meters 0.3491855748270119 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.57, Z:-2.40 [[ 9.95120707e-01 -9.81768170e-02 9.80261070e-03 6.67403838e+01] [ 9.83561290e-02 9.94952547e-01 -1.98871924e-02 -5.74438359e-01] [-7.80067124e-03 2.07543038e-02 9.99754174e-01 -2.39970431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.459072329 meters 0.32892253349650236 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.60, Z:-2.40 [[ 9.94733921e-01 -1.01712690e-01 1.26077059e-02 6.67338203e+01] [ 1.01906079e-01 9.94668806e-01 -1.57834765e-02 -5.96899462e-01] [-1.09351119e-02 1.69851613e-02 9.99795943e-01 -2.40186389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.519072329 meters 0.3196622782162787 Centerline is valid? [False, False] Translation: X:66.72, Y:-0.61, Z:-2.41 [[ 9.95751177e-01 -9.08131404e-02 1.52501453e-02 6.67207656e+01] [ 9.10192180e-02 9.95758842e-01 -1.34100961e-02 -6.12034521e-01] [-1.39676541e-02 1.47411752e-02 9.99793780e-01 -2.40509779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.579072329 meters 0.31329389870774255 Centerline is valid? [False, False] Translation: X:66.71, Y:-0.63, Z:-2.41 [[ 9.96303430e-01 -8.45707468e-02 1.50752589e-02 6.67084230e+01] [ 8.48121796e-02 9.96265787e-01 -1.61671449e-02 -6.32042563e-01] [-1.36516972e-02 1.73859475e-02 9.99755650e-01 -2.40739455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63907232899999 meters 0.30861362308208856 Centerline is valid? [False, False] Translation: X:66.69, Y:-0.64, Z:-2.41 [[ 9.96971780e-01 -7.61546046e-02 1.57399548e-02 6.66949955e+01] [ 7.64420065e-02 9.96901574e-01 -1.85437672e-02 -6.43529244e-01] [-1.42789925e-02 1.96908063e-02 9.99704147e-01 -2.40854169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69907232899999 meters 0.3056890140310908 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.65, Z:-2.41 [[ 9.97591067e-01 -6.69160068e-02 1.82841875e-02 6.66790067e+01] [ 6.72667572e-02 9.97548478e-01 -1.92929163e-02 -6.54596141e-01] [-1.69483585e-02 2.04763589e-02 9.99646674e-01 -2.40855138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75907232899999 meters 0.30431958715551594 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.66, Z:-2.40 [[ 9.98474573e-01 -5.26242650e-02 1.67096683e-02 6.66754401e+01] [ 5.29933109e-02 9.98342042e-01 -2.24694659e-02 -6.62996103e-01] [-1.54995253e-02 2.33206910e-02 9.99607878e-01 -2.40437751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.819072329 meters 0.3082942636543315 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.67, Z:-2.41 [[ 9.98976270e-01 -4.14073893e-02 1.82164913e-02 6.66654157e+01] [ 4.17876794e-02 9.98905466e-01 -2.10157155e-02 -6.68098789e-01] [-1.73263468e-02 2.17554259e-02 9.99613175e-01 -2.40893871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.879072329 meters 0.3118950704319851 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.67, Z:-2.41 [[ 9.99545455e-01 -2.83435678e-02 1.02725921e-02 6.66686129e+01] [ 2.85825642e-02 9.99305251e-01 -2.39176207e-02 -6.73791246e-01] [-9.58754456e-03 2.42003661e-02 9.99661153e-01 -2.40763841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.939072329 meters 0.3161096064281163 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.68, Z:-2.41 [[ 9.99838271e-01 -1.75160162e-02 4.07683031e-03 6.66700256e+01] [ 1.76259750e-02 9.99432330e-01 -2.87113749e-02 -6.82948730e-01] [-3.57160711e-03 2.87785896e-02 9.99579430e-01 -2.40706222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99907232899999 meters 0.31805136864263506 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.69, Z:-2.41 [[ 9.99957532e-01 -8.25361254e-03 4.10025238e-03 6.66699030e+01] [ 8.32479320e-03 9.99809438e-01 -1.76574377e-02 -6.91313513e-01] [-3.95373338e-03 1.76908216e-02 9.99835688e-01 -2.40701998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059072329 meters 0.31861928485459357 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.70, Z:-2.41 [[ 9.99988047e-01 -3.02493423e-03 3.84123762e-03 6.66701343e+01] [ 3.06923091e-03 9.99928253e-01 -1.15788278e-02 -6.97527119e-01] [-3.80593683e-03 1.15904790e-02 9.99925585e-01 -2.40629284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119072329 meters 0.32044177402658497 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.70, Z:-2.41 [[ 9.99990299e-01 -2.15379746e-03 3.84232260e-03 6.66707037e+01] [ 2.19239660e-03 9.99946893e-01 -1.00700175e-02 -7.02674037e-01] [-3.82042977e-03 1.00783437e-02 9.99941914e-01 -2.40707672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.179072329 meters 0.32378739806680507 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.71, Z:-2.41 [[ 9.99993459e-01 -5.43859099e-04 3.57577173e-03 6.66729086e+01] [ 5.70696911e-04 9.99971646e-01 -7.50872847e-03 -7.11240453e-01] [-3.57158665e-03 7.51072004e-03 9.99965416e-01 -2.40883244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.239072329 meters 0.3203134505106896 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.72, Z:-2.41 [[ 9.99992521e-01 2.96741508e-05 3.86746613e-03 6.66708234e+01] [-1.02561163e-05 9.99987396e-01 -5.02079048e-03 -7.21000798e-01] [-3.86756637e-03 5.02071327e-03 9.99979917e-01 -2.40639519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.299072329 meters 0.3184822859773075 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.73, Z:-2.41 [[ 9.99992876e-01 9.26058643e-04 3.65927976e-03 6.66715087e+01] [-9.15558182e-04 9.99995462e-01 -2.87017716e-03 -7.28455825e-01] [-3.66192111e-03 2.86680643e-03 9.99989186e-01 -2.40619538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.359072329 meters 0.3189627044437417 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.74, Z:-2.41 [[ 9.99992207e-01 2.31503167e-03 3.19791452e-03 6.66740187e+01] [-2.31558420e-03 9.99997305e-01 1.69087643e-04 -7.37736195e-01] [-3.19751446e-03 -1.76491365e-04 9.99994872e-01 -2.40842987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41907232900002 meters 0.3203054797605162 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.74, Z:-2.41 [[ 9.99990856e-01 3.00996063e-03 3.03766487e-03 6.66748321e+01] [-3.01462429e-03 9.99994283e-01 1.53186672e-03 -7.42272530e-01] [-3.03303665e-03 -1.54101013e-03 9.99994213e-01 -2.40877579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47907232900002 meters 0.31760558476280776 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.75, Z:-2.41 [[ 9.99994859e-01 -8.77802074e-04 3.08406497e-03 6.66747213e+01] [ 8.83511348e-04 9.99997898e-01 -1.85034289e-03 -7.45467692e-01] [-3.08243425e-03 1.85305818e-03 9.99993532e-01 -2.40869278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.539072329 meters 0.3200877768088279 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.75, Z:-2.41 [[ 9.99996119e-01 3.34178352e-04 2.76589154e-03 6.66761339e+01] [-3.34980735e-04 9.99999902e-01 2.89641262e-04 -7.52892099e-01] [-2.76579448e-03 -2.90566659e-04 9.99996133e-01 -2.40910599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.599072329 meters 0.3172487936019564 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.76, Z:-2.41 [[ 9.99996109e-01 1.03045953e-03 2.59241726e-03 6.66767373e+01] [-1.03448031e-03 9.99998263e-01 1.55011444e-03 -7.57236972e-01] [-2.59081542e-03 -1.55279021e-03 9.99995438e-01 -2.40906680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.659072329 meters 0.32088964423635824 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.76, Z:-2.41 [[ 9.99991545e-01 -3.13193101e-03 2.66489840e-03 6.66765023e+01] [ 3.13833274e-03 9.99992192e-01 -2.40145950e-03 -7.58492833e-01] [-2.65735639e-03 2.40980253e-03 9.99993566e-01 -2.40889531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.719072329 meters 0.32554587281743286 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.76, Z:-2.41 [[ 9.99992720e-01 -2.71283232e-03 2.68330181e-03 6.66761635e+01] [ 2.71691417e-03 9.99995156e-01 -1.51872935e-03 -7.61534648e-01] [-2.67916876e-03 1.52600859e-03 9.99995247e-01 -2.40829523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.779072329 meters 0.3282854331465345 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.76, Z:-2.41 [[ 9.99993308e-01 -2.44932542e-03 2.71735465e-03 6.66760426e+01] [ 2.45185161e-03 9.99996565e-01 -9.26707668e-04 -7.63517030e-01] [-2.71507551e-03 9.33364017e-04 9.99995879e-01 -2.40816313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.839072329 meters 0.3249882109366195 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.77, Z:-2.41 [[ 9.99994132e-01 -2.10783445e-03 2.70063693e-03 6.66761206e+01] [ 2.10847206e-03 9.99997750e-01 -2.33269826e-04 -7.65860212e-01] [-2.70013916e-03 2.38962675e-04 9.99996326e-01 -2.40812639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.899072329 meters 0.32042759534799653 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.77, Z:-2.41 [[ 9.99995073e-01 -1.69903361e-03 2.63968409e-03 6.66761182e+01] [ 1.69744601e-03 9.99998377e-01 6.03561816e-04 -7.68737831e-01] [-2.64070528e-03 -5.99078120e-04 9.99996334e-01 -2.40768719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.959072329 meters 0.3236460618073986 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.77, Z:-2.41 [[ 9.99996122e-01 -1.26460908e-03 2.48143995e-03 6.66766704e+01] [ 1.26102890e-03 9.99998163e-01 1.44381575e-03 -7.71581563e-01] [-2.48326125e-03 -1.44068099e-03 9.99995879e-01 -2.40766152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.019072329 meters 0.31981356462565147 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.77, Z:-2.41 [[ 9.99996928e-01 -8.24195747e-04 2.33778267e-03 6.66771034e+01] [ 8.18515131e-04 9.99996713e-01 2.42983302e-03 -7.74884126e-01] [-2.33977764e-03 -2.42791204e-03 9.99994315e-01 -2.40752767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.079072329 meters 0.3138646009851394 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.78, Z:-2.41 [[ 9.99996557e-01 -4.43553216e-04 2.58634169e-03 6.66766140e+01] [ 4.32963129e-04 9.99991527e-01 4.09374349e-03 -7.80505674e-01] [-2.58813557e-03 -4.09260960e-03 9.99988276e-01 -2.40740572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13907232900002 meters 0.30985257772189495 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.78, Z:-2.41 [[ 9.99987633e-01 -4.29709929e-03 2.50378561e-03 6.66772137e+01] [ 4.29507830e-03 9.99990446e-01 8.11990449e-04 -7.83929454e-01] [-2.50725089e-03 -8.01226452e-04 9.99996536e-01 -2.40789908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19907232900002 meters 0.3082160742754191 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.79, Z:-2.41 [[ 9.99988919e-01 -4.02995887e-03 2.43357899e-03 6.66780141e+01] [ 4.02259438e-03 9.99987338e-01 3.02354392e-03 -7.91974335e-01] [-2.44573294e-03 -3.01372111e-03 9.99992468e-01 -2.40909822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25907232900002 meters 0.30195409827219194 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.80, Z:-2.41 [[ 9.99989660e-01 -3.54132892e-03 2.85301989e-03 6.66770304e+01] [ 3.52723955e-03 9.99981635e-01 4.92839264e-03 -7.98180955e-01] [-2.87042055e-03 -4.91827840e-03 9.99983785e-01 -2.40885585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.319072329 meters 0.3004733399757138 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.81, Z:-2.41 [[ 9.99992339e-01 -2.73542239e-03 2.80005443e-03 6.66778450e+01] [ 2.71500539e-03 9.99969890e-01 7.26965614e-03 -8.05426731e-01] [-2.81985570e-03 -7.26199828e-03 9.99969655e-01 -2.41013908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.379072329 meters 0.29702258407546217 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.81, Z:-2.41 [[ 9.99974500e-01 -6.59345712e-03 2.74322971e-03 6.66785429e+01] [ 6.58295134e-03 9.99971031e-01 3.82127626e-03 -8.08325700e-01] [-2.76834566e-03 -3.80312027e-03 9.99988936e-01 -2.41071766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.439072329 meters 0.2978704294400754 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.82, Z:-2.41 [[ 9.99977559e-01 -5.96532588e-03 3.04910032e-03 6.66780258e+01] [ 5.94702424e-03 9.99964456e-01 5.97654035e-03 -8.15308868e-01] [-3.08464396e-03 -5.95827315e-03 9.99977492e-01 -2.41089994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.499072329 meters 0.29275352694266205 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.82, Z:-2.41 [[ 9.99979752e-01 -5.44051940e-03 3.30098765e-03 6.66776678e+01] [ 5.41499444e-03 9.99955748e-01 7.69280498e-03 -8.20812262e-01] [-3.34269443e-03 -7.67477438e-03 9.99964962e-01 -2.41124207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559072329 meters 0.28836847569980467 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.83, Z:-2.41 [[ 9.99952530e-01 -9.17189787e-03 3.28846366e-03 6.66778013e+01] [ 9.15622379e-03 9.99946798e-01 4.75017068e-03 -8.25450426e-01] [-3.33185679e-03 -4.71983528e-03 9.99983311e-01 -2.41099356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.619072329 meters 0.2878023096620052 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.83, Z:-2.41 [[ 9.99956809e-01 -8.70895548e-03 3.24561041e-03 6.66779260e+01] [ 8.68977312e-03 9.99944966e-01 5.87821142e-03 -8.29191017e-01] [-3.29662487e-03 -5.84975392e-03 9.99977456e-01 -2.41081244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.679072329 meters 0.2872860131462412 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.84, Z:-2.41 [[ 9.99964465e-01 -7.85896211e-03 3.05032830e-03 6.66790583e+01] [ 7.83495418e-03 9.99938851e-01 7.80433045e-03 -8.35374441e-01] [-3.11147572e-03 -7.78015395e-03 9.99964893e-01 -2.41170578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.739072329 meters 0.286520943079791 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.84, Z:-2.41 [[ 9.99971208e-01 -7.02085591e-03 2.87934271e-03 6.66800259e+01] [ 6.99338692e-03 9.99930972e-01 9.44163567e-03 -8.40895129e-01] [-2.94543232e-03 -9.42122747e-03 9.99951281e-01 -2.41217079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.799072329 meters 0.28539764740163 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.85, Z:-2.41 [[ 9.99969308e-01 2.90301314e-03 7.27710579e-03 6.66747121e+01] [-2.91578905e-03 9.99994225e-01 1.74563586e-03 -8.45299633e-01] [-7.27199617e-03 -1.76680079e-03 9.99971998e-01 -2.40975890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.859072329 meters 0.2849474301344401 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.85, Z:-2.41 [[ 9.99969585e-01 3.17759162e-03 7.12267893e-03 6.66749410e+01] [-3.19369613e-03 9.99992367e-01 2.25078605e-03 -8.47099549e-01] [-7.11547248e-03 -2.27346526e-03 9.99972100e-01 -2.40926169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91907232900002 meters 0.28599523083389056 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.85, Z:-2.41 [[ 9.99969110e-01 3.53488194e-03 7.02026418e-03 6.66754577e+01] [-3.55544288e-03 9.99989421e-01 2.91848133e-03 -8.49358856e-01] [-7.00987342e-03 -2.94335133e-03 9.99971099e-01 -2.40951242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97907232900002 meters 0.28555906119114705 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.85, Z:-2.41 [[ 9.99975487e-01 -5.97649662e-04 6.97625168e-03 6.66754171e+01] [ 6.04829476e-04 9.99999290e-01 -1.02711496e-03 -8.50680918e-01] [-6.97563287e-03 1.03130923e-03 9.99975138e-01 -2.40920478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.039072329 meters 0.2833374641355073 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.85, Z:-2.41 [[ 9.99975816e-01 -5.68374768e-04 6.93133461e-03 6.66753575e+01] [ 5.75101785e-04 9.99999366e-01 -9.68568197e-04 -8.50921630e-01] [-6.93077971e-03 9.72530997e-04 9.99975509e-01 -2.40885761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.099072329 meters 0.2843187500557343 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.85, Z:-2.41 [[ 9.99976505e-01 -5.93019024e-04 6.82914311e-03 6.66758205e+01] [ 6.00519890e-04 9.99999219e-01 -1.09636310e-03 -8.50398229e-01] [-6.82848761e-03 1.10043838e-03 9.99976080e-01 -2.40920876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.159072329 meters 0.28462424890880733 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.85, Z:-2.41 [[ 9.99977236e-01 -7.12588731e-04 6.70965152e-03 6.66761725e+01] [ 7.22184439e-04 9.99998720e-01 -1.42782087e-03 -8.49298449e-01] [-6.70862548e-03 1.43263397e-03 9.99976471e-01 -2.40932248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.219072329 meters 0.28525539053683935 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.84, Z:-2.41 [[ 9.99978864e-01 -3.86116663e-04 6.49010791e-03 6.66763821e+01] [ 4.00965710e-04 9.99997305e-01 -2.28680527e-03 -8.44764002e-01] [-6.48920745e-03 2.28935925e-03 9.99976324e-01 -2.40891588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.279072329 meters 0.2894244809237306 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.84, Z:-2.41 [[ 9.99980569e-01 -4.16679971e-04 6.21994065e-03 6.66771790e+01] [ 4.37679670e-04 9.99994208e-01 -3.37521023e-03 -8.40661188e-01] [-6.21849824e-03 3.37786699e-03 9.99974960e-01 -2.40928731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339072329 meters 0.29249722096308567 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.83, Z:-2.41 [[ 9.99981406e-01 -4.00061857e-04 6.08501033e-03 6.66772917e+01] [ 4.30876224e-04 9.99987088e-01 -5.06351176e-03 -8.34273173e-01] [-6.08290604e-03 5.06603949e-03 9.99968666e-01 -2.40869336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.399072329 meters 0.30194574496373083 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.83, Z:-2.41 [[ 9.99977303e-01 3.15798874e-03 5.95145898e-03 6.66776221e+01] [-3.13683781e-03 9.99988744e-01 -3.55989718e-03 -8.25355998e-01] [-5.96263410e-03 3.54114762e-03 9.99975953e-01 -2.40847473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.459072329 meters 0.3072692581794716 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.81, Z:-2.41 [[ 9.99961198e-01 6.42480637e-03 6.02698951e-03 6.66772250e+01] [-6.40837443e-03 9.99975707e-01 -2.74175291e-03 -8.14539578e-01] [-6.04445833e-03 2.70302332e-03 9.99978079e-01 -2.40775986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.519072329 meters 0.31742100171484827 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.81, Z:-2.41 [[ 9.99961385e-01 6.63052535e-03 5.76751912e-03 6.66780219e+01] [-6.60637479e-03 9.99969373e-01 -4.19636035e-03 -8.05442574e-01] [-5.79516655e-03 4.15809591e-03 9.99974563e-01 -2.40831374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.579072329 meters 0.3200553058268593 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.79, Z:-2.41 [[ 9.99937545e-01 9.73038432e-03 5.49787240e-03 6.66792805e+01] [-9.70826630e-03 9.99944731e-01 -4.03548217e-03 -7.92538263e-01] [-5.53683532e-03 3.98185532e-03 9.99976744e-01 -2.40917425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63907232900002 meters 0.3242938616821887 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.78, Z:-2.41 [[ 9.99945486e-01 8.84366795e-03 5.55116985e-03 6.66786010e+01] [-8.80597153e-03 9.99938249e-01 -6.77881941e-03 -7.83921539e-01] [-5.61077669e-03 6.72956642e-03 9.99961615e-01 -2.40830626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69907232900002 meters 0.3273380712082473 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.77, Z:-2.41 [[ 9.99918091e-01 1.15092961e-02 5.59890312e-03 6.66784820e+01] [-1.14710132e-02 9.99910932e-01 -6.82230670e-03 -7.70039669e-01] [-5.67692439e-03 6.75752280e-03 9.99961053e-01 -2.40829249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75907232900002 meters 0.32453315790916465 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.76, Z:-2.41 [[ 9.99925117e-01 1.08197520e-02 5.71773389e-03 6.66782182e+01] [-1.07717651e-02 9.99907054e-01 -8.35782426e-03 -7.64820596e-01] [-5.80763203e-03 8.29560832e-03 9.99948726e-01 -2.40851878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.819072329 meters 0.3290038288650171 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.75, Z:-2.41 [[ 9.99905073e-01 1.27588006e-02 5.20166605e-03 6.66812085e+01] [-1.27140022e-02 9.99882565e-01 -8.55628634e-03 -7.52882456e-01] [-5.31022314e-03 8.48934013e-03 9.99949865e-01 -2.41147453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.879072329 meters 0.32497655855090013 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.74, Z:-2.41 [[ 9.99928212e-01 1.07408591e-02 5.31087494e-03 6.66793558e+01] [-1.06744309e-02 9.99866363e-01 -1.23819689e-02 -7.40499994e-01] [-5.44315819e-03 1.23243895e-02 9.99909237e-01 -2.40934312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.939072329 meters 0.3217978254266812 Centerline is valid? [False, False] Translation: X:66.69, Y:-0.73, Z:-2.40 [[ 9.99954504e-01 9.33743794e-03 1.94993761e-03 6.66885607e+01] [-9.32314826e-03 9.99930523e-01 -7.21310780e-03 -7.34382898e-01] [-2.01715408e-03 7.19460007e-03 9.99972084e-01 -2.40325885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.999072329 meters 0.3204586620289261 Centerline is valid? [False, False] Translation: X:66.70, Y:-0.72, Z:-2.40 [[ 9.99978360e-01 6.52309273e-03 -8.54143048e-04 6.67019838e+01] [-6.52482816e-03 9.99976622e-01 -2.04500355e-03 -7.23592648e-01] [ 8.40783332e-04 2.05053243e-03 9.99997544e-01 -2.40090451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.059072329 meters 0.3193151817230831 Centerline is valid? [False, False] Translation: X:66.70, Y:-0.72, Z:-2.40 [[ 9.99952197e-01 9.73563781e-03 -9.05867346e-04 6.67020123e+01] [-9.73568047e-03 9.99952606e-01 -4.26864132e-05 -7.15842009e-01] [ 9.05408834e-04 5.15036077e-05 9.99999589e-01 -2.40107389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.119072329 meters 0.3149145815478061 Centerline is valid? [False, False] Translation: X:66.70, Y:-0.70, Z:-2.40 [[ 9.99966507e-01 8.12939879e-03 -9.47372234e-04 6.67014667e+01] [-8.13319441e-03 9.99958626e-01 -4.07395681e-03 -7.02460894e-01] [ 9.14214218e-04 4.08152552e-03 9.99991253e-01 -2.40034471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.179072329 meters 0.3157557270983658 Centerline is valid? [False, False] Translation: X:66.70, Y:-0.70, Z:-2.40 [[ 9.99931886e-01 1.16257728e-02 -1.03206175e-03 6.67013653e+01] [-1.16272771e-02 9.99931330e-01 -1.46375558e-03 -6.96767576e-01] [ 1.01497359e-03 1.47565595e-03 9.99998396e-01 -2.39990887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.239072329 meters 0.3160464513094119 Centerline is valid? [False, False] Translation: X:66.70, Y:-0.69, Z:-2.40 [[ 9.99897230e-01 1.43031060e-02 -9.75023402e-04 6.67001513e+01] [-1.43036551e-02 9.99897542e-01 -5.58507975e-04 -6.85833203e-01] [ 9.66935104e-04 5.72396976e-04 9.99999369e-01 -2.39830603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.299072329 meters 0.31479673289248544 Centerline is valid? [False, False] Translation: X:66.70, Y:-0.67, Z:-2.40 [[ 9.99854189e-01 1.70437064e-02 -1.05458631e-03 6.67004865e+01] [-1.70434356e-02 9.99854715e-01 2.65201609e-04 -6.74362926e-01] [ 1.05895312e-03 -2.47189166e-04 9.99999409e-01 -2.39867360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.359072329 meters 0.31579968219891735 Centerline is valid? [False, False] Translation: X:66.70, Y:-0.66, Z:-2.40 [[ 9.99870624e-01 1.60066588e-02 -1.58840628e-03 6.67019550e+01] [-1.60114655e-02 9.99867123e-01 -3.06101670e-03 -6.63234645e-01] [ 1.53919857e-03 3.08605339e-03 9.99994054e-01 -2.39915875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41907232900002 meters 0.3130679094261616 Centerline is valid? [False, False] Translation: X:66.71, Y:-0.66, Z:-2.39 [[ 9.99879774e-01 1.46994110e-02 -4.93609670e-03 6.67109728e+01] [-1.46878850e-02 9.99889334e-01 2.36322296e-03 -6.56429674e-01] [ 4.97028843e-03 -2.29043802e-03 9.99985025e-01 -2.39327845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47907232900002 meters 0.3111784812754154 Centerline is valid? [False, False] Translation: X:66.72, Y:-0.65, Z:-2.39 [[ 9.99896066e-01 1.19899204e-02 -8.00621496e-03 6.67209540e+01] [-1.19308352e-02 9.99901536e-01 7.38734217e-03 -6.46686884e-01] [ 8.09400028e-03 -7.29105354e-03 9.99940662e-01 -2.38796651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.539072329 meters 0.3085950982421259 Centerline is valid? [False, False] Translation: X:66.72, Y:-0.64, Z:-2.39 [[ 9.99907184e-01 1.10156210e-02 -8.01743281e-03 6.67208821e+01] [-1.09712401e-02 9.99924364e-01 5.55863128e-03 -6.40412406e-01] [ 8.07805817e-03 -5.47015417e-03 9.99952410e-01 -2.38828284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.599072329 meters 0.30076873076545174 Centerline is valid? [False, False] Translation: X:66.72, Y:-0.63, Z:-2.39 [[ 9.99921633e-01 9.54167087e-03 -8.10460165e-03 6.67197822e+01] [-9.51600846e-03 9.99949604e-01 3.19908222e-03 -6.32430318e-01] [ 8.13471781e-03 -3.12170806e-03 9.99962040e-01 -2.38683060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.659072329 meters 0.30341915245330175 Centerline is valid? [False, False] Translation: X:66.72, Y:-0.63, Z:-2.39 [[ 9.99954811e-01 4.62509370e-03 -8.30568771e-03 6.67200116e+01] [-4.64961769e-03 9.99984881e-01 -2.93579699e-03 -6.25622237e-01] [ 8.29198380e-03 2.97428260e-03 9.99961198e-01 -2.38677924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.719072329 meters 0.2998846243851834 Centerline is valid? [False, False] Translation: X:66.72, Y:-0.62, Z:-2.39 [[ 9.99956452e-01 4.16243056e-03 -8.35272350e-03 6.67199927e+01] [-4.19542460e-03 9.99983451e-01 -3.93646703e-03 -6.22319550e-01] [ 8.33620000e-03 3.97133882e-03 9.99957367e-01 -2.38674618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.779072329 meters 0.2946424474713366 Centerline is valid? [False, False] Translation: X:66.72, Y:-0.62, Z:-2.39 [[ 9.99958132e-01 3.72466649e-03 -8.35824067e-03 6.67198808e+01] [-3.76511155e-03 9.99981255e-01 -4.82843681e-03 -6.19300630e-01] [ 8.34009967e-03 4.85970437e-03 9.99953412e-01 -2.38659008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.839072329 meters 0.2939961087512649 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.62, Z:-2.38 [[ 9.99940607e-01 -3.68852370e-03 -1.02556402e-02 6.67287803e+01] [ 3.66953843e-03 9.99991520e-01 -1.86940396e-03 -6.15333001e-01] [ 1.02624485e-02 1.83165947e-03 9.99945662e-01 -2.38033118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.899072329 meters 0.285205577685071 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.61, Z:-2.38 [[ 9.99938935e-01 -3.93097209e-03 -1.03283000e-02 6.67288375e+01] [ 3.90667641e-03 9.99989557e-01 -2.37146366e-03 -6.13665163e-01] [ 1.03375143e-02 2.33096952e-03 9.99943850e-01 -2.38019059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.959072329 meters 0.2889379653027045 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.61, Z:-2.38 [[ 9.99938065e-01 -3.94020140e-03 -1.04086571e-02 6.67296685e+01] [ 3.91428995e-03 9.99989193e-01 -2.50861276e-03 -6.12852071e-01] [ 1.04184290e-02 2.46771489e-03 9.99942682e-01 -2.38139236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.019072329 meters 0.2864714748203207 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.61, Z:-2.38 [[ 9.99937121e-01 -4.00970976e-03 -1.04726827e-02 6.67298693e+01] [ 3.98191807e-03 9.99988499e-01 -2.67323637e-03 -6.12269097e-01] [ 1.04832812e-02 2.63136692e-03 9.99941587e-01 -2.38147068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.079072329 meters 0.2812649849049412 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.61, Z:-2.38 [[ 9.99940174e-01 -4.34071122e-03 -1.00402757e-02 6.67282657e+01] [ 4.31157624e-03 9.99986437e-01 -2.92163805e-03 -6.11971816e-01] [ 1.00528215e-02 2.87817385e-03 9.99945327e-01 -2.38031766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13907232900002 meters 0.27430414101873196 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.61, Z:-2.38 [[ 9.99940420e-01 -4.36291491e-03 -1.00060717e-02 6.67284400e+01] [ 4.33588341e-03 9.99986896e-01 -2.72161421e-03 -6.12679113e-01] [ 1.00178147e-02 2.67806689e-03 9.99946234e-01 -2.38079200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19907232900002 meters 0.27257249608958656 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.61, Z:-2.38 [[ 9.99940214e-01 -4.23943790e-03 -1.00794448e-02 6.67291269e+01] [ 4.21584865e-03 9.99988327e-01 -2.36042852e-03 -6.13605401e-01] [ 1.00893340e-02 2.31779399e-03 9.99946415e-01 -2.38160502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25907232900002 meters 0.2701486276780054 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.61, Z:-2.38 [[ 9.99941329e-01 -4.13692233e-03 -1.00112636e-02 6.67290979e+01] [ 4.11707520e-03 9.99989520e-01 -2.00227775e-03 -6.14769317e-01] [ 1.00194420e-02 1.96094314e-03 9.99947881e-01 -2.38178644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.319072329 meters 0.26451208733859344 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.62, Z:-2.38 [[ 9.99944766e-01 -4.37734242e-03 -9.55525444e-03 6.67276635e+01] [ 4.36172053e-03 9.99989118e-01 -1.65512798e-03 -6.16679953e-01] [ 9.56239553e-03 1.61335922e-03 9.99952978e-01 -2.38126367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.379072329 meters 0.25656049647951107 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.62, Z:-2.38 [[ 9.99947398e-01 -4.45717874e-03 -9.23771507e-03 6.67262596e+01] [ 4.44781419e-03 9.99989574e-01 -1.03402682e-03 -6.18971079e-01] [ 9.24222760e-03 9.92884789e-04 9.99956797e-01 -2.38017678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.439072329 meters 0.2563818426159257 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.62, Z:-2.38 [[ 9.99806132e-01 -1.86908119e-02 -6.19294153e-03 6.67376123e+01] [ 1.86778606e-02 9.99823258e-01 -2.14257542e-03 -6.17447870e-01] [ 6.23189345e-03 2.02648914e-03 9.99978528e-01 -2.38050337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.499072329 meters 0.2577927411865809 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.62, Z:-2.38 [[ 9.99805880e-01 -1.87613680e-02 -6.01782860e-03 6.67369931e+01] [ 1.87499984e-02 9.99822321e-01 -1.94021125e-03 -6.18374663e-01] [ 6.05316037e-03 1.82700034e-03 9.99980010e-01 -2.38006365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.559072329 meters 0.256931226840723 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.62, Z:-2.38 [[ 9.99873472e-01 -1.45462380e-02 -6.43792606e-03 6.67384700e+01] [ 1.45671042e-02 9.99888754e-01 3.20618893e-03 -6.21414154e-01] [ 6.39057188e-03 -3.29956520e-03 9.99974136e-01 -2.38167696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.619072329 meters 0.2607365110423098 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.62, Z:-2.38 [[ 9.99875128e-01 -1.43843067e-02 -6.54364111e-03 6.67389974e+01] [ 1.44074417e-02 9.99890074e-01 3.50219522e-03 -6.22285146e-01] [ 6.49254515e-03 -3.59603502e-03 9.99972457e-01 -2.38207758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.679072329 meters 0.261968828839312 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.62, Z:-2.38 [[ 9.99875629e-01 -1.45582388e-02 -6.06507683e-03 6.67373872e+01] [ 1.45817761e-02 9.99886250e-01 3.85482396e-03 -6.24201526e-01] [ 6.00826748e-03 -3.94278412e-03 9.99974177e-01 -2.38124218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.739072329 meters 0.2604597540454818 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99873324e-01 -1.49524936e-02 -5.45514618e-03 6.67349763e+01] [ 1.49740923e-02 9.99880119e-01 3.94020128e-03 -6.25655704e-01] [ 5.39557638e-03 -4.02138801e-03 9.99977358e-01 -2.37964370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.799072329 meters 0.26319582972792455 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.63, Z:-2.38 [[ 9.99876508e-01 -1.46839134e-02 -5.59917528e-03 6.67357525e+01] [ 1.47090369e-02 9.99881813e-01 4.47253020e-03 -6.27209484e-01] [ 5.53283929e-03 -4.55433635e-03 9.99974323e-01 -2.38037017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.859072329 meters 0.2637887339370203 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.63, Z:-2.38 [[ 9.99878266e-01 -1.45697239e-02 -5.58359058e-03 6.67360017e+01] [ 1.45963539e-02 9.99882144e-01 4.75862762e-03 -6.28050733e-01] [ 5.51360063e-03 -4.83954840e-03 9.99973089e-01 -2.38087698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91907232900002 meters 0.26150195746207106 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.63, Z:-2.38 [[ 9.99876794e-01 -1.46358685e-02 -5.67338892e-03 6.67360051e+01] [ 1.46621931e-02 9.99881801e-01 4.62652041e-03 -6.27666397e-01] [ 5.60500519e-03 -4.70913472e-03 9.99973204e-01 -2.38043398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97907232900002 meters 0.26103419413537676 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99920213e-01 -1.24672010e-02 -2.03390553e-03 6.67285220e+01] [ 1.24738711e-02 9.99916751e-01 3.30042091e-03 -6.27595249e-01] [ 1.99258920e-03 -3.32552825e-03 9.99992485e-01 -2.38434557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.039072329 meters 0.26611585998468257 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99980542e-01 -1.74494222e-04 -6.23572514e-03 6.67292466e+01] [ 1.65076789e-04 9.99998845e-01 -1.51072128e-03 -6.30841591e-01] [ 6.23598155e-03 1.50966251e-03 9.99979417e-01 -2.38358262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.099072329 meters 0.25618495814932307 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99979874e-01 -3.48291516e-05 -6.34425854e-03 6.67294056e+01] [ 2.68208359e-05 9.99999203e-01 -1.26237412e-03 -6.31734143e-01] [ 6.34429745e-03 1.26217855e-03 9.99979078e-01 -2.38337264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.159072329 meters 0.25246088553434926 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99979186e-01 1.71414875e-04 -6.44964082e-03 6.67295307e+01] [-1.77265952e-04 9.99999573e-01 -9.06633507e-04 -6.33045481e-01] [ 6.44948266e-03 9.07757938e-04 9.99978790e-01 -2.38308678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.219072329 meters 0.24753561176077624 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99978826e-01 1.78906456e-04 -6.50504889e-03 6.67293959e+01] [-1.84548548e-04 9.99999607e-01 -8.66750475e-04 -6.33332205e-01] [ 6.50489127e-03 8.67932619e-04 9.99978466e-01 -2.38267197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.279072329 meters 0.25057609171549294 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99977198e-01 2.55430621e-04 -6.74819751e-03 6.67304669e+01] [-2.61402929e-04 9.99999575e-01 -8.84155459e-04 -6.32893040e-01] [ 6.74796880e-03 8.85899298e-04 9.99976840e-01 -2.38326702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.339072329 meters 0.2534862759215626 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99974960e-01 2.33684636e-04 -7.07287921e-03 6.67311418e+01] [-2.41917146e-04 9.99999294e-01 -1.16312131e-03 -6.31855045e-01] [ 7.07260242e-03 1.16480324e-03 9.99974310e-01 -2.38297432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.399072329 meters 0.24297246301929395 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99974478e-01 -1.53584955e-04 -7.14280227e-03 6.67304445e+01] [ 1.39198793e-04 9.99997961e-01 -2.01453176e-03 -6.29370549e-01] [ 7.14309711e-03 2.01348607e-03 9.99972461e-01 -2.38156657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.459072329 meters 0.24384228891963083 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99972591e-01 -1.94467705e-04 -7.40127318e-03 6.67312020e+01] [ 1.78082713e-04 9.99997532e-01 -2.21440186e-03 -6.28546002e-01] [ 7.40168554e-03 2.21302313e-03 9.99970158e-01 -2.38168230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.519072329 meters 0.24807784516866255 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99970404e-01 -3.66277747e-05 -7.69348588e-03 6.67321141e+01] [ 2.07455746e-05 9.99997869e-01 -2.06443948e-03 -6.28894710e-01] [ 7.69354510e-03 2.06421878e-03 9.99968274e-01 -2.38194450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.579072329 meters 0.2504261641079859 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99970095e-01 2.45353847e-04 -7.72972161e-03 6.67320341e+01] [-2.57054067e-04 9.99998823e-01 -1.51270936e-03 -6.30934440e-01] [ 7.72934136e-03 1.51465108e-03 9.99968981e-01 -2.38175787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63907232900002 meters 0.25692746921788967 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99969243e-01 5.99822235e-04 -7.82011284e-03 6.67326411e+01] [-6.06592622e-04 9.99999443e-01 -8.63422816e-04 -6.32995383e-01] [ 7.81959059e-03 8.68139882e-04 9.99969050e-01 -2.38244802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69907232900002 meters 0.26526405650864526 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.64, Z:-2.38 [[ 9.99969179e-01 1.10187668e-03 -7.77350241e-03 6.67322365e+01] [-1.10081078e-03 9.99999384e-01 1.41397571e-04 -6.36674690e-01] [ 7.77365343e-03 -1.32836057e-04 9.99969776e-01 -2.38212988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75907232900002 meters 0.2777993592788468 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.64, Z:-2.38 [[ 9.99968294e-01 1.64448780e-03 -7.79145885e-03 6.67321517e+01] [-1.63504005e-03 9.99997921e-01 1.21879268e-03 -6.40726817e-01] [ 7.79344693e-03 -1.20601469e-03 9.99968903e-01 -2.38206381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.819072329 meters 0.29336914096476635 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.64, Z:-2.38 [[ 9.99965517e-01 1.91716522e-03 -8.08013184e-03 6.67336083e+01] [-1.90453699e-03 9.99996953e-01 1.57027796e-03 -6.41666696e-01] [ 8.08311771e-03 -1.55483491e-03 9.99966122e-01 -2.38316268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.879072329 meters 0.31623002522365895 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.64, Z:-2.38 [[ 9.99958094e-01 2.93147696e-03 -8.67270841e-03 6.67354057e+01] [-2.91738664e-03 9.99994405e-01 1.63687890e-03 -6.40737258e-01] [ 8.67745836e-03 -1.61150867e-03 9.99961052e-01 -2.38328974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.939072329 meters 0.33863435656281593 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.64, Z:-2.38 [[ 9.99954332e-01 2.96039903e-03 -9.08676808e-03 6.67361739e+01] [-2.94878599e-03 9.99994819e-01 1.29114807e-03 -6.39806100e-01] [ 9.09054332e-03 -1.26429418e-03 9.99957881e-01 -2.38275366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.999072329 meters 0.3894750536872802 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.64, Z:-2.38 [[ 9.99945815e-01 3.84684817e-03 -9.67309966e-03 6.67373056e+01] [-3.83787777e-03 9.99992188e-01 9.45747001e-04 -6.37717460e-01] [ 9.67666224e-03 -9.08571581e-04 9.99952767e-01 -2.38149586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.059072329 meters 0.4148728406543272 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.64, Z:-2.38 [[ 9.99936778e-01 4.18171275e-03 -1.04380955e-02 6.67392617e+01] [-4.17736921e-03 9.99991179e-01 4.37892060e-04 -6.35743822e-01] [ 1.04398345e-02 -3.94260597e-04 9.99945426e-01 -2.38136108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.119072329 meters 0.44994209653801914 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.63, Z:-2.38 [[ 9.99922978e-01 4.96356784e-03 -1.13754488e-02 6.67416459e+01] [-4.96472789e-03 9.99987673e-01 -7.37413996e-05 -6.33206052e-01] [ 1.13749426e-02 1.30211728e-04 9.99935295e-01 -2.38061557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.179072329 meters 0.464089086879074 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.63, Z:-2.38 [[ 9.99908841e-01 5.98268994e-03 -1.21043863e-02 6.67438562e+01] [-5.98606681e-03 9.99982054e-01 -2.42768202e-04 -6.31548339e-01] [ 1.21027167e-02 3.15203737e-04 9.99926710e-01 -2.38050514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.239072329 meters 0.4727904831508964 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.64, Z:-2.38 [[ 9.99919332e-01 1.00933106e-02 -7.71064703e-03 6.67709958e+01] [-1.00446022e-02 9.99929517e-01 6.32985241e-03 -6.35059107e-01] [ 7.77399272e-03 -6.25189142e-03 9.99950238e-01 -2.38238400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.299072329 meters 0.4597848222570838 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.63, Z:-2.38 [[ 9.99911403e-01 1.02865395e-02 -8.44826313e-03 6.67729058e+01] [-1.02354409e-02 9.99929196e-01 6.06953525e-03 -6.33793242e-01] [ 8.51009947e-03 -5.98252581e-03 9.99945892e-01 -2.38246239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.359072329 meters 0.4631208141168907 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.63, Z:-2.38 [[ 9.99901616e-01 1.06999430e-02 -9.07030700e-03 6.67742483e+01] [-1.06471749e-02 9.99926227e-01 5.84613155e-03 -6.32818977e-01] [ 9.13219113e-03 -5.74898323e-03 9.99941774e-01 -2.38173723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41907232900002 meters 0.4660619121876882 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.63, Z:-2.38 [[ 9.99898701e-01 1.06622455e-02 -9.42887264e-03 6.67737406e+01] [-1.06136907e-02 9.99930232e-01 5.18471569e-03 -6.31248569e-01] [ 9.48349551e-03 -5.08411535e-03 9.99942106e-01 -2.37942505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47907232900002 meters 0.47061391875578656 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.63, Z:-2.38 [[ 9.99886857e-01 1.12679156e-02 -9.96531047e-03 6.67754032e+01] [-1.12221270e-02 9.99926270e-01 4.63884539e-03 -6.28421745e-01] [ 1.00168458e-02 -4.52648856e-03 9.99939585e-01 -2.37929600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.539072329 meters 0.47098746573609035 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.63, Z:-2.38 [[ 9.99919685e-01 7.20459861e-03 -1.04267643e-02 6.67761648e+01] [-7.20688197e-03 9.99974014e-01 -1.81432588e-04 -6.25126440e-01] [ 1.04251862e-02 2.56562476e-04 9.99945623e-01 -2.37906652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.599072329 meters 0.4724345069129728 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.62, Z:-2.38 [[ 9.99913912e-01 7.22442532e-03 -1.09533454e-02 6.67779534e+01] [-7.23533116e-03 9.99973367e-01 -9.56362394e-04 -6.22145528e-01] [ 1.09461445e-02 1.03553114e-03 9.99939553e-01 -2.37986556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.659072329 meters 0.4733763403539491 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.62, Z:-2.38 [[ 9.99910224e-01 7.48910440e-03 -1.11111230e-02 6.67783275e+01] [-7.51693515e-03 9.99968709e-01 -2.46512025e-03 -6.16126636e-01] [ 1.10923138e-02 2.54842053e-03 9.99935231e-01 -2.37867309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.719072329 meters 0.47057917898864343 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.61, Z:-2.38 [[ 9.99902867e-01 8.18526081e-03 -1.12808341e-02 6.67784589e+01] [-8.22427274e-03 9.99960345e-01 -3.41620842e-03 -6.10246131e-01] [ 1.12524242e-02 3.50865325e-03 9.99930534e-01 -2.37739199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.779072329 meters 0.4194324797015934 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.61, Z:-2.38 [[ 9.99899777e-01 8.38223747e-03 -1.14094193e-02 6.67789546e+01] [-8.43126526e-03 9.99955400e-01 -4.25583740e-03 -6.05860307e-01] [ 1.13732370e-02 4.35160671e-03 9.99925854e-01 -2.37755868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.839072329 meters 0.4041563390239562 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.60, Z:-2.38 [[ 9.99896612e-01 8.90539530e-03 -1.12897646e-02 6.67787430e+01] [-8.96728878e-03 9.99944976e-01 -5.44354892e-03 -5.99456426e-01] [ 1.12406664e-02 5.54422470e-03 9.99921451e-01 -2.37682310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.899072329 meters 0.43081596617647727 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.59, Z:-2.37 [[ 9.99899875e-01 9.28714374e-03 -1.06765489e-02 6.67763073e+01] [-9.35507761e-03 9.99936201e-01 -6.33067081e-03 -5.94501034e-01] [ 1.06170739e-02 6.42991689e-03 9.99922964e-01 -2.37468188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.959072329 meters 0.43564123264571386 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.59, Z:-2.37 [[ 9.99897904e-01 9.83506514e-03 -1.03659287e-02 6.67754288e+01] [-9.91998587e-03 9.99917395e-01 -8.17296453e-03 -5.85566289e-01] [ 1.02846907e-02 8.27495997e-03 9.99912871e-01 -2.37331728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.019072329 meters 0.4105402833743447 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.58, Z:-2.38 [[ 9.99842214e-01 1.41341301e-02 -1.07598044e-02 6.67786972e+01] [-1.42027777e-02 9.99879095e-01 -6.33055214e-03 -5.75744006e-01] [ 1.06690266e-02 6.48237238e-03 9.99922072e-01 -2.37643510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.079072329 meters 0.44744858625287276 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.57, Z:-2.38 [[ 9.99777558e-01 1.83968789e-02 -1.03145015e-02 6.67782898e+01] [-1.84443375e-02 9.99819649e-01 -4.52506015e-03 -5.65960591e-01] [ 1.02293943e-02 4.71429773e-03 9.99936565e-01 -2.37633893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13907232900002 meters 0.4486478250153942 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.56, Z:-2.38 [[ 9.99774463e-01 1.87916575e-02 -9.89424412e-03 6.67772529e+01] [-1.88483405e-02 9.99806293e-01 -5.66713685e-03 -5.59467305e-01] [ 9.78583264e-03 5.85234878e-03 9.99934992e-01 -2.37601768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19907232900002 meters 0.4557846142133551 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.55, Z:-2.38 [[ 9.99759065e-01 1.97525550e-02 -9.57327823e-03 6.67772289e+01] [-1.98223433e-02 9.99777226e-01 -7.25067579e-03 -5.50297445e-01] [ 9.42792619e-03 7.43869366e-03 9.99927887e-01 -2.37647453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25907232900002 meters 0.4593576802361586 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.54, Z:-2.38 [[ 9.99758182e-01 1.99506993e-02 -9.24918457e-03 6.67767207e+01] [-2.00304551e-02 9.99762278e-01 -8.61209039e-03 -5.43716321e-01] [ 9.07516861e-03 8.79527321e-03 9.99920139e-01 -2.37678135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.319072329 meters 0.4653579494329842 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.53, Z:-2.38 [[ 9.99743009e-01 2.07629382e-02 -9.10031779e-03 6.67773633e+01] [-2.08580952e-02 9.99727420e-01 -1.04893272e-02 -5.33999473e-01] [ 8.88004797e-03 1.06764468e-02 9.99903574e-01 -2.37805259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.379072329 meters 0.46795817624593855 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.52, Z:-2.38 [[ 9.99645501e-01 2.50989392e-02 -8.88348877e-03 6.67779194e+01] [-2.51776803e-02 9.99643678e-01 -8.86577395e-03 -5.23700783e-01] [ 8.65780187e-03 9.08629668e-03 9.99921238e-01 -2.37930094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.439072329 meters 0.5504989030837982 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.52, Z:-2.38 [[ 9.99530638e-01 2.95689027e-02 -8.01150316e-03 6.67764776e+01] [-2.96227011e-02 9.99538818e-01 -6.68180133e-03 -5.15143715e-01] [ 7.81023487e-03 6.91598751e-03 9.99945583e-01 -2.37921013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.499072329 meters 0.47915219796303476 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.51, Z:-2.38 [[ 9.99526997e-01 2.97682569e-02 -7.72218995e-03 6.67763351e+01] [-2.98294335e-02 9.99523532e-01 -7.93178770e-03 -5.09750742e-01] [ 7.48239508e-03 8.15838450e-03 9.99938725e-01 -2.38019870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559072329 meters 0.48259036189068655 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.50, Z:-2.38 [[ 9.99500083e-01 3.07642648e-02 -7.29001209e-03 6.67760274e+01] [-3.08313865e-02 9.99481509e-01 -9.28112759e-03 -5.01719499e-01] [ 7.00070522e-03 9.50124897e-03 9.99930356e-01 -2.38120897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.619072329 meters 0.486919650901808 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.50, Z:-2.38 [[ 9.99490018e-01 3.11615073e-02 -6.97601311e-03 6.67756213e+01] [-3.12320674e-02 9.99459651e-01 -1.02451597e-02 -4.96988585e-01] [ 6.65298901e-03 1.04578102e-02 9.99923183e-01 -2.38188282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.679072329 meters 0.4889179586813022 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.49, Z:-2.38 [[ 9.99460552e-01 3.22373591e-02 -6.27362087e-03 6.67755145e+01] [-3.23078566e-02 9.99412028e-01 -1.14804065e-02 -4.90206230e-01] [ 5.89983417e-03 1.16769006e-02 9.99914417e-01 -2.38403399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.739072329 meters 0.4975774557773569 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.48, Z:-2.39 [[ 9.99409446e-01 3.38726129e-02 -5.77965752e-03 6.67771387e+01] [-3.39432687e-02 9.99344342e-01 -1.25992590e-02 -4.82707847e-01] [ 5.34909822e-03 1.27879990e-02 9.99903923e-01 -2.38806424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.799072329 meters 0.5004946399465431 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.48, Z:-2.39 [[ 9.99244692e-01 3.85128417e-02 -5.17756407e-03 6.67761524e+01] [-3.85614782e-02 9.99209660e-01 -9.64717882e-03 -4.76750674e-01] [ 4.80193177e-03 9.83954675e-03 9.99940061e-01 -2.38812231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.859072329 meters 0.45569578700032437 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.47, Z:-2.39 [[ 9.99016403e-01 4.42001079e-02 -3.54629689e-03 6.67733067e+01] [-4.42222334e-02 9.99001064e-01 -6.42407325e-03 -4.70728843e-01] [ 3.25880963e-03 6.57457972e-03 9.99973077e-01 -2.38783238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91907232900002 meters 0.46859913099174816 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.46, Z:-2.39 [[ 9.98757462e-01 4.97818517e-02 -2.30219220e-03 6.67716698e+01] [-4.97906884e-02 9.98751843e-01 -3.95506198e-03 -4.61955678e-01] [ 2.10242840e-03 4.06477540e-03 9.99989529e-01 -2.38834866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97907232900002 meters 0.5006593091418379 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.45, Z:-2.39 [[ 9.98505964e-01 5.46131668e-02 -1.80051978e-03 6.67720291e+01] [-5.46157802e-02 9.98506412e-01 -1.43564970e-03 -4.54295262e-01] [ 1.71942517e-03 1.53184158e-03 9.99997349e-01 -2.39012125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.039072329 meters 0.49711118993856235 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.44, Z:-2.39 [[ 9.98124845e-01 6.12105964e-02 2.36780284e-04 6.67714935e+01] [-6.12106018e-02 9.98124873e-01 1.58094950e-05 -4.43871077e-01] [-2.35368583e-04 -3.02733135e-05 9.99999972e-01 -2.39398191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.099072329 meters 0.4942989583778736 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.44, Z:-2.40 [[ 9.98023946e-01 6.28134951e-02 1.63371872e-03 6.67701050e+01] [-6.28111199e-02 9.98024354e-01 -1.46670322e-03 -4.37523045e-01] [-1.72261982e-03 1.36118923e-03 9.99997590e-01 -2.39605104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.159072329 meters 0.48813498577498027 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.42, Z:-2.40 [[ 9.97247264e-01 7.39856825e-02 4.90024134e-03 6.67687584e+01] [-7.39985160e-02 9.97255240e-01 2.49131529e-03 -4.23780000e-01] [-4.70246969e-03 -2.84706794e-03 9.99984890e-01 -2.40138889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.219072329 meters 0.48058397229734695 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.41, Z:-2.41 [[ 9.95559898e-01 9.35615609e-02 1.03306958e-02 6.67639198e+01] [-9.36381816e-02 9.95580262e-01 7.19944023e-03 -4.10097784e-01] [-9.61144593e-03 -8.13482155e-03 9.99920719e-01 -2.41054267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.279072329 meters 0.4706880403442781 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.40, Z:-2.42 [[ 9.93847372e-01 1.09554064e-01 1.62882810e-02 6.67595855e+01] [-1.09706520e-01 9.93925258e-01 8.77842850e-03 -3.96058740e-01] [-1.52276213e-02 -1.05113487e-02 9.99828801e-01 -2.41924761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339072329 meters 0.45960440556488685 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.38, Z:-2.43 [[ 9.92449706e-01 1.20950244e-01 2.03622310e-02 6.67582596e+01] [-1.21196817e-01 9.92563710e-01 1.13407660e-02 -3.81546582e-01] [-1.88391431e-02 -1.37229775e-02 9.99728346e-01 -2.42635802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.399072329 meters 0.4545122615382747 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.37, Z:-2.43 [[ 9.91735791e-01 1.26449489e-01 2.16944276e-02 6.67592993e+01] [-1.26754672e-01 9.91844711e-01 1.33162363e-02 -3.72066350e-01] [-1.98336720e-02 -1.59560582e-02 9.99675962e-01 -2.43016837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.459072329 meters 0.4035846363109659 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.37, Z:-2.43 [[ 9.91676587e-01 1.26808123e-01 2.22990468e-02 6.67586504e+01] [-1.27097538e-01 9.91816737e-01 1.20737900e-02 -3.68097350e-01] [-2.05855132e-02 -1.48074488e-02 9.99678436e-01 -2.43106100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.519072329 meters 0.4440592949965586 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.36, Z:-2.43 [[ 9.90792539e-01 1.33039626e-01 2.51118079e-02 6.67567236e+01] [-1.33396265e-01 9.90976223e-01 1.30981747e-02 -3.56386779e-01] [-2.31426283e-02 -1.63273952e-02 9.99598837e-01 -2.43383240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.579072329 meters 0.39794939435415105 Centerline is valid? [False, False] Translation: X:66.75, Y:-0.34, Z:-2.43 [[ 9.89334485e-01 1.42889574e-01 2.82815394e-02 6.67541188e+01] [-1.43428362e-01 9.89496462e-01 1.80293033e-02 -3.43314532e-01] [-2.54082837e-02 -2.18933863e-02 9.99437391e-01 -2.43437120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63907232900002 meters 0.43102144127487796 Centerline is valid? [False, False] Translation: X:66.75, Y:-0.33, Z:-2.44 [[ 9.87867800e-01 1.52099090e-01 3.13540458e-02 6.67536651e+01] [-1.52775404e-01 9.88049835e-01 2.04254798e-02 -3.26671978e-01] [-2.78726629e-02 -2.49678008e-02 9.99299617e-01 -2.43835246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69907232900002 meters 0.38777170141600253 Centerline is valid? [False, False] Translation: X:66.75, Y:-0.32, Z:-2.44 [[ 9.87103180e-01 1.56560713e-01 3.34074098e-02 6.67529295e+01] [-1.57281107e-01 9.87348573e-01 2.01357847e-02 -3.15209568e-01] [-2.98322855e-02 -2.51304515e-02 9.99238958e-01 -2.44127733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75907232900002 meters 0.42109422929736123 Centerline is valid? [False, False] Translation: X:66.75, Y:-0.30, Z:-2.44 [[ 9.85962031e-01 1.62778986e-01 3.71735721e-02 6.67499151e+01] [-1.63574016e-01 9.86339643e-01 1.94332284e-02 -2.97632430e-01] [-3.35024466e-02 -2.52410558e-02 9.99119850e-01 -2.44294604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.819072329 meters 0.4157925513551652 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.28, Z:-2.45 [[ 9.84104134e-01 1.71900538e-01 4.46011135e-02 6.67314996e+01] [-1.72730641e-01 9.84847933e-01 1.54491226e-02 -2.84342390e-01] [-4.12696019e-02 -2.29075243e-02 9.98885411e-01 -2.44557799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.879072329 meters 0.41048575689083316 Centerline is valid? [False, False] Translation: X:66.72, Y:-0.28, Z:-2.45 [[ 9.82674909e-01 1.78639300e-01 4.93763425e-02 6.67152108e+01] [-1.79269618e-01 9.83762302e-01 8.61033593e-03 -2.77298496e-01] [-4.70364400e-02 -1.73128391e-02 9.98743130e-01 -2.44693123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.939072329 meters 0.40462402509612466 Centerline is valid? [False, False] Translation: X:66.70, Y:-0.26, Z:-2.45 [[ 9.81210648e-01 1.84216525e-01 5.73579586e-02 6.66958504e+01] [-1.84698122e-01 9.82790203e-01 3.16553609e-03 -2.64337429e-01] [-5.57876957e-02 -1.36999650e-02 9.98348659e-01 -2.45183343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.999072329 meters 0.377668465304254 Centerline is valid? [False, False] Translation: X:66.69, Y:-0.25, Z:-2.46 [[ 9.80547657e-01 1.86175962e-01 6.21675406e-02 6.66851274e+01] [-1.86960601e-01 9.82342467e-01 7.00085221e-03 -2.51605273e-01] [-5.97664248e-02 -1.84875500e-02 9.98041174e-01 -2.45718130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059072329 meters 0.39313609524143023 Centerline is valid? [False, False] Translation: X:66.66, Y:-0.24, Z:-2.46 [[ 9.78775384e-01 1.92883479e-01 6.92438525e-02 6.66647361e+01] [-1.93465920e-01 9.81105449e-01 1.74235580e-03 -2.42115615e-01] [-6.75994494e-02 -1.51017006e-02 9.97598242e-01 -2.45976365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.119072329 meters 0.36704808116184634 Centerline is valid? [False, False] Translation: X:66.66, Y:-0.23, Z:-2.46 [[ 9.78379411e-01 1.94227973e-01 7.10578815e-02 6.66634319e+01] [-1.94644963e-01 9.80873174e-01 -1.07495960e-03 -2.30298409e-01] [-6.99075569e-02 -1.27793403e-02 9.97471615e-01 -2.46066661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.179072329 meters 0.3845953137640846 Centerline is valid? [False, False] Translation: X:66.63, Y:-0.22, Z:-2.47 [[ 9.76466000e-01 1.99373271e-01 8.22462804e-02 6.66338404e+01] [-1.99777966e-01 9.79835422e-01 -3.36309594e-03 -2.23961094e-01] [-8.12583303e-02 -1.31470457e-02 9.96606361e-01 -2.46534292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.239072329 meters 0.38144434573490354 Centerline is valid? [False, False] Translation: X:66.61, Y:-0.22, Z:-2.47 [[ 9.74943506e-01 2.03212937e-01 9.04967514e-02 6.66075844e+01] [-2.03276271e-01 9.79083527e-01 -8.61422486e-03 -2.19719095e-01] [-9.03544005e-02 -9.99745954e-03 9.95859495e-01 -2.46877598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.299072329 meters 0.37999664266707045 Centerline is valid? [False, False] Translation: X:66.59, Y:-0.21, Z:-2.47 [[ 9.75120720e-01 1.98163029e-01 9.93528834e-02 6.65901234e+01] [-1.98289201e-01 9.80104920e-01 -8.70283122e-03 -2.14142058e-01] [-9.91008292e-02 -1.12142928e-02 9.95014204e-01 -2.47378865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.359072329 meters 0.3718131305812492 Centerline is valid? [False, False] Translation: X:66.56, Y:-0.22, Z:-2.48 [[ 9.74796635e-01 1.93190802e-01 1.11574346e-01 6.65622488e+01] [-1.94099641e-01 9.80977929e-01 -2.76260354e-03 -2.18659809e-01] [-1.09985680e-01 -1.89635638e-02 9.93752250e-01 -2.47911997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41907232900002 meters 0.373013379063926 Centerline is valid? [False, False] Translation: X:66.54, Y:-0.22, Z:-2.49 [[ 9.76744875e-01 1.78766632e-01 1.18372042e-01 6.65400521e+01] [-1.80997254e-01 9.83448732e-01 8.28170516e-03 -2.21232631e-01] [-1.14932342e-01 -2.95141275e-02 9.92934778e-01 -2.48531190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47907232900002 meters 0.34719793250094044 Centerline is valid? [False, False] Translation: X:66.55, Y:-0.20, Z:-2.49 [[ 9.79261317e-01 1.65459104e-01 1.16921158e-01 6.65479917e+01] [-1.67529756e-01 9.85834227e-01 8.04098790e-03 -2.04765661e-01] [-1.13934425e-01 -2.74620015e-02 9.93108647e-01 -2.48634439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.539072329 meters 0.3411922905749241 Centerline is valid? [False, False] Translation: X:66.55, Y:-0.19, Z:-2.48 [[ 9.81920220e-01 1.51284088e-01 1.13779640e-01 6.65546738e+01] [-1.53168018e-01 9.88168175e-01 7.95091958e-03 -1.85949015e-01] [-1.11230572e-01 -2.52345707e-02 9.93474195e-01 -2.48465043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.599072329 meters 0.34558161715139263 Centerline is valid? [False, False] Translation: X:66.56, Y:-0.17, Z:-2.48 [[ 9.84060804e-01 1.38709131e-01 1.11283920e-01 6.65624954e+01] [-1.40475155e-01 9.90050655e-01 8.15057780e-03 -1.71034015e-01] [-1.09046158e-01 -2.36532900e-02 9.93755230e-01 -2.48421656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.659072329 meters 0.3705432875515968 Centerline is valid? [False, False] Translation: X:66.58, Y:-0.15, Z:-2.48 [[ 9.88100450e-01 1.20502516e-01 9.55857987e-02 6.65769984e+01] [-1.21050264e-01 9.92646377e-01 -6.86820455e-05 -1.48111934e-01] [-9.48911731e-02 -1.15028214e-02 9.95421192e-01 -2.47915678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.719072329 meters 0.37769754924034366 Centerline is valid? [False, False] Translation: X:66.59, Y:-0.12, Z:-2.48 [[ 9.90515883e-01 1.03307570e-01 9.05860425e-02 6.65869571e+01] [-1.03306955e-01 9.94638380e-01 -4.70816513e-03 -1.24451746e-01] [-9.05867436e-02 -4.69465589e-03 9.95877504e-01 -2.47747424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.779072329 meters 0.3820760116494865 Centerline is valid? [False, False] Translation: X:66.60, Y:-0.10, Z:-2.48 [[ 9.92544809e-01 8.59707770e-02 8.63934462e-02 6.65988127e+01] [-8.55106761e-02 9.96296431e-01 -9.01920974e-03 -1.00976743e-01] [-8.68488705e-02 1.56440782e-03 9.96220270e-01 -2.47762489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.839072329 meters 0.36951163132695974 Centerline is valid? [False, False] Translation: X:66.61, Y:-0.09, Z:-2.48 [[ 9.93917169e-01 7.22740072e-02 8.30971109e-02 6.66075213e+01] [-7.17169040e-02 9.97378116e-01 -9.67363400e-03 -8.54347599e-02] [-8.35783923e-02 3.65532338e-03 9.96494501e-01 -2.47649729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.899072329 meters 0.3688432985743084 Centerline is valid? [False, False] Translation: X:66.63, Y:-0.06, Z:-2.48 [[ 9.95744009e-01 5.15160120e-02 7.64196912e-02 6.66253336e+01] [-5.11180047e-02 9.98666979e-01 -7.15644264e-03 -5.98296530e-02] [-7.66864935e-02 3.21956275e-03 9.97050057e-01 -2.47556238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.959072329 meters 0.36663021264441276 Centerline is valid? [False, False] Translation: X:66.64, Y:-0.04, Z:-2.48 [[ 9.96736945e-01 3.53179966e-02 7.25816942e-02 6.66368184e+01] [-3.46033568e-02 9.99339699e-01 -1.10803687e-02 -3.59077170e-02] [-7.29251049e-02 8.53264260e-03 9.97300919e-01 -2.47631894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.019072329 meters 0.3896121922539667 Centerline is valid? [False, False] Translation: X:66.65, Y:-0.02, Z:-2.48 [[ 9.97317552e-01 2.36946891e-02 6.92550535e-02 6.66473722e+01] [-2.30383668e-02 9.99681928e-01 -1.02604059e-02 -1.86595233e-02] [-6.94761426e-02 8.63735959e-03 9.97546220e-01 -2.47665482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.079072329 meters 0.3852551822847816 Centerline is valid? [False, False] Translation: X:66.66, Y:0.01, Z:-2.47 [[ 9.98080359e-01 6.94678600e-03 6.15413631e-02 6.66646419e+01] [-6.40036825e-03 9.99938369e-01 -9.07155770e-03 8.48364455e-03] [-6.16005885e-02 8.66025618e-03 9.98063308e-01 -2.47271281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13907232900002 meters 0.37935225302706604 Centerline is valid? [False, False] Translation: X:66.68, Y:0.03, Z:-2.47 [[ 9.98296361e-01 -5.86310140e-03 5.80516938e-02 6.66759068e+01] [ 6.48077734e-03 9.99924317e-01 -1.04575548e-02 3.43113860e-02] [-5.79859866e-02 1.08159590e-02 9.98258804e-01 -2.47359904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19907232900002 meters 0.37076706331059067 Centerline is valid? [False, False] Translation: X:66.69, Y:0.06, Z:-2.47 [[ 9.98445569e-01 -2.24559124e-02 5.10115536e-02 6.66942861e+01] [ 2.28805620e-02 9.99708121e-01 -7.75584552e-03 6.12795904e-02] [-5.08224998e-02 8.91096260e-03 9.98667947e-01 -2.47359760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25907232900002 meters 0.3673019835533309 Centerline is valid? [False, False] Translation: X:66.70, Y:0.08, Z:-2.47 [[ 9.98340172e-01 -3.21509295e-02 4.77830367e-02 6.67045952e+01] [ 3.23835769e-02 9.99467095e-01 -4.10249447e-03 7.74925693e-02] [-4.76256738e-02 5.64307068e-03 9.98849313e-01 -2.47488672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.319072329 meters 0.36653805662666955 Centerline is valid? [False, False] Translation: X:66.71, Y:0.09, Z:-2.48 [[ 9.98134306e-01 -4.18548523e-02 4.44531040e-02 6.67147926e+01] [ 4.19164242e-02 9.99121018e-01 -4.53475329e-04 9.35180511e-02] [-4.43950503e-02 2.31594445e-03 9.99011369e-01 -2.47636478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.379072329 meters 0.36400386539932256 Centerline is valid? [False, False] Translation: X:66.73, Y:0.12, Z:-2.47 [[ 9.97865346e-01 -5.15227559e-02 4.01267667e-02 6.67331806e+01] [ 5.16872248e-02 9.98658599e-01 -3.07144697e-03 1.21791645e-01] [-3.99146912e-02 5.13893170e-03 9.99189876e-01 -2.47354032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.439072329 meters 0.36548910129455103 Centerline is valid? [False, False] Translation: X:66.74, Y:0.13, Z:-2.47 [[ 9.98027393e-01 -5.08029923e-02 3.68833200e-02 6.67397567e+01] [ 5.10067871e-02 9.98687690e-01 -4.60500213e-03 1.33460131e-01] [-3.66009697e-02 6.47721792e-03 9.99308969e-01 -2.47399330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.499072329 meters 0.3620028040532481 Centerline is valid? [False, False] Translation: X:66.76, Y:0.15, Z:-2.47 [[ 9.98374673e-01 -4.95506522e-02 2.81557204e-02 6.67577078e+01] [ 4.98527286e-02 9.98705210e-01 -1.01296325e-02 1.53719610e-01] [-2.76173348e-02 1.15168080e-02 9.99552223e-01 -2.47288029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559072329 meters 0.35327463070316556 Centerline is valid? [False, False] Translation: X:66.78, Y:0.17, Z:-2.47 [[ 9.98729168e-01 -4.67634554e-02 1.87943914e-02 6.67769308e+01] [ 4.70210588e-02 9.98802583e-01 -1.35063093e-02 1.71001039e-01] [-1.81402850e-02 1.43728772e-02 9.99732139e-01 -2.47158826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.619072329 meters 0.35237524529044434 Centerline is valid? [False, False] Translation: X:66.79, Y:0.18, Z:-2.47 [[ 9.98784453e-01 -4.76008725e-02 1.27973822e-02 6.67906613e+01] [ 4.78388420e-02 9.98674710e-01 -1.89807627e-02 1.83155771e-01] [-1.18769211e-02 1.95699027e-02 9.99737944e-01 -2.46875925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.679072329 meters 0.35128216365411774 Centerline is valid? [False, False] Translation: X:66.80, Y:0.19, Z:-2.47 [[ 9.98826775e-01 -4.75644540e-02 9.09375459e-03 6.67986664e+01] [ 4.77415006e-02 9.98652218e-01 -2.03592122e-02 1.86725212e-01] [-8.11312338e-03 2.07694757e-02 9.99751372e-01 -2.46849321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.739072329 meters 0.34752600046308224 Centerline is valid? [False, False] Translation: X:66.82, Y:0.19, Z:-2.47 [[ 9.99196732e-01 -3.94395914e-02 7.10001698e-03 6.68234661e+01] [ 3.95836342e-02 9.98986199e-01 -2.14408494e-02 1.92127437e-01] [-6.24720064e-03 2.17046711e-02 9.99744907e-01 -2.46654713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.799072329 meters 0.3484978641404168 Centerline is valid? [False, False] Translation: X:66.85, Y:0.19, Z:-2.47 [[ 9.99694372e-01 -2.29732458e-02 9.13194106e-03 6.68450949e+01] [ 2.31925609e-02 9.99426252e-01 -2.46834271e-02 1.92058118e-01] [-8.55964319e-03 2.48876763e-02 9.99653608e-01 -2.46933799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.859072329 meters 0.3466402920353003 Centerline is valid? [False, False] Translation: X:66.86, Y:0.19, Z:-2.47 [[ 9.99752702e-01 -2.18759948e-02 3.99686188e-03 6.68583270e+01] [ 2.19684885e-02 9.99451394e-01 -2.47850137e-02 1.92442147e-01] [-3.45247234e-03 2.48666894e-02 9.99684814e-01 -2.47080521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91907232900002 meters 0.34366900496103564 Centerline is valid? [False, False] Translation: X:66.87, Y:0.19, Z:-2.47 [[ 9.99771544e-01 -2.13480665e-02 1.05808057e-03 6.68656510e+01] [ 2.13674555e-02 9.99477442e-01 -2.42543771e-02 1.90692609e-01] [-5.39743606e-04 2.42714445e-02 9.99705259e-01 -2.47189650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97907232900002 meters 0.3435419350067198 Centerline is valid? [False, False] Translation: X:66.90, Y:0.18, Z:-2.47 [[ 9.99926775e-01 -1.20829374e-02 -6.68276857e-04 6.68950346e+01] [ 1.20640996e-02 9.99655958e-01 -2.32899942e-02 1.84755964e-01] [ 9.49458483e-04 2.32802267e-02 9.99728528e-01 -2.47422362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.039072329 meters 0.3351778719018799 Centerline is valid? [False, False] Translation: X:66.92, Y:0.18, Z:-2.47 [[ 9.99961902e-01 -7.06527082e-03 -5.12611880e-03 6.69246410e+01] [ 6.92561969e-03 9.99617693e-01 -2.67675957e-02 1.79549565e-01] [ 5.31327936e-03 2.67310744e-02 9.99628540e-01 -2.47278082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.099072329 meters 0.33365572722063785 Centerline is valid? [False, False] Translation: X:66.95, Y:0.18, Z:-2.48 [[ 9.99863413e-01 -1.62981643e-02 -2.74331019e-03 6.69457662e+01] [ 1.62244331e-02 9.99554795e-01 -2.50395441e-02 1.79941609e-01] [ 3.15018746e-03 2.49916154e-02 9.99682697e-01 -2.47640125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.159072329 meters 0.32033642525938383 Centerline is valid? [False, False] Translation: X:66.98, Y:0.17, Z:-2.48 [[ 9.99968467e-01 -6.19515039e-03 -4.96833563e-03 6.69755700e+01] [ 6.07872427e-03 9.99714310e-01 -2.31159713e-02 1.69467474e-01] [ 5.11012314e-03 2.30850413e-02 9.99720445e-01 -2.47623821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.219072329 meters 0.3117176911454844 Centerline is valid? [False, False] Translation: X:67.00, Y:0.17, Z:-2.48 [[ 9.99888016e-01 -1.46543509e-02 -3.03398787e-03 6.69988608e+01] [ 1.45894661e-02 9.99685349e-01 -2.04046799e-02 1.67150637e-01] [ 3.33205056e-03 2.03581306e-02 9.99787199e-01 -2.48138171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.279072329 meters 0.3102039331722407 Centerline is valid? [False, False] Translation: X:67.03, Y:0.15, Z:-2.48 [[ 9.99939626e-01 -9.66759758e-03 -5.22314260e-03 6.70274908e+01] [ 9.54830410e-03 9.99703470e-01 -2.24009234e-02 1.54145189e-01] [ 5.43815690e-03 2.23496988e-02 9.99735424e-01 -2.48452969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.339072329 meters 0.2532978817457518 Centerline is valid? [False, False] Translation: X:67.06, Y:0.15, Z:-2.49 [[ 9.99785682e-01 -1.97681967e-02 -6.14889342e-03 6.70586139e+01] [ 1.96243803e-02 9.99551274e-01 -2.26303712e-02 1.47211074e-01] [ 6.59349588e-03 2.25048529e-02 9.99724991e-01 -2.48655365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.399072329 meters 0.32725413714819196 Centerline is valid? [False, False] Translation: X:67.07, Y:0.13, Z:-2.49 [[ 9.99690584e-01 -2.30303900e-02 -9.39879308e-03 6.70668649e+01] [ 2.28017396e-02 9.99457866e-01 -2.37498558e-02 1.34986680e-01] [ 9.94066611e-03 2.35281983e-02 9.99673750e-01 -2.48705884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.459072329 meters 0.33143050965302295 Centerline is valid? [False, False] Translation: X:67.10, Y:0.12, Z:-2.49 [[ 9.99772369e-01 -1.81055214e-02 -1.12871569e-02 6.70955922e+01] [ 1.78076064e-02 9.99504405e-01 -2.59583137e-02 1.16780939e-01] [ 1.17515518e-02 2.57514075e-02 9.99599303e-01 -2.48804974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.519072329 meters 0.2659585510327526 Centerline is valid? [False, False] Translation: X:67.10, Y:0.11, Z:-2.49 [[ 9.99683907e-01 -2.18310591e-02 -1.24695775e-02 6.70977659e+01] [ 2.14796733e-02 9.99386850e-01 -2.76504646e-02 1.07871355e-01] [ 1.30655707e-02 2.73738820e-02 9.99539875e-01 -2.48815296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.579072329 meters 0.2636774886340848 Centerline is valid? [False, False] Translation: X:67.11, Y:0.09, Z:-2.48 [[ 9.99207891e-01 -3.32520679e-02 -2.18607147e-02 6.71131803e+01] [ 3.26549021e-02 9.99098439e-01 -2.71287202e-02 9.40643986e-02] [ 2.27430920e-02 2.63933718e-02 9.99392887e-01 -2.48152018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63907232900002 meters 0.2678274049911482 Centerline is valid? [False, False] Translation: X:67.12, Y:0.09, Z:-2.48 [[ 9.99028593e-01 -3.73555741e-02 -2.33758783e-02 6.71165646e+01] [ 3.66658671e-02 9.98898861e-01 -2.92690940e-02 8.57597039e-02] [ 2.44435020e-02 2.83835649e-02 9.99298198e-01 -2.48192714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69907232900002 meters 0.2737786908912317 Centerline is valid? [False, False] Translation: X:67.13, Y:0.07, Z:-2.48 [[ 9.98220979e-01 -5.05863478e-02 -3.15578679e-02 6.71302321e+01] [ 4.96879665e-02 9.98354336e-01 -2.86308663e-02 6.60789664e-02] [ 3.29542652e-02 2.70118851e-02 9.99091775e-01 -2.47741619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.759072329 meters 0.2962809703557165 Centerline is valid? [False, False] Translation: X:67.17, Y:0.03, Z:-2.48 [[ 9.96413537e-01 -7.61819367e-02 -3.68289953e-02 6.71654576e+01] [ 7.51837531e-02 9.96782937e-01 -2.77701108e-02 3.30213382e-02] [ 3.88260950e-02 2.49015723e-02 9.98935657e-01 -2.47680240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.819072329 meters 0.3022613001914761 Centerline is valid? [False, False] Translation: X:67.17, Y:0.01, Z:-2.48 [[ 9.96515697e-01 -7.39216641e-02 -3.86271133e-02 6.71718215e+01] [ 7.23172278e-02 9.96521926e-01 -4.14037276e-02 7.98893270e-03] [ 4.15533978e-02 3.84660587e-02 9.98395552e-01 -2.47655172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.879072329 meters 0.3221656505363727 Centerline is valid? [False, False] Translation: X:67.17, Y:-0.02, Z:-2.48 [[ 9.94864802e-01 -9.30851215e-02 -3.97389842e-02 6.71701950e+01] [ 9.16198363e-02 9.95097875e-01 -3.72293458e-02 -1.73357933e-02] [ 4.30096769e-02 3.33972865e-02 9.98516294e-01 -2.47768830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.939072329 meters 0.33594418611797544 Centerline is valid? [False, False] Translation: X:67.17, Y:-0.04, Z:-2.48 [[ 9.94527687e-01 -9.67548830e-02 -3.94103193e-02 6.71670292e+01] [ 9.54773944e-02 9.94880961e-01 -3.31050046e-02 -4.07608354e-02] [ 4.24116472e-02 2.91610490e-02 9.98674564e-01 -2.48097255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.999072329 meters 0.3608547503638408 Centerline is valid? [False, False] Translation: X:67.15, Y:-0.06, Z:-2.48 [[ 9.93819316e-01 -1.01175659e-01 -4.56798961e-02 6.71510812e+01] [ 9.93732376e-02 9.94240055e-01 -4.01456549e-02 -5.99707035e-02] [ 4.94785455e-02 3.53581681e-02 9.98149124e-01 -2.48192502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059072329 meters 0.3770532284241584 Centerline is valid? [False, False] Translation: X:67.13, Y:-0.07, Z:-2.48 [[ 9.94184948e-01 -9.45368404e-02 -5.15662189e-02 6.71321623e+01] [ 9.25030347e-02 9.94888369e-01 -4.05008975e-02 -7.13056227e-02] [ 5.51314583e-02 3.54953509e-02 9.97847986e-01 -2.48140478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.119072329 meters 0.36635503233897326 Centerline is valid? [False, False] Translation: X:67.13, Y:-0.08, Z:-2.49 [[ 9.94064595e-01 -9.67530541e-02 -4.97436236e-02 6.71253799e+01] [ 9.50215241e-02 9.94821364e-01 -3.60744210e-02 -8.39199747e-02] [ 5.29763299e-02 3.11335897e-02 9.98110319e-01 -2.48917174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.179072329 meters 0.3804921460573043 Centerline is valid? [False, False] Translation: X:67.12, Y:-0.09, Z:-2.49 [[ 9.93586705e-01 -1.02208508e-01 -4.83619794e-02 6.71211139e+01] [ 1.00465862e-01 9.94245061e-01 -3.71936597e-02 -9.45445865e-02] [ 5.18851676e-02 3.20963978e-02 9.98137140e-01 -2.49273264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.239072329 meters 0.3714930964099887 Centerline is valid? [False, False] Translation: X:67.11, Y:-0.10, Z:-2.49 [[ 9.94685195e-01 -8.86184719e-02 -5.24226014e-02 6.71121544e+01] [ 8.66958510e-02 9.95514327e-01 -3.78821130e-02 -9.97170643e-02] [ 5.55445057e-02 3.31359549e-02 9.97906216e-01 -2.49273533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.299072329 meters 0.4371413438996505 Centerline is valid? [False, False] Translation: X:67.11, Y:-0.11, Z:-2.50 [[ 9.94641437e-01 -8.93349313e-02 -5.20353934e-02 6.71104382e+01] [ 8.76463773e-02 9.95575355e-01 -3.38795797e-02 -1.10590288e-01] [ 5.48317852e-02 2.91373201e-02 9.98070384e-01 -2.49952558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.359072329 meters 0.4354168506735633 Centerline is valid? [False, False] Translation: X:67.10, Y:-0.12, Z:-2.50 [[ 9.95440920e-01 -7.88458251e-02 -5.36722584e-02 6.71030703e+01] [ 7.69030039e-02 9.96338687e-01 -3.73516804e-02 -1.23614091e-01] [ 5.64207715e-02 3.30538332e-02 9.97859780e-01 -2.50137552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41907232900002 meters 0.4552714708238767 Centerline is valid? [False, False] Translation: X:67.10, Y:-0.13, Z:-2.51 [[ 9.95792738e-01 -7.56973971e-02 -5.16403564e-02 6.70967470e+01] [ 7.41118951e-02 9.96737710e-01 -3.19587888e-02 -1.26567192e-01] [ 5.38910877e-02 2.79971652e-02 9.98154251e-01 -2.50598365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47907232900002 meters 0.46303135890656827 Centerline is valid? [False, False] Translation: X:67.09, Y:-0.13, Z:-2.51 [[ 9.96107548e-01 -7.25050174e-02 -5.01275991e-02 6.70919969e+01] [ 7.13263716e-02 9.97141754e-01 -2.49172744e-02 -1.33821137e-01] [ 5.17909495e-02 2.12448653e-02 9.98431947e-01 -2.51328546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.539072329 meters 0.4905170995841605 Centerline is valid? [False, False] Translation: X:67.09, Y:-0.14, Z:-2.52 [[ 9.96150434e-01 -7.26446696e-02 -4.90618422e-02 6.70902632e+01] [ 7.15624682e-02 9.97160004e-01 -2.34678363e-02 -1.37754847e-01] [ 5.06273200e-02 1.98665088e-02 9.98520003e-01 -2.51747439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.599072329 meters 0.4119087020743946 Centerline is valid? [False, False] Translation: X:67.09, Y:-0.15, Z:-2.52 [[ 9.95881912e-01 -7.59835355e-02 -4.94542241e-02 6.70923691e+01] [ 7.48246533e-02 9.96886279e-01 -2.48800834e-02 -1.47811471e-01] [ 5.11907141e-02 2.10772298e-02 9.98466455e-01 -2.51878260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.659072329 meters 0.4082573285739868 Centerline is valid? [False, False] Translation: X:67.10, Y:-0.16, Z:-2.52 [[ 9.95914027e-01 -7.44534334e-02 -5.11071071e-02 6.70977324e+01] [ 7.34861410e-02 9.97084400e-01 -2.05544494e-02 -1.61521635e-01] [ 5.24884486e-02 1.67148004e-02 9.98481636e-01 -2.52159601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.719072329 meters 0.4948547725362268 Centerline is valid? [False, False] Translation: X:67.10, Y:-0.17, Z:-2.53 [[ 9.96157835e-01 -7.14001472e-02 -5.07108055e-02 6.70994841e+01] [ 7.06094855e-02 9.97355426e-01 -1.72178688e-02 -1.70534479e-01] [ 5.18060554e-02 1.35710510e-02 9.98564950e-01 -2.52507423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.779072329 meters 0.5554969035854406 Centerline is valid? [False, False] Translation: X:67.10, Y:-0.18, Z:-2.53 [[ 9.96378627e-01 -6.79681430e-02 -5.10878085e-02 6.71048293e+01] [ 6.72024497e-02 9.97601907e-01 -1.65609855e-02 -1.83540832e-01] [ 5.20909146e-02 1.30677861e-02 9.98556843e-01 -2.52514659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.839072329 meters 0.5936623078508411 Centerline is valid? [False, False] Translation: X:67.11, Y:-0.20, Z:-2.53 [[ 9.96514375e-01 -6.44684396e-02 -5.29426104e-02 6.71133194e+01] [ 6.38390335e-02 9.97868941e-01 -1.34964821e-02 -1.96162732e-01] [ 5.36998837e-02 1.00696333e-02 9.98506347e-01 -2.52569144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.899072329 meters 0.6344817755463961 Centerline is valid? [False, False] Translation: X:67.11, Y:-0.22, Z:-2.53 [[ 9.97381607e-01 -5.00145158e-02 -5.22348351e-02 6.71138898e+01] [ 4.94760732e-02 9.98708505e-01 -1.15516196e-02 -2.15008418e-01] [ 5.27451228e-02 8.93699837e-03 9.98568016e-01 -2.52789803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.959072329 meters 0.6862369336746126 Centerline is valid? [False, False] Translation: X:67.14, Y:-0.22, Z:-2.53 [[ 9.97782949e-01 -4.05956840e-02 -5.27368724e-02 6.71382541e+01] [ 4.00117219e-02 9.99126155e-01 -1.20825477e-02 -2.24934681e-01] [ 5.31812878e-02 9.94566701e-03 9.98535345e-01 -2.52656121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.019072329 meters 0.687713366153115 Centerline is valid? [False, False] Translation: X:67.14, Y:-0.23, Z:-2.53 [[ 9.97936661e-01 -3.48279807e-02 -5.39391558e-02 6.71435844e+01] [ 3.44905186e-02 9.99379270e-01 -7.17491784e-03 -2.27999029e-01] [ 5.41555620e-02 5.29972410e-03 9.98518447e-01 -2.52727055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.079072329 meters 0.6931831345086819 Centerline is valid? [False, False] Translation: X:67.15, Y:-0.24, Z:-2.53 [[ 9.98027672e-01 -2.75909920e-02 -5.63870828e-02 6.71547328e+01] [ 2.75489446e-02 9.99619296e-01 -1.52302602e-03 -2.35095581e-01] [ 5.64076378e-02 -3.33825018e-05 9.98407821e-01 -2.52814971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13907232900002 meters 0.717958570177107 Centerline is valid? [False, False] Translation: X:67.18, Y:-0.24, Z:-2.53 [[ 9.98144347e-01 -1.89645578e-02 -5.78637057e-02 6.71774096e+01] [ 1.88524435e-02 9.99819194e-01 -2.48288598e-03 -2.39650111e-01] [ 5.79003305e-02 1.38740636e-03 9.98321405e-01 -2.52556974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19907232900002 meters 0.6255621254185585 Centerline is valid? [False, False] Translation: X:67.22, Y:-0.25, Z:-2.53 [[ 9.98210615e-01 -2.39123678e-02 -5.48066273e-02 6.72156611e+01] [ 2.37406008e-02 9.99710994e-01 -3.78307020e-03 -2.46346258e-01] [ 5.48812500e-02 2.47515857e-03 9.98489821e-01 -2.52542969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.259072329 meters 0.5943123383564561 Centerline is valid? [False, False] Translation: X:67.25, Y:-0.25, Z:-2.52 [[ 9.98332869e-01 -9.85625313e-03 -5.68712242e-02 6.72492392e+01] [ 9.75263807e-03 9.99950238e-01 -2.09919018e-03 -2.52615121e-01] [ 5.68890843e-02 1.54104609e-03 9.98379315e-01 -2.52289290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.319072329 meters 0.591091648320251 Centerline is valid? [False, False] Translation: X:67.26, Y:-0.26, Z:-2.53 [[ 9.99341558e-01 -1.64062367e-02 -3.23618006e-02 6.72629525e+01] [ 1.64643550e-02 9.99863282e-01 1.53021617e-03 -2.57591871e-01] [ 3.23322711e-02 -2.06202479e-03 9.99475048e-01 -2.53298126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.379072329 meters 0.636888765667022 Centerline is valid? [False, False] Translation: X:67.30, Y:-0.26, Z:-2.53 [[ 9.99377254e-01 -3.23897349e-03 -3.51370755e-02 6.72985469e+01] [ 3.25303845e-03 9.99994650e-01 3.43126580e-04 -2.63775820e-01] [ 3.51357762e-02 -4.57215157e-04 9.99382443e-01 -2.52838785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.439072329 meters 0.6225190413006564 Centerline is valid? [False, False] Translation: X:67.30, Y:-0.28, Z:-2.53 [[ 9.99198510e-01 1.24337232e-02 -3.80491861e-02 6.72976097e+01] [-1.24374653e-02 9.99922642e-01 1.38360722e-04 -2.78036381e-01] [ 3.80479630e-02 3.34985606e-04 9.99275858e-01 -2.52560107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.499072329 meters 0.6161020329229858 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.28, Z:-2.53 [[ 9.99437298e-01 2.21383763e-03 -3.34691728e-02 6.73151140e+01] [-2.14897862e-03 9.99995743e-01 1.97372121e-03 -2.81786919e-01] [ 3.34733998e-02 -1.90068606e-03 9.99437801e-01 -2.53052663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559072329 meters 0.6067246260772402 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.29, Z:-2.53 [[ 9.99414085e-01 -4.83288492e-04 -3.42235620e-02 6.73189503e+01] [ 5.33225390e-04 9.99998807e-01 1.45002588e-03 -2.93485083e-01] [ 3.42228204e-02 -1.46742516e-03 9.99413150e-01 -2.53425511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.619072329 meters 0.587683225721219 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.31, Z:-2.53 [[ 9.99384625e-01 -2.54554778e-03 -3.49841523e-02 6.73208186e+01] [ 2.61461848e-03 9.99994722e-01 1.92873525e-03 -3.07881856e-01] [ 3.49790580e-02 -2.01901857e-03 9.99386006e-01 -2.53493030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.679072329 meters 0.5524627616854658 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.32, Z:-2.53 [[ 9.99365022e-01 -4.89475602e-03 -3.52929810e-02 6.73201926e+01] [ 4.98748856e-03 9.99984337e-01 2.53994581e-03 -3.23875522e-01] [ 3.52799958e-02 -2.71435634e-03 9.99373781e-01 -2.53387633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.739072329 meters 0.5242447025307967 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.33, Z:-2.53 [[ 9.99316966e-01 -8.49031289e-03 -3.59654784e-02 6.73216312e+01] [ 8.52395048e-03 9.99963365e-01 7.82041314e-04 -3.33238019e-01] [ 3.59575210e-02 -1.08807511e-03 9.99352727e-01 -2.53409038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.799072329 meters 0.4532990228256134 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.35, Z:-2.54 [[ 9.99261080e-01 -1.15264383e-02 -3.66665410e-02 6.73231669e+01] [ 1.15750674e-02 9.99932386e-01 1.11424331e-03 -3.49015462e-01] [ 3.66512186e-02 -1.53783766e-03 9.99326935e-01 -2.53520195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.859072329 meters 0.4372692296037228 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.36, Z:-2.54 [[ 9.99196939e-01 -1.52274459e-02 -3.70621433e-02 6.73237689e+01] [ 1.52083056e-02 9.99884028e-01 -7.98323325e-04 -3.58655496e-01] [ 3.70700015e-02 2.34029822e-04 9.99312644e-01 -2.53507269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91907232900002 meters 0.42326833957217336 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.38, Z:-2.54 [[ 9.99125625e-01 -1.83244017e-02 -3.75792702e-02 6.73248270e+01] [ 1.83260340e-02 9.99832019e-01 -3.01055173e-04 -3.75167769e-01] [ 3.75784743e-02 -3.87887045e-04 9.99293604e-01 -2.53604277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97907232900002 meters 0.41010791136166547 Centerline is valid? [False, False] Translation: X:67.33, Y:-0.39, Z:-2.54 [[ 9.99037459e-01 -2.15473676e-02 -3.82082066e-02 6.73266234e+01] [ 2.15491877e-02 9.99767723e-01 -3.64236790e-04 -3.90388240e-01] [ 3.82071801e-02 -4.59469620e-04 9.99269733e-01 -2.53751491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.039072329 meters 0.4024003013957889 Centerline is valid? [False, False] Translation: X:67.34, Y:-0.40, Z:-2.54 [[ 9.98999005e-01 -3.21027645e-02 -3.11512643e-02 6.73388278e+01] [ 3.21268019e-02 9.99483764e-01 2.71297318e-04 -3.98145993e-01] [ 3.11264735e-02 -1.27181625e-03 9.99514645e-01 -2.53951255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.099072329 meters 0.39071560073819983 Centerline is valid? [False, False] Translation: X:67.34, Y:-0.41, Z:-2.54 [[ 9.98863280e-01 -3.55300077e-02 -3.17768243e-02 6.73405072e+01] [ 3.55303622e-02 9.99368444e-01 -5.53686856e-04 -4.10469043e-01] [ 3.17764279e-02 -5.75984608e-04 9.99494836e-01 -2.54041283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.159072329 meters 0.38478968815496445 Centerline is valid? [False, False] Translation: X:67.34, Y:-0.41, Z:-2.54 [[ 9.99305277e-01 -3.26357641e-02 -1.79964076e-02 6.73388102e+01] [ 3.25156848e-02 9.99447233e-01 -6.92520066e-03 -4.14254460e-01] [ 1.82124690e-02 6.33522405e-03 9.99814068e-01 -2.54294247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.219072329 meters 0.3766364102589517 Centerline is valid? [False, False] Translation: X:67.35, Y:-0.42, Z:-2.55 [[ 9.98962051e-01 -4.38398973e-02 -1.23646414e-02 6.73543322e+01] [ 4.37713273e-02 9.99024954e-01 -5.76292590e-03 -4.24884907e-01] [ 1.26052314e-02 5.21572751e-03 9.99906948e-01 -2.54692962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.279072329 meters 0.37040269140777937 Centerline is valid? [False, False] Translation: X:67.36, Y:-0.44, Z:-2.55 [[ 9.99211136e-01 -3.78875330e-02 -1.19012622e-02 6.73565063e+01] [ 3.76977266e-02 9.99164472e-01 -1.57872931e-02 -4.35814197e-01] [ 1.24894600e-02 1.53261886e-02 9.99804542e-01 -2.54906852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.339072329 meters 0.3718763836829104 Centerline is valid? [False, False] Translation: X:67.36, Y:-0.44, Z:-2.55 [[ 9.99248646e-01 -3.67783407e-02 -1.22269035e-02 6.73584956e+01] [ 3.66196788e-02 9.99245278e-01 -1.29565820e-02 -4.44111137e-01] [ 1.26941971e-02 1.24991018e-02 9.99841302e-01 -2.55184988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.399072329 meters 0.3648484671727806 Centerline is valid? [False, False] Translation: X:67.37, Y:-0.45, Z:-2.56 [[ 9.98849290e-01 -4.75594781e-02 -6.17990858e-03 6.73716580e+01] [ 4.74924028e-02 9.98815549e-01 -1.05816159e-02 -4.54326309e-01] [ 6.67584491e-03 1.02759408e-02 9.99924916e-01 -2.55605357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.459072329 meters 0.32669908510912965 Centerline is valid? [False, False] Translation: X:67.37, Y:-0.47, Z:-2.56 [[ 9.98883829e-01 -4.68023980e-02 -6.37422913e-03 6.73730983e+01] [ 4.67575684e-02 9.98881675e-01 -7.00926789e-03 -4.65441451e-01] [ 6.69515121e-03 6.70340089e-03 9.99955119e-01 -2.55982088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.519072329 meters 0.20550163066908192 Centerline is valid? [False, False] Translation: X:67.37, Y:-0.47, Z:-2.56 [[ 9.99096580e-01 -4.18596290e-02 -7.33453283e-03 6.73729739e+01] [ 4.17157533e-02 9.98953021e-01 -1.87791665e-02 -4.72377020e-01] [ 8.11294267e-03 1.84562354e-02 9.99796753e-01 -2.56016862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.579072329 meters 0.20882718437797515 Centerline is valid? [False, False] Translation: X:67.37, Y:-0.48, Z:-2.57 [[ 9.99445173e-01 -3.26067501e-02 -6.79305129e-03 6.73732761e+01] [ 3.25698411e-02 9.99454466e-01 -5.47494559e-03 -4.84696782e-01] [ 6.96786564e-03 5.25065934e-03 9.99961939e-01 -2.56731168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63907232900002 meters 0.21970681375997805 Centerline is valid? [False, False] Translation: X:67.37, Y:-0.49, Z:-2.57 [[ 9.99312729e-01 -3.64864145e-02 -6.54308395e-03 6.73732542e+01] [ 3.64340145e-02 9.99304387e-01 -7.95643961e-03 -4.91259652e-01] [ 6.82883445e-03 7.71258056e-03 9.99946940e-01 -2.56844959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69907232900002 meters 0.23915316683059332 Centerline is valid? [False, False] Translation: X:67.37, Y:-0.50, Z:-2.57 [[ 9.99329674e-01 -3.60419336e-02 -6.41731910e-03 6.73735834e+01] [ 3.60065946e-02 9.99336198e-01 -5.53975403e-03 -4.99023467e-01] [ 6.61272271e-03 5.30497478e-03 9.99964064e-01 -2.57091057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.759072329 meters 0.25655624453385567 Centerline is valid? [False, False] Translation: X:67.36, Y:-0.50, Z:-2.58 [[ 9.99394423e-01 -3.47824379e-02 9.84316679e-04 6.73601984e+01] [ 3.47924177e-02 9.99307176e-01 -1.32157479e-02 -5.00433031e-01] [-5.23958792e-04 1.32419915e-02 9.99912184e-01 -2.57586811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.819072329 meters 0.26196471263875704 Centerline is valid? [False, False] Translation: X:67.36, Y:-0.51, Z:-2.58 [[ 9.99407198e-01 -3.44017217e-02 1.33171453e-03 6.73600600e+01] [ 3.44145621e-02 9.99344156e-01 -1.12648133e-02 -5.06978936e-01] [-9.43312166e-04 1.13039658e-02 9.99935663e-01 -2.57804383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.879072329 meters 0.26368015971582165 Centerline is valid? [False, False] Translation: X:67.34, Y:-0.51, Z:-2.58 [[ 9.99476055e-01 -3.10914121e-02 8.99664550e-03 6.73448533e+01] [ 3.12520640e-02 9.99343918e-01 -1.83041650e-02 -5.08448752e-01] [-8.42164063e-03 1.85757383e-02 9.99791987e-01 -2.58295660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.939072329 meters 0.27897116182956 Centerline is valid? [False, False] Translation: X:67.34, Y:-0.52, Z:-2.59 [[ 9.99597294e-01 -2.66779255e-02 9.67152894e-03 6.73441317e+01] [ 2.67871049e-02 9.99576831e-01 -1.13406447e-02 -5.16618463e-01] [-9.36489137e-03 1.15951500e-02 9.99888919e-01 -2.58699677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.999072329 meters 0.29313837800772324 Centerline is valid? [False, False] Translation: X:67.34, Y:-0.52, Z:-2.59 [[ 9.99695204e-01 -2.24181001e-02 1.03406011e-02 6.73431899e+01] [ 2.24730060e-02 9.99733799e-01 -5.22445205e-03 -5.23070039e-01] [-1.02207261e-02 5.45524405e-03 9.99932886e-01 -2.58979671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059072329 meters 0.3088578226990467 Centerline is valid? [False, False] Translation: X:67.33, Y:-0.52, Z:-2.59 [[ 9.99592837e-01 -2.25862954e-02 1.74361435e-02 6.73288188e+01] [ 2.28712004e-02 9.99605251e-01 -1.63171732e-02 -5.20587824e-01] [-1.70607161e-02 1.67093150e-02 9.99714825e-01 -2.59380584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.119072329 meters 0.32649965322469315 Centerline is valid? [False, False] Translation: X:67.33, Y:-0.53, Z:-2.60 [[ 9.99670259e-01 -1.78920032e-02 1.84187175e-02 6.73279422e+01] [ 1.80705607e-02 9.99790875e-01 -9.57398378e-03 -5.28065041e-01] [-1.82435680e-02 9.90366340e-03 9.99784522e-01 -2.59787396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.179072329 meters 0.33614266924579933 Centerline is valid? [False, False] Translation: X:67.33, Y:-0.53, Z:-2.60 [[ 9.99664805e-01 -1.75878778e-02 1.89985304e-02 6.73272721e+01] [ 1.77578903e-02 9.99803436e-01 -8.81738412e-03 -5.30522174e-01] [-1.88397169e-02 9.15180239e-03 9.99780631e-01 -2.59917077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.239072329 meters 0.34847293892592895 Centerline is valid? [False, False] Translation: X:67.33, Y:-0.54, Z:-2.60 [[ 9.99714544e-01 -1.29692794e-02 2.00656081e-02 6.73257326e+01] [ 1.30360831e-02 9.99909900e-01 -3.20204700e-03 -5.35239548e-01] [-2.00222720e-02 3.46270989e-03 9.99793538e-01 -2.60132862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.299072329 meters 0.3595016956302084 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.54, Z:-2.60 [[ 9.99702215e-01 -1.29079968e-02 2.07090723e-02 6.73245573e+01] [ 1.29658372e-02 9.99912399e-01 -2.66115909e-03 -5.37775155e-01] [-2.06729079e-02 2.92887710e-03 9.99782003e-01 -2.60193103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.359072329 meters 0.37473138302287373 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.54, Z:-2.60 [[ 9.99688222e-01 -1.27440225e-02 2.14720559e-02 6.73230440e+01] [ 1.27851553e-02 9.99916683e-01 -1.77945153e-03 -5.41600680e-01] [-2.14475896e-02 2.05342031e-03 9.99767865e-01 -2.60259635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41907232900002 meters 0.38073518351990115 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.54, Z:-2.60 [[ 9.99616212e-01 -1.69693409e-02 2.18967979e-02 6.73222792e+01] [ 1.71014854e-02 9.99836576e-01 -5.86178457e-03 -5.42814175e-01] [-2.17937488e-02 6.23400266e-03 9.99743052e-01 -2.60265598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47907232900002 meters 0.3900355855482555 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.55, Z:-2.61 [[ 9.99614102e-01 -1.62554645e-02 2.25257003e-02 6.73222257e+01] [ 1.63554932e-02 9.99857150e-01 -4.26354133e-03 -5.47109810e-01] [-2.24531767e-02 4.63031498e-03 9.99737173e-01 -2.60536805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.539072329 meters 0.322011598686833 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.55, Z:-2.61 [[ 9.99593688e-01 -1.58731073e-02 2.36749575e-02 6.73207437e+01] [ 1.59427098e-02 9.99869114e-01 -2.75406710e-03 -5.52404684e-01] [-2.36281432e-02 3.13039106e-03 9.99715915e-01 -2.60784365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.599072329 meters 0.3397804922524639 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.56, Z:-2.61 [[ 9.99562314e-01 -1.60120316e-02 2.48756127e-02 6.73182043e+01] [ 1.60692213e-02 9.99868675e-01 -2.10082151e-03 -5.56279855e-01] [-2.48387075e-02 2.49963374e-03 9.99688347e-01 -2.60851396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.659072329 meters 0.32101580601707974 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.56, Z:-2.61 [[ 9.99545211e-01 -1.56460977e-02 2.57792797e-02 6.73166542e+01] [ 1.56773852e-02 9.99876590e-01 -1.01199392e-03 -5.60212722e-01] [-2.57602645e-02 1.41568537e-03 9.99667147e-01 -2.60958612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.719072329 meters 0.3319267062241101 Centerline is valid? [False, False] Translation: X:67.29, Y:-0.56, Z:-2.61 [[ 9.99505391e-01 -2.16757032e-02 2.27845827e-02 6.72933011e+01] [ 2.19439602e-02 9.99692017e-01 -1.15902541e-02 -5.55239548e-01] [-2.25263385e-02 1.20845054e-02 9.99673211e-01 -2.61152949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.779072329 meters 0.32021940748818345 Centerline is valid? [False, False] Translation: X:67.29, Y:-0.56, Z:-2.61 [[ 9.99488744e-01 -2.13051582e-02 2.38398947e-02 6.72916016e+01] [ 2.15550921e-02 9.99714846e-01 -1.02764274e-02 -5.59860615e-01] [-2.36141558e-02 1.07850447e-02 9.99662970e-01 -2.61306136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.839072329 meters 0.36286859383432624 Centerline is valid? [False, False] Translation: X:67.29, Y:-0.57, Z:-2.61 [[ 9.99439999e-01 -2.16403033e-02 2.55222696e-02 6.72879734e+01] [ 2.18766065e-02 9.99720023e-01 -9.01609250e-03 -5.66212524e-01] [-2.53200130e-02 9.56938413e-03 9.99633595e-01 -2.61424486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.899072329 meters 0.3707588917231295 Centerline is valid? [False, False] Translation: X:67.28, Y:-0.57, Z:-2.62 [[ 9.99383586e-01 -2.20167657e-02 2.73442694e-02 6.72842264e+01] [ 2.22273817e-02 9.99725388e-01 -7.42242574e-03 -5.73345041e-01] [-2.71733425e-02 8.02564197e-03 9.99598519e-01 -2.61610359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.959072329 meters 0.33563077102943184 Centerline is valid? [False, False] Translation: X:67.28, Y:-0.58, Z:-2.62 [[ 9.99256617e-01 -2.59202209e-02 2.85369259e-02 6.72820506e+01] [ 2.62139982e-02 9.99606645e-01 -9.96905259e-03 -5.79854121e-01] [-2.82673007e-02 1.07097087e-02 9.99543027e-01 -2.61746582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.019072329 meters 0.3479419932363209 Centerline is valid? [False, False] Translation: X:67.27, Y:-0.58, Z:-2.62 [[ 9.99035427e-01 -2.63017498e-02 3.51629539e-02 6.72666470e+01] [ 2.70651354e-02 9.99404302e-01 -2.14130817e-02 -5.80785565e-01] [-3.45788059e-02 2.23441174e-02 9.99152164e-01 -2.62262743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.079072329 meters 0.36579395127684916 Centerline is valid? [False, False] Translation: X:67.26, Y:-0.59, Z:-2.62 [[ 9.99093244e-01 -2.19662457e-02 3.64715385e-02 6.72642613e+01] [ 2.25590873e-02 9.99618689e-01 -1.59237065e-02 -5.85143477e-01] [-3.61078475e-02 1.67320322e-02 9.99207817e-01 -2.62443653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13907232900002 meters 0.3502454535891926 Centerline is valid? [False, False] Translation: X:67.25, Y:-0.59, Z:-2.62 [[ 9.98744949e-01 -3.11429444e-02 3.92255454e-02 6.72453182e+01] [ 3.17984686e-02 9.99363006e-01 -1.61999900e-02 -5.85846474e-01] [-3.86960436e-02 1.74269705e-02 9.99099053e-01 -2.62429028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19907232900002 meters 0.33223908463546964 Centerline is valid? [False, False] Translation: X:67.23, Y:-0.59, Z:-2.63 [[ 9.98261914e-01 -3.91392757e-02 4.40598257e-02 6.72268103e+01] [ 3.98592125e-02 9.99083811e-01 -1.55814739e-02 -5.88289709e-01] [-4.34096109e-02 1.73105819e-02 9.98907378e-01 -2.62669313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.259072329 meters 0.3458175599818505 Centerline is valid? [False, False] Translation: X:67.21, Y:-0.59, Z:-2.63 [[ 9.97658422e-01 -4.66986179e-02 4.99691081e-02 6.72078728e+01] [ 4.74396601e-02 9.98779497e-01 -1.37475806e-02 -5.92867216e-01] [-4.92661276e-02 1.60859070e-02 9.98656143e-01 -2.63164438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.319072329 meters 0.3483604100970362 Centerline is valid? [False, False] Translation: X:67.19, Y:-0.60, Z:-2.64 [[ 9.97309688e-01 -4.63991762e-02 5.67494789e-02 6.71914685e+01] [ 4.78635992e-02 9.98547863e-01 -2.47232735e-02 -5.95518215e-01] [-5.55199314e-02 2.73729945e-02 9.98082289e-01 -2.63644444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.379072329 meters 0.32756563821265516 Centerline is valid? [False, False] Translation: X:67.17, Y:-0.60, Z:-2.64 [[ 9.96570753e-01 -5.41897017e-02 6.25316798e-02 6.71718303e+01] [ 5.57682772e-02 9.98160510e-01 -2.37801669e-02 -5.98741640e-01] [-6.11280132e-02 2.71859029e-02 9.97759637e-01 -2.63880897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.439072329 meters 0.3149803713648753 Centerline is valid? [False, False] Translation: X:67.15, Y:-0.60, Z:-2.64 [[ 9.96202088e-01 -5.27334357e-02 6.92862463e-02 6.71542077e+01] [ 5.51729669e-02 9.97905252e-01 -3.37794659e-02 -6.01511294e-01] [-6.73598018e-02 3.74739023e-02 9.97024756e-01 -2.64233297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.499072329 meters 0.3413073883544511 Centerline is valid? [False, False] Translation: X:67.12, Y:-0.60, Z:-2.65 [[ 9.95139358e-01 -6.13351341e-02 7.70432265e-02 6.71230332e+01] [ 6.35592229e-02 9.97619408e-01 -2.67533467e-02 -6.01932269e-01] [-7.52188979e-02 3.15201159e-02 9.96668751e-01 -2.64813142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.559072329 meters 0.32244663877224367 Centerline is valid? [False, False] Translation: X:67.11, Y:-0.61, Z:-2.65 [[ 9.94749078e-01 -5.82018571e-02 8.41832247e-02 6.71057528e+01] [ 6.12944456e-02 9.97518849e-01 -3.46285587e-02 -6.05547660e-01] [-8.19589070e-02 3.96066909e-02 9.95848406e-01 -2.65310422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.619072329 meters 0.33067115545245324 Centerline is valid? [False, False] Translation: X:67.09, Y:-0.61, Z:-2.66 [[ 9.93858121e-01 -6.50326316e-02 8.95365423e-02 6.70876992e+01] [ 6.81758570e-02 9.97143709e-01 -3.25034848e-02 -6.10320790e-01] [-8.71670127e-02 3.84080828e-02 9.95453028e-01 -2.65586806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.679072329 meters 0.16882285001911496 Centerline is valid? [False, False] Translation: X:67.07, Y:-0.62, Z:-2.66 [[ 9.93274332e-01 -6.33142542e-02 9.69402211e-02 6.70682843e+01] [ 6.75996065e-02 9.96845885e-01 -4.15761401e-02 -6.16353220e-01] [-9.40020982e-02 4.78496336e-02 9.94421449e-01 -2.65846728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.739072329 meters 0.1876883772222638 Centerline is valid? [False, False] Translation: X:67.06, Y:-0.62, Z:-2.66 [[ 9.92974894e-01 -6.12311882e-02 1.01250193e-01 6.70585341e+01] [ 6.49950905e-02 9.97295919e-01 -3.42999748e-02 -6.23481440e-01] [-9.88761760e-02 4.06397793e-02 9.94269536e-01 -2.66291603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.799072329 meters 0.1900603014005617 Centerline is valid? [False, False] Translation: X:67.03, Y:-0.62, Z:-2.66 [[ 9.92491848e-01 -6.37579520e-02 1.04378420e-01 6.70251021e+01] [ 6.83425226e-02 9.96821216e-01 -4.09482854e-02 -6.19478385e-01] [-1.01435845e-01 4.77743240e-02 9.93694311e-01 -2.66090488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.859072329 meters 0.16814748176305955 Centerline is valid? [False, False] Translation: X:67.00, Y:-0.62, Z:-2.66 [[ 9.91759222e-01 -6.93566307e-02 1.07718635e-01 6.70039964e+01] [ 7.36830771e-02 9.96605726e-01 -3.67128301e-02 -6.20022950e-01] [-1.04806730e-01 4.43473283e-02 9.93503329e-01 -2.65888759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91907232900002 meters 0.16446652037512727 Centerline is valid? [False, False] Translation: X:66.98, Y:-0.62, Z:-2.66 [[ 9.91760507e-01 -7.05428355e-02 1.06933647e-01 6.69761100e+01] [ 7.52652704e-02 9.96329142e-01 -4.07845433e-02 -6.18113005e-01] [-1.03664051e-01 4.84968892e-02 9.93429321e-01 -2.65929036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97907232900002 meters 0.15710462305271353 Centerline is valid? [False, False] Translation: X:66.96, Y:-0.62, Z:-2.66 [[ 9.91416589e-01 -6.49938942e-02 1.13441356e-01 6.69577359e+01] [ 7.06357067e-02 9.96420580e-01 -4.64394803e-02 -6.20423851e-01] [-1.10017019e-01 5.40538815e-02 9.92458782e-01 -2.66266633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.039072329 meters 0.1502388768422984 Centerline is valid? [False, False] Translation: X:66.94, Y:-0.62, Z:-2.66 [[ 9.90975067e-01 -6.81315087e-02 1.15440520e-01 6.69363235e+01] [ 7.30725686e-02 9.96559098e-01 -3.91198748e-02 -6.20984902e-01] [-1.12378005e-01 4.72023559e-02 9.92543763e-01 -2.65890735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.099072329 meters 0.15122429948798052 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.62, Z:-2.66 [[ 9.90777752e-01 -6.20921544e-02 1.20432596e-01 6.69178693e+01] [ 6.79412653e-02 9.96670275e-01 -4.50815617e-02 -6.21543705e-01] [-1.17232377e-01 5.28481514e-02 9.91697354e-01 -2.66044726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.159072329 meters 0.15446469281965267 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.62, Z:-2.66 [[ 9.90441626e-01 -6.46654068e-02 1.21835017e-01 6.68974979e+01] [ 6.97058423e-02 9.96859904e-01 -3.75689741e-02 -6.20751975e-01] [-1.19023030e-01 4.57024883e-02 9.91839100e-01 -2.65573469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.219072329 meters 0.15106402596095014 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.62, Z:-2.65 [[ 9.91500233e-01 -6.13953820e-02 1.14707871e-01 6.68838358e+01] [ 6.68219675e-02 9.96791006e-01 -4.40739738e-02 -6.16371873e-01] [-1.11633836e-01 5.13643610e-02 9.92421074e-01 -2.65078739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.279072329 meters 0.15033146205123635 Centerline is valid? [False, False] Translation: X:66.86, Y:-0.62, Z:-2.65 [[ 9.90998323e-01 -6.18699629e-02 1.18719971e-01 6.68645322e+01] [ 6.64615635e-02 9.97171042e-01 -3.51108795e-02 -6.15995652e-01] [-1.16211808e-01 4.26851376e-02 9.92306805e-01 -2.64963010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.339072329 meters 0.14270971847156327 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.62, Z:-2.65 [[ 9.92045883e-01 -5.68390822e-02 1.12313331e-01 6.68522275e+01] [ 6.17331497e-02 9.97267157e-01 -4.05861624e-02 -6.16282820e-01] [-1.09699516e-01 4.71967910e-02 9.92843633e-01 -2.64613768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.399072329 meters 0.17211583833959984 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.61, Z:-2.64 [[ 9.93089966e-01 -5.18634951e-02 1.05273438e-01 6.68383146e+01] [ 5.68797523e-02 9.97356492e-01 -4.52186026e-02 -6.11351199e-01] [-1.02649952e-01 5.08940676e-02 9.93414708e-01 -2.64124842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.459072329 meters 0.1412208168326234 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.61, Z:-2.64 [[ 9.92717519e-01 -5.10834551e-02 1.09098161e-01 6.68216466e+01] [ 5.52224363e-02 9.97851369e-01 -3.52580127e-02 -6.11545156e-01] [-1.07062648e-01 4.10259131e-02 9.93405488e-01 -2.64169008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.519072329 meters 0.1596050991090435 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.61, Z:-2.64 [[ 9.93765325e-01 -4.36688802e-02 1.02584152e-01 6.68087396e+01] [ 4.78091974e-02 9.98123725e-01 -3.82532497e-02 -6.09789370e-01] [-1.00721200e-01 4.29192191e-02 9.93988521e-01 -2.63744862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.579072329 meters 0.15871981944439326 Centerline is valid? [False, False] Translation: X:66.80, Y:-0.61, Z:-2.63 [[ 9.94725047e-01 -3.88971481e-02 9.49162407e-02 6.67976588e+01] [ 4.32103371e-02 9.98104656e-01 -4.38173698e-02 -6.05574277e-01] [-9.30319710e-02 4.76875980e-02 9.94520460e-01 -2.63350962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63907232900002 meters 0.15078393807268048 Centerline is valid? [False, False] Translation: X:66.80, Y:-0.61, Z:-2.63 [[ 9.96155580e-01 -3.48294439e-02 8.03801658e-02 6.67960868e+01] [ 3.81604509e-02 9.98459339e-01 -4.02831030e-02 -6.07705466e-01] [-7.88532892e-02 4.31955812e-02 9.95949949e-01 -2.62602998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69907232900002 meters 0.16543549118503256 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.61, Z:-2.62 [[ 9.96461856e-01 -3.30857737e-02 7.72599531e-02 6.67797394e+01] [ 3.54040366e-02 9.98957112e-01 -2.88312760e-02 -6.06084993e-01] [-7.62254745e-02 3.14645810e-02 9.96594028e-01 -2.62026731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.759072329 meters 0.2005867402240192 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.63, Z:-2.62 [[ 9.96820679e-01 -2.88579213e-02 7.42681266e-02 6.68217101e+01] [ 3.10846166e-02 9.99095893e-01 -2.90024550e-02 -6.34151781e-01] [-7.33640297e-02 3.12188432e-02 9.96816484e-01 -2.62145905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.819072329 meters 0.1599519909327645 Centerline is valid? [False, False] Translation: X:66.79, Y:-0.62, Z:-2.61 [[ 9.97530294e-01 -2.21981029e-02 6.66375039e-02 6.67867417e+01] [ 2.35747736e-02 9.99523115e-01 -1.99442330e-02 -6.18147772e-01] [-6.61630014e-02 2.14659407e-02 9.97577902e-01 -2.61045054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.879072329 meters 0.13815590217354837 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.62, Z:-2.61 [[ 9.98167774e-01 -1.45641572e-02 5.87280276e-02 6.67788275e+01] [ 1.58960642e-02 9.99625473e-01 -2.22761872e-02 -6.18815104e-01] [-5.83815984e-02 2.31689166e-02 9.98025446e-01 -2.60991694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.939072329 meters 0.17552120712153818 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.61, Z:-2.61 [[ 9.98742927e-01 -1.30796866e-02 4.83889182e-02 6.67728645e+01] [ 1.45138191e-02 9.99462175e-01 -2.94059518e-02 -6.13383525e-01] [-4.79782728e-02 3.00712944e-02 9.98395614e-01 -2.60756104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.999072329 meters 0.1452520364381099 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.61, Z:-2.60 [[ 9.99222562e-01 -4.65144977e-03 3.91488987e-02 6.67637720e+01] [ 5.81236877e-03 9.99545145e-01 -2.95925560e-02 -6.11302609e-01] [-3.89934433e-02 2.97970974e-02 9.98795096e-01 -2.60406215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.059072329 meters 0.14616300413531808 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.62, Z:-2.60 [[ 9.99482484e-01 -3.22891648e-03 3.20052991e-02 6.67778313e+01] [ 3.78408176e-03 9.99843171e-01 -1.73006770e-02 -6.22504512e-01] [-3.19444173e-02 1.74128343e-02 9.99337955e-01 -2.59800685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.119072329 meters 0.16451536985364007 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.63, Z:-2.59 [[ 9.99880912e-01 2.75545249e-03 1.51844868e-02 6.67832933e+01] [-2.55553219e-03 9.99910009e-01 -1.31698006e-02 -6.27719960e-01] [-1.52194091e-02 1.31294278e-02 9.99797973e-01 -2.59096078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.179072329 meters 0.15594797735309032 Centerline is valid? [False, False] Translation: X:66.80, Y:-0.64, Z:-2.59 [[ 9.99920379e-01 8.71727127e-03 9.12389970e-03 6.68009541e+01] [-8.59928720e-03 9.99879922e-01 -1.28916366e-02 -6.41049332e-01] [-9.23518401e-03 1.28121511e-02 9.99875272e-01 -2.58883845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.239072329 meters 0.18583779975259937 Centerline is valid? [False, False] Translation: X:66.80, Y:-0.64, Z:-2.59 [[ 9.99865690e-01 8.70693958e-03 1.38849556e-02 6.67953157e+01] [-8.80127962e-03 9.99938500e-01 6.74783665e-03 -6.44322927e-01] [-1.38253486e-02 -6.86913572e-03 9.99880830e-01 -2.58596819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.299072329 meters 0.15402780825633128 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.65, Z:-2.58 [[ 9.99878260e-01 1.34457786e-02 7.91687717e-03 6.68118134e+01] [-1.34828138e-02 9.99898321e-01 4.64337014e-03 -6.54552356e-01] [-7.85363846e-03 -4.74954664e-03 9.99957880e-01 -2.58129152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.359072329 meters 0.17908935426136285 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.66, Z:-2.58 [[ 9.99921545e-01 1.11294182e-02 5.74803049e-03 6.68155970e+01] [-1.11445687e-02 9.99934490e-01 2.61050439e-03 -6.58056701e-01] [-5.71860054e-03 -2.67435890e-03 9.99980073e-01 -2.58048334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41907232900002 meters 0.18460443199940016 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.67, Z:-2.57 [[ 9.99964292e-01 8.23990575e-03 -1.87581124e-03 6.68310029e+01] [-8.22192276e-03 9.99922010e-01 9.40070796e-03 -6.65681847e-01] [ 1.95312589e-03 -9.38494950e-03 9.99954053e-01 -2.57354090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47907232900002 meters 0.1633366389210572 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.67, Z:-2.57 [[ 9.99978715e-01 5.16190417e-03 -3.99061931e-03 6.68337421e+01] [-5.13799042e-03 9.99968922e-01 5.97969554e-03 -6.65842635e-01] [ 4.02136191e-03 -5.95906450e-03 9.99974159e-01 -2.57079788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.539072329 meters 0.18330249115209765 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.67, Z:-2.57 [[ 9.99983245e-01 1.43866927e-03 -5.60715549e-03 6.68362055e+01] [-1.42667550e-03 9.99996687e-01 2.14242343e-03 -6.66248991e-01] [ 5.61021915e-03 -2.13438794e-03 9.99981985e-01 -2.56934833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.599072329 meters 0.18140965309251622 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.67, Z:-2.57 [[ 9.99971753e-01 2.33026796e-03 -7.14590928e-03 6.68386405e+01] [-2.30553838e-03 9.99991332e-01 3.46694930e-03 -6.69182767e-01] [ 7.15392626e-03 -3.45037620e-03 9.99968458e-01 -2.56848195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.659072329 meters 0.19654160833042955 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.67, Z:-2.57 [[ 9.99959208e-01 3.03301537e-03 -8.50781954e-03 6.68402857e+01] [-2.99552628e-03 9.99985764e-01 4.41571485e-03 -6.71353838e-01] [ 8.52109135e-03 -4.39004933e-03 9.99954058e-01 -2.56680676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.719072329 meters 0.19532745743297172 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.67, Z:-2.57 [[ 9.99944685e-01 7.10597455e-04 -1.04939103e-02 6.68437164e+01] [-6.87878226e-04 9.99997412e-01 2.16844245e-03 -6.74083593e-01] [ 1.04954240e-02 -2.16110397e-03 9.99942586e-01 -2.56558452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.779072329 meters 0.19909606928000428 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.68, Z:-2.56 [[ 9.99936357e-01 9.83312630e-04 -1.12389832e-02 6.68445569e+01] [-9.54708811e-04 9.99996293e-01 2.55013582e-03 -6.75141993e-01] [ 1.12414491e-02 -2.53924356e-03 9.99933589e-01 -2.56448435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.839072329 meters 0.1824599987460946 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.68, Z:-2.56 [[ 9.99920083e-01 1.79010533e-03 -1.25149039e-02 6.68464384e+01] [-1.74423449e-03 9.99991725e-01 3.67525164e-03 -6.77729842e-01] [ 1.25213794e-02 -3.65312900e-03 9.99914931e-01 -2.56351460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.899072329 meters 0.20385587513059725 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.68, Z:-2.56 [[ 9.99905845e-01 2.36172214e-03 -1.35175355e-02 6.68475144e+01] [-2.30128558e-03 9.99987295e-01 4.48478454e-03 -6.79773246e-01] [ 1.35279556e-02 -4.45325456e-03 9.99898576e-01 -2.56209590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.959072329 meters 0.18032634393590594 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.68, Z:-2.56 [[ 9.99896006e-01 2.57819536e-03 -1.41890514e-02 6.68482919e+01] [-2.51025025e-03 9.99985309e-01 4.80428717e-03 -6.80720028e-01] [ 1.42012293e-02 -4.76816948e-03 9.99887789e-01 -2.56112412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.019072329 meters 0.1876608780721539 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.68, Z:-2.56 [[ 9.99879137e-01 3.06509981e-03 -1.52419489e-02 6.68493156e+01] [-2.98503844e-03 9.99981644e-01 5.27267800e-03 -6.81629125e-01] [ 1.52578304e-02 -5.22654293e-03 9.99869932e-01 -2.55926403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.079072329 meters 0.18006356442497023 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.69, Z:-2.56 [[ 9.99874034e-01 1.29743939e-02 -9.14229650e-03 6.68514948e+01] [-1.29840812e-02 9.99915202e-01 -1.00106048e-03 -6.86247401e-01] [ 9.12853310e-03 1.11963870e-03 9.99957707e-01 -2.56232379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13907232900002 meters 0.168573227829833 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99825782e-01 9.42451252e-03 -1.61116009e-02 6.68658118e+01] [-9.35976144e-03 9.99947834e-01 4.08960478e-03 -6.89646923e-01] [ 1.61493029e-02 -3.93809156e-03 9.99861836e-01 -2.55490527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19907232900002 meters 0.16051902712543906 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99811097e-01 9.81565046e-03 -1.67756760e-02 6.68665216e+01] [-9.74136891e-03 9.99942409e-01 4.50392726e-03 -6.90534236e-01] [ 1.68189188e-02 -4.33965841e-03 9.99849134e-01 -2.55387329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.259072329 meters 0.170319268566495 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99791454e-01 1.02764562e-02 -1.76477595e-02 6.68678016e+01] [-1.01892562e-02 9.99935467e-01 5.02396566e-03 -6.91555441e-01] [ 1.76982492e-02 -4.84310039e-03 9.99831644e-01 -2.55310887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.319072329 meters 0.17507988469683194 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99801143e-01 6.63544853e-03 -1.88054465e-02 6.68692896e+01] [-6.61858276e-03 9.99977637e-01 9.58952480e-04 -6.90679758e-01] [ 1.88113890e-02 -8.34296382e-04 9.99822702e-01 -2.55161846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.379072329 meters 0.17948701591942592 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99793057e-01 6.75073802e-03 -1.91903979e-02 6.68696311e+01] [-6.73133116e-03 9.99976766e-01 1.07569473e-03 -6.90992919e-01] [ 1.91972137e-02 -9.46295202e-04 9.99815269e-01 -2.55088200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.439072329 meters 0.16692807874855795 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99779901e-01 7.01281760e-03 -1.97729792e-02 6.68703097e+01] [-6.99026981e-03 9.99974837e-01 1.20921983e-03 -6.90982513e-01] [ 1.97809617e-02 -1.07073522e-03 9.99803764e-01 -2.54997500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.499072329 meters 0.15442837056423986 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99769660e-01 7.22639180e-03 -2.02090420e-02 6.68708051e+01] [-7.19867350e-03 9.99973047e-01 1.44399061e-03 -6.91487105e-01] [ 2.02189322e-02 -1.29817971e-03 9.99794734e-01 -2.54937004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.559072329 meters 0.16707100738026845 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99762611e-01 7.26635821e-03 -2.05407088e-02 6.68711339e+01] [-7.23805149e-03 9.99972751e-01 1.45208921e-03 -6.91489410e-01] [ 2.05507004e-02 -1.30306980e-03 9.99787963e-01 -2.54876164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.619072329 meters 0.16159403735889252 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99753329e-01 7.33573741e-03 -2.09634839e-02 6.68715508e+01] [-7.30761364e-03 9.99972294e-01 1.41785159e-03 -6.91205287e-01] [ 2.09733041e-02 -1.26430881e-03 9.99779237e-01 -2.54794472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.679072329 meters 0.15682007780406354 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99747729e-01 7.48720465e-03 -2.11759291e-02 6.68716431e+01] [-7.45546132e-03 9.99970963e-01 1.57758008e-03 -6.91535917e-01] [ 2.11871259e-02 -1.41930578e-03 9.99774520e-01 -2.54736246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.739072329 meters 0.14448699676792776 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.70, Z:-2.55 [[ 9.99654061e-01 1.51816006e-02 -2.14773627e-02 6.68845210e+01] [-1.51979041e-02 9.99884328e-01 -5.96068968e-04 -6.96449000e-01] [ 2.14658291e-02 9.22273662e-04 9.99769157e-01 -2.54528319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.799072329 meters 0.14172150153041813 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.70, Z:-2.55 [[ 9.99700388e-01 1.96132735e-02 -1.46442057e-02 6.68951930e+01] [-1.94138282e-02 9.99718493e-01 1.36395688e-02 -7.03554008e-01] [ 1.49075998e-02 -1.33511821e-02 9.99799735e-01 -2.54629859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.859072329 meters 0.14711724413781604 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.70, Z:-2.55 [[ 9.99825784e-01 1.06354874e-02 -1.53390750e-02 6.68961267e+01] [-1.05766081e-02 9.99936404e-01 3.91455082e-03 -6.99833515e-01] [ 1.53797326e-02 -3.75163346e-03 9.99874687e-01 -2.54560587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91907232900002 meters 0.12462785065105596 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.70, Z:-2.55 [[ 9.99854597e-01 6.29945715e-03 -1.58461768e-02 6.68969173e+01] [-6.31435339e-03 9.99979668e-01 -8.90195471e-04 -6.97758535e-01] [ 1.58402469e-02 9.90124394e-04 9.99874045e-01 -2.54513808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97907232900002 meters 0.1270753354022027 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.70, Z:-2.54 [[ 9.99851376e-01 6.37367464e-03 -1.60188109e-02 6.68969909e+01] [-6.38664711e-03 9.99979317e-01 -7.58800862e-04 -6.98139265e-01] [ 1.60136432e-02 8.60994578e-04 9.99871403e-01 -2.54466715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.039072329 meters 0.12982392230331713 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.70, Z:-2.54 [[ 9.99850003e-01 6.40091704e-03 -1.60934771e-02 6.68971227e+01] [-6.41299586e-03 9.99979192e-01 -6.99045796e-04 -6.98305789e-01] [ 1.60886677e-02 8.02148343e-04 9.99870247e-01 -2.54464123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099072329 meters 0.12439584444495833 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.70, Z:-2.54 [[ 9.99846342e-01 6.37207237e-03 -1.63305927e-02 6.68974324e+01] [-6.38583979e-03 9.99979297e-01 -7.91037021e-04 -6.97950521e-01] [ 1.63252140e-02 8.95200020e-04 9.99866334e-01 -2.54430711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159072329 meters 0.11476338259247626 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.70, Z:-2.54 [[ 9.99842553e-01 6.41884943e-03 -1.65429269e-02 6.68975135e+01] [-6.43158983e-03 9.99979060e-01 -7.17054050e-04 -6.98153997e-01] [ 1.65379779e-02 8.23338472e-04 9.99862899e-01 -2.54371261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.219072329 meters 0.11594813087872376 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.70, Z:-2.54 [[ 9.99840217e-01 6.37330205e-03 -1.67009523e-02 6.68976026e+01] [-6.38795029e-03 9.99979257e-01 -8.23890018e-04 -6.97790276e-01] [ 1.66953550e-02 9.30443227e-04 9.99860190e-01 -2.54329587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.279072329 meters 0.11357251579413757 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.70, Z:-2.55 [[ 9.99913184e-01 8.04577759e-03 -1.04350541e-02 6.69095985e+01] [-7.93559891e-03 9.99912781e-01 1.05572888e-02 -7.01832707e-01] [ 1.05190856e-02 -1.04735639e-02 9.99889821e-01 -2.54523451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.339072329 meters 0.11356753211695414 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.70, Z:-2.55 [[ 9.99937611e-01 3.32909502e-03 -1.06625720e-02 6.69099997e+01] [-3.27236054e-03 9.99980420e-01 5.33393473e-03 -6.99076394e-01] [ 1.06801205e-02 -5.29871018e-03 9.99928927e-01 -2.54508653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.399072329 meters 0.10479725949362753 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.70, Z:-2.54 [[ 9.99940067e-01 -1.21213024e-03 -1.08808652e-02 6.69103238e+01] [ 1.21552685e-03 9.99999215e-01 3.05555771e-04 -6.96699905e-01] [ 1.08804863e-02 -3.18763441e-04 9.99940755e-01 -2.54471447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.459072329 meters 0.11005547201575147 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.70, Z:-2.54 [[ 9.99937401e-01 -1.34584343e-03 -1.11077697e-02 6.69106613e+01] [ 1.34606746e-03 9.99999094e-01 1.26923483e-05 -6.95783227e-01] [ 1.11077425e-02 -2.76433611e-05 9.99938307e-01 -2.54449311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.519072329 meters 0.09683322301283862 Centerline is valid? [False, True] Translation: X:66.91, Y:-0.70, Z:-2.54 [[ 9.99935801e-01 -1.40403227e-03 -1.12437859e-02 6.69109729e+01] [ 1.40290811e-03 9.99999010e-01 -1.07867782e-04 -6.95394533e-01] [ 1.12439262e-02 9.20868586e-05 9.99936781e-01 -2.54454735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.579072329 meters 0.0887241319651735 Centerline is valid? [True, True] Translation: X:66.97, Y:-0.70, Z:-2.54 [[ 9.99923576e-01 4.72675221e-03 -1.14236311e-02 6.69716171e+01] [-4.70963340e-03 9.99987747e-01 1.52498108e-03 -6.95069934e-01] [ 1.14306993e-02 -1.47106342e-03 9.99933585e-01 -2.54389284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63907232900002 meters 0.09330357118073286 Centerline is valid? [True, True] Translation: X:67.03, Y:-0.71, Z:-2.54 [[ 9.99889911e-01 1.14202985e-02 -9.47329281e-03 6.70291330e+01] [-1.14088226e-02 9.99934118e-01 1.26454771e-03 -7.10292575e-01] [ 9.48711020e-03 -1.15632938e-03 9.99954328e-01 -2.54181533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69907232900002 meters 0.09490824942666339 Centerline is valid? [True, True] Translation: X:67.09, Y:-0.72, Z:-2.54 [[ 9.99842413e-01 1.54240086e-02 -8.78919465e-03 6.70879290e+01] [-1.54142844e-02 9.99880505e-01 1.17305580e-03 -7.21117055e-01] [ 8.80623760e-03 -1.03739179e-03 9.99960686e-01 -2.54067826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.759072329 meters 0.08373215721830113 Centerline is valid? [True, True] Translation: X:67.15, Y:-0.72, Z:-2.54 [[ 9.99740624e-01 2.05395546e-02 -9.83925107e-03 6.71493331e+01] [-2.05276123e-02 9.99788424e-01 1.31320072e-03 -7.15964833e-01] [ 9.86414187e-03 -1.11088378e-03 9.99950731e-01 -2.54052591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.819072329 meters 0.07831436181260025 Centerline is valid? [True, True] Translation: X:67.21, Y:-0.72, Z:-2.54 [[ 9.99621533e-01 2.55563253e-02 -1.01815644e-02 6.72102412e+01] [-2.55437950e-02 9.99672780e-01 1.35884746e-03 -7.18370666e-01] [ 1.02129599e-02 -1.09825739e-03 9.99947243e-01 -2.54069153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.879072329 meters 0.07509664631045991 Centerline is valid? [True, True] Translation: X:67.27, Y:-0.72, Z:-2.54 [[ 9.99535315e-01 2.86108822e-02 -1.05153143e-02 6.72706456e+01] [-2.85976832e-02 9.99590017e-01 1.40347749e-03 -7.23262813e-01] [ 1.05511580e-02 -1.10211168e-03 9.99943728e-01 -2.54031278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.939072329 meters 0.0750168097779845 Centerline is valid? [True, True] Translation: X:67.33, Y:-0.73, Z:-2.54 [[ 9.99381241e-01 3.36145074e-02 -1.03537357e-02 6.73307398e+01] [-3.36019761e-02 9.99434339e-01 1.38195405e-03 -7.33041315e-01] [ 1.03943327e-02 -1.03319297e-03 9.99945444e-01 -2.53893920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.999072329 meters 0.06968797145820958 Centerline is valid? [True, True] Translation: X:67.39, Y:-0.74, Z:-2.54 [[ 9.99231851e-01 3.78410765e-02 -1.01863518e-02 6.73915759e+01] [-3.78291629e-02 9.99283296e-01 1.35977953e-03 -7.36318688e-01] [ 1.02305067e-02 -9.73393855e-04 9.99947193e-01 -2.53732419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.059072329 meters 0.07338484629500261 Centerline is valid? [True, True] Translation: X:67.45, Y:-0.75, Z:-2.54 [[ 9.99122417e-01 4.05503848e-02 -1.04910203e-02 6.74499071e+01] [-4.05378974e-02 9.99177020e-01 1.40031033e-03 -7.50324789e-01] [ 1.05391695e-02 -9.73797536e-04 9.99943987e-01 -2.53894938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.119072329 meters 0.07346628995629885 Centerline is valid? [True, True] Translation: X:67.51, Y:-0.76, Z:-2.54 [[ 9.98952553e-01 4.45868244e-02 -1.02864978e-02 6.75087783e+01] [-4.45750332e-02 9.99005096e-01 1.37282609e-03 -7.60024985e-01] [ 1.03374737e-02 -9.12867149e-04 9.99946150e-01 -2.53886451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.179072329 meters 0.07137065386057126 Centerline is valid? [True, True] Translation: X:67.57, Y:-0.77, Z:-2.54 [[ 9.98814367e-01 4.76174754e-02 -1.01210764e-02 6.75687226e+01] [-4.76062147e-02 9.98865268e-01 1.35076472e-03 -7.66629792e-01] [ 1.01739117e-02 -8.67337076e-04 9.99947868e-01 -2.53851370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.239072329 meters 0.06078913741436043 Centerline is valid? [True, True] Translation: X:67.63, Y:-0.76, Z:-2.54 [[ 9.98612681e-01 5.16705345e-02 -1.01424712e-02 6.76307325e+01] [-5.16594318e-02 9.98663843e-01 1.35379504e-03 -7.62973021e-01] [ 1.01988706e-02 -8.27962595e-04 9.99947647e-01 -2.53642380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.299072329 meters 0.06683056818899288 Centerline is valid? [True, True] Translation: X:67.69, Y:-0.78, Z:-2.54 [[ 9.98430470e-01 5.48888516e-02 -1.11270453e-02 6.76885193e+01] [-5.48756885e-02 9.98492090e-01 1.48509153e-03 -7.80336100e-01] [ 1.11917817e-02 -8.72156363e-04 9.99936990e-01 -2.53886863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.359072329 meters 0.05739650689265621 Centerline is valid? [True, True] Translation: X:67.75, Y:-0.78, Z:-2.54 [[ 9.98288962e-01 5.74544908e-02 -1.08687944e-02 6.77499965e+01] [-5.74420806e-02 9.98347786e-01 1.45082010e-03 -7.78733461e-01] [ 1.09341930e-02 -8.24011527e-04 9.99939880e-01 -2.53516835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41907232900002 meters 0.05647718690333361 Centerline is valid? [True, True] Translation: X:67.81, Y:-0.79, Z:-2.54 [[ 9.98168296e-01 5.95268326e-02 -1.07985545e-02 6.78108890e+01] [-5.95146967e-02 9.98226388e-01 1.44202125e-03 -7.87577087e-01] [ 1.08652410e-02 -7.96707195e-04 9.99940654e-01 -2.53525234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47907232900002 meters 0.060244507003630286 Centerline is valid? [True, True] Translation: X:67.87, Y:-0.80, Z:-2.54 [[ 9.97986377e-01 6.24448263e-02 -1.11281579e-02 6.78693986e+01] [-6.24321186e-02 9.98048106e-01 1.48602891e-03 -8.02038499e-01] [ 1.11992317e-02 -7.88282132e-04 9.99936976e-01 -2.53644180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.539072329 meters 0.053278033006701024 Centerline is valid? [True, True] Translation: X:67.93, Y:-0.80, Z:-2.54 [[ 9.97866272e-01 6.43127586e-02 -1.12593356e-02 6.79311170e+01] [-6.42998632e-02 9.97929489e-01 1.50395273e-03 -8.03486974e-01] [ 1.13327464e-02 -7.76769965e-04 9.99935481e-01 -2.53514086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.599072329 meters 0.055356053176364536 Centerline is valid? [True, True] Translation: X:67.99, Y:-0.82, Z:-2.53 [[ 9.97728778e-01 6.65219175e-02 -1.05886618e-02 6.79893560e+01] [-6.65106386e-02 9.97784714e-01 1.41417738e-03 -8.17857147e-01] [ 1.06592786e-02 -7.06706813e-04 9.99942939e-01 -2.53389305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.659072329 meters 0.05366635920769961 Centerline is valid? [True, True] Translation: X:68.05, Y:-0.83, Z:-2.53 [[ 9.97597254e-01 6.83537265e-02 -1.12910388e-02 6.80506939e+01] [-6.83410116e-02 9.97660879e-01 1.50857441e-03 -8.26250978e-01] [ 1.13677444e-02 -7.33308676e-04 9.99935116e-01 -2.53376660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.719072329 meters 0.054438425373251886 Centerline is valid? [True, True] Translation: X:68.11, Y:-0.84, Z:-2.54 [[ 9.97479362e-01 6.98984996e-02 -1.22115901e-02 6.81106533e+01] [-6.98837089e-02 9.97553806e-01 1.63426108e-03 -8.37821205e-01] [ 1.22959505e-02 -7.76750498e-04 9.99924100e-01 -2.53525156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.779072329 meters 0.055038761385368645 Centerline is valid? [True, True] Translation: X:68.17, Y:-0.85, Z:-2.54 [[ 9.97431563e-01 7.06374000e-02 -1.18589615e-02 6.81714168e+01] [-7.06234701e-02 9.97501778e-01 1.58984779e-03 -8.49361828e-01] [ 1.19416379e-02 -7.48243348e-04 9.99928416e-01 -2.53555679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.839072329 meters 0.05467050963019599 Centerline is valid? [True, True] Translation: X:68.23, Y:-0.86, Z:-2.53 [[ 9.97370550e-01 7.16681024e-02 -1.07549357e-02 6.82331403e+01] [-7.16566957e-02 9.97428311e-01 1.44271602e-03 -8.60682374e-01] [ 1.08306741e-02 -6.68259318e-04 9.99941123e-01 -2.53389042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.899072329 meters 0.05596287664824618 Centerline is valid? [True, True] Translation: X:68.29, Y:-0.87, Z:-2.53 [[ 9.97294218e-01 7.28051000e-02 -1.01813556e-02 6.82937159e+01] [-7.27949127e-02 9.97345993e-01 1.36811325e-03 -8.73188810e-01] [ 1.02539398e-02 -6.23260540e-04 9.99947233e-01 -2.53296739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.959072329 meters 0.05619148560914916 Centerline is valid? [True, True] Translation: X:68.35, Y:-0.89, Z:-2.53 [[ 9.97229838e-01 7.35661377e-02 -1.09851205e-02 6.83547765e+01] [-7.35542967e-02 9.97290118e-01 1.47861008e-03 -8.85449929e-01] [ 1.10641278e-02 -6.66511282e-04 9.99938569e-01 -2.53381382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.019072329 meters 0.05805081258510693 Centerline is valid? [True, True] Translation: X:68.41, Y:-0.90, Z:-2.53 [[ 9.97159732e-01 7.44907358e-02 -1.11174733e-02 6.84142404e+01] [-7.44786492e-02 9.97221484e-01 1.49783500e-03 -9.00082674e-01] [ 1.11981581e-02 -6.65566357e-04 9.99937077e-01 -2.53445234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.079072329 meters 0.05783228165907309 Centerline is valid? [True, True] Translation: X:68.48, Y:-0.91, Z:-2.53 [[ 9.97136383e-01 7.48170444e-02 -1.10201338e-02 6.84752687e+01] [-7.48051612e-02 9.97197060e-01 1.48717495e-03 -9.10798280e-01] [ 1.11005111e-02 -6.58553368e-04 9.99938171e-01 -2.53345790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13907232900002 meters 0.05878731620482637 Centerline is valid? [True, True] Translation: X:68.54, Y:-0.92, Z:-2.53 [[ 9.97087107e-01 7.55761026e-02 -1.02739723e-02 6.85357317e+01] [-7.55657911e-02 9.97139851e-01 1.38871707e-03 -9.24422969e-01] [ 1.03495410e-02 -6.08311040e-04 9.99946257e-01 -2.53227830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19907232900002 meters 0.05925939646819091 Centerline is valid? [True, True] Translation: X:68.60, Y:-0.94, Z:-2.53 [[ 9.97053839e-01 7.60339393e-02 -1.01233024e-02 6.85973315e+01] [-7.60239438e-02 9.97105052e-01 1.36911541e-03 -9.36212441e-01] [ 1.01980952e-02 -5.95468405e-04 9.99947821e-01 -2.53173963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.259072329 meters 0.047200258054581445 Centerline is valid? [True, True] Translation: X:68.66, Y:-0.93, Z:-2.53 [[ 9.97009889e-01 7.66959534e-02 -9.43457376e-03 6.86607221e+01] [-7.66872790e-02 9.97054375e-01 1.27830855e-03 -9.32753403e-01] [ 9.50482414e-03 -5.50974478e-04 9.99954676e-01 -2.52860671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.319072329 meters 0.04678518452441381 Centerline is valid? [True, True] Translation: X:68.72, Y:-0.94, Z:-2.53 [[ 9.96923967e-01 7.77838906e-02 -9.60575428e-03 6.87222199e+01] [-7.77749261e-02 9.96970090e-01 1.30385570e-03 -9.44199007e-01] [ 9.67806868e-03 -5.52758163e-04 9.99953014e-01 -2.52766781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.379072329 meters 0.044041821516962884 Centerline is valid? [True, True] Translation: X:68.78, Y:-0.95, Z:-2.53 [[ 9.96837075e-01 7.89591109e-02 -9.01686013e-03 6.87842475e+01] [-7.89512392e-02 9.96877725e-01 1.22619603e-03 -9.51075699e-01] [ 9.08552636e-03 -5.10425379e-04 9.99958595e-01 -2.52637446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.439072329 meters 0.04337713726511782 Centerline is valid? [True, True] Translation: X:68.85, Y:-0.96, Z:-2.53 [[ 9.96688898e-01 8.07822459e-02 -9.24494211e-03 6.88450955e+01] [-8.07740447e-02 9.96731645e-01 1.25768643e-03 -9.61341191e-01] [ 9.31632509e-03 -5.06770737e-04 9.99956474e-01 -2.52747958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.499072329 meters 0.041668759933910005 Centerline is valid? [True, True] Translation: X:68.91, Y:-0.97, Z:-2.53 [[ 9.96550632e-01 8.24553971e-02 -9.37791753e-03 6.89062636e+01] [-8.24470273e-02 9.96594631e-01 1.27628642e-03 -9.70517823e-01] [ 9.45121897e-03 -4.98702617e-04 9.99955212e-01 -2.52758369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.559072329 meters 0.04120391565541675 Centerline is valid? [True, True] Translation: X:68.97, Y:-0.98, Z:-2.53 [[ 9.96435010e-01 8.39468564e-02 -8.37830013e-03 6.89674920e+01] [-8.39402104e-02 9.96470138e-01 1.14237551e-03 -9.80970343e-01] [ 8.44462472e-03 -4.35026681e-04 9.99964249e-01 -2.52533624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.619072329 meters 0.04221754761105375 Centerline is valid? [True, True] Translation: X:69.03, Y:-0.99, Z:-2.53 [[ 9.96303348e-01 8.55379080e-02 -7.93123632e-03 6.90276429e+01] [-8.55319881e-02 9.96334836e-01 1.08324687e-03 -9.94011852e-01] [ 7.99482571e-03 -4.00868072e-04 9.99967961e-01 -2.52544544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.679072329 meters 0.03902755542287464 Centerline is valid? [True, True] Translation: X:69.09, Y:-1.00, Z:-2.53 [[ 9.96209197e-01 8.65029424e-02 -9.19112027e-03 6.90898629e+01] [-8.64950256e-02 9.96251491e-01 1.25613150e-03 -1.00113415e+00] [ 9.26532634e-03 -4.56383570e-04 9.99956972e-01 -2.52615148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.739072329 meters 0.03868149274717217 Centerline is valid? [True, True] Translation: X:69.15, Y:-1.01, Z:-2.53 [[ 9.96154432e-01 8.71695519e-02 -8.82139058e-03 6.91510290e+01] [-8.71622653e-02 9.96193395e-01 1.20786447e-03 -1.01155456e+00] [ 8.89310003e-03 -4.34327158e-04 9.99960361e-01 -2.52560833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.799072329 meters 0.04320576068298502 Centerline is valid? [True, True] Translation: X:69.21, Y:-1.03, Z:-2.52 [[ 9.96107021e-01 8.78743474e-02 -6.99295813e-03 6.92102470e+01] [-8.78697742e-02 9.96131509e-01 9.59135036e-04 -1.02964600e+00] [ 7.05018930e-03 -3.40931491e-04 9.99975089e-01 -2.52385213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.859072329 meters 0.038517493961725977 Centerline is valid? [True, True] Translation: X:69.27, Y:-1.04, Z:-2.52 [[ 9.96060432e-01 8.84073151e-02 -6.91107121e-03 6.92719266e+01] [-8.84028490e-02 9.96084351e-01 9.49657203e-04 -1.03569795e+00] [ 6.96796652e-03 -3.34957579e-04 9.99975667e-01 -2.52273908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91907232900002 meters 0.03793808867159281 Centerline is valid? [True, True] Translation: X:69.33, Y:-1.05, Z:-2.52 [[ 9.96063668e-01 8.83373196e-02 -7.32720657e-03 6.93335980e+01] [-8.83322837e-02 9.96090553e-01 1.00871662e-03 -1.04570808e+00] [ 7.38766857e-03 -3.57517087e-04 9.99972647e-01 -2.52391755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97907232900002 meters 0.03991611243817325 Centerline is valid? [True, True] Translation: X:69.39, Y:-1.06, Z:-2.53 [[ 9.96002920e-01 8.89723424e-02 -7.88073739e-03 6.93936380e+01] [-8.89665220e-02 9.96034024e-01 1.08676750e-03 -1.06072353e+00] [ 7.94617482e-03 -3.81301810e-04 9.99968356e-01 -2.52506776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.039072329 meters 0.04164690128661792 Centerline is valid? [True, True] Translation: X:69.45, Y:-1.08, Z:-2.52 [[ 9.96060693e-01 8.84146126e-02 -6.77882637e-03 6.94533401e+01] [-8.84102871e-02 9.96083704e-01 9.35709300e-04 -1.07570226e+00] [ 6.83500886e-03 -3.32705268e-04 9.99976586e-01 -2.52341757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099072329 meters 0.03914759332355558 Centerline is valid? [True, True] Translation: X:69.51, Y:-1.08, Z:-2.52 [[ 9.96072624e-01 8.83081748e-02 -6.40260981e-03 6.95147805e+01] [-8.83043033e-02 9.96093151e-01 8.85413654e-04 -1.08394296e+00] [ 6.45578504e-03 -3.16558303e-04 9.99979111e-01 -2.52226305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159072329 meters 0.04009402182274282 Centerline is valid? [True, True] Translation: X:69.58, Y:-1.10, Z:-2.52 [[ 9.96138598e-01 8.76083017e-02 -5.71654176e-03 6.95752555e+01] [-8.76051996e-02 9.96154959e-01 7.91301514e-04 -1.09729190e+00] [ 5.76388601e-03 -2.87447198e-04 9.99983347e-01 -2.52260296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219072329 meters 0.04784866418826528 Centerline is valid? [True, True] Translation: X:69.63, Y:-1.12, Z:-2.52 [[ 9.96196595e-01 8.68940100e-02 -6.46339419e-03 6.96337708e+01] [-8.68900195e-02 9.96217507e-01 8.96188620e-04 -1.12007319e+00] [ 6.51681987e-03 -3.31175604e-04 9.99978710e-01 -2.52467342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279072329 meters 0.04256148687210417 Centerline is valid? [True, True] Translation: X:69.70, Y:-1.12, Z:-2.52 [[ 9.96278772e-01 8.59862076e-02 -5.91437235e-03 6.96954695e+01] [-8.59828458e-02 9.96296279e-01 8.20829648e-04 -1.12442643e+00] [ 5.96304719e-03 -3.09240588e-04 9.99982173e-01 -2.52273321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.339072329 meters 0.041460506537453944 Centerline is valid? [True, True] Translation: X:69.76, Y:-1.14, Z:-2.52 [[ 9.96388678e-01 8.47907803e-02 -4.48630071e-03 6.97560530e+01] [-8.47888289e-02 9.96398748e-01 6.23719716e-04 -1.13588307e+00] [ 4.52303010e-03 -2.41079079e-04 9.99989742e-01 -2.52060096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.399072329 meters 0.04147265876932166 Centerline is valid? [True, True] Translation: X:69.82, Y:-1.15, Z:-2.52 [[ 9.96481371e-01 8.36882202e-02 -4.59995014e-03 6.98174096e+01] [-8.36861516e-02 9.96491956e-01 6.40708657e-04 -1.14766181e+00] [ 4.63743308e-03 -2.53502116e-04 9.99989215e-01 -2.51996059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.459072329 meters 0.04430058902066697 Centerline is valid? [True, True] Translation: X:69.88, Y:-1.17, Z:-2.52 [[ 9.96666353e-01 8.14815480e-02 -4.11562355e-03 6.98767471e+01] [-8.14798727e-02 9.96674822e-01 5.73373353e-04 -1.16531289e+00] [ 4.14865771e-03 -2.36121446e-04 9.99991366e-01 -2.51979344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.519072329 meters 0.05033181199121101 Centerline is valid? [True, True] Translation: X:69.93, Y:-1.19, Z:-2.52 [[ 9.96875865e-01 7.88819116e-02 -4.01930052e-03 6.99347029e+01] [-7.88802925e-02 9.96883938e-01 5.60023658e-04 -1.18597796e+00] [ 4.05095187e-03 -2.41230467e-04 9.99991766e-01 -2.51936966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.579072329 meters 0.046807345153208564 Centerline is valid? [True, True] Translation: X:70.00, Y:-1.19, Z:-2.52 [[ 9.96985468e-01 7.74252965e-02 -5.02994070e-03 6.99964435e+01] [-7.74227404e-02 9.96998108e-01 7.01215498e-04 -1.19303090e+00] [ 5.06913318e-03 -3.09669869e-04 9.99987104e-01 -2.51988041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63907232900002 meters 0.05022920192226818 Centerline is valid? [True, True] Translation: X:70.06, Y:-1.21, Z:-2.52 [[ 9.97165327e-01 7.50521826e-02 -5.33669696e-03 7.00559677e+01] [-7.50492704e-02 9.97179549e-01 7.44165800e-04 -1.21132683e+00] [ 5.37749634e-03 -3.41541121e-04 9.99985483e-01 -2.52065771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69907232900002 meters 0.05119103260043474 Centerline is valid? [True, True] Translation: X:70.12, Y:-1.22, Z:-2.52 [[ 9.97312525e-01 7.31248591e-02 -4.52582054e-03 7.01158763e+01] [-7.31227441e-02 9.97322749e-01 6.31259635e-04 -1.22419069e+00] [ 4.55986456e-03 -2.98622723e-04 9.99989559e-01 -2.52033144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.759072329 meters 0.05287436862799233 Centerline is valid? [True, True] Translation: X:70.18, Y:-1.24, Z:-2.52 [[ 9.97421552e-01 7.16368466e-02 -4.29072280e-03 7.01769511e+01] [-7.16349306e-02 9.97430739e-01 5.98782548e-04 -1.23832892e+00] [ 4.32259371e-03 -2.89872988e-04 9.99990616e-01 -2.52008860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.819072329 meters 0.05741599682448907 Centerline is valid? [True, True] Translation: X:70.23, Y:-1.26, Z:-2.52 [[ 9.97593821e-01 6.91809574e-02 -4.53468928e-03 7.02344947e+01] [-6.91787904e-02 9.97604077e-01 6.33181426e-04 -1.25803352e+00] [ 4.56762861e-03 -3.17953558e-04 9.99989518e-01 -2.52141113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879072329 meters 0.05762132097666408 Centerline is valid? [True, True] Translation: X:70.29, Y:-1.27, Z:-2.52 [[ 9.97685976e-01 6.78454505e-02 -4.43704824e-03 7.02949318e+01] [-6.78433581e-02 9.97695792e-01 6.20585322e-04 -1.27039281e+00] [ 4.46892825e-03 -3.18125021e-04 9.99989964e-01 -2.52139086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939072329 meters 0.0537306322041444 Centerline is valid? [True, True] Translation: X:70.36, Y:-1.28, Z:-2.52 [[ 9.97758389e-01 6.67982670e-02 -4.02356667e-03 7.03561221e+01] [-6.67965339e-02 9.97766458e-01 5.63720263e-04 -1.27865316e+00] [ 4.05223540e-03 -2.93696314e-04 9.99991747e-01 -2.52100933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999072329 meters 0.06246600623418456 Centerline is valid? [True, True] Translation: X:70.41, Y:-1.30, Z:-2.52 [[ 9.97822251e-01 6.58748116e-02 -3.35642269e-03 7.04137987e+01] [-6.58736001e-02 9.97827865e-01 4.70351041e-04 -1.30365757e+00] [ 3.38011638e-03 -2.48227088e-04 9.99994257e-01 -2.52030062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.059072329 meters 0.06282887757469861 Centerline is valid? [True, True] Translation: X:70.47, Y:-1.32, Z:-2.52 [[ 9.97853850e-01 6.54177429e-02 -2.86594527e-03 7.04745933e+01] [-6.54168557e-02 9.97857942e-01 4.02329610e-04 -1.31641666e+00] [ 2.88612575e-03 -2.13985022e-04 9.99995812e-01 -2.51915292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.119072329 meters 0.05869262950626621 Centerline is valid? [True, True] Translation: X:70.54, Y:-1.32, Z:-2.52 [[ 9.97901846e-01 6.46899069e-02 -2.66860217e-03 7.05365155e+01] [-6.46891332e-02 9.97905394e-01 3.75291133e-04 -1.32450483e+00] [ 2.68729004e-03 -2.01874153e-04 9.99996369e-01 -2.51907042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.179072329 meters 0.06089248163893841 Centerline is valid? [True, True] Translation: X:70.60, Y:-1.34, Z:-2.52 [[ 9.97930007e-01 6.42073556e-02 -3.62159059e-03 7.05964779e+01] [-6.42059246e-02 9.97936541e-01 5.10131242e-04 -1.34031951e+00] [ 3.64687176e-03 -2.76547701e-04 9.99993312e-01 -2.52038387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.239072329 meters 0.06096574925086385 Centerline is valid? [True, True] Translation: X:70.66, Y:-1.35, Z:-2.52 [[ 9.97956930e-01 6.38068319e-02 -3.26405761e-03 7.06574552e+01] [-6.38056647e-02 9.97962236e-01 4.60586108e-04 -1.35255583e+00] [ 3.28679477e-03 -2.51379733e-04 9.99994567e-01 -2.52010830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.299072329 meters 0.06171138479262345 Centerline is valid? [True, True] Translation: X:70.72, Y:-1.37, Z:-2.52 [[ 9.98022865e-01 6.28102836e-02 -2.28682869e-03 7.07181119e+01] [-6.28097077e-02 9.98025469e-01 3.22839709e-04 -1.36811997e+00] [ 2.30259093e-03 -1.78566369e-04 9.99997333e-01 -2.51797835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.359072329 meters 0.06195050136730357 Centerline is valid? [True, True] Translation: X:70.78, Y:-1.38, Z:-2.52 [[ 9.98050449e-01 6.23848736e-02 -1.85181284e-03 7.07786710e+01] [-6.23844944e-02 9.98052156e-01 2.61911415e-04 -1.38222814e+00] [ 1.86454510e-03 -1.45876398e-04 9.99998251e-01 -2.51733186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41907232900002 meters 0.06277499187091201 Centerline is valid? [True, True] Translation: X:70.84, Y:-1.40, Z:-2.52 [[ 9.98023973e-01 6.27946850e-02 -2.23093196e-03 7.08396398e+01] [-6.27941344e-02 9.98026451e-01 3.16076368e-04 -1.39725139e+00] [ 2.24637702e-03 -1.75362351e-04 9.99997462e-01 -2.51793461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47907232900002 meters 0.06412282764697368 Centerline is valid? [True, True] Translation: X:70.90, Y:-1.41, Z:-2.52 [[ 9.98004293e-01 6.31049620e-02 -2.27921387e-03 7.09008682e+01] [-6.31043866e-02 9.98006880e-01 3.23555440e-04 -1.41219833e+00] [ 2.29508908e-03 -1.79081325e-04 9.99997350e-01 -2.51838343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.539072329 meters 0.06299671837627466 Centerline is valid? [True, True] Translation: X:70.96, Y:-1.42, Z:-2.52 [[ 9.98029251e-01 6.27247450e-02 -1.79463392e-03 7.09615115e+01] [-6.27243872e-02 9.98030854e-01 2.54990803e-04 -1.42386171e+00] [ 1.80709426e-03 -1.41920967e-04 9.99998357e-01 -2.51909676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.599072329 meters 0.06609674572342827 Centerline is valid? [True, True] Translation: X:71.02, Y:-1.44, Z:-2.52 [[ 9.97981111e-01 6.34763877e-02 -2.10973782e-03 7.10214639e+01] [-6.34758938e-02 9.97983327e-01 3.00287196e-04 -1.43972632e+00] [ 2.12454431e-03 -1.65763456e-04 9.99997729e-01 -2.51906735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.659072329 meters 0.06435369799501356 Centerline is valid? [True, True] Translation: X:71.08, Y:-1.45, Z:-2.52 [[ 9.97932179e-01 6.42422212e-02 -2.07453933e-03 7.10830200e+01] [-6.42417448e-02 9.97934322e-01 2.95537679e-04 -1.45198308e+00] [ 2.08924000e-03 -1.61654534e-04 9.99997804e-01 -2.51884532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719072329 meters 0.06414997552946146 Centerline is valid? [True, True] Translation: X:71.14, Y:-1.47, Z:-2.52 [[ 9.97908350e-01 6.46035393e-02 -2.30371207e-03 7.11442240e+01] [-6.46029513e-02 9.97910993e-01 3.28842090e-04 -1.46525531e+00] [ 2.32014396e-03 -1.79327668e-04 9.99997292e-01 -2.51895901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.779072329 meters 0.060302121019160514 Centerline is valid? [True, True] Translation: X:71.21, Y:-1.47, Z:-2.52 [[ 9.97830510e-01 6.58264782e-02 -1.07156323e-03 7.12054886e+01] [-6.58263516e-02 9.97831082e-01 1.53007278e-04 -1.47446528e+00] [ 1.07931103e-03 -8.21382324e-05 9.99999414e-01 -2.51874785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.839072329 meters 0.07039586542886071 Centerline is valid? [True, True] Translation: X:71.26, Y:-1.50, Z:-2.52 [[ 9.97750407e-01 6.70327786e-02 -8.55498090e-04 7.12627032e+01] [-6.70326983e-02 9.97750772e-01 1.22250703e-04 -1.49980378e+00] [ 8.61768684e-04 -6.46293434e-05 9.99999627e-01 -2.51845946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.899072329 meters 0.05503032130727589 Centerline is valid? [True, True] Translation: X:71.32, Y:-1.49, Z:-2.52 [[ 9.97597688e-01 6.92723995e-02 -4.34123120e-04 7.13249342e+01] [-6.92723790e-02 9.97597782e-01 6.20295374e-05 -1.49287522e+00] [ 4.37377196e-04 -3.18077818e-05 9.99999904e-01 -2.51781489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.959072329 meters 0.05738508049984467 Centerline is valid? [True, True] Translation: X:71.38, Y:-1.51, Z:-2.52 [[ 9.97509768e-01 7.05281425e-02 2.08877683e-04 7.13843737e+01] [-7.05281378e-02 9.97509790e-01 -2.98644652e-05 -1.50762517e+00] [-2.10463819e-04 1.50583417e-05 9.99999978e-01 -2.51765109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.019072329 meters 0.05587246576721211 Centerline is valid? [True, True] Translation: X:71.44, Y:-1.52, Z:-2.52 [[ 9.97375481e-01 7.24019793e-02 -3.20157484e-04 7.14443741e+01] [-7.24019682e-02 9.97375533e-01 4.58376659e-05 -1.51954716e+00] [ 3.22635979e-04 -2.25373321e-05 9.99999948e-01 -2.51714423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.079072329 meters 0.0546536031798163 Centerline is valid? [True, True] Translation: X:71.50, Y:-1.53, Z:-2.52 [[ 9.97213920e-01 7.45828292e-02 -1.34154915e-03 7.15046553e+01] [-7.45826380e-02 9.97214818e-01 1.92106252e-04 -1.53099709e+00] [ 1.35214052e-03 -9.15147542e-05 9.99999082e-01 -2.51921372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13907232900002 meters 0.050996208099403105 Centerline is valid? [True, True] Translation: X:71.57, Y:-1.54, Z:-2.52 [[ 9.97080336e-01 7.63571852e-02 -6.19495015e-04 7.15653830e+01] [-7.63571447e-02 9.97080528e-01 8.87355984e-05 -1.53986757e+00] [ 6.24462017e-04 -4.11736497e-05 9.99999804e-01 -2.51863217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19907232900002 meters 0.05334109022451939 Centerline is valid? [True, True] Translation: X:71.62, Y:-1.55, Z:-2.52 [[ 9.96955372e-01 7.79742640e-02 -2.73737902e-05 7.16241544e+01] [-7.79742640e-02 9.96955372e-01 3.92360220e-06 -1.55490010e+00] [ 2.75963872e-05 -1.77720515e-06 1.00000000e+00 -2.51761382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.259072329 meters 0.04958191366235313 Centerline is valid? [True, True] Translation: X:71.69, Y:-1.56, Z:-2.52 [[ 9.96769178e-01 8.03144023e-02 8.96386091e-04 7.16853900e+01] [-8.03143191e-02 9.96769579e-01 -1.28448666e-04 -1.56266696e+00] [-9.03806665e-04 5.60410325e-05 9.99999590e-01 -2.51677132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319072329 meters 0.047646873292126656 Centerline is valid? [True, True] Translation: X:71.75, Y:-1.57, Z:-2.52 [[ 9.96623777e-01 8.21019524e-02 5.61897857e-04 7.17464178e+01] [-8.21019200e-02 9.96623935e-01 -8.05462590e-05 -1.57194270e+00] [-5.66613859e-04 3.41414239e-05 9.99999839e-01 -2.51700002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379072329 meters 0.04831982638646503 Centerline is valid? [True, True] Translation: X:71.81, Y:-1.59, Z:-2.52 [[ 9.96511637e-01 8.34538674e-02 -1.00305069e-04 7.18065352e+01] [-8.34538664e-02 9.96511642e-01 1.44377740e-05 -1.58696775e+00] [ 1.01160057e-04 -6.01656398e-06 9.99999995e-01 -2.51866769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.439072329 meters 0.048146404696036434 Centerline is valid? [True, True] Translation: X:71.87, Y:-1.60, Z:-2.52 [[ 9.96380616e-01 8.50005788e-02 -7.55366486e-04 7.18663272e+01] [-8.50005209e-02 9.96380901e-01 1.08512611e-04 -1.59965088e+00] [ 7.61856375e-04 -4.39133171e-05 9.99999709e-01 -2.51917753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.499072329 meters 0.0427470587480286 Centerline is valid? [True, True] Translation: X:71.93, Y:-1.61, Z:-2.52 [[ 9.96146046e-01 8.77099807e-02 1.17788201e-04 7.19280126e+01] [-8.77099793e-02 9.96146053e-01 -1.69196005e-05 -1.60608445e+00] [-1.18818270e-04 6.52319246e-06 9.99999993e-01 -2.51867212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.559072329 meters 0.047356247257872935 Centerline is valid? [True, True] Translation: X:71.99, Y:-1.62, Z:-2.52 [[ 9.96076916e-01 8.84916412e-02 8.11718950e-05 7.19873708e+01] [-8.84916405e-02 9.96076919e-01 -1.16534850e-05 -1.62242004e+00] [-8.18846872e-05 4.42473327e-06 9.99999997e-01 -2.51828634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.619072329 meters 0.03957017846656567 Centerline is valid? [True, True] Translation: X:72.05, Y:-1.62, Z:-2.52 [[ 9.95912328e-01 9.03251570e-02 2.86655976e-05 7.20497464e+01] [-9.03251570e-02 9.95912328e-01 -4.09932629e-06 -1.62397179e+00] [-2.89186944e-05 1.49334498e-06 1.00000000e+00 -2.51854844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.679072329 meters 0.038426905029892745 Centerline is valid? [True, True] Translation: X:72.11, Y:-1.63, Z:-2.52 [[ 9.95613038e-01 9.35664147e-02 6.75099612e-05 7.21092159e+01] [-9.35664142e-02 9.95613040e-01 -9.73497994e-06 -1.63415347e+00] [-6.81246649e-05 3.37560796e-06 9.99999998e-01 -2.51772391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.739072329 meters 0.0377024964785691 Centerline is valid? [True, True] Translation: X:72.17, Y:-1.64, Z:-2.52 [[ 9.95254785e-01 9.72981103e-02 9.95317425e-04 7.21677046e+01] [-9.72980153e-02 9.95255282e-01 -1.43543543e-04 -1.64463643e+00] [-1.00456144e-03 4.60199875e-05 9.99999494e-01 -2.51675997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.799072329 meters 0.03518974579240993 Centerline is valid? [True, True] Translation: X:72.23, Y:-1.65, Z:-2.52 [[ 9.94902359e-01 1.00841354e-01 -5.63945798e-04 7.22291047e+01] [-1.00841324e-01 9.94902518e-01 8.13680989e-05 -1.65334238e+00] [ 5.69276364e-04 -2.40842728e-05 9.99999838e-01 -2.51735306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.859072329 meters 0.032538646077802096 Centerline is valid? [True, True] Translation: X:72.29, Y:-1.66, Z:-2.52 [[ 9.94633283e-01 1.03461892e-01 -5.18001382e-04 7.22901607e+01] [-1.03461867e-01 9.94633418e-01 7.47565070e-05 -1.66045012e+00] [ 5.22955935e-04 -2.07619196e-05 9.99999863e-01 -2.51793073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91907232900002 meters 0.030968096880543215 Centerline is valid? [True, True] Translation: X:72.35, Y:-1.67, Z:-2.52 [[ 9.94240873e-01 1.07161954e-01 1.18440672e-03 7.23500303e+01] [-1.07161826e-01 9.94241577e-01 -1.70957761e-04 -1.66952606e+00] [-1.19590657e-03 4.30500065e-05 9.99999284e-01 -2.51597066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97907232900002 meters 0.026924973372928672 Centerline is valid? [True, True] Translation: X:72.41, Y:-1.68, Z:-2.51 [[ 9.93759947e-01 1.11524736e-01 1.84420501e-03 7.24113265e+01] [-1.11524433e-01 9.93761656e-01 -2.66293345e-04 -1.67547958e+00] [-1.86239852e-03 5.89577421e-05 9.99998264e-01 -2.51456822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.039072329 meters 0.023442703376747785 Centerline is valid? [True, True] Translation: X:72.47, Y:-1.68, Z:-2.52 [[ 9.93329181e-01 1.15310713e-01 7.59956817e-04 7.24730880e+01] [-1.15310663e-01 9.93329471e-01 -1.09771107e-04 -1.68029454e+00] [-7.67545288e-04 2.14077192e-05 9.99999705e-01 -2.51599279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099072329 meters 0.019947198726915097 Centerline is valid? [True, True] Translation: X:72.53, Y:-1.68, Z:-2.52 [[ 9.92702717e-01 1.20582330e-01 -1.10336525e-03 7.25349140e+01] [-1.20582227e-01 9.92703330e-01 1.59451437e-04 -1.68483635e+00] [ 1.11454138e-03 -2.52416358e-05 9.99999379e-01 -2.51942878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159072329 meters 0.015224044385814855 Centerline is valid? [True, True] Translation: X:72.60, Y:-1.69, Z:-2.52 [[ 9.92035616e-01 1.25956765e-01 4.79884268e-04 7.25970009e+01] [-1.25956746e-01 9.92035732e-01 -6.93667828e-05 -1.68774258e+00] [-4.84799556e-04 8.36965810e-06 9.99999882e-01 -2.51738147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219072329 meters 0.01423959245717866 Centerline is valid? [True, True] Translation: X:72.66, Y:-1.69, Z:-2.52 [[ 9.91498100e-01 1.30110565e-01 1.66081289e-03 7.26575010e+01] [-1.30110345e-01 9.91499491e-01 -2.40462900e-04 -1.69471382e+00] [-1.67798190e-03 2.23295703e-05 9.99998592e-01 -2.51534451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.279072329 meters 0.010391066982966548 Centerline is valid? [True, True] Translation: X:72.72, Y:-1.70, Z:-2.52 [[ 9.90631342e-01 1.36562678e-01 4.23240063e-04 7.27199122e+01] [-1.36562665e-01 9.90631432e-01 -6.13597130e-05 -1.69567960e+00] [-4.27654357e-04 2.98606399e-06 9.99999909e-01 -2.51615894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.339072329 meters 0.009125405101188018 Centerline is valid? [True, True] Translation: X:72.78, Y:-1.70, Z:-2.52 [[ 9.90086133e-01 1.40460366e-01 -5.79017061e-04 7.27823061e+01] [-1.40460341e-01 9.90086302e-01 8.41623763e-05 -1.70024231e+00] [ 5.85098339e-04 -1.99906790e-06 9.99999829e-01 -2.51811544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.399072329 meters 0.008944441193894247 Centerline is valid? [True, True] Translation: X:72.85, Y:-1.70, Z:-2.52 [[ 9.89185151e-01 1.46671413e-01 -4.84228821e-04 7.28457381e+01] [-1.46671396e-01 9.89185269e-01 7.05391242e-05 -1.70287623e+00] [ 4.89338090e-04 1.24626301e-06 9.99999880e-01 -2.51787236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.459072329 meters 0.010947829149038139 Centerline is valid? [True, True] Translation: X:72.91, Y:-1.70, Z:-2.52 [[ 9.88308908e-01 1.52464722e-01 1.02311009e-04 7.29070990e+01] [-1.52464722e-01 9.88308913e-01 -1.48897680e-05 -1.70405782e+00] [-1.03385046e-04 -8.83129116e-07 9.99999995e-01 -2.51728241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.519072329 meters 0.014545165747230278 Centerline is valid? [True, True] Translation: X:72.97, Y:-1.71, Z:-2.52 [[ 9.87400649e-01 1.58240095e-01 -1.74488153e-04 7.29689395e+01] [-1.58240093e-01 9.87400665e-01 2.55133448e-05 -1.70560450e+00] [ 1.76326953e-04 2.41912843e-06 9.99999984e-01 -2.51718276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.579072329 meters 0.01603529677173137 Centerline is valid? [True, True] Translation: X:73.03, Y:-1.71, Z:-2.52 [[ 9.86866621e-01 1.61536602e-01 4.46364944e-04 7.30305328e+01] [-1.61536589e-01 9.86866722e-01 -6.52656425e-05 -1.71050421e+00] [-4.51045499e-04 -7.69578644e-06 9.99999898e-01 -2.51643897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63907232900002 meters 0.019657109331928428 Centerline is valid? [True, True] Translation: X:73.09, Y:-1.71, Z:-2.52 [[ 9.85977594e-01 1.66877662e-01 1.71307785e-04 7.30927972e+01] [-1.66877660e-01 9.85977609e-01 -2.50641219e-05 -1.71143126e+00] [-1.73088283e-04 -3.87477975e-06 9.99999985e-01 -2.51718803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69907232900002 meters 0.022163575556532367 Centerline is valid? [True, True] Translation: X:73.16, Y:-1.71, Z:-2.52 [[ 9.85195556e-01 1.71434215e-01 -1.59107122e-04 7.31550251e+01] [-1.71434214e-01 9.85195569e-01 2.33133727e-05 -1.71455274e+00] [ 1.60748341e-04 4.30817311e-06 9.99999987e-01 -2.51759207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.759072329 meters 0.024730918026175594 Centerline is valid? [True, True] Translation: X:73.22, Y:-1.72, Z:-2.52 [[ 9.84744790e-01 1.74004772e-01 1.97277965e-04 7.32159975e+01] [-1.74004769e-01 9.84744809e-01 -2.89107307e-05 -1.71819795e+00] [-1.99299057e-04 -5.85761532e-06 9.99999980e-01 -2.51770443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819072329 meters 0.027409399797818437 Centerline is valid? [True, True] Translation: X:73.28, Y:-1.72, Z:-2.52 [[ 9.84231641e-01 1.76884358e-01 -3.61272361e-05 7.32779951e+01] [-1.76884358e-01 9.84231641e-01 5.33645259e-06 -1.72109939e+00] [ 3.65015039e-05 1.13803747e-06 9.99999999e-01 -2.51789602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879072329 meters 0.02702981014953558 Centerline is valid? [True, True] Translation: X:73.34, Y:-1.73, Z:-2.52 [[ 9.83840720e-01 1.79044843e-01 -6.18148152e-04 7.33395324e+01] [-1.79044821e-01 9.83840914e-01 9.10048969e-05 -1.72956654e+00] [ 6.24453400e-04 2.11419021e-05 9.99999805e-01 -2.51905074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939072329 meters 0.02923437346848214 Centerline is valid? [True, True] Translation: X:73.40, Y:-1.73, Z:-2.52 [[ 9.83271087e-01 1.82148163e-01 1.30022745e-04 7.34020590e+01] [-1.82148162e-01 9.83271095e-01 -1.91355360e-05 -1.73330731e+00] [-1.31333110e-04 -4.86798482e-06 9.99999991e-01 -2.51824683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999072329 meters 0.03177199054644046 Centerline is valid? [True, True] Translation: X:73.46, Y:-1.74, Z:-2.52 [[ 9.82720675e-01 1.85094767e-01 -4.88847601e-05 7.34637584e+01] [-1.85094767e-01 9.82720676e-01 7.20409635e-06 -1.73597046e+00] [ 4.93735051e-05 1.96869887e-06 9.99999999e-01 -2.51756918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.059072329 meters 0.033883067384100476 Centerline is valid? [True, True] Translation: X:73.52, Y:-1.74, Z:-2.52 [[ 9.82385025e-01 1.86866956e-01 -6.35681507e-04 7.35245637e+01] [-1.86866934e-01 9.82385230e-01 9.37137101e-05 -1.73948854e+00] [ 6.41996119e-04 2.67249088e-05 9.99999794e-01 -2.51832404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.119072329 meters 0.03535952758916649 Centerline is valid? [True, True] Translation: X:73.59, Y:-1.74, Z:-2.52 [[ 9.81937423e-01 1.89198300e-01 -1.70303614e-03 7.35862315e+01] [-1.89198148e-01 9.81938897e-01 2.51236378e-04 -1.74357667e+00] [ 1.71981093e-03 7.55128831e-05 9.99998518e-01 -2.52029312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.179072329 meters 0.037737386735248 Centerline is valid? [True, True] Translation: X:73.65, Y:-1.75, Z:-2.52 [[ 9.81757210e-01 1.90135751e-01 -1.08469826e-03 7.36471442e+01] [-1.90135690e-01 9.81757808e-01 1.60049943e-04 -1.74628179e+00] [ 1.09534220e-03 4.91096658e-05 9.99999399e-01 -2.51966860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.239072329 meters 0.03645686005892325 Centerline is valid? [True, True] Translation: X:73.71, Y:-1.76, Z:-2.52 [[ 9.81661548e-01 1.90631826e-01 -3.35435500e-04 7.37091984e+01] [-1.90631820e-01 9.81661605e-01 4.96216894e-05 -1.75530493e+00] [ 3.38743625e-04 1.52329754e-05 9.99999943e-01 -2.51864113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.299072329 meters 0.03594799558679868 Centerline is valid? [True, True] Translation: X:73.77, Y:-1.76, Z:-2.52 [[ 9.81681185e-01 1.90529672e-01 -7.03685337e-04 7.37711830e+01] [-1.90529647e-01 9.81681437e-01 1.04225679e-04 -1.76270236e+00] [ 7.10652917e-04 3.17565302e-05 9.99999747e-01 -2.51940693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.359072329 meters 0.035144011900700926 Centerline is valid? [True, True] Translation: X:73.83, Y:-1.77, Z:-2.52 [[ 9.81727923e-01 1.90288366e-01 -7.89469345e-04 7.38323373e+01] [-1.90288334e-01 9.81728240e-01 1.17121492e-04 -1.77190785e+00] [ 7.97331208e-04 3.52453673e-05 9.99999682e-01 -2.51971120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41907232900002 meters 0.03555027324209383 Centerline is valid? [True, True] Translation: X:73.89, Y:-1.78, Z:-2.52 [[ 9.81982356e-01 1.88972501e-01 -2.13135943e-04 7.38932937e+01] [-1.88972499e-01 9.81982380e-01 3.16585171e-05 -1.77770379e+00] [ 2.15278330e-04 9.18872652e-06 9.99999977e-01 -2.51960068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47907232900002 meters 0.03404102207104477 Centerline is valid? [True, True] Translation: X:73.95, Y:-1.79, Z:-2.52 [[ 9.81984520e-01 1.88961376e-01 2.59645216e-05 7.39542080e+01] [-1.88961376e-01 9.81984520e-01 -3.82945725e-06 -1.78853316e+00] [-2.62203778e-05 -1.14582400e-06 1.00000000e+00 -2.51893606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.539072329 meters 0.032759874887893406 Centerline is valid? [True, True] Translation: X:74.02, Y:-1.80, Z:-2.52 [[ 9.82214629e-01 1.87761115e-01 -4.32562410e-04 7.40160606e+01] [-1.87761105e-01 9.82214724e-01 6.44588401e-05 -1.79743914e+00] [ 4.36972032e-04 1.79059804e-05 9.99999904e-01 -2.51934828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599072329 meters 0.03291716107561919 Centerline is valid? [True, True] Translation: X:74.08, Y:-1.80, Z:-2.52 [[ 9.82328632e-01 1.87162552e-01 -7.98576926e-04 7.40779805e+01] [-1.87162517e-01 9.82328956e-01 1.19167729e-04 -1.80333620e+00] [ 8.06768975e-04 3.24017958e-05 9.99999674e-01 -2.51959172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659072329 meters 0.031081455648815256 Centerline is valid? [True, True] Translation: X:74.14, Y:-1.81, Z:-2.52 [[ 9.82397964e-01 1.86797539e-01 -9.59329906e-04 7.41389461e+01] [-1.86797488e-01 9.82398431e-01 1.43389357e-04 -1.81327735e+00] [ 9.69228974e-04 3.83350049e-05 9.99999530e-01 -2.51991296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719072329 meters 0.03143545953702414 Centerline is valid? [True, True] Translation: X:74.20, Y:-1.82, Z:-2.52 [[ 9.82327767e-01 1.87157677e-01 -2.04002337e-03 7.42014212e+01] [-1.87157445e-01 9.82329882e-01 3.05464368e-04 -1.81959743e+00] [ 2.06114592e-03 8.17394328e-05 9.99997872e-01 -2.52026044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.779072329 meters 0.03258520507826532 Centerline is valid? [True, True] Translation: X:74.26, Y:-1.82, Z:-2.52 [[ 9.82179928e-01 1.87939579e-01 -1.14156302e-03 7.42636105e+01] [-1.87939506e-01 9.82180591e-01 1.71222474e-04 -1.82270809e+00] [ 1.15340052e-03 4.63735126e-05 9.99999334e-01 -2.52049771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.839072329 meters 0.03313584021579393 Centerline is valid? [True, True] Translation: X:74.33, Y:-1.83, Z:-2.52 [[ 9.82005255e-01 1.88852271e-01 -7.06015534e-04 7.43250152e+01] [-1.88852244e-01 9.82005509e-01 1.05985665e-04 -1.82873144e+00] [ 7.13326777e-04 2.92541377e-05 9.99999745e-01 -2.51968118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.899072329 meters 0.03329028206790316 Centerline is valid? [True, True] Translation: X:74.39, Y:-1.83, Z:-2.52 [[ 9.81608517e-01 1.90900904e-01 -1.25090656e-03 7.43865829e+01] [-1.90900819e-01 9.81609312e-01 1.87920515e-04 -1.83363728e+00] [ 1.26377572e-03 5.43347083e-05 9.99999200e-01 -2.51942965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.959072329 meters 0.03457933553463968 Centerline is valid? [True, True] Translation: X:74.45, Y:-1.84, Z:-2.52 [[ 9.81238894e-01 1.92787806e-01 -1.75941515e-03 7.44483055e+01] [-1.92787641e-01 9.81240468e-01 2.64727024e-04 -1.83781285e+00] [ 1.77744549e-03 7.94330448e-05 9.99998417e-01 -2.51934959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.019072329 meters 0.04139317234237419 Centerline is valid? [True, True] Translation: X:74.51, Y:-1.83, Z:-2.52 [[ 9.80742381e-01 1.95302159e-01 -1.20340255e-03 7.45102340e+01] [-1.95302083e-01 9.80743118e-01 1.81210709e-04 -1.83321506e+00] [ 1.21561961e-03 5.73060036e-05 9.99999259e-01 -2.51991892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.079072329 meters 0.03887187961377061 Centerline is valid? [True, True] Translation: X:74.57, Y:-1.84, Z:-2.52 [[ 9.80398965e-01 1.97020491e-01 -8.92341113e-04 7.45714541e+01] [-1.97020450e-01 9.80399370e-01 1.34598162e-04 -1.84201993e+00] [ 9.01369261e-04 4.38495490e-05 9.99999593e-01 -2.51867258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13907232900002 meters 0.042050051795160796 Centerline is valid? [True, True] Translation: X:74.63, Y:-1.84, Z:-2.52 [[ 9.79755499e-01 2.00197155e-01 -5.11104409e-04 7.46335741e+01] [-2.00197142e-01 9.79755632e-01 7.70981795e-05 -1.84180155e+00] [ 5.16192260e-04 2.67842768e-05 9.99999866e-01 -2.51819931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19907232900002 meters 0.04276566202653143 Centerline is valid? [True, True] Translation: X:74.70, Y:-1.85, Z:-2.52 [[ 9.79414947e-01 2.01852198e-01 -1.43230457e-03 7.46962114e+01] [-2.01852098e-01 9.79415991e-01 2.16153369e-04 -1.84520002e+00] [ 1.44645303e-03 7.74098407e-05 9.99998951e-01 -2.51925211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.259072329 meters 0.04427379429490436 Centerline is valid? [True, True] Translation: X:74.76, Y:-1.85, Z:-2.52 [[ 9.79086505e-01 2.03433616e-01 -2.09275556e-03 7.47582124e+01] [-2.03433403e-01 9.79088735e-01 3.16306816e-04 -1.84738156e+00] [ 2.11334083e-03 1.16044650e-04 9.99997760e-01 -2.52092805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319072329 meters 0.04347604863257722 Centerline is valid? [True, True] Translation: X:74.82, Y:-1.85, Z:-2.52 [[ 9.78877292e-01 2.04437045e-01 -2.17771723e-03 7.48197530e+01] [-2.04436816e-01 9.78879706e-01 3.29682637e-04 -1.85463591e+00] [ 2.19912254e-03 1.22486728e-04 9.99997574e-01 -2.52136154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379072329 meters 0.04381092297711481 Centerline is valid? [True, True] Translation: X:74.88, Y:-1.86, Z:-2.52 [[ 9.78717696e-01 2.05206306e-01 -1.42922429e-03 7.48817112e+01] [-2.05206208e-01 9.78718737e-01 2.16729307e-04 -1.85928454e+00] [ 1.44328281e-03 8.11688884e-05 9.99998955e-01 -2.52056345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439072329 meters 0.04517720432877086 Centerline is valid? [True, True] Translation: X:74.94, Y:-1.86, Z:-2.52 [[ 9.78721052e-01 2.05193756e-01 -7.90221851e-04 7.49433575e+01] [-2.05193725e-01 9.78721370e-01 1.20018271e-04 -1.86353653e+00] [ 7.98034012e-04 4.46841567e-05 9.99999681e-01 -2.52012188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499072329 meters 0.04440522570806114 Centerline is valid? [True, True] Translation: X:75.01, Y:-1.87, Z:-2.52 [[ 9.78707929e-01 2.05254821e-01 -1.11701998e-03 7.50056802e+01] [-2.05254761e-01 9.78708565e-01 1.69912564e-04 -1.86958056e+00] [ 1.12811239e-03 6.29788952e-05 9.99999362e-01 -2.52030719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.559072329 meters 0.04440041144118599 Centerline is valid? [True, True] Translation: X:75.07, Y:-1.88, Z:-2.52 [[ 9.78868006e-01 2.04483877e-01 -1.94190008e-03 7.50673473e+01] [-2.04483692e-01 9.78869926e-01 2.95828331e-04 -1.87575431e+00] [ 1.96135971e-03 1.07510009e-04 9.99998071e-01 -2.52193950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.619072329 meters 0.042023413365687164 Centerline is valid? [True, True] Translation: X:75.13, Y:-1.89, Z:-2.52 [[ 9.79137294e-01 2.03184001e-01 -2.53411299e-03 7.51291535e+01] [-2.03183680e-01 9.79140563e-01 3.86364090e-04 -1.88627238e+00] [ 2.55975582e-03 1.36586914e-04 9.99996714e-01 -2.52338377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.679072329 meters 0.042388048515423105 Centerline is valid? [True, True] Translation: X:75.19, Y:-1.89, Z:-2.52 [[ 9.79585200e-01 2.01015086e-01 -2.40247116e-03 7.51900043e+01] [-2.01014791e-01 9.79588138e-01 3.66364352e-04 -1.89135245e+00] [ 2.42707701e-03 1.24047140e-04 9.99997047e-01 -2.52403694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.739072329 meters 0.04121822818867834 Centerline is valid? [True, True] Translation: X:75.25, Y:-1.90, Z:-2.52 [[ 9.79921235e-01 1.99381002e-01 -1.26103625e-03 7.52508793e+01] [-1.99380919e-01 9.79922044e-01 1.92346601e-04 -1.89987585e+00] [ 1.27406748e-03 6.29420486e-05 9.99999186e-01 -2.52323697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.799072329 meters 0.036932915985722424 Centerline is valid? [True, True] Translation: X:75.31, Y:-1.91, Z:-2.52 [[ 9.80644857e-01 1.95791775e-01 -1.11617757e-03 7.53104844e+01] [-1.95791708e-01 9.80645491e-01 1.70268884e-04 -1.91291886e+00] [ 1.12791175e-03 5.15650082e-05 9.99999363e-01 -2.52212898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.859072329 meters 0.03586343135614986 Centerline is valid? [True, True] Translation: X:75.37, Y:-1.92, Z:-2.52 [[ 9.81394049e-01 1.91987197e-01 -2.57635638e-03 7.53694976e+01] [-1.91986825e-01 9.81397424e-01 3.93191494e-04 -1.92098172e+00] [ 2.60391725e-03 1.08750690e-04 9.99996604e-01 -2.52427705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91907232900002 meters 0.03328838304173782 Centerline is valid? [True, True] Translation: X:75.43, Y:-1.93, Z:-2.53 [[ 9.82242967e-01 1.87595808e-01 -2.56237799e-03 7.54282711e+01] [-1.87595425e-01 9.82246305e-01 3.91049552e-04 -1.93082209e+00] [ 2.59024557e-03 9.65847163e-05 9.99996641e-01 -2.52600196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97907232900002 meters 0.02664605589653313 Centerline is valid? [True, True] Translation: X:75.49, Y:-1.95, Z:-2.52 [[ 9.82881244e-01 1.84230731e-01 -1.87033948e-03 7.54880901e+01] [-1.84230521e-01 9.82883021e-01 2.85544126e-04 -1.94801872e+00] [ 1.89093093e-03 6.39176524e-05 9.99998210e-01 -2.52454318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.039072329 meters 0.024262585886689662 Centerline is valid? [True, True] Translation: X:75.55, Y:-1.96, Z:-2.52 [[ 9.83658229e-01 1.80045756e-01 -1.19351203e-04 7.55488135e+01] [-1.80045755e-01 9.83658236e-01 1.82400465e-05 -1.95878499e+00] [ 1.20684837e-04 3.54670563e-06 9.99999993e-01 -2.52223650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099072329 meters 0.02141678991368641 Centerline is valid? [True, True] Translation: X:75.61, Y:-1.97, Z:-2.52 [[ 9.84277660e-01 1.76624989e-01 -1.04907307e-03 7.56096380e+01] [-1.76624919e-01 9.84278219e-01 1.60302481e-04 -1.97072690e+00] [ 1.06089320e-03 2.75102955e-05 9.99999437e-01 -2.52316400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159072329 meters 0.017564986462935583 Centerline is valid? [True, True] Translation: X:75.67, Y:-1.98, Z:-2.53 [[ 9.85307116e-01 1.70769082e-01 -2.79412009e-03 7.56697478e+01] [-1.70768557e-01 9.85311076e-01 4.27038060e-04 -1.98427352e+00] [ 2.82600237e-03 5.63842173e-05 9.99996005e-01 -2.52568685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219072329 meters 0.013895189301493905 Centerline is valid? [True, True] Translation: X:75.73, Y:-2.00, Z:-2.53 [[ 9.86318650e-01 1.64837741e-01 -2.00986581e-03 7.57289454e+01] [-1.64837457e-01 9.86320697e-01 3.07248426e-04 -1.99814870e+00] [ 2.03301839e-03 2.82563178e-05 9.99997933e-01 -2.52542300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.279072329 meters 0.009865613419638705 Centerline is valid? [True, True] Translation: X:75.79, Y:-2.01, Z:-2.52 [[ 9.87337025e-01 1.58632811e-01 -1.10896712e-03 7.57893681e+01] [-1.58632721e-01 9.87337648e-01 1.69837303e-04 -2.01401914e+00] [ 1.12186676e-03 8.23181444e-06 9.99999371e-01 -2.52436378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.339072329 meters 0.008352089716363016 Centerline is valid? [True, True] Translation: X:75.85, Y:-2.03, Z:-2.52 [[ 9.87980710e-01 1.54576008e-01 -6.12383106e-04 7.58497812e+01] [-1.54575980e-01 9.87980899e-01 9.39533404e-05 -2.02764335e+00] [ 6.19545744e-04 1.83563078e-06 9.99999808e-01 -2.52427647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.399072329 meters 0.008217899000607475 Centerline is valid? [True, True] Translation: X:75.91, Y:-2.04, Z:-2.52 [[ 9.88749133e-01 1.49578938e-01 -1.13700363e-03 7.59112409e+01] [-1.49578836e-01 9.88749787e-01 1.74750439e-04 -2.04233761e+00] [ 1.15035108e-03 -2.71266586e-06 9.99999338e-01 -2.52436995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.459072329 meters 0.009774511162326364 Centerline is valid? [True, True] Translation: X:75.97, Y:-2.06, Z:-2.53 [[ 9.89403504e-01 1.45188645e-01 -9.81178789e-04 7.59722466e+01] [-1.45188567e-01 9.89403991e-01 1.51049100e-04 -2.05654194e+00] [ 9.92712823e-04 -6.99256630e-06 9.99999507e-01 -2.52516550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.519072329 meters 0.013023479383094073 Centerline is valid? [True, True] Translation: X:76.03, Y:-2.07, Z:-2.53 [[ 9.90300941e-01 1.38928124e-01 -1.73841488e-03 7.60331038e+01] [-1.38927868e-01 9.90302467e-01 2.68053338e-04 -2.07215527e+00] [ 1.75879669e-03 -2.39392014e-05 9.99998453e-01 -2.52571984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.579072329 meters 0.01860907885241822 Centerline is valid? [True, True] Translation: X:76.09, Y:-2.09, Z:-2.52 [[ 9.91313427e-01 1.31516675e-01 -1.02684784e-03 7.60908320e+01] [-1.31516581e-01 9.91313958e-01 1.58314082e-04 -2.08924998e+00] [ 1.03874954e-03 -2.18913570e-05 9.99999460e-01 -2.52487621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63907232900002 meters 0.02345313346077348 Centerline is valid? [True, True] Translation: X:76.15, Y:-2.11, Z:-2.53 [[ 9.91926494e-01 1.26812501e-01 -6.47875279e-04 7.61496662e+01] [-1.26812463e-01 9.91926706e-01 9.99135982e-05 -2.10548485e+00] [ 6.55315084e-04 -1.69482857e-05 9.99999785e-01 -2.52517184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69907232900002 meters 0.02729512881195304 Centerline is valid? [True, True] Translation: X:76.21, Y:-2.12, Z:-2.53 [[ 9.92848955e-01 1.19369865e-01 -1.33724013e-03 7.62094456e+01] [-1.19369696e-01 9.92849854e-01 2.06243182e-04 -2.11999926e+00] [ 1.35229789e-03 -4.51423807e-05 9.99999085e-01 -2.52736655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.759072329 meters 0.03259463507509332 Centerline is valid? [True, True] Translation: X:76.27, Y:-2.14, Z:-2.53 [[ 9.93456361e-01 1.14203924e-01 -1.38640074e-03 7.62672623e+01] [-1.14203737e-01 9.93457327e-01 2.13822798e-04 -2.13600262e+00] [ 1.40174937e-03 -5.40914739e-05 9.99999016e-01 -2.52731693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819072329 meters 0.035731368571941965 Centerline is valid? [True, True] Translation: X:76.33, Y:-2.15, Z:-2.53 [[ 9.94271762e-01 1.06877946e-01 -8.76811198e-04 7.63264821e+01] [-1.06877868e-01 9.94272147e-01 1.35234379e-04 -2.15069376e+00] [ 8.86242525e-04 -4.07480124e-05 9.99999606e-01 -2.52725520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879072329 meters 0.04153105701699478 Centerline is valid? [True, True] Translation: X:76.39, Y:-2.17, Z:-2.53 [[ 9.95020036e-01 9.96653743e-02 -1.39352985e-03 7.63858474e+01] [-9.96651707e-02 9.95021009e-01 2.14971191e-04 -2.16812083e+00] [ 1.40801666e-03 -7.50142520e-05 9.99999006e-01 -2.52945855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939072329 meters 0.050782208048783 Centerline is valid? [True, True] Translation: X:76.44, Y:-2.19, Z:-2.53 [[ 9.95680842e-01 9.28357951e-02 -1.08467780e-03 7.64435687e+01] [-9.28356677e-02 9.95681430e-01 1.67337297e-04 -2.18996390e+00] [ 1.09552844e-03 -6.59177531e-05 9.99999398e-01 -2.52868409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999072329 meters 0.0481903181233127 Centerline is valid? [True, True] Translation: X:76.50, Y:-2.20, Z:-2.53 [[ 9.96097851e-01 8.82556684e-02 -9.21239732e-05 7.65037539e+01] [-8.82556675e-02 9.96097855e-01 1.42136735e-05 -2.19646671e+00] [ 9.30189294e-05 -6.02774684e-06 9.99999996e-01 -2.52811483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.059072329 meters 0.059827147803254675 Centerline is valid? [True, True] Translation: X:76.56, Y:-2.22, Z:-2.53 [[ 9.96684557e-01 8.13625599e-02 -1.69176791e-04 7.65602695e+01] [-8.13625566e-02 9.96684571e-01 2.61133024e-05 -2.22133358e+00] [ 1.70740543e-04 -1.22620689e-05 9.99999985e-01 -2.52818539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.119072329 meters 0.062385080126678365 Centerline is valid? [True, True] Translation: X:76.62, Y:-2.23, Z:-2.53 [[ 9.97222921e-01 7.44744618e-02 1.05852552e-05 7.66194444e+01] [-7.44744618e-02 9.97222921e-01 -1.63248725e-06 -2.23480247e+00] [-1.06774378e-05 8.39622516e-07 1.00000000e+00 -2.52918496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.179072329 meters 0.06548293607577849 Centerline is valid? [True, True] Translation: X:76.68, Y:-2.25, Z:-2.53 [[ 9.97511500e-01 7.05030240e-02 -3.61849002e-04 7.66785026e+01] [-7.05030084e-02 9.97511565e-01 5.58470312e-05 -2.24851647e+00] [ 3.64885949e-04 -3.01966126e-05 9.99999933e-01 -2.52945166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.239072329 meters 0.07263123264943823 Centerline is valid? [True, True] Translation: X:76.74, Y:-2.27, Z:-2.53 [[ 9.97913129e-01 6.45707194e-02 1.00245188e-04 7.67357822e+01] [-6.45707182e-02 9.97913134e-01 -1.54718471e-05 -2.26812110e+00] [-1.01035018e-04 8.96665561e-06 9.99999995e-01 -2.52921068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.299072329 meters 0.07411978283433639 Centerline is valid? [True, True] Translation: X:76.80, Y:-2.28, Z:-2.53 [[ 9.98155503e-01 6.07086199e-02 2.34775255e-04 7.67959182e+01] [-6.07086131e-02 9.98155530e-01 -3.62345205e-05 -2.27993018e+00] [-2.36541967e-04 2.19148059e-05 9.99999972e-01 -2.52950565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.359072329 meters 0.07566886005451018 Centerline is valid? [True, True] Translation: X:76.86, Y:-2.29, Z:-2.53 [[ 9.98442367e-01 5.57928182e-02 4.16244318e-05 7.68554634e+01] [-5.57928180e-02 9.98442368e-01 -6.42459064e-06 -2.29232167e+00] [-4.19180423e-05 4.09223913e-06 9.99999999e-01 -2.53032432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41907232900002 meters 0.07306819754973515 Centerline is valid? [True, True] Translation: X:76.92, Y:-2.30, Z:-2.53 [[ 9.98695052e-01 5.10704306e-02 7.07412018e-05 7.69156410e+01] [-5.10704299e-02 9.98695054e-01 -1.09186485e-05 -2.29877376e+00] [-7.12065085e-05 7.29161663e-06 9.99999997e-01 -2.53039354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47907232900002 meters 0.07789580534057777 Centerline is valid? [True, True] Translation: X:76.97, Y:-2.32, Z:-2.53 [[ 9.98924723e-01 4.63613727e-02 -1.46183888e-04 7.69743660e+01] [-4.63613699e-02 9.98924733e-01 2.25697537e-05 -2.31519365e+00] [ 1.47073066e-04 -1.57681996e-05 9.99999989e-01 -2.53134490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.539072329 meters 0.08095989545239224 Centerline is valid? [True, True] Translation: X:77.03, Y:-2.33, Z:-2.53 [[ 9.99033622e-01 4.39507369e-02 3.93242071e-04 7.70331340e+01] [-4.39507164e-02 9.99033699e-01 -6.07111928e-05 -2.32900643e+00] [-3.95530382e-04 4.33692521e-05 9.99999921e-01 -2.53099456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.599072329 meters 0.08386224829947067 Centerline is valid? [True, True] Translation: X:77.09, Y:-2.34, Z:-2.53 [[ 9.99193673e-01 4.01496464e-02 1.02380003e-04 7.70929325e+01] [-4.01496450e-02 9.99193678e-01 -1.58056567e-05 -2.34255487e+00] [-1.02932044e-04 1.16823913e-05 9.99999995e-01 -2.53243213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.659072329 meters 0.08355605284679428 Centerline is valid? [True, True] Translation: X:77.15, Y:-2.35, Z:-2.53 [[ 9.99287322e-01 3.77469125e-02 1.34402748e-04 7.71528877e+01] [-3.77469101e-02 9.99287331e-01 -2.07529458e-05 -2.35215614e+00] [-1.35090323e-04 1.56648672e-05 9.99999991e-01 -2.53392471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.719072329 meters 0.0927934197022207 Centerline is valid? [True, True] Translation: X:77.21, Y:-2.37, Z:-2.53 [[ 9.99400163e-01 3.46303073e-02 2.35178306e-04 7.72098288e+01] [-3.46302997e-02 9.99400191e-01 -3.63230109e-05 -2.37456861e+00] [-2.36295121e-04 2.81569278e-05 9.99999972e-01 -2.53346162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.779072329 meters 0.08509651568891868 Centerline is valid? [True, True] Translation: X:77.27, Y:-2.37, Z:-2.53 [[ 9.99476861e-01 3.23279733e-02 9.52560778e-04 7.72710927e+01] [-3.23278475e-02 9.99477308e-01 -1.47166651e-04 -2.37442524e+00] [-9.56820481e-04 1.16295423e-04 9.99999535e-01 -2.53350012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.839072329 meters 0.09310328628260774 Centerline is valid? [True, True] Translation: X:77.33, Y:-2.40, Z:-2.54 [[ 9.99539037e-01 3.03592882e-02 -1.62609987e-04 7.73280633e+01] [-3.03592845e-02 9.99539050e-01 2.51186081e-05 -2.39505017e+00] [ 1.63297615e-04 -2.01703065e-05 9.99999986e-01 -2.53540565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.899072329 meters 0.09442265116017877 Centerline is valid? [True, True] Translation: X:77.39, Y:-2.41, Z:-2.54 [[ 9.99585260e-01 2.87949376e-02 -3.98458365e-04 7.73878638e+01] [-2.87949153e-02 9.99585339e-01 6.15639889e-05 -2.40636058e+00] [ 4.00065871e-04 -5.00648810e-05 9.99999919e-01 -2.53653308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.959072329 meters 0.09522087444926244 Centerline is valid? [True, True] Translation: X:77.45, Y:-2.42, Z:-2.53 [[ 9.99636695e-01 2.69263544e-02 1.20383034e-03 7.74476803e+01] [-2.69261496e-02 9.99637408e-01 -1.86002644e-04 -2.41753887e+00] [-1.20840221e-03 1.53520552e-04 9.99999258e-01 -2.53432541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.019072329 meters 0.09239003877145842 Centerline is valid? [True, True] Translation: X:77.51, Y:-2.42, Z:-2.53 [[ 9.99664037e-01 2.58749946e-02 1.51589092e-03 7.75084101e+01] [-2.58746687e-02 9.99665167e-01 -2.34245190e-04 -2.42320958e+00] [-1.52144445e-03 1.94943317e-04 9.99998824e-01 -2.53412373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.079072329 meters 0.09417091029418116 Centerline is valid? [True, True] Translation: X:77.57, Y:-2.44, Z:-2.54 [[ 9.99667288e-01 2.57850430e-02 6.67132045e-04 7.75690510e+01] [-2.57849797e-02 9.99667507e-01 -1.03223237e-04 -2.43508807e+00] [-6.69571844e-04 8.59869075e-05 9.99999772e-01 -2.53622711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13907232900002 meters 0.08655436142677043 Centerline is valid? [True, True] Translation: X:77.63, Y:-2.44, Z:-2.54 [[ 9.99668923e-01 2.57265337e-02 -4.35574590e-04 7.76314881e+01] [-2.57265066e-02 9.99669016e-01 6.75605177e-05 -2.43539740e+00] [ 4.37168520e-04 -5.63323374e-05 9.99999903e-01 -2.53713782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19907232900002 meters 0.08863888174339968 Centerline is valid? [True, True] Translation: X:77.69, Y:-2.45, Z:-2.54 [[ 9.99663396e-01 2.59440454e-02 -3.72788669e-05 7.76934802e+01] [-2.59440452e-02 9.99663397e-01 5.82740018e-06 -2.44788467e+00] [ 3.74175050e-05 -4.85827405e-06 9.99999999e-01 -2.53766421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.259072329 meters 0.0897585040245421 Centerline is valid? [True, True] Translation: X:77.75, Y:-2.46, Z:-2.54 [[ 9.99652504e-01 2.63600417e-02 -1.41279831e-04 7.77543461e+01] [-2.63600389e-02 9.99652514e-01 2.20113236e-05 -2.45884927e+00] [ 1.41810957e-04 -1.82795329e-05 9.99999990e-01 -2.53788736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319072329 meters 0.08937329235637435 Centerline is valid? [True, True] Translation: X:77.81, Y:-2.47, Z:-2.54 [[ 9.99623582e-01 2.74344378e-02 -2.12602390e-04 7.78149213e+01] [-2.74344314e-02 9.99623605e-01 3.30871582e-05 -2.46858966e+00] [ 2.13430095e-04 -2.72420779e-05 9.99999977e-01 -2.53927298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379072329 meters 0.0931030689916574 Centerline is valid? [True, True] Translation: X:77.87, Y:-2.48, Z:-2.54 [[ 9.99602443e-01 2.81577626e-02 -1.44770477e-03 7.78744562e+01] [-2.81574653e-02 9.99603475e-01 2.25329502e-04 -2.48318462e+00] [ 1.45347549e-03 -1.84476224e-04 9.99998927e-01 -2.54134863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.439072329 meters 0.09234878205757677 Centerline is valid? [True, True] Translation: X:77.94, Y:-2.49, Z:-2.54 [[ 9.99580074e-01 2.89096932e-02 -1.97636003e-03 7.79350464e+01] [-2.89091404e-02 9.99581996e-01 3.07681138e-04 -2.49122730e+00] [ 1.98442887e-03 -2.50417066e-04 9.99998000e-01 -2.54284169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.499072329 meters 0.09511056024419642 Centerline is valid? [True, True] Translation: X:77.99, Y:-2.50, Z:-2.54 [[ 9.99535652e-01 3.04571032e-02 -9.19475217e-04 7.79932577e+01] [-3.04569842e-02 9.99536068e-01 1.43124269e-04 -2.50406371e+00] [ 9.23407794e-04 -1.15053367e-04 9.99999567e-01 -2.54197315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.559072329 meters 0.09427022647865695 Centerline is valid? [True, True] Translation: X:78.05, Y:-2.51, Z:-2.54 [[ 9.99496063e-01 3.17270420e-02 -1.00750973e-03 7.80542016e+01] [-3.17268997e-02 9.99496563e-01 1.56888746e-04 -2.51270191e+00] [ 1.01198013e-03 -1.24844523e-04 9.99999480e-01 -2.54173120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.619072329 meters 0.0925256074861828 Centerline is valid? [True, True] Translation: X:78.11, Y:-2.52, Z:-2.54 [[ 9.99433187e-01 3.36255825e-02 -1.62040130e-03 7.81144415e+01] [-3.36252169e-02 9.99434481e-01 2.52346456e-04 -2.51964773e+00] [ 1.62797023e-03 -1.97717078e-04 9.99998655e-01 -2.54231664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.679072329 meters 0.08794018246463103 Centerline is valid? [True, True] Translation: X:78.18, Y:-2.52, Z:-2.54 [[ 9.99370219e-01 3.54564939e-02 -1.41512794e-03 7.81751113e+01] [-3.54562168e-02 9.99371206e-01 2.20414538e-04 -2.52376697e+00] [ 1.42205325e-03 -1.70100641e-04 9.99998974e-01 -2.54193871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.739072329 meters 0.08769365468956546 Centerline is valid? [True, True] Translation: X:78.24, Y:-2.53, Z:-2.54 [[ 9.99336974e-01 3.63942966e-02 -1.03335902e-03 7.82356266e+01] [-3.63941493e-02 9.99337501e-01 1.60990860e-04 -2.53313613e+00] [ 1.03853357e-03 -1.23275897e-04 9.99999453e-01 -2.54124889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.799072329 meters 0.08879471381484424 Centerline is valid? [True, True] Translation: X:78.30, Y:-2.54, Z:-2.54 [[ 9.99245538e-01 3.88244609e-02 -1.00835445e-03 7.82952436e+01] [-3.88243219e-02 9.99246039e-01 1.57095641e-04 -2.54354886e+00] [ 1.01369334e-03 -1.17828440e-04 9.99999479e-01 -2.54141564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.859072329 meters 0.09001933415145381 Centerline is valid? [True, True] Translation: X:78.35, Y:-2.56, Z:-2.54 [[ 9.99144133e-01 4.12576161e-02 -2.96836966e-03 7.83536059e+01] [-4.12564221e-02 9.99148484e-01 4.62403372e-04 -2.55515199e+00] [ 2.98491971e-03 -3.39543305e-04 9.99995487e-01 -2.54386054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91907232900002 meters 0.08476085306266411 Centerline is valid? [True, True] Translation: X:78.41, Y:-2.56, Z:-2.54 [[ 9.99059290e-01 4.32527252e-02 -3.12042169e-03 7.84144141e+01] [-4.32514153e-02 9.99064101e-01 4.86091717e-04 -2.55780680e+00] [ 3.13852609e-03 -3.50671791e-04 9.99995013e-01 -2.54421845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97907232900002 meters 0.09235943020604956 Centerline is valid? [True, True] Translation: X:78.47, Y:-2.58, Z:-2.54 [[ 9.98990620e-01 4.47898636e-02 -3.40709257e-03 7.84722304e+01] [-4.47883107e-02 9.98996359e-01 5.30748610e-04 -2.57651269e+00] [ 3.42744523e-03 -3.77614963e-04 9.99994055e-01 -2.54487316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.039072329 meters 0.08508745108499338 Centerline is valid? [True, True] Translation: X:78.53, Y:-2.58, Z:-2.54 [[ 9.98871249e-01 4.73237122e-02 -4.08580294e-03 7.85337467e+01] [-4.73215000e-02 9.98879508e-01 6.36484111e-04 -2.57754275e+00] [ 4.11134562e-03 -4.42419356e-04 9.99991451e-01 -2.54455119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099072329 meters 0.08096395626470965 Centerline is valid? [True, True] Translation: X:78.59, Y:-2.58, Z:-2.55 [[ 9.98754684e-01 4.96919515e-02 -4.44865498e-03 7.85945672e+01] [-4.96893520e-02 9.98764481e-01 6.93037461e-04 -2.58187816e+00] [ 4.47759697e-03 -4.71123627e-04 9.99989865e-01 -2.54620729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159072329 meters 0.07588870081981237 Centerline is valid? [True, True] Translation: X:78.66, Y:-2.58, Z:-2.55 [[ 9.98684344e-01 5.10413779e-02 -4.93545539e-03 7.86568622e+01] [-5.10381932e-02 9.98696406e-01 7.69151113e-04 -2.58496289e+00] [ 4.96828009e-03 -5.16242449e-04 9.99987525e-01 -2.54670252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219072329 meters 0.07697584083086514 Centerline is valid? [True, True] Translation: X:78.72, Y:-2.60, Z:-2.55 [[ 9.98556780e-01 5.35675828e-02 -3.85643019e-03 7.87156882e+01] [-5.35656574e-02 9.98564149e-01 6.00930933e-04 -2.59659983e+00] [ 3.88308335e-03 -3.93491439e-04 9.99992383e-01 -2.54610661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.279072329 meters 0.07667367852787199 Centerline is valid? [True, True] Translation: X:78.78, Y:-2.61, Z:-2.55 [[ 9.98467975e-01 5.52044314e-02 -3.76491335e-03 7.87753867e+01] [-5.52026078e-02 9.98475001e-01 5.86672058e-04 -2.60558144e+00] [ 3.79155876e-03 -3.77940226e-04 9.99992741e-01 -2.54612830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.339072329 meters 0.07699078955491884 Centerline is valid? [True, True] Translation: X:78.83, Y:-2.62, Z:-2.55 [[ 9.98303397e-01 5.80769835e-02 -4.17037687e-03 7.88342742e+01] [-5.80747710e-02 9.98312025e-01 6.49782692e-04 -2.61579037e+00] [ 4.20107480e-03 -4.06486587e-04 9.99991093e-01 -2.54747833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.399072329 meters 0.0744825183851053 Centerline is valid? [True, True] Translation: X:78.90, Y:-2.62, Z:-2.55 [[ 9.98171956e-01 6.02355135e-02 -4.94251606e-03 7.88952425e+01] [-6.02324316e-02 9.98184082e-01 7.70180894e-04 -2.62246259e+00] [ 4.97993309e-03 -4.71073210e-04 9.99987489e-01 -2.54866064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.459072329 meters 0.07480114764266206 Centerline is valid? [True, True] Translation: X:78.95, Y:-2.63, Z:-2.55 [[ 9.98014537e-01 6.28178699e-02 -4.57166050e-03 7.89544760e+01] [-6.28152602e-02 9.98024917e-01 7.12340535e-04 -2.63283664e+00] [ 4.60737881e-03 -4.23756165e-04 9.99989296e-01 -2.54848019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.519072329 meters 0.07269773723066568 Centerline is valid? [True, True] Translation: X:79.01, Y:-2.64, Z:-2.55 [[ 9.97872154e-01 6.50553034e-02 -4.35560973e-03 7.90145688e+01] [-6.50529557e-02 9.97881582e-01 6.78677508e-04 -2.63995883e+00] [ 4.39053430e-03 -3.93888100e-04 9.99990284e-01 -2.54837474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.579072329 meters 0.06520574524220102 Centerline is valid? [True, True] Translation: X:79.08, Y:-2.64, Z:-2.55 [[ 9.97698705e-01 6.76656980e-02 -4.31837059e-03 7.90760880e+01] [-6.76634142e-02 9.97707978e-01 6.72956052e-04 -2.63990489e+00] [ 4.35400883e-03 -3.79211683e-04 9.99990449e-01 -2.54791812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63907232900002 meters 0.0654267009785714 Centerline is valid? [True, True] Translation: X:79.14, Y:-2.65, Z:-2.55 [[ 9.97503383e-01 7.05001553e-02 -4.09000691e-03 7.91363275e+01] [-7.04981301e-02 9.97511708e-01 6.37416412e-04 -2.64987070e+00] [ 4.12476774e-03 -3.47487188e-04 9.99991433e-01 -2.54827005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69907232900002 meters 0.0687796209361437 Centerline is valid? [True, True] Translation: X:79.20, Y:-2.66, Z:-2.55 [[ 9.97377735e-01 7.22538127e-02 -4.12806007e-03 7.91955566e+01] [-7.22517639e-02 9.97386218e-01 6.43497501e-04 -2.66435351e+00] [ 4.16376537e-03 -3.43550458e-04 9.99991272e-01 -2.54838496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.759072329 meters 0.05938255433906095 Centerline is valid? [True, True] Translation: X:79.26, Y:-2.66, Z:-2.55 [[ 9.97214946e-01 7.43981555e-02 -5.22164998e-03 7.92585563e+01] [-7.43949051e-02 9.97228527e-01 8.14258811e-04 -2.66180881e+00] [ 5.26775767e-03 -4.23526902e-04 9.99986036e-01 -2.54931857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.819072329 meters 0.06299043225394355 Centerline is valid? [True, True] Translation: X:79.32, Y:-2.68, Z:-2.55 [[ 9.96983737e-01 7.73274774e-02 -6.62483921e-03 7.93167399e+01] [-7.73223095e-02 9.97005613e-01 1.03306177e-03 -2.67537912e+00] [ 6.68488594e-03 -5.17697913e-04 9.99977522e-01 -2.55252873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.879072329 meters 0.060079708944360044 Centerline is valid? [True, True] Translation: X:79.38, Y:-2.68, Z:-2.55 [[ 9.96730268e-01 8.06013635e-02 -5.67388198e-03 7.93775014e+01] [-8.05976253e-02 9.96746327e-01 8.84807393e-04 -2.68179791e+00] [ 5.72673770e-03 -4.24612896e-04 9.99983512e-01 -2.55132583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.939072329 meters 0.0544005236841098 Centerline is valid? [True, True] Translation: X:79.44, Y:-2.68, Z:-2.55 [[ 9.96497181e-01 8.34455890e-02 -5.49566457e-03 7.94386359e+01] [-8.34421245e-02 9.96512256e-01 8.57118597e-04 -2.68408437e+00] [ 5.54801986e-03 -3.95546339e-04 9.99984531e-01 -2.54976830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.999072329 meters 0.05646427143428036 Centerline is valid? [True, True] Translation: X:79.50, Y:-2.70, Z:-2.55 [[ 9.96277431e-01 8.59688670e-02 -6.37450349e-03 7.94976696e+01] [-8.59642572e-02 9.96297726e-01 9.94181926e-04 -2.69619340e+00] [ 6.43637203e-03 -4.42501558e-04 9.99979188e-01 -2.55176814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.059072329 meters 0.05001344573257041 Centerline is valid? [True, True] Translation: X:79.56, Y:-2.70, Z:-2.55 [[ 9.96078225e-01 8.82768203e-02 -5.94753502e-03 7.95600980e+01] [-8.82728462e-02 9.96095901e-01 9.27931287e-04 -2.69760468e+00] [ 6.00623008e-03 -3.99286305e-04 9.99981883e-01 -2.55097869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.119072329 meters 0.04780485355779154 Centerline is valid? [True, True] Translation: X:79.62, Y:-2.70, Z:-2.55 [[ 9.95758266e-01 9.18580702e-02 -5.25067974e-03 7.96206764e+01] [-9.18550217e-02 9.95772054e-01 8.19337668e-04 -2.70367364e+00] [ 5.30374293e-03 -3.33560954e-04 9.99985879e-01 -2.55084032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.179072329 meters 0.048246414781945315 Centerline is valid? [True, True] Translation: X:79.68, Y:-2.71, Z:-2.55 [[ 9.95538510e-01 9.41935129e-02 -5.53682534e-03 7.96805955e+01] [-9.41901578e-02 9.95553850e-01 8.64194010e-04 -2.71371031e+00] [ 5.59360925e-03 -3.38823965e-04 9.99984298e-01 -2.55150389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.239072329 meters 0.049942861350860665 Centerline is valid? [True, True] Translation: X:79.74, Y:-2.73, Z:-2.55 [[ 9.95395846e-01 9.56524285e-02 -6.14195178e-03 7.97406840e+01] [-9.56483221e-02 9.95414727e-01 9.59545484e-04 -2.72560467e+00] [ 6.20557210e-03 -3.67660207e-04 9.99980678e-01 -2.55283534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.299072329 meters 0.05058066854552428 Centerline is valid? [True, True] Translation: X:79.80, Y:-2.74, Z:-2.55 [[ 9.95206601e-01 9.75660371e-02 -6.68506766e-03 7.98001069e+01] [-9.75612147e-02 9.95228978e-01 1.04449577e-03 -2.73560054e+00] [ 6.75508037e-03 -3.87285762e-04 9.99977109e-01 -2.55320245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.359072329 meters 0.044507085848806034 Centerline is valid? [True, True] Translation: X:79.86, Y:-2.74, Z:-2.55 [[ 9.94909311e-01 1.00639361e-01 -5.21369669e-03 7.98619230e+01] [-1.00636469e-01 9.94922930e-01 8.14699334e-04 -2.73665178e+00] [ 5.26921721e-03 -2.85863926e-04 9.99986077e-01 -2.55155128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41907232900002 meters 0.042198562967624316 Centerline is valid? [True, True] Translation: X:79.92, Y:-2.74, Z:-2.55 [[ 9.94632466e-01 1.03286592e-01 -6.17561527e-03 7.99233153e+01] [-1.03282584e-01 9.94651585e-01 9.65355712e-04 -2.74308972e+00] [ 6.24229382e-03 -3.22340630e-04 9.99980465e-01 -2.55290060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47907232900002 meters 0.04033735016813727 Centerline is valid? [True, True] Translation: X:79.98, Y:-2.75, Z:-2.55 [[ 9.94405372e-01 1.05422050e-01 -6.64443936e-03 7.99845893e+01] [-1.05417455e-01 9.94427514e-01 1.03900951e-03 -2.75012982e+00] [ 6.71694782e-03 -3.32756756e-04 9.99977386e-01 -2.55406918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.539072329 meters 0.036287042201214155 Centerline is valid? [True, True] Translation: X:80.05, Y:-2.75, Z:-2.55 [[ 9.94082913e-01 1.08471432e-01 -5.75421328e-03 8.00459345e+01] [-1.08468036e-01 9.94099530e-01 9.00020016e-04 -2.75402369e+00] [ 5.81788717e-03 -2.70546309e-04 9.99983039e-01 -2.55250623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599072329 meters 0.03601363255368678 Centerline is valid? [True, True] Translation: X:80.11, Y:-2.76, Z:-2.55 [[ 9.93725805e-01 1.11724666e-01 -5.15971224e-03 8.01060899e+01] [-1.11721978e-01 9.93739175e-01 8.07226812e-04 -2.76286648e+00] [ 5.21759533e-03 -2.25708856e-04 9.99986363e-01 -2.55172406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659072329 meters 0.035363713396382626 Centerline is valid? [True, True] Translation: X:80.17, Y:-2.77, Z:-2.55 [[ 9.93477829e-01 1.13901674e-01 -5.31153924e-03 8.01677174e+01] [-1.13898849e-01 9.93492003e-01 8.32351092e-04 -2.77114924e+00] [ 5.37177794e-03 -2.21944152e-04 9.99985547e-01 -2.55293246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719072329 meters 0.031395181125291445 Centerline is valid? [True, True] Translation: X:80.23, Y:-2.77, Z:-2.55 [[ 9.93096838e-01 1.17151622e-01 -5.84531144e-03 8.02295481e+01] [-1.17148255e-01 9.93114015e-01 9.16295782e-04 -2.77458791e+00] [ 5.91240625e-03 -2.25202408e-04 9.99982496e-01 -2.55397430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.779072329 meters 0.03199960750975358 Centerline is valid? [True, True] Translation: X:80.29, Y:-2.78, Z:-2.55 [[ 9.92876911e-01 1.18989033e-01 -6.08680737e-03 8.02897348e+01] [-1.18985408e-01 9.92895543e-01 9.55624053e-04 -2.78428964e+00] [ 6.15727269e-03 -2.24575802e-04 9.99981019e-01 -2.55402956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.839072329 meters 0.027008862289678255 Centerline is valid? [True, True] Translation: X:80.35, Y:-2.79, Z:-2.55 [[ 9.92609404e-01 1.21266544e-01 -4.58220366e-03 8.03519200e+01] [-1.21264513e-01 9.92619968e-01 7.19651565e-04 -2.78669113e+00] [ 4.63565650e-03 -1.58674217e-04 9.99989243e-01 -2.55255071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.899072329 meters 0.024888236517700304 Centerline is valid? [True, True] Translation: X:80.41, Y:-2.79, Z:-2.55 [[ 9.92249518e-01 1.24185405e-01 -4.34509250e-03 8.04128405e+01] [-1.24183606e-01 9.92259022e-01 6.82578156e-04 -2.79266668e+00] [ 4.39622348e-03 -1.37698591e-04 9.99990327e-01 -2.55270677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.959072329 meters 0.02326949337822949 Centerline is valid? [True, True] Translation: X:80.47, Y:-2.80, Z:-2.55 [[ 9.91961580e-01 1.26474572e-01 -4.05040493e-03 8.04748935e+01] [-1.26473023e-01 9.91969842e-01 6.37402123e-04 -2.79957388e+00] [ 4.09849470e-03 -1.20011462e-04 9.99991594e-01 -2.55298199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.019072329 meters 0.023314561878484432 Centerline is valid? [True, True] Translation: X:80.54, Y:-2.81, Z:-2.55 [[ 9.91564062e-01 1.29538001e-01 -4.54071499e-03 8.05352207e+01] [-1.29536081e-01 9.91574451e-01 7.15663158e-04 -2.80899002e+00] [ 4.59516255e-03 -1.21439443e-04 9.99989435e-01 -2.55286972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.079072329 meters 0.0211933823501616 Centerline is valid? [True, True] Translation: X:80.60, Y:-2.81, Z:-2.55 [[ 9.91221955e-01 1.32129171e-01 -4.57372673e-03 8.05969983e+01] [-1.32127245e-01 9.91232500e-01 7.22046011e-04 -2.81498345e+00] [ 4.62902993e-03 -1.11393946e-04 9.99989280e-01 -2.55405664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13907232900002 meters 0.020507541741093944 Centerline is valid? [True, True] Translation: X:80.66, Y:-2.82, Z:-2.55 [[ 9.91022180e-01 1.33625511e-01 -4.38883181e-03 8.06591723e+01] [-1.33623750e-01 9.91031893e-01 6.93234388e-04 -2.82280481e+00] [ 4.44210610e-03 -1.00558489e-04 9.99990129e-01 -2.55441633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19907232900002 meters 0.01788168744469428 Centerline is valid? [True, True] Translation: X:80.72, Y:-2.83, Z:-2.55 [[ 9.90709423e-01 1.35962924e-01 -2.98691488e-03 8.07213504e+01] [-1.35962117e-01 9.90713924e-01 4.72603000e-04 -2.82812969e+00] [ 3.02343464e-03 -6.21049758e-05 9.99995427e-01 -2.55230653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.259072329 meters 0.017047938445324415 Centerline is valid? [True, True] Translation: X:80.78, Y:-2.84, Z:-2.55 [[ 9.90520379e-01 1.37331549e-01 -3.07010190e-03 8.07831079e+01] [-1.37330700e-01 9.90525135e-01 4.86569095e-04 -2.83598717e+00] [ 3.10783439e-03 -6.03373610e-05 9.99995169e-01 -2.55247946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319072329 meters 0.016964317706658186 Centerline is valid? [True, True] Translation: X:80.84, Y:-2.84, Z:-2.55 [[ 9.90291256e-01 1.38921964e-01 -4.89040606e-03 8.08438033e+01] [-1.38919824e-01 9.90303327e-01 7.76212087e-04 -2.84383504e+00] [ 4.95081830e-03 -8.93016922e-05 9.99987741e-01 -2.55493065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379072329 meters 0.016179128956094774 Centerline is valid? [True, True] Translation: X:80.91, Y:-2.85, Z:-2.55 [[ 9.90057200e-01 1.40621348e-01 -3.51804349e-03 8.09056747e+01] [-1.40620248e-01 9.90063449e-01 5.59284183e-04 -2.85180448e+00] [ 3.56173357e-03 -5.90151829e-05 9.99993655e-01 -2.55372399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439072329 meters 0.015364943780373709 Centerline is valid? [True, True] Translation: X:80.97, Y:-2.86, Z:-2.55 [[ 9.89920494e-01 1.41594268e-01 -2.91170994e-03 8.09671684e+01] [-1.41593517e-01 9.89924775e-01 4.63639559e-04 -2.86018077e+00] [ 2.94802251e-03 -4.66870506e-05 9.99995653e-01 -2.55256108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.499072329 meters 0.014444147340512923 Centerline is valid? [True, True] Translation: X:81.03, Y:-2.87, Z:-2.55 [[ 9.89764744e-01 1.42671841e-01 -3.24001566e-03 8.10292887e+01] [-1.42670914e-01 9.89770046e-01 5.16758297e-04 -2.86795865e+00] [ 3.28059730e-03 -4.92131487e-05 9.99994618e-01 -2.55227732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.559072329 meters 0.014938572547242748 Centerline is valid? [True, True] Translation: X:81.09, Y:-2.88, Z:-2.55 [[ 9.89616957e-01 1.43678553e-01 -3.84070074e-03 8.10900363e+01] [-1.43677254e-01 9.89624409e-01 6.13474440e-04 -2.87768976e+00] [ 3.88899432e-03 -5.52833721e-05 9.99992436e-01 -2.55392772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.619072329 meters 0.014198837385643788 Centerline is valid? [True, True] Translation: X:81.15, Y:-2.89, Z:-2.55 [[ 9.89568778e-01 1.44013488e-01 -3.70782929e-03 8.11528993e+01] [-1.44012276e-01 9.89575723e-01 5.93338469e-04 -2.88619257e+00] [ 3.75462659e-03 -5.31762908e-05 9.99992950e-01 -2.55316231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.679072329 meters 0.014455811002580098 Centerline is valid? [True, True] Translation: X:81.22, Y:-2.90, Z:-2.55 [[ 9.89571457e-01 1.44008733e-01 -3.13305587e-03 8.12153985e+01] [-1.44007865e-01 9.89576416e-01 5.02278728e-04 -2.89608056e+00] [ 3.17273072e-03 -4.58560076e-05 9.99994966e-01 -2.55230287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.739072329 meters 0.015262629500904684 Centerline is valid? [True, True] Translation: X:81.28, Y:-2.91, Z:-2.55 [[ 9.89597986e-01 1.43828637e-01 -3.02482091e-03 8.12759869e+01] [-1.43827824e-01 9.89602608e-01 4.85737008e-04 -2.90696195e+00] [ 3.06323355e-03 -4.56309559e-05 9.99995307e-01 -2.55187468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.799072329 meters 0.014937953669766057 Centerline is valid? [True, True] Translation: X:81.34, Y:-2.92, Z:-2.55 [[ 9.89669642e-01 1.43333733e-01 -3.07242578e-03 8.13382799e+01] [-1.43332889e-01 9.89674410e-01 4.94291049e-04 -2.91584499e+00] [ 3.11154975e-03 -4.88051815e-05 9.99995158e-01 -2.55372785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.859072329 meters 0.015182496966561364 Centerline is valid? [True, True] Translation: X:81.40, Y:-2.93, Z:-2.55 [[ 9.89771249e-01 1.42634702e-01 -2.86644923e-03 8.13991679e+01] [-1.42633962e-01 9.89775399e-01 4.61906123e-04 -2.92617556e+00] [ 2.90302477e-03 -4.83283907e-05 9.99995785e-01 -2.55327182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91907232900002 meters 0.01703387941137365 Centerline is valid? [True, True] Translation: X:81.46, Y:-2.94, Z:-2.55 [[ 9.89938696e-01 1.41473125e-01 -2.59499752e-03 8.14594300e+01] [-1.41472513e-01 9.89942096e-01 4.18518744e-04 -2.93893866e+00] [ 2.62810644e-03 -4.71870782e-05 9.99996545e-01 -2.55282306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97907232900002 meters 0.017834662981616598 Centerline is valid? [True, True] Translation: X:81.52, Y:-2.95, Z:-2.55 [[ 9.90019521e-01 1.40897329e-01 -3.04807885e-03 8.15202210e+01] [-1.40896480e-01 9.90024212e-01 4.92363999e-04 -2.95003197e+00] [ 3.08704463e-03 -5.79863878e-05 9.99995233e-01 -2.55326149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.039072329 meters 0.01872258273222736 Centerline is valid? [True, True] Translation: X:81.58, Y:-2.96, Z:-2.55 [[ 9.90240607e-01 1.39326666e-01 -3.40895973e-03 8.15808701e+01] [-1.39325593e-01 9.90246472e-01 5.51460849e-04 -2.96152294e+00] [ 3.45254355e-03 -7.11235909e-05 9.99994037e-01 -2.55313598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099072329 meters 0.01875670403480237 Centerline is valid? [True, True] Translation: X:81.64, Y:-2.97, Z:-2.55 [[ 9.90304039e-01 1.38887237e-01 -2.87142665e-03 8.16424504e+01] [-1.38886471e-01 9.90308200e-01 4.65255337e-04 -2.97203257e+00] [ 2.90821539e-03 -6.19419251e-05 9.99995769e-01 -2.55288261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159072329 meters 0.021442682898050194 Centerline is valid? [True, True] Translation: X:81.70, Y:-2.99, Z:-2.55 [[ 9.90594423e-01 1.36799697e-01 -2.92087898e-03 8.17017047e+01] [-1.36798895e-01 9.90598727e-01 4.73345786e-04 -2.98533464e+00] [ 2.95817256e-03 -6.93206779e-05 9.99995622e-01 -2.55173668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219072329 meters 0.022089900125550746 Centerline is valid? [True, True] Translation: X:81.76, Y:-3.00, Z:-2.55 [[ 9.90843793e-01 1.34960142e-01 -3.78663028e-03 8.17628801e+01] [-1.34958778e-01 9.90851023e-01 6.14654513e-04 -2.99577052e+00] [ 3.83494035e-03 -9.79876147e-05 9.99992642e-01 -2.55287011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.279072329 meters 0.02425087258647387 Centerline is valid? [True, True] Translation: X:81.82, Y:-3.01, Z:-2.55 [[ 9.91118504e-01 1.32947979e-01 -2.99099442e-03 8.18234583e+01] [-1.32947116e-01 9.91123013e-01 4.86273290e-04 -3.00966603e+00] [ 3.02909246e-03 -8.43103719e-05 9.99995409e-01 -2.55281570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.339072329 meters 0.026027614388488562 Centerline is valid? [True, True] Translation: X:81.88, Y:-3.02, Z:-2.55 [[ 9.91332390e-01 1.31353434e-01 -2.52330499e-03 8.18846455e+01] [-1.31352813e-01 9.91335599e-01 4.10878552e-04 -3.02268925e+00] [ 2.55541237e-03 -7.58740083e-05 9.99996732e-01 -2.55230521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.399072329 meters 0.02877048826247031 Centerline is valid? [True, True] Translation: X:81.94, Y:-3.04, Z:-2.55 [[ 9.91672357e-01 1.28751360e-01 -3.00402579e-03 8.19448710e+01] [-1.28750466e-01 9.91676902e-01 4.89846731e-04 -3.03727606e+00] [ 3.04209142e-03 -9.89977406e-05 9.99995368e-01 -2.55194972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.459072329 meters 0.02753127322747713 Centerline is valid? [True, True] Translation: X:82.01, Y:-3.05, Z:-2.55 [[ 9.91937287e-01 1.26693530e-01 -3.02772250e-03 8.20059470e+01] [-1.26692612e-01 9.91941903e-01 4.94110321e-04 -3.04593990e+00] [ 3.06592540e-03 -1.06536380e-04 9.99995294e-01 -2.55142540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.519072329 meters 0.030285538585516063 Centerline is valid? [True, True] Translation: X:82.06, Y:-3.06, Z:-2.55 [[ 9.92244798e-01 1.24264118e-01 -2.94772289e-03 8.20649760e+01] [-1.24263236e-01 9.92249171e-01 4.81443639e-04 -3.06039590e+00] [ 2.98470177e-03 -1.11416362e-04 9.99995540e-01 -2.55216466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.579072329 meters 0.03171780863519379 Centerline is valid? [True, True] Translation: X:82.13, Y:-3.07, Z:-2.55 [[ 9.92504531e-01 1.22185466e-01 -2.33844639e-03 8.21255046e+01] [-1.22184903e-01 9.92507281e-01 3.82519413e-04 -3.07297709e+00] [ 2.36766339e-03 -9.39294047e-05 9.99997193e-01 -2.55241444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63907232900002 meters 0.03484482885039364 Centerline is valid? [True, True] Translation: X:82.19, Y:-3.09, Z:-2.55 [[ 9.92714705e-01 1.20474745e-01 -1.83042408e-03 8.21852649e+01] [-1.20474397e-01 9.92716389e-01 2.99649970e-04 -3.08750505e+00] [ 1.85319224e-03 -7.69476947e-05 9.99998280e-01 -2.55161621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69907232900002 meters 0.035996792823140375 Centerline is valid? [True, True] Translation: X:82.24, Y:-3.10, Z:-2.55 [[ 9.93069904e-01 1.17493803e-01 -2.71501464e-03 8.22448339e+01] [-1.17493026e-01 9.93073608e-01 4.44490226e-04 -3.09953070e+00] [ 2.74843423e-03 -1.22414580e-04 9.99996216e-01 -2.55301774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.759072329 meters 0.04028256505680217 Centerline is valid? [True, True] Translation: X:82.30, Y:-3.12, Z:-2.55 [[ 9.93462118e-01 1.14082199e-01 -4.27450269e-03 8.23031863e+01] [-1.14080241e-01 9.93471292e-01 6.99798968e-04 -3.11528621e+00] [ 4.32643031e-03 -2.07587466e-04 9.99990619e-01 -2.55477835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819072329 meters 0.04566614126516806 Centerline is valid? [True, True] Translation: X:82.36, Y:-3.13, Z:-2.55 [[ 9.93686483e-01 1.12137396e-01 -3.51831471e-03 8.23623292e+01] [-1.12136054e-01 9.93692695e-01 5.76842367e-04 -3.13317226e+00] [ 3.56080923e-03 -1.78670533e-04 9.99993644e-01 -2.55391423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879072329 meters 0.04564142382709488 Centerline is valid? [True, True] Translation: X:82.42, Y:-3.14, Z:-2.55 [[ 9.94009647e-01 1.09273521e-01 -2.02949809e-03 8.24223201e+01] [-1.09273069e-01 9.94011713e-01 3.32765692e-04 -3.14489804e+00] [ 2.05370735e-03 -1.09002824e-04 9.99997885e-01 -2.55166953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939072329 meters 0.047753094156990285 Centerline is valid? [True, True] Translation: X:82.48, Y:-3.16, Z:-2.55 [[ 9.94178237e-01 1.07729913e-01 -1.97456263e-03 8.24827004e+01] [-1.07729481e-01 9.94180192e-01 3.24233478e-04 -3.15873615e+00] [ 1.99800070e-03 -1.09627260e-04 9.99997998e-01 -2.55239919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.999072329 meters 0.04450357279652285 Centerline is valid? [True, True] Translation: X:82.54, Y:-3.17, Z:-2.55 [[ 9.94434533e-01 1.05313371e-01 -3.00881710e-03 8.25436682e+01] [-1.05312356e-01 9.94439070e-01 4.94135652e-04 -3.16552178e+00] [ 3.04412436e-03 -1.74519938e-04 9.99995351e-01 -2.55273003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.059072329 meters 0.05209662484918927 Centerline is valid? [True, True] Translation: X:82.60, Y:-3.19, Z:-2.55 [[ 9.94704124e-01 1.02734930e-01 -3.03974125e-03 8.26008835e+01] [-1.02733883e-01 9.94708751e-01 4.99209492e-04 -3.18607804e+00] [ 3.07494348e-03 -1.84281319e-04 9.99995255e-01 -2.55249816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.119072329 meters 0.04912155620895111 Centerline is valid? [True, True] Translation: X:82.66, Y:-3.19, Z:-2.55 [[ 9.94920697e-01 1.00621554e-01 -2.84777089e-03 8.26614108e+01] [-1.00620625e-01 9.94924756e-01 4.67737068e-04 -3.19319734e+00] [ 2.88038218e-03 -1.78816802e-04 9.99995836e-01 -2.55158454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.179072329 meters 0.05246804482367954 Centerline is valid? [True, True] Translation: X:82.72, Y:-3.21, Z:-2.55 [[ 9.95016917e-01 9.96718084e-02 -2.62016284e-03 8.27210035e+01] [-9.96710176e-02 9.95020353e-01 4.30995094e-04 -3.20834620e+00] [ 2.65007341e-03 -1.67693113e-04 9.99996474e-01 -2.55167556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.239072329 meters 0.05325941867295216 Centerline is valid? [True, True] Translation: X:82.78, Y:-3.22, Z:-2.55 [[ 9.95232524e-01 9.75041770e-02 -2.27119615e-03 8.27812320e+01] [-9.75035771e-02 9.95235104e-01 3.73653287e-04 -3.22041572e+00] [ 2.29680690e-03 -1.50422154e-04 9.99997351e-01 -2.55101585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.299072329 meters 0.05535040844703519 Centerline is valid? [True, True] Translation: X:82.84, Y:-3.23, Z:-2.55 [[ 9.95433201e-01 9.54256286e-02 -2.58670388e-03 8.28406209e+01] [-9.54248431e-02 9.95436547e-01 4.25684144e-04 -3.23431239e+00] [ 2.61552075e-03 -1.76904318e-04 9.99996564e-01 -2.55028734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.359072329 meters 0.054001429457538316 Centerline is valid? [True, True] Translation: X:82.90, Y:-3.24, Z:-2.55 [[ 9.95482846e-01 9.49028851e-02 -2.71046215e-03 8.29018163e+01] [-9.49020188e-02 9.95486518e-01 4.46768350e-04 -3.24425937e+00] [ 2.74062813e-03 -1.87521898e-04 9.99996227e-01 -2.54926705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41907232900002 meters 0.05441481775253272 Centerline is valid? [True, True] Translation: X:82.96, Y:-3.26, Z:-2.55 [[ 9.95507987e-01 9.46251488e-02 -3.15092672e-03 8.29628887e+01] [-9.46239740e-02 9.95512950e-01 5.20168061e-04 -3.25506834e+00] [ 3.18600933e-03 -2.19678252e-04 9.99994901e-01 -2.54906115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47907232900002 meters 0.05492626789154168 Centerline is valid? [True, True] Translation: X:83.02, Y:-3.27, Z:-2.55 [[ 9.95538233e-01 9.43059842e-02 -3.16340739e-03 8.30237337e+01] [-9.43047959e-02 9.95543235e-01 5.23028357e-04 -3.26637423e+00] [ 3.19863353e-03 -2.22370237e-04 9.99994860e-01 -2.54898769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.539072329 meters 0.05394574951739899 Centerline is valid? [True, True] Translation: X:83.09, Y:-3.28, Z:-2.55 [[ 9.95527812e-01 9.44201529e-02 -3.03469132e-03 8.30854346e+01] [-9.44190572e-02 9.95532415e-01 5.02641591e-04 -3.27648853e+00] [ 3.06859307e-03 -2.13860990e-04 9.99995269e-01 -2.54858301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599072329 meters 0.059051513521521694 Centerline is valid? [True, True] Translation: X:83.14, Y:-3.29, Z:-2.55 [[ 9.95630860e-01 9.33148885e-02 -3.39450850e-03 8.31447115e+01] [-9.33135098e-02 9.95636617e-01 5.62627506e-04 -3.29417730e+00] [ 3.43219848e-03 -2.43415805e-04 9.99994080e-01 -2.54986450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659072329 meters 0.058759290161596395 Centerline is valid? [True, True] Translation: X:83.21, Y:-3.30, Z:-2.55 [[ 9.95727526e-01 9.22563980e-02 -3.93075617e-03 8.32061179e+01] [-9.22545400e-02 9.95735243e-01 6.51783062e-04 -3.30470810e+00] [ 3.97412361e-03 -2.86368233e-04 9.99992062e-01 -2.54944132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719072329 meters 0.05881986960790104 Centerline is valid? [True, True] Translation: X:83.27, Y:-3.32, Z:-2.55 [[ 9.95710927e-01 9.24348536e-02 -3.94310225e-03 8.32676217e+01] [-9.24329807e-02 9.95718693e-01 6.54995946e-04 -3.31640384e+00] [ 3.98676507e-03 -2.87713927e-04 9.99992011e-01 -2.54970280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.779072329 meters 0.05905928806890073 Centerline is valid? [True, True] Translation: X:83.33, Y:-3.33, Z:-2.55 [[ 9.95670737e-01 9.28871498e-02 -3.42950062e-03 8.33283126e+01] [-9.28857327e-02 9.95676612e-01 5.70540804e-04 -3.32757345e+00] [ 3.46766947e-03 -2.49519105e-04 9.99993956e-01 -2.54897395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.839072329 meters 0.05746031649556453 Centerline is valid? [True, True] Translation: X:83.39, Y:-3.34, Z:-2.55 [[ 9.95575358e-01 9.39106283e-02 -3.24031305e-03 8.33903726e+01] [-9.39093672e-02 9.95580604e-01 5.39497731e-04 -3.33636394e+00] [ 3.27665740e-03 -2.32814898e-04 9.99994605e-01 -2.55029219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.899072329 meters 0.06058481075206059 Centerline is valid? [True, True] Translation: X:83.45, Y:-3.35, Z:-2.55 [[ 9.95511055e-01 9.45704789e-02 -3.76345228e-03 8.34495640e+01] [-9.45687791e-02 9.95518133e-01 6.27472548e-04 -3.35135922e+00] [ 3.80592537e-03 -2.68750770e-04 9.99992721e-01 -2.55079931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.959072329 meters 0.05815303184667365 Centerline is valid? [True, True] Translation: X:83.51, Y:-3.36, Z:-2.55 [[ 9.95463660e-01 9.50823712e-02 -3.38284648e-03 8.35117976e+01] [-9.50809998e-02 9.95469379e-01 5.64302386e-04 -3.35912710e+00] [ 3.42117529e-03 -2.40098093e-04 9.99994119e-01 -2.54982230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.019072329 meters 0.056173433397667054 Centerline is valid? [True, True] Translation: X:83.57, Y:-3.37, Z:-2.55 [[ 9.95399374e-01 9.57563177e-02 -3.28832954e-03 8.35738689e+01] [-9.57550245e-02 9.95404779e-01 5.48832709e-04 -3.36732298e+00] [ 3.32577314e-03 -2.31433659e-04 9.99994443e-01 -2.54882303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.079072329 meters 0.055490811033595246 Centerline is valid? [True, True] Translation: X:83.64, Y:-3.38, Z:-2.55 [[ 9.95377208e-01 9.59875555e-02 -3.25627982e-03 8.36359398e+01] [-9.59862855e-02 9.95382508e-01 5.44452025e-04 -3.37763908e+00] [ 3.29350460e-03 -2.29376932e-04 9.99994550e-01 -2.54944967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13907232900002 meters 0.050927782735278274 Centerline is valid? [True, True] Translation: X:83.70, Y:-3.38, Z:-2.55 [[ 9.95302897e-01 9.67227503e-02 -4.10513573e-03 8.36979469e+01] [-9.67207336e-02 9.95311322e-01 6.87453552e-04 -3.38351446e+00] [ 4.15238047e-03 -2.87172773e-04 9.99991338e-01 -2.55027209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19907232900002 meters 0.05332368211056211 Centerline is valid? [True, True] Translation: X:83.76, Y:-3.40, Z:-2.55 [[ 9.95263097e-01 9.71543632e-02 -3.52108036e-03 8.37570990e+01] [-9.71528791e-02 9.95269295e-01 5.90502627e-04 -3.39826687e+00] [ 3.56179307e-03 -2.45622378e-04 9.99993627e-01 -2.54947711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.259072329 meters 0.05425467104558221 Centerline is valid? [True, True] Translation: X:83.82, Y:-3.41, Z:-2.55 [[ 9.95217820e-01 9.76290062e-02 -3.17312974e-03 8.38183233e+01] [-9.76278008e-02 9.95222854e-01 5.32965960e-04 -3.41084024e+00] [ 3.21000417e-03 -2.20631543e-04 9.99994824e-01 -2.54790873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319072329 meters 0.05317951876569139 Centerline is valid? [True, True] Translation: X:83.88, Y:-3.42, Z:-2.55 [[ 9.95138677e-01 9.84022432e-02 -4.00157853e-03 8.38792696e+01] [-9.84003282e-02 9.95146684e-01 6.73138037e-04 -3.42091115e+00] [ 4.04839590e-03 -2.76109054e-04 9.99991767e-01 -2.54858699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379072329 meters 0.056027918919082674 Centerline is valid? [True, True] Translation: X:83.94, Y:-3.44, Z:-2.55 [[ 9.95072568e-01 9.90581953e-02 -4.24953321e-03 8.39387947e+01] [-9.90560372e-02 9.95081599e-01 7.15846593e-04 -3.43588316e+00] [ 4.29954277e-03 -2.91377388e-04 9.99990714e-01 -2.54878493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439072329 meters 0.05531195285292742 Centerline is valid? [True, True] Translation: X:84.00, Y:-3.45, Z:-2.55 [[ 9.95025107e-01 9.95624068e-02 -3.51620929e-03 8.40006687e+01] [-9.95609313e-02 9.95031291e-01 5.92617573e-04 -3.44600440e+00] [ 3.55774070e-03 -2.39592292e-04 9.99993643e-01 -2.54767624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.499072329 meters 0.05522634969994378 Centerline is valid? [True, True] Translation: X:84.06, Y:-3.46, Z:-2.55 [[ 9.94937222e-01 1.00457879e-01 -2.85272103e-03 8.40613743e+01] [-1.00456910e-01 9.94941293e-01 4.81527235e-04 -3.45709558e+00] [ 2.88666316e-03 -1.92513830e-04 9.99995815e-01 -2.54670498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.559072329 meters 0.05083752040086261 Centerline is valid? [True, True] Translation: X:84.12, Y:-3.46, Z:-2.55 [[ 9.94935121e-01 1.00478708e-01 -2.85207981e-03 8.41228906e+01] [-1.00477736e-01 9.94939190e-01 4.82171828e-04 -3.46373353e+00] [ 2.88609398e-03 -1.93159163e-04 9.99995817e-01 -2.54678888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.619072329 meters 0.05647841173409745 Centerline is valid? [True, True] Translation: X:84.18, Y:-3.48, Z:-2.55 [[ 9.94914988e-01 1.00672811e-01 -3.02514142e-03 8.41822321e+01] [-1.00671718e-01 9.94919566e-01 5.11979612e-04 -3.48225122e+00] [ 3.06131482e-03 -2.04830005e-04 9.99995293e-01 -2.54740127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.679072329 meters 0.05452200958701822 Centerline is valid? [True, True] Translation: X:84.24, Y:-3.49, Z:-2.55 [[ 9.94867952e-01 1.01123165e-01 -3.44423928e-03 8.42438158e+01] [-1.01121747e-01 9.94873887e-01 5.83779414e-04 -3.49109341e+00] [ 3.48561734e-03 -2.32495936e-04 9.99993898e-01 -2.54689323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.739072329 meters 0.05347023103741296 Centerline is valid? [True, True] Translation: X:84.31, Y:-3.50, Z:-2.55 [[ 9.94807321e-01 1.01737795e-01 -2.79573975e-03 8.43052739e+01] [-1.01736861e-01 9.94811231e-01 4.74578950e-04 -3.50194812e+00] [ 2.82951592e-03 -1.87684827e-04 9.99995979e-01 -2.54615710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.799072329 meters 0.049652896535863085 Centerline is valid? [True, True] Translation: X:84.37, Y:-3.51, Z:-2.55 [[ 9.94762266e-01 1.02167806e-01 -3.12623129e-03 8.43678228e+01] [-1.02166637e-01 9.94767156e-01 5.31629100e-04 -3.50852959e+00] [ 3.16418759e-03 -2.09448030e-04 9.99994972e-01 -2.54688635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.859072329 meters 0.05308779586993218 Centerline is valid? [True, True] Translation: X:84.43, Y:-3.52, Z:-2.55 [[ 9.94691581e-01 1.02843086e-01 -3.45805838e-03 8.44268849e+01] [-1.02841658e-01 9.94697565e-01 5.88882978e-04 -3.52412637e+00] [ 3.50028479e-03 -2.30124484e-04 9.99993848e-01 -2.54764820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91907232900002 meters 0.0503300257554761 Centerline is valid? [True, True] Translation: X:84.49, Y:-3.53, Z:-2.55 [[ 9.94627157e-01 1.03467328e-01 -3.36621737e-03 8.44885573e+01] [-1.03465975e-01 9.94632828e-01 5.74122885e-04 -3.53232380e+00] [ 3.40755326e-03 -2.22749250e-04 9.99994169e-01 -2.54673305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97907232900002 meters 0.05249521321538719 Centerline is valid? [True, True] Translation: X:84.55, Y:-3.55, Z:-2.55 [[ 9.94539905e-01 1.04276744e-01 -4.09126290e-03 8.45485712e+01] [-1.04274748e-01 9.94548284e-01 6.98746921e-04 -3.54634991e+00] [ 4.14182155e-03 -2.68316288e-04 9.99991387e-01 -2.54663933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.039072329 meters 0.05160646978748066 Centerline is valid? [True, True] Translation: X:84.61, Y:-3.56, Z:-2.55 [[ 9.94466931e-01 1.04955448e-01 -4.45838351e-03 8.46103132e+01] [-1.04953083e-01 9.94476883e-01 7.61834188e-04 -3.55657344e+00] [ 4.51371798e-03 -2.89697813e-04 9.99989771e-01 -2.54733126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099072329 meters 0.05042758285874782 Centerline is valid? [True, True] Translation: X:84.67, Y:-3.57, Z:-2.55 [[ 9.94411244e-01 1.05481015e-01 -4.47589717e-03 8.46716365e+01] [-1.05478631e-01 9.94421275e-01 7.66001156e-04 -3.56679510e+00] [ 4.53172594e-03 -2.89608658e-04 9.99989690e-01 -2.54672869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159072329 meters 0.05504581843647816 Centerline is valid? [True, True] Translation: X:84.73, Y:-3.58, Z:-2.55 [[ 9.94296100e-01 1.06567780e-01 -4.30973426e-03 8.47303131e+01] [-1.06565576e-01 9.94305402e-01 7.38574959e-04 -3.58468277e+00] [ 4.36390035e-03 -2.75092888e-04 9.99990440e-01 -2.54707947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219072329 meters 0.0508825536925231 Centerline is valid? [True, True] Translation: X:84.79, Y:-3.59, Z:-2.55 [[ 9.94217184e-01 1.07272969e-01 -4.97011018e-03 8.47924915e+01] [-1.07270040e-01 9.94229556e-01 8.53008371e-04 -3.59045753e+00] [ 5.03293518e-03 -3.14931664e-04 9.99987285e-01 -2.54694243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.279072329 meters 0.051217464936920976 Centerline is valid? [True, True] Translation: X:84.85, Y:-3.60, Z:-2.55 [[ 9.94161531e-01 1.07812239e-01 -4.40136527e-03 8.48536137e+01] [-1.07809943e-01 9.94171235e-01 7.56511648e-04 -3.60272873e+00] [ 4.45727196e-03 -2.77583841e-04 9.99990028e-01 -2.54618382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.339072329 meters 0.05022116676006224 Centerline is valid? [True, True] Translation: X:84.92, Y:-3.61, Z:-2.55 [[ 9.94135157e-01 1.08070249e-01 -4.01388248e-03 8.49156230e+01] [-1.08068336e-01 9.94143228e-01 6.91095804e-04 -3.61435853e+00] [ 4.06506098e-03 -2.53269034e-04 9.99991706e-01 -2.54503267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.399072329 meters 0.04943336036682467 Centerline is valid? [True, True] Translation: X:84.98, Y:-3.62, Z:-2.54 [[ 9.94140597e-01 1.08028366e-01 -3.78748301e-03 8.49768429e+01] [-1.08026659e-01 9.94147783e-01 6.53097686e-04 -3.62473401e+00] [ 3.83587092e-03 -2.40121789e-04 9.99992614e-01 -2.54457837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.459072329 meters 0.05060156978521916 Centerline is valid? [True, True] Translation: X:85.04, Y:-3.64, Z:-2.55 [[ 9.94104778e-01 1.08344750e-01 -4.13588740e-03 8.50384304e+01] [-1.08342712e-01 9.94113347e-01 7.14386751e-04 -3.63852451e+00] [ 4.18894092e-03 -2.62082027e-04 9.99991192e-01 -2.54547408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.519072329 meters 0.05235487443137852 Centerline is valid? [True, True] Translation: X:85.10, Y:-3.65, Z:-2.55 [[ 9.94081120e-01 1.08545581e-01 -4.53696211e-03 8.50986869e+01] [-1.08543127e-01 9.94091432e-01 7.84464947e-04 -3.65367135e+00] [ 4.59530536e-03 -2.87365739e-04 9.99989400e-01 -2.54631365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.579072329 meters 0.05345407827585586 Centerline is valid? [True, True] Translation: X:85.16, Y:-3.67, Z:-2.55 [[ 9.94154001e-01 1.07842439e-01 -5.27542856e-03 8.51594626e+01] [-1.07839103e-01 9.94167940e-01 9.13470136e-04 -3.66668010e+00] [ 5.34317279e-03 -3.39232505e-04 9.99985668e-01 -2.54696967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63907232900002 meters 0.051887026427148535 Centerline is valid? [True, True] Translation: X:85.22, Y:-3.68, Z:-2.55 [[ 9.94202651e-01 1.07380058e-01 -5.53279868e-03 8.52206497e+01] [-1.07376374e-01 9.94217981e-01 9.59446712e-04 -3.67790518e+00] [ 5.60383338e-03 -3.59792601e-04 9.99984234e-01 -2.54593781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69907232900002 meters 0.05022717600517603 Centerline is valid? [True, True] Translation: X:85.28, Y:-3.69, Z:-2.54 [[ 9.94175877e-01 1.07651886e-01 -5.03955674e-03 8.52822793e+01] [-1.07648825e-01 9.94188596e-01 8.75424853e-04 -3.68851594e+00] [ 5.10451098e-03 -3.27823908e-04 9.99986918e-01 -2.54467053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.759072329 meters 0.052565646810461004 Centerline is valid? [True, True] Translation: X:85.34, Y:-3.70, Z:-2.55 [[ 9.94178297e-01 1.07632306e-01 -4.98001798e-03 8.53414183e+01] [-1.07629311e-01 9.94190717e-01 8.66266694e-04 -3.70340891e+00] [ 5.04432592e-03 -3.25227642e-04 9.99987224e-01 -2.54603281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819072329 meters 0.05326190084440279 Centerline is valid? [True, True] Translation: X:85.40, Y:-3.72, Z:-2.55 [[ 9.94189647e-01 1.07487410e-01 -5.77947120e-03 8.54015890e+01] [-1.07483366e-01 9.94206373e-01 1.00668770e-03 -3.71719600e+00] [ 5.85419336e-03 -3.79641472e-04 9.99982792e-01 -2.54634092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879072329 meters 0.052768654333574715 Centerline is valid? [True, True] Translation: X:85.46, Y:-3.73, Z:-2.55 [[ 9.94158808e-01 1.07756947e-01 -6.05850852e-03 8.54634784e+01] [-1.07752498e-01 9.94177188e-01 1.05706419e-03 -3.72821466e+00] [ 6.13713698e-03 -3.98070254e-04 9.99981088e-01 -2.54629149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939072329 meters 0.054864299087341195 Centerline is valid? [True, True] Translation: X:85.52, Y:-3.74, Z:-2.54 [[ 9.94136704e-01 1.08008969e-01 -5.12602746e-03 8.55236805e+01] [-1.08005780e-01 9.94149862e-01 8.95748787e-04 -3.74405260e+00] [ 5.19278839e-03 -3.36856152e-04 9.99986461e-01 -2.54308675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.999072329 meters 0.054553328354415086 Centerline is valid? [True, True] Translation: X:85.59, Y:-3.76, Z:-2.54 [[ 9.94059889e-01 1.08725180e-01 -4.87576669e-03 8.55852578e+01] [-1.08722301e-01 9.94071796e-01 8.52431256e-04 -3.75532065e+00] [ 4.93954289e-03 -3.17263146e-04 9.99987750e-01 -2.54332360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.059072329 meters 0.053097948279936205 Centerline is valid? [True, True] Translation: X:85.65, Y:-3.77, Z:-2.54 [[ 9.93919950e-01 1.09975208e-01 -5.34669156e-03 8.56468180e+01] [-1.09971757e-01 9.93934272e-01 9.36119839e-04 -3.76584347e+00] [ 5.41720996e-03 -3.42443117e-04 9.99985268e-01 -2.54425561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.119072329 meters 0.055322972631280776 Centerline is valid? [True, True] Translation: X:85.71, Y:-3.78, Z:-2.54 [[ 9.93848366e-01 1.10616943e-01 -5.41447263e-03 8.57059597e+01] [-1.10613407e-01 9.93863056e-01 9.49215156e-04 -3.78069617e+00] [ 5.48624359e-03 -3.44462668e-04 9.99984891e-01 -2.54439956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.179072329 meters 0.04947341315238869 Centerline is valid? [True, True] Translation: X:85.77, Y:-3.79, Z:-2.54 [[ 9.93737768e-01 1.11577927e-01 -5.96780365e-03 8.57677927e+01] [-1.11573639e-01 9.93755617e-01 1.04776139e-03 -3.78537236e+00] [ 6.04744544e-03 -3.75350502e-04 9.99981644e-01 -2.54349170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.239072329 meters 0.047132027691970675 Centerline is valid? [True, True] Translation: X:85.83, Y:-3.79, Z:-2.54 [[ 9.93658897e-01 1.12278230e-01 -5.96621474e-03 8.58291545e+01] [-1.12273947e-01 9.93676738e-01 1.04906226e-03 -3.79354611e+00] [ 6.04627566e-03 -3.72559567e-04 9.99981652e-01 -2.54363679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.299072329 meters 0.04759593182014761 Centerline is valid? [True, True] Translation: X:85.89, Y:-3.81, Z:-2.54 [[ 9.93555898e-01 1.13210746e-01 -5.47758916e-03 8.58899728e+01] [-1.13207142e-01 9.93570940e-01 9.64583861e-04 -3.80703099e+00] [ 5.55157466e-03 -3.38265772e-04 9.99984533e-01 -2.54321361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.359072329 meters 0.048451257236624926 Centerline is valid? [True, True] Translation: X:85.95, Y:-3.82, Z:-2.54 [[ 9.93545546e-01 1.13284931e-01 -5.81144679e-03 8.59503174e+01] [-1.13280867e-01 9.93562477e-01 1.02488488e-03 -3.82068710e+00] [ 5.89013948e-03 -3.59944073e-04 9.99982588e-01 -2.54298052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41907232900002 meters 0.05044719669559684 Centerline is valid? [True, True] Translation: X:86.01, Y:-3.84, Z:-2.54 [[ 9.93540895e-01 1.13292727e-01 -6.42251519e-03 8.60099352e+01] [-1.13287758e-01 9.93561573e-01 1.13354055e-03 -3.83603251e+00] [ 6.50958620e-03 -3.98626548e-04 9.99978733e-01 -2.54410452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47907232900002 meters 0.049453652775288126 Centerline is valid? [True, True] Translation: X:86.07, Y:-3.85, Z:-2.54 [[ 9.93470987e-01 1.13868575e-01 -7.02463076e-03 8.60708748e+01] [-1.13862631e-01 9.93495727e-01 1.24162878e-03 -3.84679629e+00] [ 7.12032315e-03 -4.33679231e-04 9.99974556e-01 -2.54403839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.539072329 meters 0.04545722478451644 Centerline is valid? [True, True] Translation: X:86.13, Y:-3.85, Z:-2.54 [[ 9.93360330e-01 1.14825142e-01 -7.10225251e-03 8.61331064e+01] [-1.14819077e-01 9.93385625e-01 1.25725649e-03 -3.85351512e+00] [ 7.19964020e-03 -4.33434647e-04 9.99973988e-01 -2.54317811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599072329 meters 0.04934814958873221 Centerline is valid? [True, True] Translation: X:86.19, Y:-3.87, Z:-2.54 [[ 9.93232310e-01 1.15946439e-01 -6.78248820e-03 8.61919502e+01] [-1.15940923e-01 9.93255384e-01 1.20231353e-03 -3.87104945e+00] [ 6.87614689e-03 -4.07808706e-04 9.99976276e-01 -2.54288132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659072329 meters 0.04802360722290636 Centerline is valid? [True, True] Translation: X:86.25, Y:-3.88, Z:-2.54 [[ 9.93112828e-01 1.16957315e-01 -6.92071975e-03 8.62534927e+01] [-1.16951583e-01 9.93136858e-01 1.22860111e-03 -3.88134024e+00] [ 7.01691575e-03 -4.10750389e-04 9.99975297e-01 -2.54317707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.719072329 meters 0.04896531752018435 Centerline is valid? [True, True] Translation: X:86.31, Y:-3.89, Z:-2.54 [[ 9.92978358e-01 1.18114325e-01 -6.55643886e-03 8.63133349e+01] [-1.18109195e-01 9.92999929e-01 1.16547528e-03 -3.89309442e+00] [ 6.64820265e-03 -3.82916011e-04 9.99977827e-01 -2.54290728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.779072329 meters 0.0467702528659811 Centerline is valid? [True, True] Translation: X:86.37, Y:-3.90, Z:-2.54 [[ 9.92787913e-01 1.19739937e-01 -5.87420223e-03 8.63744075e+01] [-1.19735839e-01 9.92805235e-01 1.04571367e-03 -3.90261863e+00] [ 5.95715242e-03 -3.34819358e-04 9.99982200e-01 -2.54149204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.839072329 meters 0.042166608273710035 Centerline is valid? [True, True] Translation: X:86.44, Y:-3.91, Z:-2.54 [[ 9.92582447e-01 1.21413945e-01 -6.22417399e-03 8.64364224e+01] [-1.21409366e-01 9.92601901e-01 1.10969553e-03 -3.90798277e+00] [ 6.31285944e-03 -3.45791289e-04 9.99980014e-01 -2.54050812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.899072329 meters 0.04323414425718072 Centerline is valid? [True, True] Translation: X:86.50, Y:-3.92, Z:-2.54 [[ 9.92328710e-01 1.23441910e-01 -6.76955966e-03 8.64958865e+01] [-1.23436540e-01 9.92351734e-01 1.20702438e-03 -3.91959393e+00] [ 6.86678166e-03 -3.62153918e-04 9.99976358e-01 -2.54251771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.959072329 meters 0.047024528412064795 Centerline is valid? [True, True] Translation: X:86.56, Y:-3.94, Z:-2.54 [[ 9.92084984e-01 1.25367774e-01 -7.09261527e-03 8.65551447e+01] [-1.25361916e-01 9.92110269e-01 1.26633374e-03 -3.93594714e+00] [ 7.19541389e-03 -3.67166850e-04 9.99974045e-01 -2.54345698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.019072329 meters 0.041015725387738 Centerline is valid? [True, True] Translation: X:86.62, Y:-3.94, Z:-2.54 [[ 9.91820811e-01 1.27424146e-01 -7.38680339e-03 8.66168586e+01] [-1.27417847e-01 9.91848251e-01 1.31910784e-03 -3.93893225e+00] [ 7.49467421e-03 -3.67108020e-04 9.99971847e-01 -2.54335665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.079072329 meters 0.037881345639021874 Centerline is valid? [True, True] Translation: X:86.68, Y:-3.95, Z:-2.54 [[ 9.91559977e-01 1.29435786e-01 -7.42891668e-03 8.66783490e+01] [-1.29429456e-01 9.91587742e-01 1.32863203e-03 -3.94575398e+00] [ 7.53839525e-03 -3.55897701e-04 9.99971523e-01 -2.54335723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13907232900002 meters 0.03730439742838951 Centerline is valid? [True, True] Translation: X:86.74, Y:-3.96, Z:-2.54 [[ 9.91243417e-01 1.31828667e-01 -7.59546296e-03 8.67379826e+01] [-1.31822119e-01 9.91272457e-01 1.35852874e-03 -3.95503152e+00] [ 7.70826626e-03 -3.45382648e-04 9.99970231e-01 -2.54403177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19907232900002 meters 0.03482701558327005 Centerline is valid? [True, True] Translation: X:86.80, Y:-3.96, Z:-2.54 [[ 9.91033189e-01 1.33396858e-01 -7.64832723e-03 8.67996035e+01] [-1.33390249e-01 9.91062644e-01 1.37005262e-03 -3.96288403e+00] [ 7.76273212e-03 -3.37555349e-04 9.99969813e-01 -2.54291760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.259072329 meters 0.036141675606877637 Centerline is valid? [True, True] Translation: X:86.86, Y:-3.98, Z:-2.54 [[ 9.90845685e-01 1.34819756e-01 -6.96143145e-03 8.68600050e+01] [-1.34814303e-01 9.90870094e-01 1.24883498e-03 -3.97555835e+00] [ 7.06624186e-03 -2.98902224e-04 9.99974989e-01 -2.54236244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319072329 meters 0.032799053638812914 Centerline is valid? [True, True] Translation: X:86.92, Y:-3.98, Z:-2.54 [[ 9.90561393e-01 1.36896691e-01 -6.88646768e-03 8.69217937e+01] [-1.36891392e-01 9.90585290e-01 1.23720660e-03 -3.98178662e+00] [ 6.99100307e-03 -2.82830940e-04 9.99975523e-01 -2.54297074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379072329 meters 0.03408910392179192 Centerline is valid? [True, True] Translation: X:86.98, Y:-3.99, Z:-2.54 [[ 9.90370621e-01 1.38253994e-01 -7.20178359e-03 8.69820381e+01] [-1.38248223e-01 9.90396764e-01 1.29558573e-03 -3.99407373e+00] [ 7.31174306e-03 -2.87476264e-04 9.99973228e-01 -2.54456337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439072329 meters 0.031179519064003836 Centerline is valid? [True, True] Translation: X:87.04, Y:-4.00, Z:-2.54 [[ 9.90129344e-01 1.39987874e-01 -6.87591832e-03 8.70439677e+01] [-1.39982641e-01 9.90153183e-01 1.23876118e-03 -4.00174609e+00] [ 6.98162396e-03 -2.64024588e-04 9.99975593e-01 -2.54354181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.499072329 meters 0.03398287500796734 Centerline is valid? [True, True] Translation: X:87.10, Y:-4.02, Z:-2.54 [[ 9.90048426e-01 1.40558971e-01 -6.87680166e-03 8.71032541e+01] [-1.40553740e-01 9.90072274e-01 1.24055742e-03 -4.01611830e+00] [ 6.98290213e-03 -2.61651724e-04 9.99975585e-01 -2.54434861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.559072329 meters 0.0308739917285018 Centerline is valid? [True, True] Translation: X:87.17, Y:-4.02, Z:-2.54 [[ 9.89911192e-01 1.41491330e-01 -7.48567883e-03 8.71657363e+01] [-1.41485153e-01 9.89939456e-01 1.35107287e-03 -4.02280440e+00] [ 7.60153393e-03 -2.78329745e-04 9.99971069e-01 -2.54481528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.619072329 meters 0.031169483488444436 Centerline is valid? [True, True] Translation: X:87.23, Y:-4.03, Z:-2.55 [[ 9.89703813e-01 1.42900373e-01 -8.11448497e-03 8.72262390e+01] [-1.42893145e-01 9.89737035e-01 1.46665386e-03 -4.03439017e+00] [ 8.24079167e-03 -2.92048634e-04 9.99966001e-01 -2.54624984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.679072329 meters 0.031497029741896235 Centerline is valid? [True, True] Translation: X:87.29, Y:-4.05, Z:-2.55 [[ 9.89622538e-01 1.43526337e-01 -6.88649237e-03 8.72870417e+01] [-1.43521134e-01 9.89646467e-01 1.24643347e-03 -4.04531985e+00] [ 6.99408888e-03 -2.45141463e-04 9.99975511e-01 -2.54534214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.739072329 meters 0.02993312416051882 Centerline is valid? [True, True] Translation: X:87.35, Y:-4.05, Z:-2.54 [[ 9.89517606e-01 1.44285811e-01 -6.04253656e-03 8.73483101e+01] [-1.44281809e-01 9.89536033e-01 1.09522275e-03 -4.05409736e+00] [ 6.13733276e-03 -2.11914087e-04 9.99981144e-01 -2.54402416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.799072329 meters 0.030073717586842155 Centerline is valid? [True, True] Translation: X:87.41, Y:-4.07, Z:-2.54 [[ 9.89451205e-01 1.44742305e-01 -5.99824720e-03 8.74104096e+01] [-1.44738360e-01 9.89469363e-01 1.08892275e-03 -4.06558712e+00] [ 6.09269503e-03 -2.09259463e-04 9.99981417e-01 -2.54332013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.859072329 meters 0.029545916465929554 Centerline is valid? [True, True] Translation: X:87.47, Y:-4.08, Z:-2.54 [[ 9.89389077e-01 1.45151453e-01 -6.34892845e-03 8.74727406e+01] [-1.45147030e-01 9.89409423e-01 1.15442876e-03 -4.07616275e+00] [ 6.44925665e-03 -2.20651094e-04 9.99979179e-01 -2.54375894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91907232900002 meters 0.02734921682265124 Centerline is valid? [True, True] Translation: X:87.53, Y:-4.08, Z:-2.54 [[ 9.89304427e-01 1.45707128e-01 -6.79584705e-03 8.75347952e+01] [-1.45702059e-01 9.89327740e-01 1.23775799e-03 -4.08467667e+00] [ 6.90367017e-03 -2.34350553e-04 9.99976142e-01 -2.54424393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.979072329 meters 0.03030211475177006 Centerline is valid? [True, True] Translation: X:87.60, Y:-4.10, Z:-2.54 [[ 9.89291075e-01 1.45804431e-01 -6.65109432e-03 8.75954948e+01] [-1.45799565e-01 9.89313406e-01 1.21325493e-03 -4.09978647e+00] [ 6.75691472e-03 -2.30535615e-04 9.99977145e-01 -2.54478278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.039072329 meters 0.02839173371860905 Centerline is valid? [True, True] Translation: X:87.66, Y:-4.11, Z:-2.54 [[ 9.89275382e-01 1.45955218e-01 -5.59395188e-03 8.76575728e+01] [-1.45951769e-01 9.89291179e-01 1.02209648e-03 -4.10812227e+00] [ 5.68322756e-03 -1.94687716e-04 9.99983831e-01 -2.54295222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099072329 meters 0.028004301730411095 Centerline is valid? [True, True] Translation: X:87.72, Y:-4.12, Z:-2.54 [[ 9.89282748e-01 1.45888822e-01 -6.00797123e-03 8.77185934e+01] [-1.45884832e-01 9.89300969e-01 1.09933454e-03 -4.11852982e+00] [ 6.10407238e-03 -2.11080825e-04 9.99981348e-01 -2.54306349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159072329 meters 0.029185877543349913 Centerline is valid? [True, True] Translation: X:87.78, Y:-4.13, Z:-2.54 [[ 9.89431179e-01 1.44826153e-01 -7.16435598e-03 8.77798285e+01] [-1.44820438e-01 9.89457082e-01 1.31283112e-03 -4.13119337e+00] [ 7.27895504e-03 -2.61410867e-04 9.99973474e-01 -2.54410262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.219072329 meters 0.030466617894157492 Centerline is valid? [True, True] Translation: X:87.84, Y:-4.14, Z:-2.54 [[ 9.89481514e-01 1.44505664e-01 -6.66685902e-03 8.78401036e+01] [-1.44500697e-01 9.89503942e-01 1.22329154e-03 -4.14335387e+00] [ 6.77365584e-03 -2.47058594e-04 9.99977028e-01 -2.54304207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.279072329 meters 0.03202917998696154 Centerline is valid? [True, True] Translation: X:87.90, Y:-4.16, Z:-2.54 [[ 9.89482355e-01 1.44516111e-01 -6.30571042e-03 8.79004276e+01] [-1.44511657e-01 9.89502420e-01 1.15876919e-03 -4.15658810e+00] [ 6.40697653e-03 -2.35333005e-04 9.99979447e-01 -2.54238471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.339072329 meters 0.030410349263043326 Centerline is valid? [True, True] Translation: X:87.96, Y:-4.17, Z:-2.54 [[ 9.89660553e-01 1.43307182e-01 -5.91952205e-03 8.79619156e+01] [-1.43303226e-01 9.89678230e-01 1.08938758e-03 -4.16609966e+00] [ 6.01453917e-03 -2.29837307e-04 9.99981886e-01 -2.54129474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.399072329 meters 0.031430341506798055 Centerline is valid? [True, True] Translation: X:88.02, Y:-4.18, Z:-2.54 [[ 9.89807650e-01 1.42287559e-01 -5.92170098e-03 8.80232487e+01] [-1.42283572e-01 9.89825335e-01 1.09136839e-03 -4.17739362e+00] [ 6.01673780e-03 -2.37684011e-04 9.99981871e-01 -2.54179296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.459072329 meters 0.03416071891870565 Centerline is valid? [True, True] Translation: X:88.08, Y:-4.19, Z:-2.54 [[ 9.89892652e-01 1.41681940e-01 -6.22620555e-03 8.80826105e+01] [-1.41677511e-01 9.89912199e-01 1.14900420e-03 -4.19198973e+00] [ 6.32618998e-03 -2.55277508e-04 9.99979957e-01 -2.54249815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.519072329 meters 0.03515717623992805 Centerline is valid? [True, True] Translation: X:88.14, Y:-4.20, Z:-2.54 [[ 9.90134061e-01 1.39993509e-01 -6.02972621e-03 8.81429713e+01] [-1.39989315e-01 9.90152387e-01 1.11419782e-03 -4.20446853e+00] [ 6.12632827e-03 -2.59107974e-04 9.99981200e-01 -2.54064976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.579072329 meters 0.03706793608382202 Centerline is valid? [True, True] Translation: X:88.20, Y:-4.22, Z:-2.54 [[ 9.90252723e-01 1.39159588e-01 -5.84420691e-03 8.82039229e+01] [-1.39155624e-01 9.90269934e-01 1.08141478e-03 -4.21756487e+00] [ 5.93783163e-03 -2.57619673e-04 9.99982338e-01 -2.54024157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63907232900002 meters 0.03937371179785308 Centerline is valid? [True, True] Translation: X:88.26, Y:-4.23, Z:-2.54 [[ 9.90466053e-01 1.37606711e-01 -6.43356824e-03 8.82645249e+01] [-1.37601872e-01 9.90486904e-01 1.19090952e-03 -4.23104700e+00] [ 6.53624223e-03 -2.94284417e-04 9.99978595e-01 -2.54172941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69907232900002 meters 0.03897158909521197 Centerline is valid? [True, True] Translation: X:88.33, Y:-4.24, Z:-2.54 [[ 9.90738073e-01 1.35645072e-01 -6.20359268e-03 8.83257976e+01] [-1.35640532e-01 9.90757451e-01 1.14880154e-03 -4.24167537e+00] [ 6.30208494e-03 -2.96702810e-04 9.99980098e-01 -2.54249711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.759072329 meters 0.04081377554701575 Centerline is valid? [True, True] Translation: X:88.39, Y:-4.26, Z:-2.54 [[ 9.90967020e-01 1.34000807e-01 -5.30563797e-03 8.83858611e+01] [-1.33997455e-01 9.90981188e-01 9.83811388e-04 -4.25508901e+00] [ 5.38961894e-03 -2.63982653e-04 9.99985441e-01 -2.54120875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819072329 meters 0.041653372738181926 Centerline is valid? [True, True] Translation: X:88.45, Y:-4.27, Z:-2.54 [[ 9.91175842e-01 1.32432201e-01 -5.67125440e-03 8.84462612e+01] [-1.32428338e-01 9.91192023e-01 1.05297914e-03 -4.26691613e+00] [ 5.76075046e-03 -2.92652694e-04 9.99983364e-01 -2.54074535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879072329 meters 0.04357076575747862 Centerline is valid? [True, True] Translation: X:88.51, Y:-4.28, Z:-2.54 [[ 9.91521111e-01 1.29796109e-01 -6.23343061e-03 8.85059825e+01] [-1.29791389e-01 9.91540647e-01 1.15756185e-03 -4.28099728e+00] [ 6.33094685e-03 -3.38701390e-04 9.99979902e-01 -2.54205763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939072329 meters 0.04425706436749994 Centerline is valid? [True, True] Translation: X:88.57, Y:-4.29, Z:-2.54 [[ 9.91733506e-01 1.28146939e-01 -6.55858608e-03 8.85663461e+01] [-1.28141667e-01 9.91755124e-01 1.21957694e-03 -4.29346797e+00] [ 6.66079640e-03 -3.69067164e-04 9.99977749e-01 -2.54241455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.999072329 meters 0.046020302214521344 Centerline is valid? [True, True] Translation: X:88.63, Y:-4.31, Z:-2.54 [[ 9.92086252e-01 1.25397948e-01 -6.34213186e-03 8.86262608e+01] [-1.25392961e-01 9.92106453e-01 1.17953868e-03 -4.30684322e+00] [ 6.43998167e-03 -3.74945420e-04 9.99979193e-01 -2.54313341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.059072329 meters 0.050813556667677985 Centerline is valid? [True, True] Translation: X:88.68, Y:-4.32, Z:-2.54 [[ 9.92524703e-01 1.21915154e-01 -5.60437105e-03 8.86844524e+01] [-1.21911204e-01 9.92540464e-01 1.04242754e-03 -4.32403310e+00] [ 5.68965275e-03 -3.51399459e-04 9.99983752e-01 -2.54381694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.119072329 meters 0.05603753279029467 Centerline is valid? [True, True] Translation: X:88.74, Y:-4.34, Z:-2.54 [[ 9.92842755e-01 1.19302170e-01 -5.50052917e-03 8.87416564e+01] [-1.19298322e-01 9.92857927e-01 1.02356356e-03 -4.34297469e+00] [ 5.58335734e-03 -3.60033769e-04 9.99984348e-01 -2.54290889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.179072329 meters 0.05646993881436792 Centerline is valid? [True, True] Translation: X:88.80, Y:-4.35, Z:-2.54 [[ 9.93106524e-01 1.17102016e-01 -5.15272965e-03 8.88014205e+01] [-1.17098610e-01 9.93119830e-01 9.58928507e-04 -4.35455328e+00] [ 5.22957045e-03 -3.48940678e-04 9.99986265e-01 -2.54218220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.239072329 meters 0.055745904593778525 Centerline is valid? [True, True] Translation: X:88.86, Y:-4.37, Z:-2.54 [[ 9.93543195e-01 1.13347683e-01 -4.92159313e-03 8.88606823e+01] [-1.13344530e-01 9.93555322e-01 9.15958521e-04 -4.36558573e+00] [ 4.99369682e-03 -3.52208698e-04 9.99987469e-01 -2.54168612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.299072329 meters 0.05644532641890468 Centerline is valid? [True, True] Translation: X:88.92, Y:-4.38, Z:-2.54 [[ 9.93973115e-01 1.09542916e-01 -4.21857925e-03 8.89198483e+01] [-1.09540565e-01 9.93982016e-01 7.85154060e-04 -4.37945121e+00] [ 4.27919997e-03 -3.18316474e-04 9.99990794e-01 -2.54059368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.359072329 meters 0.064333769167803 Centerline is valid? [True, True] Translation: X:88.98, Y:-4.40, Z:-2.54 [[ 9.94281691e-01 1.06703178e-01 -4.28386293e-03 8.89769854e+01] [-1.06700727e-01 9.94290862e-01 7.97303505e-04 -4.40058751e+00] [ 4.34448059e-03 -3.35652987e-04 9.99990506e-01 -2.54098974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41907232900002 meters 0.06315117600790028 Centerline is valid? [True, True] Translation: X:89.04, Y:-4.41, Z:-2.54 [[ 9.94670792e-01 1.02980910e-01 -4.99468709e-03 8.90369866e+01] [-1.02977532e-01 9.94683248e-01 9.29639020e-04 -4.41145141e+00] [ 5.06386665e-03 -4.10344231e-04 9.99987094e-01 -2.54097107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.479072329 meters 0.06713224684795138 Centerline is valid? [True, True] Translation: X:89.10, Y:-4.43, Z:-2.54 [[ 9.95056109e-01 9.91734341e-02 -5.28869255e-03 8.90955592e+01] [-9.91695923e-02 9.95070059e-01 9.84425170e-04 -4.42854174e+00] [ 5.36024843e-03 -4.55080795e-04 9.99985530e-01 -2.54163802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.539072329 meters 0.07008434825557006 Centerline is valid? [True, True] Translation: X:89.15, Y:-4.44, Z:-2.54 [[ 9.95320291e-01 9.65184390e-02 -4.65921647e-03 8.91543357e+01] [-9.65154281e-02 9.95331111e-01 8.67312839e-04 -4.44369457e+00] [ 4.72117478e-03 -4.13567796e-04 9.99988770e-01 -2.54126059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.599072329 meters 0.07567187980093461 Centerline is valid? [True, True] Translation: X:89.21, Y:-4.46, Z:-2.54 [[ 9.95669914e-01 9.28599644e-02 -4.29529563e-03 8.92114001e+01] [-9.28573717e-02 9.95679100e-01 7.99569251e-04 -4.46324068e+00] [ 4.35098406e-03 -3.97257184e-04 9.99990456e-01 -2.54157740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659072329 meters 0.07626474645417286 Centerline is valid? [True, True] Translation: X:89.27, Y:-4.48, Z:-2.54 [[ 9.95990246e-01 8.93187110e-02 -5.05934186e-03 8.92708886e+01] [-8.93150680e-02 9.96002978e-01 9.41930412e-04 -4.47649408e+00] [ 5.12325157e-03 -4.86278041e-04 9.99986758e-01 -2.54267717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.719072329 meters 0.07928426003024691 Centerline is valid? [True, True] Translation: X:89.33, Y:-4.49, Z:-2.54 [[ 9.96115655e-01 8.79063791e-02 -5.10591511e-03 8.93298561e+01] [-8.79026498e-02 9.96128616e-01 9.50690391e-04 -4.49179774e+00] [ 5.16971990e-03 -4.98174113e-04 9.99986513e-01 -2.54311072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.779072329 meters 0.08455833127371196 Centerline is valid? [True, True] Translation: X:89.39, Y:-4.51, Z:-2.54 [[ 9.96403980e-01 8.46756695e-02 -3.02322113e-03 8.93873257e+01] [-8.46743471e-02 9.96408520e-01 5.62983267e-04 -4.51119014e+00] [ 3.06003427e-03 -3.04969493e-04 9.99995272e-01 -2.54036243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.839072329 meters 0.07755129958219759 Centerline is valid? [True, True] Translation: X:89.45, Y:-4.51, Z:-2.54 [[ 9.96545097e-01 8.29908814e-02 -3.22245149e-03 8.94489724e+01] [-8.29893701e-02 9.96550252e-01 6.00141513e-04 -4.51396425e+00] [ 3.26114111e-03 -3.30638862e-04 9.99994628e-01 -2.53959536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.899072329 meters 0.08087966918897513 Centerline is valid? [True, True] Translation: X:89.51, Y:-4.53, Z:-2.54 [[ 9.96728070e-01 8.06430222e-02 -5.46421139e-03 8.95076445e+01] [-8.06386414e-02 9.96742882e-01 1.01770896e-03 -4.52967845e+00] [ 5.52848493e-03 -5.73752504e-04 9.99984553e-01 -2.54279568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.959072329 meters 0.08524500892118259 Centerline is valid? [True, True] Translation: X:89.57, Y:-4.55, Z:-2.54 [[ 9.96945190e-01 7.79075273e-02 -5.54126556e-03 8.95661881e+01] [-7.79029801e-02 9.96960411e-01 1.03209279e-03 -4.54725056e+00] [ 5.60483018e-03 -5.97258842e-04 9.99984114e-01 -2.54258593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.019072329 meters 0.07955487183822921 Centerline is valid? [True, True] Translation: X:89.63, Y:-4.55, Z:-2.54 [[ 9.97113304e-01 7.58298495e-02 -3.85925839e-03 8.96273685e+01] [-7.58276283e-02 9.97120682e-01 7.18882261e-04 -4.55198171e+00] [ 3.90265909e-03 -4.24168656e-04 9.99992295e-01 -2.54030107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.079072329 meters 0.09138504130054122 Centerline is valid? [True, True] Translation: X:89.68, Y:-4.58, Z:-2.54 [[ 9.97277666e-01 7.36075149e-02 -4.38082205e-03 8.96831681e+01] [-7.36046317e-02 9.97287166e-01 8.15986467e-04 -4.57859163e+00] [ 4.42900034e-03 -4.91316286e-04 9.99990071e-01 -2.54100244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13907232900002 meters 0.09509438932560792 Centerline is valid? [True, True] Translation: X:89.74, Y:-4.59, Z:-2.54 [[ 9.97388240e-01 7.20683734e-02 -4.77999904e-03 8.97416490e+01] [-7.20649229e-02 9.97399546e-01 8.90423508e-04 -4.59479083e+00] [ 4.83174025e-03 -5.43627673e-04 9.99988179e-01 -2.54272270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19907232900002 meters 0.08780294802805283 Centerline is valid? [True, True] Translation: X:89.80, Y:-4.60, Z:-2.54 [[ 9.97529986e-01 7.00788467e-02 -4.78361863e-03 8.98033214e+01] [-7.00753678e-02 9.97541302e-01 8.91233240e-04 -4.59810155e+00] [ 4.83431376e-03 -5.53818046e-04 9.99988161e-01 -2.54185865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.259072329 meters 0.08246059014305827 Centerline is valid? [True, True] Translation: X:89.86, Y:-4.60, Z:-2.54 [[ 9.97622977e-01 6.88112510e-02 -3.66175634e-03 8.98643185e+01] [-6.88092039e-02 9.97629605e-01 6.82287689e-04 -4.60311029e+00] [ 3.70002560e-03 -4.28703336e-04 9.99993063e-01 -2.54010543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.319072329 meters 0.0908813993194482 Centerline is valid? [True, True] Translation: X:89.92, Y:-4.63, Z:-2.54 [[ 9.97697130e-01 6.77227611e-02 -3.75033098e-03 8.99211080e+01] [-6.77206062e-02 9.97704080e-01 6.98789182e-04 -4.62560639e+00] [ 3.78904445e-03 -4.43205274e-04 9.99992723e-01 -2.54081257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379072329 meters 0.08814899733148611 Centerline is valid? [True, True] Translation: X:89.98, Y:-4.63, Z:-2.54 [[ 9.97780364e-01 6.64479733e-02 -4.36031173e-03 8.99816334e+01] [-6.64450480e-02 9.97789755e-01 8.12527164e-04 -4.63336445e+00] [ 4.40466516e-03 -5.21002527e-04 9.99990164e-01 -2.54196069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.439072329 meters 0.08827356215440714 Centerline is valid? [True, True] Translation: X:90.04, Y:-4.65, Z:-2.54 [[ 9.97859925e-01 6.51978769e-02 -4.98056318e-03 9.00414521e+01] [-6.51940443e-02 9.97872174e-01 9.28199174e-04 -4.64507518e+00] [ 5.03048203e-03 -6.01509702e-04 9.99987166e-01 -2.54258646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.499072329 meters 0.08132504129150339 Centerline is valid? [True, True] Translation: X:90.10, Y:-4.65, Z:-2.54 [[ 9.97888491e-01 6.47931363e-02 -4.51757850e-03 9.01042398e+01] [-6.47899735e-02 9.97898566e-01 8.43127846e-04 -4.64788212e+00] [ 4.56271401e-03 -5.48653783e-04 9.99989440e-01 -2.54162671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.559072329 meters 0.09040214320866895 Centerline is valid? [True, True] Translation: X:90.16, Y:-4.67, Z:-2.54 [[ 9.97917436e-01 6.44023208e-02 -3.62394346e-03 9.01617600e+01] [-6.44002812e-02 9.97923918e-01 6.76830903e-04 -4.67148653e+00] [ 3.66000933e-03 -4.42038381e-04 9.99993204e-01 -2.54086624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.619072329 meters 0.085870296213947 Centerline is valid? [True, True] Translation: X:90.22, Y:-4.68, Z:-2.54 [[ 9.97932330e-01 6.41630925e-02 -3.76319045e-03 9.02238729e+01] [-6.41608877e-02 9.97939319e-01 7.03840173e-04 -4.67830042e+00] [ 3.80059628e-03 -4.60935224e-04 9.99992671e-01 -2.54058962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.679072329 meters 0.08480806781652357 Centerline is valid? [True, True] Translation: X:90.29, Y:-4.69, Z:-2.54 [[ 9.97933512e-01 6.40881665e-02 -4.62729467e-03 9.02851396e+01] [-6.40848265e-02 9.97944079e-01 8.66662614e-04 -4.68836130e+00] [ 4.67332413e-03 -5.68332291e-04 9.99988918e-01 -2.54302498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.739072329 meters 0.08401332515902288 Centerline is valid? [True, True] Translation: X:90.35, Y:-4.70, Z:-2.54 [[ 9.97910367e-01 6.44420645e-02 -4.70325860e-03 9.03468974e+01] [-6.44386111e-02 9.97921283e-01 8.82306080e-04 -4.69991139e+00] [ 4.75033948e-03 -5.77390932e-04 9.99988550e-01 -2.54276162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.799072329 meters 0.08845583865903785 Centerline is valid? [True, True] Translation: X:90.41, Y:-4.72, Z:-2.54 [[ 9.97864258e-01 6.51959840e-02 -4.05048405e-03 9.04060616e+01] [-6.51934245e-02 9.97872356e-01 7.60893565e-04 -4.71801743e+00] [ 4.09147326e-03 -4.95203566e-04 9.99991507e-01 -2.54143660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.859072329 meters 0.08624969585285616 Centerline is valid? [True, True] Translation: X:90.47, Y:-4.73, Z:-2.54 [[ 9.97865251e-01 6.51413210e-02 -4.64206587e-03 9.04679809e+01] [-6.51379530e-02 9.97875886e-01 8.73229084e-04 -4.72684543e+00] [ 4.68908889e-03 -5.68990291e-04 9.99988844e-01 -2.54258820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91907232900002 meters 0.09430304538387657 Centerline is valid? [True, True] Translation: X:90.53, Y:-4.75, Z:-2.54 [[ 9.97877251e-01 6.49485847e-02 -4.76161006e-03 9.05260622e+01] [-6.49450334e-02 9.97888440e-01 8.96851963e-04 -4.74897816e+00] [ 4.80980490e-03 -5.85705246e-04 9.99988261e-01 -2.54261358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.979072329 meters 0.09465209984218573 Centerline is valid? [True, True] Translation: X:90.59, Y:-4.76, Z:-2.54 [[ 9.97827070e-01 6.57784258e-02 -3.78640423e-03 9.05862101e+01] [-6.57761857e-02 9.97834147e-01 7.13286982e-04 -4.76174764e+00] [ 3.82512232e-03 -4.62681832e-04 9.99992577e-01 -2.54146370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.039072329 meters 0.08569419926747741 Centerline is valid? [True, True] Translation: X:90.65, Y:-4.76, Z:-2.54 [[ 9.97786912e-01 6.63809534e-02 -3.85325420e-03 9.06499928e+01] [-6.63786364e-02 9.97794242e-01 7.26247768e-04 -4.76187195e+00] [ 3.89296387e-03 -4.68866758e-04 9.99992312e-01 -2.54231834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.099072329 meters 0.0874464674653754 Centerline is valid? [True, True] Translation: X:90.71, Y:-4.78, Z:-2.54 [[ 9.97739686e-01 6.70486464e-02 -4.47199105e-03 9.07106869e+01] [-6.70455268e-02 9.97749560e-01 8.44037822e-04 -4.77653333e+00] [ 4.51851869e-03 -5.42303036e-04 9.99989644e-01 -2.54306750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.159072329 meters 0.09390373978540394 Centerline is valid? [True, True] Translation: X:90.77, Y:-4.80, Z:-2.54 [[ 9.97675765e-01 6.80470880e-02 -3.55821959e-03 9.07683805e+01] [-6.80451189e-02 9.97682019e-01 6.71682275e-04 -4.79744729e+00] [ 3.59567773e-03 -4.28001653e-04 9.99993444e-01 -2.54261026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.219072329 meters 0.09495387084882789 Centerline is valid? [True, True] Translation: X:90.83, Y:-4.81, Z:-2.54 [[ 9.97622263e-01 6.88183745e-02 -3.72176195e-03 9.08292769e+01] [-6.88162221e-02 9.97629106e-01 7.03495746e-04 -4.81079677e+00] [ 3.76135148e-03 -4.45705421e-04 9.99992827e-01 -2.54290089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.279072329 meters 0.08082643198513331 Centerline is valid? [True, True] Translation: X:90.89, Y:-4.81, Z:-2.54 [[ 9.97545642e-01 6.98796757e-02 -4.41844058e-03 9.08933901e+01] [-6.98766469e-02 9.97555289e-01 8.36359632e-04 -4.80511272e+00] [ 4.46608331e-03 -5.25561094e-04 9.99989889e-01 -2.54290733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.339072329 meters 0.08408314640510242 Centerline is valid? [True, True] Translation: X:90.95, Y:-4.82, Z:-2.54 [[ 9.97480301e-01 7.08067768e-02 -4.41026355e-03 9.09527939e+01] [-7.08037631e-02 9.97489914e-01 8.35969044e-04 -4.82212492e+00] [ 4.45838568e-03 -5.21599397e-04 9.99989925e-01 -2.54358996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.399072329 meters 0.08393559277654414 Centerline is valid? [True, True] Translation: X:91.01, Y:-4.83, Z:-2.54 [[ 9.97425900e-01 7.15711542e-02 -4.37537065e-03 9.10142079e+01] [-7.15681901e-02 9.97435364e-01 8.30503191e-04 -4.83350432e+00] [ 4.42358949e-03 -5.15228035e-04 9.99990083e-01 -2.54405733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.459072329 meters 0.08411842459004698 Centerline is valid? [True, True] Translation: X:91.07, Y:-4.85, Z:-2.54 [[ 9.97328143e-01 7.29725134e-02 -3.40398988e-03 9.10744464e+01] [-7.29707268e-02 9.97333874e-01 6.46294515e-04 -4.84643609e+00] [ 3.44207615e-03 -3.96176092e-04 9.99993998e-01 -2.54187620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.519072329 meters 0.08000389797917273 Centerline is valid? [True, True] Translation: X:91.14, Y:-4.85, Z:-2.54 [[ 9.97303461e-01 7.33147135e-02 -3.28010330e-03 9.11369290e+01] [-7.33130548e-02 9.97308782e-01 6.23256274e-04 -4.85325211e+00] [ 3.31696969e-03 -3.81101246e-04 9.99994426e-01 -2.54230061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.579072329 meters 0.08140585327273443 Centerline is valid? [True, True] Translation: X:91.20, Y:-4.87, Z:-2.54 [[ 9.97205917e-01 7.45230392e-02 -5.16477917e-03 9.11967377e+01] [-7.45189418e-02 9.97219115e-01 9.81536164e-04 -4.86739420e+00] [ 5.22356358e-03 -5.93919792e-04 9.99986181e-01 -2.54477155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63907232900002 meters 0.08113103115839325 Centerline is valid? [True, True] Translation: X:91.26, Y:-4.88, Z:-2.55 [[ 9.97176918e-01 7.49351363e-02 -4.78743374e-03 9.12578300e+01] [-7.49316142e-02 9.97188259e-01 9.11117179e-04 -4.87901150e+00] [ 4.84224740e-03 -5.49814883e-04 9.99988125e-01 -2.54518847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69907232900002 meters 0.08174322630147106 Centerline is valid? [True, True] Translation: X:91.32, Y:-4.89, Z:-2.54 [[ 9.97096634e-01 7.60108100e-02 -4.54514072e-03 9.13178391e+01] [-7.60076454e-02 9.97106859e-01 8.65236310e-04 -4.89341142e+00] [ 4.59775830e-03 -5.17258768e-04 9.99989296e-01 -2.54378556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.759072329 meters 0.08881969727225264 Centerline is valid? [True, True] Translation: X:91.38, Y:-4.92, Z:-2.54 [[ 9.97060000e-01 7.65426106e-02 -3.54751170e-03 9.13755153e+01] [-7.65406830e-02 9.97066230e-01 6.76195373e-04 -4.91539283e+00] [ 3.58886188e-03 -4.02678390e-04 9.99993479e-01 -2.54300814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.819072329 meters 0.08242225772828703 Centerline is valid? [True, True] Translation: X:91.44, Y:-4.92, Z:-2.54 [[ 9.97022008e-01 7.70162991e-02 -3.95026161e-03 9.14376155e+01] [-7.70139085e-02 9.97029733e-01 7.53985223e-04 -4.91941896e+00] [ 3.99659744e-03 -4.47514774e-04 9.99991913e-01 -2.54422848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879072329 meters 0.07872770789759408 Centerline is valid? [True, True] Translation: X:91.50, Y:-4.93, Z:-2.55 [[ 9.96947225e-01 7.79399593e-02 -4.64691122e-03 9.14985167e+01] [-7.79366604e-02 9.96957918e-01 8.87096566e-04 -4.92768376e+00] [ 4.70191521e-03 -5.22223717e-04 9.99988810e-01 -2.54500373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939072329 meters 0.07837252850306291 Centerline is valid? [True, True] Translation: X:91.56, Y:-4.94, Z:-2.54 [[ 9.96958911e-01 7.78165559e-02 -4.18478759e-03 9.15594112e+01] [-7.78138746e-02 9.96967583e-01 8.00010633e-04 -4.94034339e+00] [ 4.23435164e-03 -4.71943193e-04 9.99990924e-01 -2.54458733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.999072329 meters 0.07642398685347532 Centerline is valid? [True, True] Translation: X:91.62, Y:-4.95, Z:-2.54 [[ 9.96947510e-01 7.79972897e-02 -3.47648187e-03 9.16213917e+01] [-7.79954366e-02 9.96953494e-01 6.65678867e-04 -4.95111202e+00] [ 3.51781190e-03 -3.92497167e-04 9.99993735e-01 -2.54384642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.059072329 meters 0.08150153100421265 Centerline is valid? [True, True] Translation: X:91.68, Y:-4.97, Z:-2.54 [[ 9.96973658e-01 7.76259006e-02 -4.21245737e-03 9.16800610e+01] [-7.76231742e-02 9.96982443e-01 8.07148041e-04 -4.97039262e+00] [ 4.26240163e-03 -4.77721023e-04 9.99990802e-01 -2.54491406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.119072329 meters 0.08632135615974795 Centerline is valid? [True, True] Translation: X:91.74, Y:-4.99, Z:-2.55 [[ 9.96955452e-01 7.77852744e-02 -5.41087969e-03 9.17383820e+01] [-7.77807713e-02 9.96969946e-01 1.03806769e-03 -4.98995758e+00] [ 5.47523081e-03 -6.14044847e-04 9.99984822e-01 -2.54622090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.179072329 meters 0.08705014526958298 Centerline is valid? [True, True] Translation: X:91.80, Y:-5.00, Z:-2.54 [[ 9.96979231e-01 7.75189222e-02 -4.81971771e-03 9.17991230e+01] [-7.75153403e-02 9.96990730e-01 9.25876621e-04 -5.00485390e+00] [ 4.87698683e-03 -5.49477703e-04 9.99987956e-01 -2.54468232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.239072329 meters 0.08006579106617312 Centerline is valid? [True, True] Translation: X:91.86, Y:-5.01, Z:-2.54 [[ 9.96963974e-01 7.77309426e-02 -4.55366784e-03 9.18624325e+01] [-7.77277411e-02 9.96974238e-01 8.76148575e-04 -5.00911844e+00] [ 4.60799337e-03 -5.19542251e-04 9.99989248e-01 -2.54415827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.299072329 meters 0.08598309671204007 Centerline is valid? [True, True] Translation: X:91.92, Y:-5.03, Z:-2.54 [[ 9.96972599e-01 7.75702153e-02 -5.33839017e-03 9.19201751e+01] [-7.75658093e-02 9.96986704e-01 1.02779556e-03 -5.03026032e+00] [ 5.40203035e-03 -6.10607459e-04 9.99985223e-01 -2.54472560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.359072329 meters 0.08248210367588835 Centerline is valid? [True, True] Translation: X:91.98, Y:-5.04, Z:-2.55 [[ 9.96971267e-01 7.75737814e-02 -5.53176111e-03 9.19818306e+01] [-7.75690423e-02 9.96986412e-01 1.06648617e-03 -5.03854928e+00] [ 5.59782203e-03 -6.34162661e-04 9.99984131e-01 -2.54601147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41907232900002 meters 0.08772729249823637 Centerline is valid? [True, True] Translation: X:92.04, Y:-5.06, Z:-2.55 [[ 9.96997715e-01 7.71758184e-02 -6.28090778e-03 9.20402522e+01] [-7.71696915e-02 9.97017236e-01 1.21240811e-03 -5.05814708e+00] [ 6.35574190e-03 -7.24072398e-04 9.99979540e-01 -2.54705627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.479072329 meters 0.08826053375864297 Centerline is valid? [True, True] Translation: X:92.10, Y:-5.07, Z:-2.54 [[ 9.97076270e-01 7.62313065e-02 -5.26305946e-03 9.21005475e+01] [-7.62269896e-02 9.97089972e-01 1.01629713e-03 -5.07254939e+00] [ 5.32521747e-03 -6.12138571e-04 9.99985634e-01 -2.54437184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.539072329 meters 0.08431385619783131 Centerline is valid? [True, True] Translation: X:92.16, Y:-5.08, Z:-2.54 [[ 9.97102016e-01 7.59415709e-02 -4.52192111e-03 9.21626472e+01] [-7.59383758e-02 9.97112129e-01 8.74385008e-04 -5.08049861e+00] [ 4.57526456e-03 -5.28463709e-04 9.99989394e-01 -2.54356117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.599072329 meters 0.08798937850844521 Centerline is valid? [True, True] Translation: X:92.22, Y:-5.10, Z:-2.54 [[ 9.97182975e-01 7.48101052e-02 -5.43722580e-03 9.22211316e+01] [-7.48054688e-02 9.97197591e-01 1.05143548e-03 -5.09856060e+00] [ 5.50064648e-03 -6.41739339e-04 9.99984665e-01 -2.54436405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.659072329 meters 0.0838489544120625 Centerline is valid? [True, True] Translation: X:92.28, Y:-5.11, Z:-2.54 [[ 9.97262181e-01 7.37320231e-02 -5.63304187e-03 9.22817553e+01] [-7.37270285e-02 9.97277864e-01 1.08951742e-03 -5.10774901e+00] [ 5.69804029e-03 -6.71227080e-04 9.99983541e-01 -2.54408946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.719072329 meters 0.08848786453246564 Centerline is valid? [True, True] Translation: X:92.34, Y:-5.13, Z:-2.54 [[ 9.97321943e-01 7.29356583e-02 -5.41584126e-03 9.23397090e+01] [-7.29310288e-02 9.97336436e-01 1.04771115e-03 -5.12680460e+00] [ 5.47783132e-03 -6.49922447e-04 9.99984785e-01 -2.54426822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.779072329 meters 0.08514566690334456 Centerline is valid? [True, True] Translation: X:92.40, Y:-5.14, Z:-2.54 [[ 9.97328976e-01 7.28218845e-02 -5.64686182e-03 9.24008124e+01] [-7.28168417e-02 9.97344730e-01 1.09380245e-03 -5.13566480e+00] [ 5.71152064e-03 -6.79694237e-04 9.99983458e-01 -2.54330965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.839072329 meters 0.08913184562711357 Centerline is valid? [True, True] Translation: X:92.46, Y:-5.15, Z:-2.54 [[ 9.97324917e-01 7.28237521e-02 -6.30164832e-03 9.24591643e+01] [-7.28174625e-02 9.97344536e-01 1.22213572e-03 -5.15461135e+00] [ 6.37391502e-03 -7.59996370e-04 9.99979398e-01 -2.54394370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.899072329 meters 0.08793719937021997 Centerline is valid? [True, True] Translation: X:92.52, Y:-5.17, Z:-2.54 [[ 9.97363183e-01 7.22404327e-02 -6.92831850e-03 9.25205863e+01] [-7.22328127e-02 9.97386893e-01 1.34416325e-03 -5.16575729e+00] [ 7.00731699e-03 -8.40167001e-04 9.99975096e-01 -2.54422855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.959072329 meters 0.09138838490889553 Centerline is valid? [True, True] Translation: X:92.58, Y:-5.18, Z:-2.54 [[ 9.97401436e-01 7.17637479e-02 -6.35143491e-03 9.25791907e+01] [-7.17573246e-02 9.97421357e-01 1.23377364e-03 -5.18354144e+00] [ 6.42359705e-03 -7.74805625e-04 9.99979068e-01 -2.54422031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.019072329 meters 0.09195887805278086 Centerline is valid? [True, True] Translation: X:92.64, Y:-5.20, Z:-2.54 [[ 9.97424773e-01 7.15210047e-02 -5.34489924e-03 9.26398961e+01] [-7.15164452e-02 9.97438879e-01 1.03961294e-03 -5.19872704e+00] [ 5.40556447e-03 -6.54687508e-04 9.99985176e-01 -2.54265530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.079072329 meters 0.0959300025632911 Centerline is valid? [True, True] Translation: X:92.70, Y:-5.22, Z:-2.54 [[ 9.97439446e-01 7.12879444e-02 -5.70800999e-03 9.26981723e+01] [-7.12827366e-02 9.97455531e-01 1.11093199e-03 -5.21629820e+00] [ 5.77268220e-03 -7.01204817e-04 9.99983092e-01 -2.54333615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13907232900002 meters 0.09560211088041544 Centerline is valid? [True, True] Translation: X:92.76, Y:-5.23, Z:-2.54 [[ 9.97430478e-01 7.13560701e-02 -6.38375034e-03 9.27590797e+01] [-7.13495471e-02 9.97450597e-01 1.24406322e-03 -5.22963566e+00] [ 6.45624705e-03 -7.85388881e-04 9.99978850e-01 -2.54454993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19907232900002 meters 0.09948737159234176 Centerline is valid? [True, True] Translation: X:92.82, Y:-5.25, Z:-2.55 [[ 9.97436471e-01 7.12234956e-02 -6.90647321e-03 9.28174924e+01] [-7.12158464e-02 9.97460018e-01 1.34751715e-03 -5.24841793e+00] [ 6.98490577e-03 -8.52212415e-04 9.99975242e-01 -2.54529604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.259072329 meters 0.09403187344410296 Centerline is valid? [True, True] Translation: X:92.88, Y:-5.26, Z:-2.54 [[ 9.97498587e-01 7.04119338e-02 -6.22317083e-03 9.28789914e+01] [-7.04056985e-02 9.97517699e-01 1.21567190e-03 -5.25525182e+00] [ 6.29332086e-03 -7.74484310e-04 9.99979897e-01 -2.54422335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319072329 meters 0.09689508233908711 Centerline is valid? [True, True] Translation: X:92.94, Y:-5.27, Z:-2.54 [[ 9.97521004e-01 7.01130989e-02 -5.99993626e-03 9.29382105e+01] [-7.01072892e-02 9.97538767e-01 1.17346916e-03 -5.27190455e+00] [ 6.06744458e-03 -7.49920864e-04 9.99981312e-01 -2.54399638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379072329 meters 0.09694731438247567 Centerline is valid? [True, True] Translation: X:93.00, Y:-5.29, Z:-2.54 [[ 9.97556319e-01 6.95813726e-02 -6.31061143e-03 9.29984713e+01] [-6.95749324e-02 9.97575964e-01 1.23466327e-03 -5.28617730e+00] [ 6.38122384e-03 -7.92585779e-04 9.99979326e-01 -2.54399724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439072329 meters 0.09882237611240119 Centerline is valid? [True, True] Translation: X:93.06, Y:-5.30, Z:-2.54 [[ 9.97594770e-01 6.90115535e-02 -6.48693596e-03 9.30583655e+01] [-6.90047334e-02 9.97615525e-01 1.26962464e-03 -5.30220622e+00] [ 6.55908679e-03 -8.18941612e-04 9.99978154e-01 -2.54390028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.499072329 meters 0.09860817520218658 Centerline is valid? [True, True] Translation: X:93.12, Y:-5.32, Z:-2.54 [[ 9.97651572e-01 6.82076065e-02 -6.25011751e-03 9.31191296e+01] [-6.82012569e-02 9.97670833e-01 1.22372068e-03 -5.31515386e+00] [ 6.31902701e-03 -7.94580994e-04 9.99979719e-01 -2.54386236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.559072329 meters 0.1042357852387275 Centerline is valid? [True, False] Translation: X:93.10, Y:-5.31, Z:-2.54 [[ 9.98562306e-01 5.35592890e-02 -2.17350784e-03 9.31040482e+01] [-5.35235987e-02 9.98467563e-01 1.40623647e-02 -5.31326514e+00] [ 2.92334733e-03 -1.39258133e-02 9.99898758e-01 -2.54191894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.619072329 meters 0.08913417643895216 Centerline is valid? [False, True] Translation: X:93.10, Y:-5.31, Z:-2.54 [[ 9.99106694e-01 4.14414351e-02 -8.27169693e-03 9.31042930e+01] [-4.12756668e-02 9.98961473e-01 1.92949515e-02 -5.31185127e+00] [ 9.06271703e-03 -1.89362954e-02 9.99779618e-01 -2.53836472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.679072329 meters 0.10177634494469585 Centerline is valid? [True, False] Translation: X:93.10, Y:-5.31, Z:-2.54 [[ 9.99627608e-01 2.69172427e-02 -4.48401535e-03 9.31048855e+01] [-2.68069247e-02 9.99374320e-01 2.30728668e-02 -5.31152123e+00] [ 5.10226775e-03 -2.29440720e-02 9.99723730e-01 -2.53927371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.739072329 meters 0.09345794756998116 Centerline is valid? [False, True] Translation: X:93.11, Y:-5.31, Z:-2.54 [[ 9.99898409e-01 1.31216966e-02 -5.56704087e-03 9.31078366e+01] [-1.30731853e-02 9.99877017e-01 8.66271269e-03 -5.30828780e+00] [ 5.68002570e-03 -8.58905368e-03 9.99946981e-01 -2.54183370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.799072329 meters 0.09758853088010193 Centerline is valid? [True, True] Translation: X:93.17, Y:-5.32, Z:-2.55 [[ 9.99901314e-01 1.19848981e-02 -7.32972031e-03 9.31667118e+01] [-1.19775335e-02 9.99927718e-01 1.04782599e-03 -5.32297517e+00] [ 7.34174859e-03 -9.59930611e-04 9.99972588e-01 -2.54594580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.859072329 meters 0.0951027148924753 Centerline is valid? [True, True] Translation: X:93.23, Y:-5.33, Z:-2.55 [[ 9.99912133e-01 1.10318955e-02 -7.35012429e-03 9.32270659e+01] [-1.10244635e-02 9.99938677e-01 1.05089538e-03 -5.32960906e+00] [ 7.36126692e-03 -9.69771864e-04 9.99972435e-01 -2.54548608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91907232900002 meters 0.09740204447062209 Centerline is valid? [True, True] Translation: X:93.29, Y:-5.34, Z:-2.55 [[ 9.99929802e-01 9.65914860e-03 -6.86229035e-03 9.32863408e+01] [-9.65263778e-03 9.99952931e-01 9.81270057e-04 -5.34383438e+00] [ 6.87144559e-03 -9.14961971e-04 9.99975973e-01 -2.54556614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.979072329 meters 0.09892723499198909 Centerline is valid? [True, True] Translation: X:93.35, Y:-5.36, Z:-2.55 [[ 9.99934784e-01 9.37472726e-03 -6.52242418e-03 9.33470272e+01] [-9.36882978e-03 9.99955675e-01 9.34153211e-04 -5.35728766e+00] [ 6.53089250e-03 -8.72984807e-04 9.99978292e-01 -2.54562830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.039072329 meters 0.09801435502481962 Centerline is valid? [True, True] Translation: X:93.41, Y:-5.37, Z:-2.55 [[ 9.99933005e-01 8.81701350e-03 -7.49970783e-03 9.34085229e+01] [-8.80919566e-03 9.99960621e-01 1.07481544e-03 -5.36705371e+00] [ 7.50888915e-03 -1.00867704e-03 9.99971299e-01 -2.54680742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099072329 meters 0.10866128609346244 Centerline is valid? [True, False] Translation: X:93.42, Y:-5.37, Z:-2.55 [[ 9.99987751e-01 3.76513315e-03 -3.21281269e-03 9.34210361e+01] [-3.74845291e-03 9.99979547e-01 5.18211021e-03 -5.36996566e+00] [ 3.23225831e-03 -5.17000366e-03 9.99981412e-01 -2.54737302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159072329 meters 0.10237425271856432 Centerline is valid? [False, False] Translation: X:93.42, Y:-5.37, Z:-2.55 [[ 9.99994769e-01 -4.43267287e-04 -3.20396033e-03 9.34209550e+01] [ 4.46846850e-04 9.99999277e-01 1.11660114e-03 -5.37075229e+00] [ 3.20346306e-03 -1.11802698e-03 9.99994244e-01 -2.54734247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.219072329 meters 0.09953063626203437 Centerline is valid? [False, True] Translation: X:93.42, Y:-5.37, Z:-2.55 [[ 9.99995090e-01 -2.21330662e-04 -3.12574019e-03 9.34205920e+01] [ 2.26167709e-04 9.99998777e-01 1.54721981e-03 -5.37200578e+00] [ 3.12539392e-03 -1.54791916e-03 9.99993918e-01 -2.54706526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.279072329 meters 0.11141475885629297 Centerline is valid? [True, False] Translation: X:93.42, Y:-5.37, Z:-2.55 [[ 9.99992915e-01 -1.03823780e-03 -3.61841744e-03 9.34232802e+01] [ 1.04229229e-03 9.99998831e-01 1.11880731e-03 -5.37384057e+00] [ 3.61725163e-03 -1.12257083e-03 9.99992828e-01 -2.54935556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.339072329 meters 0.09683750148264 Centerline is valid? [False, True] Translation: X:93.42, Y:-5.38, Z:-2.55 [[ 9.99993304e-01 -7.41290150e-04 -3.58366574e-03 9.34232176e+01] [ 7.48019492e-04 9.99997959e-01 1.87680627e-03 -5.37646663e+00] [ 3.58226717e-03 -1.87947436e-03 9.99991817e-01 -2.54949022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.399072329 meters 0.0987240616385582 Centerline is valid? [True, True] Translation: X:93.48, Y:-5.39, Z:-2.55 [[ 9.99993239e-01 -7.74968898e-04 -3.59457957e-03 9.34813082e+01] [ 7.76752247e-04 9.99999576e-01 4.94752371e-04 -5.38847635e+00] [ 3.59419463e-03 -4.97541124e-04 9.99993417e-01 -2.55052514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.459072329 meters 0.0994815011538839 Centerline is valid? [True, True] Translation: X:93.54, Y:-5.40, Z:-2.55 [[ 9.99997229e-01 -9.37674229e-04 -2.15916279e-03 9.35396660e+01] [ 9.38317757e-04 9.99999516e-01 2.97051729e-04 -5.39999077e+00] [ 2.15888321e-03 -2.99076887e-04 9.99997625e-01 -2.54793153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.519072329 meters 0.09948269790474798 Centerline is valid? [True, True] Translation: X:93.60, Y:-5.41, Z:-2.55 [[ 9.99997409e-01 -1.63838243e-03 -1.58014450e-03 9.35985215e+01] [ 1.63872780e-03 9.99998634e-01 2.17297692e-04 -5.41074083e+00] [ 1.57978633e-03 -2.19886556e-04 9.99998728e-01 -2.54715916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.579072329 meters 0.09749543930898867 Centerline is valid? [True, True] Translation: X:93.66, Y:-5.42, Z:-2.55 [[ 9.99994164e-01 -2.51024150e-03 -2.31746953e-03 9.36576315e+01] [ 2.51098661e-03 9.99996797e-01 3.18665657e-04 -5.41733453e+00] [ 2.31666218e-03 -3.24482932e-04 9.99997264e-01 -2.54900648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63907232900002 meters 0.10124191115709985 Centerline is valid? [True, False] Translation: X:93.66, Y:-5.42, Z:-2.55 [[ 9.99994993e-01 -2.18538429e-03 -2.28861150e-03 9.36574398e+01] [ 2.18772683e-03 9.99997085e-01 1.02156023e-03 -5.41958074e+00] [ 2.28637233e-03 -1.02656198e-03 9.99996859e-01 -2.54890760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69907232900002 meters 0.0970151578845129 Centerline is valid? [False, True] Translation: X:93.66, Y:-5.42, Z:-2.55 [[ 9.99995645e-01 -1.91867584e-03 -2.24254841e-03 9.36570484e+01] [ 1.92225435e-03 9.99996881e-01 1.59466956e-03 -5.42134267e+00] [ 2.23948176e-03 -1.59897337e-03 9.99996214e-01 -2.54844077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.759072329 meters 0.10289638883635616 Centerline is valid? [True, False] Translation: X:93.66, Y:-5.42, Z:-2.55 [[ 9.99996342e-01 -1.57933635e-03 -2.19594143e-03 9.36566341e+01] [ 1.58449077e-03 9.99995989e-01 2.34749514e-03 -5.42376255e+00] [ 2.19222514e-03 -2.35096601e-03 9.99994834e-01 -2.54795864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819072329 meters 0.09979425505943858 Centerline is valid? [False, True] Translation: X:93.66, Y:-5.43, Z:-2.55 [[ 9.99996907e-01 -1.20447099e-03 -2.17626741e-03 9.36562461e+01] [ 1.21127865e-03 9.99994369e-01 3.12952980e-03 -5.42610478e+00] [ 2.17248573e-03 -3.13215618e-03 9.99992735e-01 -2.54749356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.879072329 meters 0.10291879709176577 Centerline is valid? [True, False] Translation: X:93.66, Y:-5.43, Z:-2.55 [[ 9.99997104e-01 -1.03390016e-03 -2.17314194e-03 9.36562939e+01] [ 1.04160608e-03 9.99993164e-01 3.54784527e-03 -5.42758427e+00] [ 2.16945897e-03 -3.55009855e-03 9.99991345e-01 -2.54766257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.939072329 meters 0.09835373950630208 Centerline is valid? [False, True] Translation: X:93.66, Y:-5.43, Z:-2.55 [[ 9.99997160e-01 -9.20608371e-04 -2.19824541e-03 9.36566497e+01] [ 9.29282437e-04 9.99991774e-01 3.94814828e-03 -5.42923199e+00] [ 2.19459263e-03 -3.95017986e-03 9.99989790e-01 -2.54826131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.999072329 meters 0.10504165539767052 Centerline is valid? [True, False] Translation: X:93.66, Y:-5.43, Z:-2.55 [[ 9.99997326e-01 -7.04501997e-04 -2.20274707e-03 9.36564275e+01] [ 7.14221897e-04 9.99989999e-01 4.41495802e-03 -5.43075419e+00] [ 2.19961469e-03 -4.41651946e-03 9.99987828e-01 -2.54791559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.059072329 meters 0.101612879129167 Centerline is valid? [False, False] Translation: X:93.66, Y:-5.43, Z:-2.55 [[ 9.99997502e-01 -4.15163158e-04 -2.19614909e-03 9.36560661e+01] [ 4.26150064e-04 9.99987386e-01 5.00470501e-03 -5.43251214e+00] [ 2.19404362e-03 -5.00562840e-03 9.99985065e-01 -2.54738211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.119072329 meters 0.10150782283510429 Centerline is valid? [False, False] Translation: X:93.66, Y:-5.43, Z:-2.55 [[ 9.99997351e-01 -3.19513602e-04 -2.27927951e-03 9.36564391e+01] [ 3.31621556e-04 9.99985827e-01 5.31378634e-03 -5.43379333e+00] [ 2.27754938e-03 -5.31452812e-03 9.99983284e-01 -2.54778849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.179072329 meters 0.09948416142578713 Centerline is valid? [False, True] Translation: X:93.66, Y:-5.44, Z:-2.55 [[ 9.99997490e-01 -1.13695447e-04 -2.23744897e-03 9.36561273e+01] [ 1.26533204e-04 9.99983527e-01 5.73837134e-03 -5.43512147e+00] [ 2.23675969e-03 -5.73864005e-03 9.99981032e-01 -2.54744674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.239072329 meters 0.09644456339426492 Centerline is valid? [True, True] Translation: X:93.72, Y:-5.44, Z:-2.55 [[ 9.99999744e-01 5.56771564e-04 -4.49495119e-04 9.37161751e+01] [-5.56743622e-04 9.99999843e-01 6.22858792e-05 -5.44108145e+00] [ 4.49529727e-04 -6.20356097e-05 9.99999897e-01 -2.54785152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.299072329 meters 0.09838220140650843 Centerline is valid? [True, True] Translation: X:93.78, Y:-5.45, Z:-2.55 [[ 9.99995405e-01 1.73293360e-03 -2.48725280e-03 9.37757224e+01] [-1.73207929e-03 9.99998440e-01 3.45586528e-04 -5.45363792e+00] [ 2.48784780e-03 -3.41276821e-04 9.99996847e-01 -2.55037879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.359072329 meters 0.10033988093922233 Centerline is valid? [True, False] Translation: X:93.78, Y:-5.45, Z:-2.55 [[ 9.99995066e-01 1.80592012e-03 -2.57016740e-03 9.37759533e+01] [-1.80447617e-03 9.99998213e-01 5.64022673e-04 -5.45450783e+00] [ 2.57118139e-03 -5.59382085e-04 9.99996538e-01 -2.55051204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41907232900002 meters 0.09965359639027006 Centerline is valid? [False, True] Translation: X:93.78, Y:-5.46, Z:-2.55 [[ 9.99994518e-01 2.07960469e-03 -2.57664001e-03 9.37754670e+01] [-2.07687240e-03 9.99997279e-01 1.06262823e-03 -5.45588318e+00] [ 2.57884284e-03 -1.05727105e-03 9.99996116e-01 -2.54969639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.479072329 meters 0.09769488689844849 Centerline is valid? [True, True] Translation: X:93.84, Y:-5.46, Z:-2.55 [[ 9.99994455e-01 2.44459723e-03 -2.26140186e-03 9.38358183e+01] [-2.44389742e-03 9.99996965e-01 3.12167446e-04 -5.46176017e+00] [ 2.26215812e-03 -3.06639081e-04 9.99997394e-01 -2.54935689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.539072329 meters 0.09737098051993476 Centerline is valid? [True, True] Translation: X:93.90, Y:-5.47, Z:-2.55 [[ 9.99990786e-01 3.26479340e-03 -2.78725075e-03 9.38965931e+01] [-3.26373291e-03 9.99994600e-01 3.84942549e-04 -5.47146651e+00] [ 2.78849246e-03 -3.75842160e-04 9.99996042e-01 -2.55030585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599072329 meters 0.0972050370349825 Centerline is valid? [True, True] Translation: X:93.96, Y:-5.48, Z:-2.55 [[ 9.99987223e-01 3.13408516e-03 -3.96627637e-03 9.39574233e+01] [-3.13193626e-03 9.99994945e-01 5.47888390e-04 -5.48053836e+00] [ 3.96797345e-03 -5.35459265e-04 9.99991984e-01 -2.55245711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659072329 meters 0.09751207459446634 Centerline is valid? [True, True] Translation: X:94.02, Y:-5.49, Z:-2.55 [[ 9.99986422e-01 3.21263034e-03 -4.10302568e-03 9.40179421e+01] [-3.21033074e-03 9.99994686e-01 5.66927736e-04 -5.49156690e+00] [ 4.10482521e-03 -5.53747969e-04 9.99991422e-01 -2.55320795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.719072329 meters 0.09536644550775758 Centerline is valid? [True, True] Translation: X:94.08, Y:-5.50, Z:-2.55 [[ 9.99989305e-01 3.40575194e-03 -3.12902769e-03 9.40787807e+01] [-3.40441504e-03 9.99994111e-01 4.32484724e-04 -5.49866173e+00] [ 3.13048220e-03 -4.21827590e-04 9.99995011e-01 -2.55263047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.779072329 meters 0.09062984174538836 Centerline is valid? [True, True] Translation: X:94.14, Y:-5.50, Z:-2.55 [[ 9.99992082e-01 2.99650232e-03 -2.61867701e-03 9.41395442e+01] [-2.99556452e-03 9.99995448e-01 3.61968224e-04 -5.50302367e+00] [ 2.61974973e-03 -3.54120942e-04 9.99996506e-01 -2.55218290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.839072329 meters 0.0938830820709235 Centerline is valid? [True, True] Translation: X:94.20, Y:-5.52, Z:-2.55 [[ 9.99992567e-01 2.68502953e-03 -2.76695809e-03 9.41996276e+01] [-2.68398095e-03 9.99996325e-01 3.82605515e-04 -5.51708186e+00] [ 2.76797523e-03 -3.75176209e-04 9.99996099e-01 -2.55312016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.899072329 meters 0.0965469386219213 Centerline is valid? [True, True] Translation: X:94.26, Y:-5.53, Z:-2.55 [[ 9.99990204e-01 3.05583199e-03 -3.20213955e-03 9.42593281e+01] [-3.05442950e-03 9.99995237e-01 4.42785197e-04 -5.53116455e+00] [ 3.20347737e-03 -4.33000150e-04 9.99994775e-01 -2.55264631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.959072329 meters 0.10665870352008434 Centerline is valid? [True, False] Translation: X:94.26, Y:-5.53, Z:-2.55 [[ 9.99989993e-01 3.10537909e-03 -3.22019142e-03 9.42594459e+01] [-3.10335975e-03 9.99994985e-01 6.31893697e-04 -5.53197395e+00] [ 3.22213754e-03 -6.21893961e-04 9.99994616e-01 -2.55278641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.019072329 meters 0.09874766874197313 Centerline is valid? [False, True] Translation: X:94.26, Y:-5.53, Z:-2.55 [[ 9.99989734e-01 3.23090577e-03 -3.17685982e-03 9.42594108e+01] [-3.22793703e-03 9.99994349e-01 9.39174297e-04 -5.53302997e+00] [ 3.17987626e-03 -9.28909952e-04 9.99994513e-01 -2.55297541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.079072329 meters 0.09427542274488981 Centerline is valid? [True, True] Translation: X:94.32, Y:-5.54, Z:-2.55 [[ 9.99992177e-01 3.35508053e-03 -2.09489330e-03 9.43205686e+01] [-3.35447760e-03 9.99994331e-01 2.91254509e-04 -5.53679849e+00] [ 2.09585860e-03 -2.84224958e-04 9.99997763e-01 -2.55197798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13907232900002 meters 0.10143761830389633 Centerline is valid? [True, False] Translation: X:94.32, Y:-5.54, Z:-2.55 [[ 9.99991493e-01 3.52189120e-03 -2.14695910e-03 9.43202440e+01] [-3.52066840e-03 9.99993638e-01 5.73065869e-04 -5.53751384e+00] [ 2.14896371e-03 -5.65502263e-04 9.99997531e-01 -2.55126940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19907232900002 meters 0.10014574958668525 Centerline is valid? [False, False] Translation: X:94.32, Y:-5.54, Z:-2.55 [[ 9.99991154e-01 3.54397074e-03 -2.26524609e-03 9.43206883e+01] [-3.54226637e-03 9.99993440e-01 7.55971772e-04 -5.53845308e+00] [ 2.26791037e-03 -7.47940980e-04 9.99997149e-01 -2.55163188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.259072329 meters 0.10017202900485554 Centerline is valid? [False, False] Translation: X:94.32, Y:-5.54, Z:-2.55 [[ 9.99991398e-01 3.43172959e-03 -2.32970166e-03 9.43212605e+01] [-3.43017841e-03 9.99993893e-01 6.69496552e-04 -5.53857728e+00] [ 2.33198496e-03 -6.61499500e-04 9.99997062e-01 -2.55234558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.319072329 meters 0.09999769656372735 Centerline is valid? [False, True] Translation: X:94.32, Y:-5.54, Z:-2.55 [[ 9.99991115e-01 3.53144453e-03 -2.30172696e-03 9.43211073e+01] [-3.52942136e-03 9.99993382e-01 8.82449917e-04 -5.53925245e+00] [ 2.30482805e-03 -8.74318312e-04 9.99996962e-01 -2.55220178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379072329 meters 0.09487460310314605 Centerline is valid? [True, True] Translation: X:94.38, Y:-5.54, Z:-2.55 [[ 9.99990587e-01 3.56257108e-03 -2.47653686e-03 9.43823251e+01] [-3.56173148e-03 9.99993598e-01 3.43347797e-04 -5.54177907e+00] [ 2.47774421e-03 -3.34523806e-04 9.99996874e-01 -2.55382454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.439072329 meters 0.09654588966780074 Centerline is valid? [True, True] Translation: X:94.44, Y:-5.55, Z:-2.55 [[ 9.99988697e-01 3.55397079e-03 -3.15836154e-03 9.44428805e+01] [-3.55260493e-03 9.99993594e-01 4.37966298e-04 -5.55238339e+00] [ 3.15989783e-03 -4.26740937e-04 9.99994916e-01 -2.55472486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.499072329 meters 0.09812239465780014 Centerline is valid? [True, True] Translation: X:94.50, Y:-5.56, Z:-2.55 [[ 9.99989604e-01 3.90015925e-03 -2.36240489e-03 9.45033683e+01] [-3.89939575e-03 9.99992344e-01 3.27703361e-04 -5.56334681e+00] [ 2.36366490e-03 -3.18488003e-04 9.99997156e-01 -2.55317406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.559072329 meters 0.09745171205491122 Centerline is valid? [True, True] Translation: X:94.56, Y:-5.57, Z:-2.55 [[ 9.99990334e-01 4.13299355e-03 -1.49992912e-03 9.45645972e+01] [-4.13268452e-03 9.99991439e-01 2.09071139e-04 -5.57156984e+00] [ 1.50078037e-03 -2.02870384e-04 9.99998853e-01 -2.55223866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.619072329 meters 0.09849932990430751 Centerline is valid? [True, True] Translation: X:94.63, Y:-5.58, Z:-2.55 [[ 9.99989927e-01 4.01211009e-03 -2.01237970e-03 9.46259778e+01] [-4.01155301e-03 9.99991914e-01 2.80786485e-04 -5.58206786e+00] [ 2.01348998e-03 -2.72710888e-04 9.99997936e-01 -2.55317534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.679072329 meters 0.09912986807501234 Centerline is valid? [True, True] Translation: X:94.69, Y:-5.59, Z:-2.55 [[ 9.99993654e-01 2.99815382e-03 -1.92430865e-03 9.46863065e+01] [-2.99764367e-03 9.99995471e-01 2.67939368e-04 -5.59167116e+00] [ 1.92510326e-03 -2.62169276e-04 9.99998113e-01 -2.55486979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.739072329 meters 0.10201935130413008 Centerline is valid? [True, False] Translation: X:94.69, Y:-5.59, Z:-2.55 [[ 9.99993259e-01 3.15995043e-03 -1.87011254e-03 9.46858617e+01] [-3.15903753e-03 9.99994890e-01 4.90904040e-04 -5.59207682e+00] [ 1.87165422e-03 -4.84992975e-04 9.99998131e-01 -2.55439544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.799072329 meters 0.10557036725050013 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.55 [[ 9.99993293e-01 3.11152443e-03 -1.93192164e-03 9.46859887e+01] [-3.11065405e-03 9.99995059e-01 4.53365691e-04 -5.59210889e+00] [ 1.93332275e-03 -4.47353110e-04 9.99998031e-01 -2.55435562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.859072329 meters 0.09895191038299958 Centerline is valid? [False, True] Translation: X:94.69, Y:-5.59, Z:-2.55 [[ 9.99992860e-01 3.18247396e-03 -2.03748403e-03 9.46862142e+01] [-3.18113912e-03 9.99994724e-01 6.58051141e-04 -5.59289574e+00] [ 2.03956751e-03 -6.51564922e-04 9.99997708e-01 -2.55440755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91907232900002 meters 0.10474872890976991 Centerline is valid? [True, False] Translation: X:94.69, Y:-5.59, Z:-2.55 [[ 9.99993087e-01 3.11651766e-03 -2.02813255e-03 9.46865151e+01] [-3.11523420e-03 9.99994946e-01 6.35680145e-04 -5.59316189e+00] [ 2.03010341e-03 -6.29357642e-04 9.99997741e-01 -2.55492092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.979072329 meters 0.10370751488966559 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.55 [[ 9.99992971e-01 3.16219951e-03 -2.01479533e-03 9.46864457e+01] [-3.16059643e-03 9.99994687e-01 7.98339883e-04 -5.59384376e+00] [ 2.01730914e-03 -7.91966317e-04 9.99997652e-01 -2.55485767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.039072329 meters 0.11043034283992985 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.55 [[ 9.99992588e-01 3.27247100e-03 -2.02850195e-03 9.46863094e+01] [-3.27028351e-03 9.99994069e-01 1.08075773e-03 -5.59486670e+00] [ 2.03202666e-03 -1.07411594e-03 9.99997359e-01 -2.55461202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.099072329 meters 0.1092374496454932 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.55 [[ 9.99992670e-01 3.22193498e-03 -2.06875386e-03 9.46865662e+01] [-3.21981937e-03 9.99994291e-01 1.02516677e-03 -5.59479054e+00] [ 2.07204507e-03 -1.01849824e-03 9.99997335e-01 -2.55492908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159072329 meters 0.10708342633426855 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99992622e-01 3.18827061e-03 -2.14272984e-03 9.46869409e+01] [-3.18597146e-03 9.99994346e-01 1.07555919e-03 -5.59527582e+00] [ 2.14614690e-03 -1.06872457e-03 9.99997126e-01 -2.55530797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.219072329 meters 0.1052200625511195 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99992208e-01 3.28873192e-03 -2.18378049e-03 9.46868464e+01] [-3.28573242e-03 9.99993656e-01 1.37570658e-03 -5.59637530e+00] [ 2.18829097e-03 -1.36852054e-03 9.99996669e-01 -2.55504859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.279072329 meters 0.1103854013424093 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.55 [[ 9.99992068e-01 3.38042139e-03 -2.10618573e-03 9.46865536e+01] [-3.37705164e-03 9.99993015e-01 1.60143669e-03 -5.59711764e+00] [ 2.11158455e-03 -1.59431129e-03 9.99996500e-01 -2.55486161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.339072329 meters 0.1124166419308289 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.55 [[ 9.99991891e-01 3.43440117e-03 -2.10295429e-03 9.46864745e+01] [-3.43081907e-03 9.99992662e-01 1.70460714e-03 -5.59737810e+00] [ 2.10879316e-03 -1.69737846e-03 9.99996336e-01 -2.55477984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.399072329 meters 0.11282478416930834 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993528e-01 2.51867023e-03 -2.56915466e-03 9.46893129e+01] [-2.51606640e-03 9.99996318e-01 1.01622851e-03 -5.59808877e+00] [ 2.57170474e-03 -1.00975777e-03 9.99996183e-01 -2.55739453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.459072329 meters 0.11388340970779577 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993430e-01 2.54457265e-03 -2.58154204e-03 9.46893182e+01] [-2.54163669e-03 9.99996120e-01 1.13993426e-03 -5.59862138e+00] [ 2.58443267e-03 -1.13336543e-03 9.99996018e-01 -2.55737704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.519072329 meters 0.11148771953740906 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993197e-01 2.58502409e-03 -2.63134978e-03 9.46892565e+01] [-2.58176163e-03 9.99995895e-01 1.24248527e-03 -5.59897411e+00] [ 2.63455084e-03 -1.23568330e-03 9.99995766e-01 -2.55709884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.579072329 meters 0.11976954715949081 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993205e-01 2.56631597e-03 -2.64658666e-03 9.46893374e+01] [-2.56305997e-03 9.99995955e-01 1.23292505e-03 -5.59902656e+00] [ 2.64974003e-03 -1.22613331e-03 9.99995738e-01 -2.55718988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63907232900002 meters 0.12391728614414572 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993210e-01 2.45773399e-03 -2.74595755e-03 9.46898820e+01] [-2.45439879e-03 9.99996247e-01 1.21729284e-03 -5.59943675e+00] [ 2.74893903e-03 -1.21054490e-03 9.99995489e-01 -2.55776737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69907232900002 meters 0.12854186740011894 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993180e-01 2.57231281e-03 -2.65007743e-03 9.46897064e+01] [-2.56846121e-03 9.99995642e-01 1.45577115e-03 -5.60015160e+00] [ 2.65381058e-03 -1.44895460e-03 9.99995429e-01 -2.55789550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.759072329 meters 0.12019468567793183 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993051e-01 2.60580401e-03 -2.66614053e-03 9.46897626e+01] [-2.60149043e-03 9.99995304e-01 1.62010195e-03 -5.60086659e+00] [ 2.67034968e-03 -1.61315476e-03 9.99995133e-01 -2.55795231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819072329 meters 0.11800250631015549 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993000e-01 2.57503416e-03 -2.71476428e-03 9.46898413e+01] [-2.57059225e-03 9.99995354e-01 1.63842856e-03 -5.60109422e+00] [ 2.71897067e-03 -1.63143854e-03 9.99994973e-01 -2.55789600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879072329 meters 0.11407129628155702 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99992951e-01 2.52493748e-03 -2.77882674e-03 9.46900307e+01] [-2.52035879e-03 9.99995463e-01 1.64997922e-03 -5.60134440e+00] [ 2.78298022e-03 -1.64296395e-03 9.99994778e-01 -2.55799601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.939072329 meters 0.10885562204936212 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99992686e-01 2.49205021e-03 -2.90147019e-03 9.46903530e+01] [-2.48737066e-03 9.99995602e-01 1.61531133e-03 -5.60124286e+00] [ 2.90548287e-03 -1.60808249e-03 9.99994486e-01 -2.55813422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.999072329 meters 0.12166077093795412 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99992903e-01 2.39903312e-03 -2.90483719e-03 9.46906458e+01] [-2.39438454e-03 9.99995849e-01 1.60271191e-03 -5.60156864e+00] [ 2.90867010e-03 -1.59574524e-03 9.99994497e-01 -2.55860388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.059072329 meters 0.12535166757518326 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993085e-01 2.42773814e-03 -2.81706740e-03 9.46903831e+01] [-2.42317186e-03 9.99995747e-01 1.62321781e-03 -5.60148468e+00] [ 2.82099616e-03 -1.61638034e-03 9.99994715e-01 -2.55848399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.119072329 meters 0.1156766750486476 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993286e-01 2.32423673e-03 -2.83303292e-03 9.46905290e+01] [-2.32027149e-03 9.99996325e-01 1.40213113e-03 -5.60073333e+00] [ 2.83628140e-03 -1.39554831e-03 9.99995004e-01 -2.55864846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.179072329 meters 0.12126002090659825 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993226e-01 2.20477282e-03 -2.94722949e-03 9.46910132e+01] [-2.20100112e-03 9.99996756e-01 1.28237479e-03 -5.60063302e+00] [ 2.95004727e-03 -1.27587925e-03 9.99994835e-01 -2.55905232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.239072329 meters 0.12244422044461183 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993096e-01 2.08089525e-03 -3.07873906e-03 9.46912897e+01] [-2.07762910e-03 9.99997276e-01 1.06369100e-03 -5.60006936e+00] [ 3.08094411e-03 -1.05728718e-03 9.99994695e-01 -2.55900233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.299072329 meters 0.12125935539999434 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993288e-01 1.99619862e-03 -3.07225898e-03 9.46913457e+01] [-1.99337051e-03 9.99997587e-01 9.23319812e-04 -5.59967926e+00] [ 3.07409469e-03 -9.17189465e-04 9.99994854e-01 -2.55908681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.359072329 meters 0.11752842614907315 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993478e-01 1.75977899e-03 -3.15406072e-03 9.46918571e+01] [-1.75810974e-03 9.99998313e-01 5.31933224e-04 -5.59870016e+00] [ 3.15499148e-03 -5.26384570e-04 9.99994884e-01 -2.55958678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41907232900002 meters 0.1272878794686524 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993713e-01 1.59512860e-03 -3.16699845e-03 9.46922860e+01] [-1.59433379e-03 9.99998697e-01 2.53473037e-04 -5.59796082e+00] [ 3.16739864e-03 -2.48422191e-04 9.99994953e-01 -2.56024426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.479072329 meters 0.12754274223507192 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993618e-01 1.56074350e-03 -3.21362604e-03 9.46923308e+01] [-1.56027081e-03 9.99998772e-01 1.49591337e-04 -5.59752927e+00] [ 3.21385557e-03 -1.44576255e-04 9.99994825e-01 -2.56012757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.539072329 meters 0.12086169968517191 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993812e-01 1.42445988e-03 -3.21666331e-03 9.46923341e+01] [-1.42487296e-03 9.99998977e-01 -1.26132585e-04 -5.59665847e+00] [ 3.21648034e-03 1.30715141e-04 9.99994819e-01 -2.56000961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599072329 meters 0.12012599165422783 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993918e-01 1.19725196e-03 -3.27564164e-03 9.46926728e+01] [-1.19919567e-03 9.99999106e-01 -5.91482377e-04 -5.59526072e+00] [ 3.27493056e-03 5.95406915e-04 9.99994460e-01 -2.56027373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.659072329 meters 0.12019574784073586 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.56 [[ 9.99993928e-01 1.07052034e-03 -3.31632637e-03 9.46929806e+01] [-1.07325171e-03 9.99999086e-01 -8.21944173e-04 -5.59460316e+00] [ 3.31544343e-03 8.25498435e-04 9.99994163e-01 -2.56062536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.719072329 meters 0.12123078014026357 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.56 [[ 9.99994107e-01 7.77466390e-04 -3.34395720e-03 9.46937360e+01] [-7.81734328e-04 9.99998881e-01 -1.27519594e-03 -5.59360375e+00] [ 3.34296204e-03 1.27780251e-03 9.99993596e-01 -2.56174944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.779072329 meters 0.11511432379478168 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.56 [[ 9.99994226e-01 7.61870459e-04 -3.31167109e-03 9.46936660e+01] [-7.66394148e-04 9.99998775e-01 -1.36492963e-03 -5.59316498e+00] [ 3.31062714e-03 1.36745979e-03 9.99993585e-01 -2.56176469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.839072329 meters 0.11890454614932708 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.56 [[ 9.99994033e-01 5.44910339e-04 -3.41140207e-03 9.46939509e+01] [-5.51043896e-04 9.99998233e-01 -1.79727588e-03 -5.59184064e+00] [ 3.41041669e-03 1.79914499e-03 9.99992566e-01 -2.56179165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.899072329 meters 0.12595875897002137 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.56 [[ 9.99994035e-01 5.06266630e-04 -3.41671988e-03 9.46938218e+01] [-5.13066370e-04 9.99997889e-01 -1.98955379e-03 -5.59098035e+00] [ 3.41570543e-03 1.99129492e-03 9.99992184e-01 -2.56150968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.959072329 meters 0.11441934994781747 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.56 [[ 9.99993810e-01 3.80112043e-04 -3.49778468e-03 9.46941638e+01] [-3.87779081e-04 9.99997523e-01 -2.19155266e-03 -5.59051546e+00] [ 3.49694298e-03 2.19289546e-03 9.99991481e-01 -2.56175716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.019072329 meters 0.11535083271356783 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.56 [[ 9.99993721e-01 2.90043102e-04 -3.53188762e-03 9.46944547e+01] [-2.98365568e-04 9.99997180e-01 -2.35608021e-03 -5.59002942e+00] [ 3.53119430e-03 2.35711921e-03 9.99990987e-01 -2.56214640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.079072329 meters 0.11560087903555824 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.56 [[ 9.99993614e-01 3.56435713e-05 -3.57352937e-03 9.46950212e+01] [-4.56425034e-05 9.99996085e-01 -2.79801258e-03 -5.58888301e+00] [ 3.57341565e-03 2.79815782e-03 9.99989700e-01 -2.56289734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13907232900002 meters 0.12128613965232918 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.56 [[ 9.99993373e-01 -2.52824018e-04 -3.63175577e-03 9.46953309e+01] [ 2.40465850e-04 9.99994181e-01 -3.40284199e-03 -5.58701235e+00] [ 3.63259496e-03 3.40194613e-03 9.99987615e-01 -2.56304235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19907232900002 meters 0.1308523068903296 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.56 [[ 9.99993131e-01 -3.23080571e-04 -3.69245001e-03 9.46953828e+01] [ 3.09902923e-04 9.99993584e-01 -3.56882391e-03 -5.58648940e+00] [ 3.69357933e-03 3.56765510e-03 9.99986815e-01 -2.56283975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.259072329 meters 0.1129124867251747 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99985036e-01 -3.67779704e-03 -4.04982793e-03 9.46812330e+01] [ 3.69883076e-03 9.99979647e-01 5.19854999e-03 -5.58429765e+00] [ 4.03062629e-03 -5.21345183e-03 9.99978287e-01 -2.56100970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.319072329 meters 0.11120206628432217 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99984187e-01 -3.83406255e-03 -4.11408365e-03 9.46816883e+01] [ 3.85438914e-03 9.99980349e-01 4.94423064e-03 -5.58365868e+00] [ 4.09504631e-03 -4.96000974e-03 9.99979314e-01 -2.56153030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.379072329 meters 0.11325592145972932 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99983301e-01 -3.95312679e-03 -4.21539027e-03 9.46821248e+01] [ 3.97336361e-03 9.99980571e-01 4.80318005e-03 -5.58345657e+00] [ 4.19632079e-03 -4.81984913e-03 9.99979580e-01 -2.56191254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.439072329 meters 0.12230713176633108 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99983428e-01 -3.91393841e-03 -4.22195120e-03 9.46820935e+01] [ 3.93473912e-03 9.99980107e-01 4.92979763e-03 -5.58397086e+00] [ 4.20257229e-03 -4.94632821e-03 9.99978936e-01 -2.56182599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.499072329 meters 0.11278823445873397 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99983606e-01 -3.89462190e-03 -4.19753034e-03 9.46819246e+01] [ 3.91521050e-03 9.99980292e-01 4.90792599e-03 -5.58371494e+00] [ 4.17833310e-03 -4.92427975e-03 9.99979146e-01 -2.56163095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.559072329 meters 0.12020172711830208 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99983334e-01 -3.95179006e-03 -4.20882869e-03 9.46819433e+01] [ 3.97175166e-03 9.99980855e-01 4.74504125e-03 -5.58311267e+00] [ 4.18999671e-03 -4.76167860e-03 9.99979885e-01 -2.56157927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.619072329 meters 0.12986318422162418 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99983512e-01 -3.88344239e-03 -4.23020597e-03 9.46817319e+01] [ 3.90371523e-03 9.99980886e-01 4.79473087e-03 -5.58304575e+00] [ 4.21150506e-03 -4.81116533e-03 9.99979558e-01 -2.56113936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.679072329 meters 0.12194713501932529 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99983148e-01 -3.94522365e-03 -4.25895794e-03 9.46820386e+01] [ 3.96556068e-03 9.99980726e-01 4.77728233e-03 -5.58324538e+00] [ 4.24002840e-03 -4.79409098e-03 9.99979519e-01 -2.56153194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.739072329 meters 0.12080096381664862 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99983022e-01 -4.04726831e-03 -4.19227434e-03 9.46823239e+01] [ 4.06677114e-03 9.99980900e-01 4.65405650e-03 -5.58309594e+00] [ 4.17335805e-03 -4.67102650e-03 9.99980382e-01 -2.56222375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.799072329 meters 0.12526294390743611 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99983271e-01 -4.00437477e-03 -4.17400181e-03 9.46821237e+01] [ 4.02392196e-03 9.99980928e-01 4.68525046e-03 -5.58307153e+00] [ 4.15516071e-03 -4.70196794e-03 9.99980313e-01 -2.56193804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.859072329 meters 0.1295555953433811 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99982963e-01 -4.07994417e-03 -4.17455990e-03 9.46819444e+01] [ 4.09833942e-03 9.99981889e-01 4.40748846e-03 -5.58191880e+00] [ 4.15650199e-03 -4.42452214e-03 9.99981573e-01 -2.56156973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91907232900002 meters 0.12325071306674022 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99981646e-01 -4.22386664e-03 -4.34361838e-03 9.46825685e+01] [ 4.24223816e-03 9.99982059e-01 4.22906217e-03 -5.58164677e+00] [ 4.32567746e-03 -4.24741121e-03 9.99981624e-01 -2.56201760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.979072329 meters 0.12889652321333592 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99981139e-01 -4.29801812e-03 -4.38735663e-03 9.46829599e+01] [ 4.31618188e-03 9.99982120e-01 4.13898489e-03 -5.58154306e+00] [ 4.36948875e-03 -4.15784345e-03 9.99981810e-01 -2.56251937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.039072329 meters 0.12425774946710683 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99980650e-01 -4.40151413e-03 -4.39621723e-03 9.46831033e+01] [ 4.41876412e-03 9.99982547e-01 3.92185236e-03 -5.58083299e+00] [ 4.37887841e-03 -3.94120232e-03 9.99982646e-01 -2.56269078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.099072329 meters 0.13336883643527567 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99980340e-01 -4.47830931e-03 -4.38913582e-03 9.46830342e+01] [ 4.49460320e-03 9.99983019e-01 3.70951517e-03 -5.58002715e+00] [ 4.37244893e-03 -3.72916966e-03 9.99983487e-01 -2.56251951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.159072329 meters 0.11865443070797028 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99979684e-01 -4.56592858e-03 -4.44783240e-03 9.46831057e+01] [ 4.58124905e-03 9.99983588e-01 3.44040387e-03 -5.57897895e+00] [ 4.43205076e-03 -3.46071060e-03 9.99984190e-01 -2.56240821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.219072329 meters 0.11155688533097136 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99978777e-01 -4.67351589e-03 -4.53906398e-03 9.46833686e+01] [ 4.68802957e-03 9.99983916e-01 3.19214623e-03 -5.57814515e+00] [ 4.52407243e-03 -3.21335775e-03 9.99984603e-01 -2.56248427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.279072329 meters 0.11412519585631134 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99978392e-01 -4.70489990e-03 -4.59127174e-03 9.46834012e+01] [ 4.71908833e-03 9.99984108e-01 3.08437949e-03 -5.57770729e+00] [ 4.57668708e-03 -3.10597946e-03 9.99984703e-01 -2.56233603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.339072329 meters 0.11812456591887248 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99978666e-01 -4.65063413e-03 -4.58682337e-03 9.46831336e+01] [ 4.66477718e-03 9.99984384e-01 3.07754539e-03 -5.57741175e+00] [ 4.57243920e-03 -3.09887624e-03 9.99984745e-01 -2.56190690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.399072329 meters 0.11828741685230824 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99978270e-01 -4.77158566e-03 -4.54874401e-03 9.46833215e+01] [ 4.78459795e-03 9.99984481e-01 2.85405496e-03 -5.57677080e+00] [ 4.53505505e-03 -2.87575686e-03 9.99985582e-01 -2.56229419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.459072329 meters 0.11843639576325357 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99978139e-01 -4.77404771e-03 -4.57497022e-03 9.46834979e+01] [ 4.78725247e-03 9.99984395e-01 2.87971450e-03 -5.57696883e+00] [ 4.56115093e-03 -2.90155308e-03 9.99985388e-01 -2.56251097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.519072329 meters 0.11891562266721858 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99979872e-01 -4.49706686e-03 -4.47570250e-03 9.46829923e+01] [ 4.51227521e-03 9.99984061e-01 3.39370315e-03 -5.57847584e+00] [ 4.46036945e-03 -3.41383044e-03 9.99984225e-01 -2.56208758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.579072329 meters 0.12132257174580355 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99980569e-01 -4.35850352e-03 -4.45708064e-03 9.46826881e+01] [ 4.37459477e-03 9.99983926e-01 3.60691319e-03 -5.57896474e+00] [ 4.44128826e-03 -3.62634103e-03 9.99983562e-01 -2.56168968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63907232900002 meters 0.12131900925976326 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.58, Z:-2.57 [[ 9.99999863e-01 1.17678839e-04 -5.10020836e-04 9.46981775e+01] [-1.19066170e-04 9.99996291e-01 -2.72097017e-03 -5.58222461e+00] [ 5.09698744e-04 2.72103052e-03 9.99996168e-01 -2.56700927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69907232900002 meters 0.11675183776313662 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.58, Z:-2.57 [[ 9.99999814e-01 3.64388454e-04 -4.88122708e-04 9.46979307e+01] [-3.65474106e-04 9.99997456e-01 -2.22589692e-03 -5.58375515e+00] [ 4.87310375e-04 2.22607490e-03 9.99997404e-01 -2.56679197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.759072329 meters 0.11623256375940721 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99999768e-01 4.84558779e-04 -4.77777033e-04 9.46980205e+01] [-4.85452779e-04 9.99998128e-01 -1.87282808e-03 -5.58512468e+00] [ 4.76868643e-04 1.87305958e-03 9.99998132e-01 -2.56707652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.819072329 meters 0.12768946263581565 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99999653e-01 6.79247542e-04 -4.82721416e-04 9.46977119e+01] [-6.79993973e-04 9.99998571e-01 -1.54782113e-03 -5.58598389e+00] [ 4.81669372e-04 1.54814884e-03 9.99998686e-01 -2.56662825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.879072329 meters 0.11765725230564503 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99999577e-01 8.32845698e-04 -3.89681339e-04 9.46973098e+01] [-8.33321758e-04 9.99998905e-01 -1.22310295e-03 -5.58707954e+00] [ 3.88662256e-04 1.22342716e-03 9.99999176e-01 -2.56630475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.939072329 meters 0.12271211761132639 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99999357e-01 1.08222128e-03 -3.38860255e-04 9.46970414e+01] [-1.08245535e-03 9.99999175e-01 -6.91327860e-04 -5.58877890e+00] [ 3.38111806e-04 6.91694217e-04 9.99999704e-01 -2.56616602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.999072329 meters 0.12689216287373362 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99999255e-01 1.14194174e-03 -4.30892940e-04 9.46973880e+01] [-1.14214027e-03 9.99999242e-01 -4.60763225e-04 -5.58984440e+00] [ 4.30366448e-04 4.61255022e-04 9.99999801e-01 -2.56648125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.059072329 meters 0.11932551319555232 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99999035e-01 1.35421497e-03 -3.08489245e-04 9.46969187e+01] [-1.35423115e-03 9.99999082e-01 -5.22399465e-05 -5.59102317e+00] [ 3.08418218e-04 5.26576619e-05 9.99999951e-01 -2.56619087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.119072329 meters 0.12036639178622321 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99998991e-01 1.39595951e-03 -2.65102877e-04 9.46968669e+01] [-1.39593059e-03 9.99999020e-01 1.09248753e-04 -5.59172088e+00] [ 2.65255124e-04 -1.08878577e-04 9.99999959e-01 -2.56626760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.179072329 meters 0.1260232081650566 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99998955e-01 1.40164860e-03 -3.52800699e-04 9.46971377e+01] [-1.40158480e-03 9.99999001e-01 1.81018855e-04 -5.59215846e+00] [ 3.53054072e-04 -1.80524186e-04 9.99999921e-01 -2.56641883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.239072329 meters 0.11778654587146209 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99998520e-01 1.68887018e-03 -3.28762954e-04 9.46967239e+01] [-1.68863294e-03 9.99998315e-01 7.20548342e-04 -5.59374812e+00] [ 3.29979312e-04 -7.19992115e-04 9.99999686e-01 -2.56591207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.299072329 meters 0.12967930541253325 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99998397e-01 1.75267791e-03 -3.65918149e-04 9.46968995e+01] [-1.75232306e-03 9.99997996e-01 9.67826496e-04 -5.59487446e+00] [ 3.67613704e-04 -9.67183738e-04 9.99999465e-01 -2.56612334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.359072329 meters 0.12096096998442012 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99998104e-01 1.92251311e-03 -3.08524424e-04 9.46966889e+01] [-1.92211097e-03 9.99997310e-01 1.29846719e-03 -5.59587789e+00] [ 3.11019914e-04 -1.29787171e-03 9.99999109e-01 -2.56607110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41907232900002 meters 0.1313294795110756 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99998095e-01 1.91672301e-03 -3.68672243e-04 9.46969104e+01] [-1.91622364e-03 9.99997253e-01 1.35012819e-03 -5.59623218e+00] [ 3.71259052e-04 -1.34941916e-03 9.99999021e-01 -2.56624013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.479072329 meters 0.13723275399434645 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99997679e-01 2.11776277e-03 -3.95277930e-04 9.46967251e+01] [-2.11704184e-03 9.99996111e-01 1.81546734e-03 -5.59787036e+00] [ 3.99121122e-04 -1.81462630e-03 9.99998274e-01 -2.56590424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.539072329 meters 0.12567844441329484 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99997208e-01 2.33916610e-03 -3.35163379e-04 9.46963737e+01] [-2.33840362e-03 9.99994718e-01 2.25757106e-03 -5.59919123e+00] [ 3.40442442e-04 -2.25678101e-03 9.99997396e-01 -2.56562023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.599072329 meters 0.14090559398614727 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99997158e-01 2.34877585e-03 -4.10146847e-04 9.46966395e+01] [-2.34781297e-03 9.99994523e-01 2.33257161e-03 -5.59964734e+00] [ 4.15623288e-04 -2.33160203e-03 9.99997195e-01 -2.56580694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.659072329 meters 0.11746342945532348 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99996944e-01 2.43569343e-03 -4.23515950e-04 9.46965723e+01] [-2.43460717e-03 9.99993793e-01 2.54672850e-03 -5.60044557e+00] [ 4.29716371e-04 -2.54568962e-03 9.99996667e-01 -2.56565838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.719072329 meters 0.1302628638091191 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99996903e-01 2.43620098e-03 -5.08435525e-04 9.46968406e+01] [-2.43486489e-03 9.99993624e-01 2.61211909e-03 -5.60080873e+00] [ 5.14795930e-04 -2.61087303e-03 9.99996459e-01 -2.56583405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.779072329 meters 0.11740607997999249 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99996876e-01 2.42358204e-03 -6.12184836e-04 9.46971734e+01] [-2.42195090e-03 9.99993552e-01 2.65129895e-03 -5.60113873e+00] [ 6.18606529e-04 -2.64980799e-03 9.99996298e-01 -2.56604134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.839072329 meters 0.12043383661339024 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99996469e-01 2.55908180e-03 -7.16860136e-04 9.46971765e+01] [-2.55694021e-03 9.99992313e-01 2.97260374e-03 -5.60222910e+00] [ 7.24461761e-04 -2.97076028e-03 9.99995325e-01 -2.56572717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.899072329 meters 0.12486790832977208 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99995888e-01 2.76016591e-03 -7.77814951e-04 9.46969944e+01] [-2.75755540e-03 9.99990628e-01 3.33752725e-03 -5.60326654e+00] [ 7.87019791e-04 -3.33536866e-03 9.99994128e-01 -2.56529699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.959072329 meters 0.11589157749642492 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99995584e-01 2.87299800e-03 -7.60592087e-04 9.46970276e+01] [-2.87020266e-03 9.99989215e-01 3.65115298e-03 -5.60449207e+00] [ 7.71073640e-04 -3.64895381e-03 9.99993045e-01 -2.56545572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.019072329 meters 0.12104055540255174 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99999382e-01 1.08579037e-03 -2.37971598e-04 9.46946023e+01] [-1.08534368e-03 9.99997664e-01 1.86922472e-03 -5.60348783e+00] [ 2.40000628e-04 -1.86896529e-03 9.99998225e-01 -2.56367552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.079072329 meters 0.12248182521033904 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.61, Z:-2.56 [[ 9.99999085e-01 1.33124670e-03 -2.41729249e-04 9.46943027e+01] [-1.33065947e-03 9.99996202e-01 2.41343706e-03 -5.60531306e+00] [ 2.44941211e-04 -2.41311319e-03 9.99997058e-01 -2.56322483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13907232900002 meters 0.11531499617244449 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.61, Z:-2.56 [[ 9.99998816e-01 1.51880926e-03 -2.49104899e-04 9.46940681e+01] [-1.51810890e-03 9.99994961e-01 2.78800443e-03 -5.60642292e+00] [ 2.53338090e-04 -2.78762296e-03 9.99996082e-01 -2.56289274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19907232900002 meters 0.11537196521723561 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.61, Z:-2.56 [[ 9.99998698e-01 1.59329613e-03 -2.55612718e-04 9.46941780e+01] [-1.59251309e-03 9.99994127e-01 3.03492343e-03 -5.60738406e+00] [ 2.60446748e-04 -3.03451241e-03 9.99995362e-01 -2.56312039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.259072329 meters 0.1282529404052645 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.61, Z:-2.56 [[ 9.99998229e-01 1.86088069e-03 -2.79624835e-04 9.46939735e+01] [-1.85985028e-03 9.99991641e-01 3.64114637e-03 -5.60942329e+00] [ 2.86398236e-04 -3.64061986e-03 9.99993332e-01 -2.56278092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319072329 meters 0.12074822540883202 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.61, Z:-2.56 [[ 9.99999358e-01 -1.06221828e-03 3.93615530e-04 9.46907796e+01] [ 1.06202430e-03 9.99999315e-01 4.92693307e-04 -5.60887769e+00] [-3.94138608e-04 -4.92274961e-04 9.99999801e-01 -2.56048056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379072329 meters 0.12776634467679182 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.61, Z:-2.56 [[ 9.99999600e-01 -7.97286028e-04 4.06492300e-04 9.46905515e+01] [ 7.96857479e-04 9.99999128e-01 1.05333528e-03 -5.61068401e+00] [-4.07331755e-04 -1.05301095e-03 9.99999363e-01 -2.56026323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.439072329 meters 0.12720408113912712 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.61, Z:-2.56 [[ 9.99999792e-01 -4.45654947e-04 4.66927871e-04 9.46899930e+01] [ 4.44819109e-04 9.99998301e-01 1.78865544e-03 -5.61295995e+00] [-4.67724201e-04 -1.78844737e-03 9.99998291e-01 -2.55965541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.499072329 meters 0.11989072024196133 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.61, Z:-2.56 [[ 9.99999859e-01 -2.72074195e-04 4.56924928e-04 9.46899380e+01] [ 2.71045466e-04 9.99997432e-01 2.24997214e-03 -5.61464184e+00] [-4.57535914e-04 -2.24984798e-03 9.99997364e-01 -2.55961398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.559072329 meters 0.11766817538564872 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999918e-01 -2.49894546e-05 4.03305760e-04 9.46899230e+01] [ 2.38111938e-05 9.99995733e-01 2.92124770e-03 -5.61712392e+00] [-4.03377039e-04 -2.92123785e-03 9.99995652e-01 -2.55954711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.619072329 meters 0.12372001017958989 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999895e-01 1.67809953e-04 4.25595406e-04 9.46897492e+01] [-1.69244695e-04 9.99994296e-01 3.37334815e-03 -5.61868251e+00] [-4.25026897e-04 -3.37341983e-03 9.99994220e-01 -2.55943442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.679072329 meters 0.1353684003457833 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999816e-01 4.95484144e-04 3.50967325e-04 9.46894614e+01] [-4.96915238e-04 9.99991515e-01 4.08928657e-03 -5.62108468e+00] [-3.48938170e-04 -4.08946022e-03 9.99991577e-01 -2.55881335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.739072329 meters 0.12107751910072526 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999754e-01 6.22107061e-04 3.23213030e-04 9.46894225e+01] [-6.23499617e-04 9.99990447e-01 4.32639086e-03 -5.62184105e+00] [-3.20518464e-04 -4.32659132e-03 9.99990589e-01 -2.55872535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.799072329 meters 0.12706398657398577 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999816e-01 5.72052728e-04 2.03360762e-04 9.46899242e+01] [-5.72929509e-04 9.99990427e-01 4.33786407e-03 -5.62216212e+00] [-2.00877329e-04 -4.33797979e-03 9.99990571e-01 -2.55916250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.859072329 meters 0.12418522292321807 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999724e-01 7.35110555e-04 1.11395371e-04 9.46897640e+01] [-7.35611597e-04 9.99989302e-01 4.56663944e-03 -5.62269044e+00] [-1.08037194e-04 -4.56672013e-03 9.99989567e-01 -2.55860087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91907232900002 meters 0.11339574111624062 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999756e-01 6.98393111e-04 5.23494925e-06 9.46900376e+01] [-6.98409648e-04 9.99989521e-01 4.52429568e-03 -5.62270770e+00] [-2.07515746e-06 -4.52429824e-03 9.99989765e-01 -2.55864584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.979072329 meters 0.12500617301003222 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999785e-01 6.51732686e-04 -6.87990067e-05 9.46903211e+01] [-6.51427582e-04 9.99990347e-01 4.34530418e-03 -5.62207322e+00] [ 7.16303193e-05 -4.34525843e-03 9.99990557e-01 -2.55883334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.039072329 meters 0.11235381792855734 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999827e-01 5.62687335e-04 -1.73134176e-04 9.46907424e+01] [-5.61952744e-04 9.99990963e-01 4.21408923e-03 -5.62183821e+00] [ 1.75503826e-04 -4.21399120e-03 9.99991106e-01 -2.55912706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099072329 meters 0.11438455093388447 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999715e-01 5.91524355e-04 -4.68189130e-04 9.46911582e+01] [-5.89526567e-04 9.99990770e-01 4.25574974e-03 -5.62207296e+00] [ 4.70702188e-04 -4.25547252e-03 9.99990835e-01 -2.55877445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.159072329 meters 0.11835534117282612 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999685e-01 4.80453419e-04 -6.32229543e-04 9.46915234e+01] [-4.77907088e-04 9.99991799e-01 4.02154906e-03 -5.62144720e+00] [ 6.34156525e-04 -4.02124565e-03 9.99991714e-01 -2.55871359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.219072329 meters 0.12044411721193535 Centerline is valid? [False, False] Translation: X:94.71, Y:-5.62, Z:-2.56 [[ 9.99985274e-01 5.00158801e-03 2.10621492e-03 9.47057414e+01] [-4.99381804e-03 9.99980766e-01 -3.67830634e-03 -5.62285378e+00] [-2.12457179e-03 3.66773412e-03 9.99991017e-01 -2.56231593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.279072329 meters 0.12110876312779656 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99990826e-01 3.68632277e-03 -2.18138106e-03 9.46910243e+01] [-3.67267096e-03 9.99973852e-01 6.22958988e-03 -5.62103554e+00] [ 2.20428830e-03 -6.22152124e-03 9.99978217e-01 -2.55702243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.339072329 meters 0.10497242824049695 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99997133e-01 -8.43039844e-04 -2.24106619e-03 9.46917140e+01] [ 8.45591960e-04 9.99998995e-01 1.13809198e-03 -5.61830078e+00] [ 2.24010448e-03 -1.13998375e-03 9.99996841e-01 -2.55793388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.399072329 meters 0.10740449516254007 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996631e-01 -8.90529888e-04 -2.43809621e-03 9.46919881e+01] [ 8.93009484e-04 9.99999085e-01 1.01612155e-03 -5.61798854e+00] [ 2.43718910e-03 -1.01829537e-03 9.99996512e-01 -2.55763234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.459072329 meters 0.10513643974655286 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996494e-01 -8.26988010e-04 -2.51564161e-03 9.46918627e+01] [ 8.29665198e-04 9.99999090e-01 1.06335916e-03 -5.61792703e+00] [ 2.51475993e-03 -1.06544257e-03 9.99996270e-01 -2.55716860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.519072329 meters 0.10815228750457119 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996101e-01 -1.03022223e-03 -2.59563906e-03 9.46924093e+01] [ 1.03209631e-03 9.99999208e-01 7.20776261e-04 -5.61710502e+00] [ 2.59489444e-03 -7.23452400e-04 9.99996372e-01 -2.55772840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.579072329 meters 0.10508441601526972 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996053e-01 -8.77693709e-04 -2.66890867e-03 9.46925877e+01] [ 8.80479034e-04 9.99999069e-01 1.04262371e-03 -5.61825302e+00] [ 2.66799108e-03 -1.04496952e-03 9.99995895e-01 -2.55786758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63907232900002 meters 0.11456459410940191 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996037e-01 -8.43755981e-04 -2.68594135e-03 9.46927454e+01] [ 8.46998142e-04 9.99998914e-01 1.20617695e-03 -5.61905387e+00] [ 2.68492071e-03 -1.20844716e-03 9.99995665e-01 -2.55808118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69907232900002 meters 0.10227855141680153 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996177e-01 -7.52314619e-04 -2.66090931e-03 9.46925228e+01] [ 7.55928482e-04 9.99998793e-01 1.35738598e-03 -5.61945175e+00] [ 2.65988491e-03 -1.35939225e-03 9.99995539e-01 -2.55783299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.759072329 meters 0.10925832029471198 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996185e-01 -6.56898411e-04 -2.68296905e-03 9.46924787e+01] [ 6.61237014e-04 9.99998475e-01 1.61652361e-03 -5.62042298e+00] [ 2.68190307e-03 -1.61829152e-03 9.99995094e-01 -2.55772469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819072329 meters 0.11266158304785076 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996006e-01 -3.18104781e-04 -2.80849203e-03 9.46922329e+01] [ 3.24642126e-04 9.99997239e-01 2.32755747e-03 -5.62279511e+00] [ 2.80774387e-03 -2.32845993e-03 9.99993347e-01 -2.55701902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879072329 meters 0.11353304603371447 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996091e-01 -2.25017898e-04 -2.78695821e-03 9.46923895e+01] [ 2.32411457e-04 9.99996454e-01 2.65287390e-03 -5.62416677e+00] [ 2.78635139e-03 -2.65351125e-03 9.99992598e-01 -2.55744429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.939072329 meters 0.10174992004974036 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996207e-01 -7.57637905e-05 -2.75310040e-03 9.46921361e+01] [ 8.38543769e-05 9.99995678e-01 2.93872166e-03 -5.62495319e+00] [ 2.75286585e-03 -2.93894138e-03 9.99991892e-01 -2.55720109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.999072329 meters 0.1111196285042592 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99996093e-01 2.60074829e-04 -2.78338933e-03 9.46917092e+01] [-2.49870641e-04 9.99993250e-01 3.66582182e-03 -5.62745112e+00] [ 2.78432393e-03 -3.66511201e-03 9.99989407e-01 -2.55647844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.059072329 meters 0.10824998438831308 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99996227e-01 3.52843767e-04 -2.72429878e-03 9.46916153e+01] [-3.42281077e-04 9.99992427e-01 3.87670717e-03 -5.62816566e+00] [ 2.72564602e-03 -3.87576006e-03 9.99988775e-01 -2.55657417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.119072329 meters 0.11059016648569422 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99996215e-01 3.72804891e-04 -2.72583724e-03 9.46918942e+01] [-3.61792869e-04 9.99991777e-01 4.03924529e-03 -5.62902750e+00] [ 2.72732067e-03 -4.03824381e-03 9.99988127e-01 -2.55706692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.179072329 meters 0.10676497824156966 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99996085e-01 6.67745091e-04 -2.71721156e-03 9.46913135e+01] [-6.55393161e-04 9.99989460e-01 4.54416509e-03 -5.63039206e+00] [ 2.72021727e-03 -4.54236646e-03 9.99985984e-01 -2.55624456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.239072329 meters 0.11382632724959804 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99995835e-01 7.84716320e-04 -2.77731742e-03 9.46913437e+01] [-7.71229866e-04 9.99987923e-01 4.85367245e-03 -5.63154591e+00] [ 2.78109263e-03 -4.85151029e-03 9.99984364e-01 -2.55614486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.299072329 meters 0.11364399673163608 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99995936e-01 8.43771632e-04 -2.72310496e-03 9.46914836e+01] [-8.29837615e-04 9.99986579e-01 5.11403903e-03 -5.63276770e+00] [ 2.72738349e-03 -5.11175852e-03 9.99983216e-01 -2.55658927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.359072329 meters 0.1082396310542539 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99995980e-01 9.56336142e-04 -2.66929981e-03 9.46913353e+01] [-9.42028406e-04 9.99985212e-01 5.35622851e-03 -5.63358699e+00] [ 2.67438269e-03 -5.35369243e-03 9.99982093e-01 -2.55659051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41907232900002 meters 0.10862640530338913 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99990892e-01 -3.33562638e-03 -2.66246792e-03 9.46912544e+01] [ 3.33828668e-03 9.99993933e-01 9.95367251e-04 -5.63325168e+00] [ 2.65913159e-03 -1.00424627e-03 9.99995960e-01 -2.55647367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.479072329 meters 0.10376170434335268 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99991629e-01 -3.06974035e-03 -2.70544184e-03 9.46909796e+01] [ 3.07377762e-03 9.99994167e-01 1.48938320e-03 -5.63472120e+00] [ 2.70085404e-03 -1.49768666e-03 9.99995231e-01 -2.55600699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.539072329 meters 0.10768147928203617 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.64, Z:-2.56 [[ 9.99991377e-01 -3.14251267e-03 -2.71492566e-03 9.46914005e+01] [ 3.14667053e-03 9.99993881e-01 1.52857244e-03 -5.63530075e+00] [ 2.71010549e-03 -1.53710224e-03 9.99995146e-01 -2.55668183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.599072329 meters 0.11217323358681927 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.64, Z:-2.56 [[ 9.99991725e-01 -2.97945147e-03 -2.76998221e-03 9.46915168e+01] [ 2.98491981e-03 9.99993601e-01 1.97210678e-03 -5.63710027e+00] [ 2.76408868e-03 -1.98035864e-03 9.99994219e-01 -2.55677469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.659072329 meters 0.10532043511979303 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.64, Z:-2.56 [[ 9.99992606e-01 -2.69809241e-03 -2.73998520e-03 9.46909950e+01] [ 2.70487529e-03 9.99993279e-01 2.47483673e-03 -5.63853997e+00] [ 2.73328944e-03 -2.48222975e-03 9.99993184e-01 -2.55612934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.719072329 meters 0.11589676652573616 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.64, Z:-2.56 [[ 9.99993651e-01 -2.39592054e-03 -2.63757365e-03 9.46903860e+01] [ 2.40419102e-03 9.99992190e-01 3.13694744e-03 -5.64063077e+00] [ 2.63003718e-03 -3.14326876e-03 9.99991601e-01 -2.55559750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.779072329 meters 0.1088828301386364 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.64, Z:-2.56 [[ 9.99994625e-01 -2.04696355e-03 -2.56114604e-03 9.46897963e+01] [ 2.05697767e-03 9.99990227e-01 3.91351031e-03 -5.64313451e+00] [ 2.55311020e-03 -3.91875750e-03 9.99989062e-01 -2.55503799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.839072329 meters 0.11152606290234758 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.64, Z:-2.55 [[ 9.99995444e-01 -1.75557501e-03 -2.45564238e-03 9.46893170e+01] [ 1.76664627e-03 9.99988253e-01 4.51362190e-03 -5.64499080e+00] [ 2.44768953e-03 -4.51793959e-03 9.99986798e-01 -2.55476593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.899072329 meters 0.11782957015946953 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.65, Z:-2.55 [[ 9.99995479e-01 -1.48783803e-03 -2.61324120e-03 9.46894409e+01] [ 1.50196840e-03 9.99984218e-01 5.41360588e-03 -5.64843210e+00] [ 2.60514539e-03 -5.41750641e-03 9.99981932e-01 -2.55472123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.959072329 meters 0.11761709163395133 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.65, Z:-2.55 [[ 9.99995853e-01 -1.26596890e-03 -2.58679203e-03 9.46892444e+01] [ 1.28145257e-03 9.99981222e-01 5.99279713e-03 -5.65054041e+00] [ 2.57915676e-03 -5.99608712e-03 9.99978697e-01 -2.55464331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.019072329 meters 0.11960856558673094 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.65, Z:-2.55 [[ 9.99995935e-01 -1.09497825e-03 -2.63280009e-03 9.46892092e+01] [ 1.11213220e-03 9.99978107e-01 6.52286604e-03 -5.65258519e+00] [ 2.62560006e-03 -6.52576754e-03 9.99975260e-01 -2.55453897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.079072329 meters 0.11998563735102281 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.65, Z:-2.55 [[ 9.99996026e-01 -9.31824449e-04 -2.66061968e-03 9.46892050e+01] [ 9.50509111e-04 9.99974837e-01 7.03006599e-03 -5.65458801e+00] [ 2.65400194e-03 -7.03256700e-03 9.99971749e-01 -2.55453355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13907232900002 meters 0.1154746747272362 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.66, Z:-2.55 [[ 9.99996501e-01 -6.57055074e-04 -2.56229349e-03 9.46888100e+01] [ 6.77043393e-04 9.99969289e-01 7.80789912e-03 -5.65733936e+00] [ 2.55708458e-03 -7.80960659e-03 9.99966235e-01 -2.55436417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19907232900002 meters 0.11414908041097299 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.66, Z:-2.55 [[ 9.99985908e-01 -4.64931174e-03 -2.56291356e-03 9.46885635e+01] [ 4.65995315e-03 9.99980482e-01 4.16185967e-03 -5.65955385e+00] [ 2.54351375e-03 -4.17374408e-03 9.99988055e-01 -2.55410764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.259072329 meters 0.12017567626950777 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.66, Z:-2.55 [[ 9.99987958e-01 -4.23864900e-03 -2.47352178e-03 9.46878497e+01] [ 4.25105386e-03 9.99978306e-01 5.03153942e-03 -5.66224178e+00] [ 2.45214119e-03 -5.04199391e-03 9.99984283e-01 -2.55345383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.319072329 meters 0.12391039176699113 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.67, Z:-2.55 [[ 9.99989856e-01 -3.83037264e-03 -2.36968294e-03 9.46872409e+01] [ 3.84475141e-03 9.99974044e-01 6.09329935e-03 -5.66580216e+00] [ 2.34628183e-03 -6.10234839e-03 9.99978628e-01 -2.55306776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.379072329 meters 0.12726501177305063 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.67, Z:-2.55 [[ 9.99991168e-01 -3.47034857e-03 -2.37078250e-03 9.46867573e+01] [ 3.48672768e-03 9.99969840e-01 6.93989227e-03 -5.66868259e+00] [ 2.34662715e-03 -6.94809725e-03 9.99973108e-01 -2.55245985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.439072329 meters 0.12448367260051525 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.67, Z:-2.55 [[ 9.99993095e-01 -2.93996852e-03 -2.27301845e-03 9.46859212e+01] [ 2.95850612e-03 9.99962039e-01 8.19561108e-03 -5.67282015e+00] [ 2.24883733e-03 -8.20227923e-03 9.99963832e-01 -2.55168846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.499072329 meters 0.12195458040843138 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.68, Z:-2.55 [[ 9.99993203e-01 -2.82258726e-03 -2.37215807e-03 9.46862569e+01] [ 2.84321430e-03 9.99957785e-01 8.73755713e-03 -5.67515377e+00] [ 2.34739541e-03 -8.74424229e-03 9.99959013e-01 -2.55205198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.559072329 meters 0.1207943202957117 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.67, Z:-2.55 [[ 9.99971382e-01 -7.15378660e-03 -2.46128648e-03 9.46866339e+01] [ 7.16436280e-03 9.99965024e-01 4.31537700e-03 -5.67478582e+00] [ 2.43032911e-03 -4.33288705e-03 9.99987660e-01 -2.55231527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.619072329 meters 0.13602125942753343 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99972950e-01 -2.06879113e-03 -7.05830904e-03 9.46983193e+01] [ 2.06042554e-03 9.99997167e-01 -1.19227619e-03 -5.68013365e+00] [ 7.06075561e-03 1.17770081e-03 9.99974379e-01 -2.54820049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.679072329 meters 0.12443053180191287 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99972709e-01 -2.02856123e-03 -7.10401409e-03 9.46985183e+01] [ 2.02105147e-03 9.99997391e-01 -1.06413474e-03 -5.68070124e+00] [ 7.10615422e-03 1.04974812e-03 9.99974200e-01 -2.54840578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.739072329 meters 0.1403192059748381 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99972882e-01 -1.85391066e-03 -7.12726934e-03 9.46983755e+01] [ 1.84839099e-03 9.99997987e-01 -7.80951977e-04 -5.68148615e+00] [ 7.12870280e-03 7.67756818e-04 9.99974296e-01 -2.54820112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.799072329 meters 0.12805774687060753 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99972376e-01 -1.46246954e-03 -7.28752036e-03 9.46978594e+01] [ 1.46104956e-03 9.99998913e-01 -2.00171972e-04 -5.68299418e+00] [ 7.28780518e-03 1.89519015e-04 9.99973426e-01 -2.54699084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.859072329 meters 0.12287532575947442 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99972042e-01 -1.39098817e-03 -7.34713103e-03 9.46977357e+01] [ 1.39000598e-03 9.99999024e-01 -1.38788231e-04 -5.68297147e+00] [ 7.34731692e-03 1.28571795e-04 9.99973000e-01 -2.54661453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91907232900002 meters 0.11842114836375818 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99971251e-01 -1.34376989e-03 -7.46269636e-03 9.46979123e+01] [ 1.34203033e-03 9.99999071e-01 -2.38102346e-04 -5.68238066e+00] [ 7.46300938e-03 2.28080336e-04 9.99972125e-01 -2.54648480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.979072329 meters 0.12002955905795312 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99970173e-01 -1.35495091e-03 -7.60376259e-03 9.46982285e+01] [ 1.35280824e-03 9.99999044e-01 -2.86927272e-04 -5.68228398e+00] [ 7.60414409e-03 2.76632281e-04 9.99971050e-01 -2.54649349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.039072329 meters 0.11938998426394083 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99967961e-01 -1.54240649e-03 -7.85484681e-03 9.46989907e+01] [ 1.53644726e-03 9.99998527e-01 -7.64646214e-04 -5.68079459e+00] [ 7.85601464e-03 7.52553158e-04 9.99968858e-01 -2.54676222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.099072329 meters 0.1199249175854305 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99966685e-01 -1.69814315e-03 -7.98407720e-03 9.46994569e+01] [ 1.68855879e-03 9.99997846e-01 -1.20702186e-03 -5.67916212e+00] [ 7.98610969e-03 1.19350006e-03 9.99967398e-01 -2.54698149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.159072329 meters 0.11736549527535188 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99965771e-01 -1.69796441e-03 -8.09780832e-03 9.46996250e+01] [ 1.68470509e-03 9.99997230e-01 -1.64393611e-03 -5.67718264e+00] [ 8.10057723e-03 1.63023742e-03 9.99965861e-01 -2.54674379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.219072329 meters 0.12241385386442301 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99965477e-01 -1.66309878e-03 -8.14117506e-03 9.46995284e+01] [ 1.64774545e-03 9.99996852e-01 -1.89223051e-03 -5.67581946e+00] [ 8.14429640e-03 1.87875061e-03 9.99965070e-01 -2.54636595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.279072329 meters 0.11430193216832128 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99962285e-01 2.73288868e-03 -8.24376982e-03 9.46994032e+01] [-2.71286881e-03 9.99993347e-01 2.43868993e-03 -5.67572971e+00] [ 8.25037964e-03 -2.41623368e-03 9.99963046e-01 -2.54579745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.339072329 meters 0.1198719707395268 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.67, Z:-2.55 [[ 9.99962520e-01 2.57027582e-03 -8.26749272e-03 9.46996141e+01] [-2.55450400e-03 9.99994898e-01 1.91768565e-03 -5.67376789e+00] [ 8.27237952e-03 -1.89649443e-03 9.99963985e-01 -2.54591540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.399072329 meters 0.11889467145086736 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.67, Z:-2.55 [[ 9.99960580e-01 2.25746595e-03 -8.58733857e-03 9.47006973e+01] [-2.24747745e-03 9.99996787e-01 1.17263884e-03 -5.67151286e+00] [ 8.58995817e-03 -1.15329276e-03 9.99962441e-01 -2.54641375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.459072329 meters 0.11963947454267779 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.67, Z:-2.55 [[ 9.99959223e-01 2.01251165e-03 -8.80354502e-03 9.47014592e+01] [-2.00658347e-03 9.99997754e-01 6.82167007e-04 -5.67007360e+00] [ 8.80489812e-03 -6.64474142e-04 9.99961015e-01 -2.54682098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.519072329 meters 0.10503863386845394 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.67, Z:-2.55 [[ 9.99960085e-01 1.92387519e-03 -8.72509817e-03 9.47014000e+01] [-1.92481919e-03 9.99998143e-01 -9.97983162e-05 -5.66652292e+00] [ 8.72488997e-03 1.16588569e-04 9.99961931e-01 -2.54678845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.579072329 meters 0.10625975201228036 Centerline is valid? [False, False] Translation: X:94.71, Y:-5.67, Z:-2.55 [[ 9.99991303e-01 4.01856668e-03 -1.11580865e-03 9.47097951e+01] [-4.00780695e-03 9.99947000e-01 9.48334940e-03 -5.66777108e+00] [ 1.15385898e-03 -9.47879498e-03 9.99954409e-01 -2.54641012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63907232900002 meters 0.11108582988346004 Centerline is valid? [False, False] Translation: X:94.71, Y:-5.66, Z:-2.55 [[ 9.99999451e-01 -1.10028432e-04 -1.04199242e-03 9.47095526e+01] [ 1.14615870e-04 9.99990298e-01 4.40352803e-03 -5.66342846e+00] [ 1.04149780e-03 -4.40364504e-03 9.99989762e-01 -2.54618518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69907232900002 meters 0.10301437720352999 Centerline is valid? [False, False] Translation: X:94.71, Y:-5.66, Z:-2.55 [[ 9.99999100e-01 -4.76466977e-04 -1.25454952e-03 9.47103875e+01] [ 4.80950238e-04 9.99993491e-01 3.57572955e-03 -5.66082244e+00] [ 1.25283764e-03 -3.57632971e-03 9.99992820e-01 -2.54669184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.759072329 meters 0.1135452812591753 Centerline is valid? [False, False] Translation: X:94.71, Y:-5.66, Z:-2.55 [[ 9.99998844e-01 -7.63521545e-04 -1.31469939e-03 9.47108158e+01] [ 7.67235458e-04 9.99995710e-01 2.82673063e-03 -5.65822220e+00] [ 1.31253548e-03 -2.82773605e-03 9.99995141e-01 -2.54700672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.819072329 meters 0.10378674246847007 Centerline is valid? [False, False] Translation: X:94.71, Y:-5.66, Z:-2.55 [[ 9.99998656e-01 -8.97412468e-04 -1.37180837e-03 9.47110481e+01] [ 9.00805667e-04 9.99996532e-01 2.47490896e-03 -5.65688879e+00] [ 1.36958260e-03 -2.47614137e-03 9.99995996e-01 -2.54713228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.879072329 meters 0.10543778552933872 Centerline is valid? [False, False] Translation: X:94.71, Y:-5.66, Z:-2.55 [[ 9.99998291e-01 -1.07573085e-03 -1.50342824e-03 9.47115964e+01] [ 1.07902000e-03 9.99997023e-01 2.18867024e-03 -5.65616110e+00] [ 1.50106934e-03 -2.19028872e-03 9.99996475e-01 -2.54752240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.939072329 meters 0.10144285765178801 Centerline is valid? [False, False] Translation: X:94.71, Y:-5.65, Z:-2.55 [[ 9.99998210e-01 -1.21757882e-03 -1.44800506e-03 9.47115959e+01] [ 1.21998496e-03 9.99997875e-01 1.66197453e-03 -5.65404735e+00] [ 1.44597840e-03 -1.66373810e-03 9.99997571e-01 -2.54755372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.999072329 meters 0.09528018650765624 Centerline is valid? [False, True] Translation: X:94.71, Y:-5.65, Z:-2.55 [[ 9.99997740e-01 -1.50294180e-03 -1.50359590e-03 9.47119358e+01] [ 1.50449674e-03 9.99998334e-01 1.03354923e-03 -5.65189690e+00] [ 1.50204003e-03 -1.03580904e-03 9.99998335e-01 -2.54781243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.059072329 meters 0.09262855810133275 Centerline is valid? [True, True] Translation: X:94.77, Y:-5.65, Z:-2.55 [[ 9.99995666e-01 -1.37581903e-03 -2.60303269e-03 9.47720659e+01] [ 1.37672316e-03 9.99998993e-01 3.45574737e-04 -5.65438036e+00] [ 2.60255462e-03 -3.49156895e-04 9.99996552e-01 -2.55058854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.119072329 meters 0.09524735929210021 Centerline is valid? [True, True] Translation: X:94.83, Y:-5.66, Z:-2.55 [[ 9.99994198e-01 -1.18290615e-03 -3.19452777e-03 9.48309097e+01] [ 1.18426675e-03 9.99999209e-01 4.24058043e-04 -5.66474652e+00] [ 3.19402362e-03 -4.27838756e-04 9.99994808e-01 -2.55227370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.179072329 meters 0.09738461564399216 Centerline is valid? [True, True] Translation: X:94.89, Y:-5.67, Z:-2.55 [[ 9.99998410e-01 -1.24290215e-03 -1.27840422e-03 9.48898362e+01] [ 1.24311979e-03 9.99999213e-01 1.69465134e-04 -5.67493171e+00] [ 1.27819258e-03 -1.71054074e-04 9.99999168e-01 -2.55080465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.239072329 meters 0.10593458368300515 Centerline is valid? [True, False] Translation: X:94.89, Y:-5.67, Z:-2.55 [[ 9.99998219e-01 -1.39170974e-03 -1.27480920e-03 9.48899764e+01] [ 1.39153938e-03 9.99999023e-01 -1.34511919e-04 -5.67386721e+00] [ 1.27499516e-03 1.32737732e-04 9.99999178e-01 -2.55100999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.299072329 meters 0.10589418777311582 Centerline is valid? [False, False] Translation: X:94.89, Y:-5.67, Z:-2.55 [[ 9.99997907e-01 -1.55406769e-03 -1.33058412e-03 9.48903971e+01] [ 1.55354804e-03 9.99998717e-01 -3.91485293e-04 -5.67319853e+00] [ 1.33119081e-03 3.89417347e-04 9.99999038e-01 -2.55147078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.359072329 meters 0.0954142424495497 Centerline is valid? [False, True] Translation: X:94.89, Y:-5.67, Z:-2.55 [[ 9.99998076e-01 -1.45386983e-03 -1.31725279e-03 9.48901575e+01] [ 1.45354319e-03 9.99998913e-01 -2.48898449e-04 -5.67347357e+00] [ 1.31761322e-03 2.46983286e-04 9.99999101e-01 -2.55117056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41907232900002 meters 0.10638138097695474 Centerline is valid? [True, False] Translation: X:94.89, Y:-5.67, Z:-2.55 [[ 9.99997800e-01 -1.67136640e-03 -1.26733403e-03 9.48904491e+01] [ 1.67060708e-03 9.99998425e-01 -5.99967045e-04 -5.67254361e+00] [ 1.26833480e-03 5.97848508e-04 9.99999017e-01 -2.55177301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.479072329 meters 0.10344299896549775 Centerline is valid? [False, False] Translation: X:94.89, Y:-5.67, Z:-2.55 [[ 9.99997609e-01 -1.76664070e-03 -1.28845883e-03 9.48904838e+01] [ 1.76556574e-03 9.99998093e-01 -8.34960530e-04 -5.67162334e+00] [ 1.28993145e-03 8.32683675e-04 9.99998821e-01 -2.55175871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.539072329 meters 0.09687112953302002 Centerline is valid? [False, True] Translation: X:94.89, Y:-5.67, Z:-2.55 [[ 9.99997585e-01 -1.82012791e-03 -1.23134926e-03 9.48904252e+01] [ 1.81897839e-03 9.99997909e-01 -9.34022941e-04 -5.67127059e+00] [ 1.23304673e-03 9.31780888e-04 9.99998806e-01 -2.55184895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.599072329 meters 0.0980844272566841 Centerline is valid? [True, True] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99995250e-01 -2.81217020e-03 -1.26155905e-03 9.49492608e+01] [ 2.81238512e-03 9.99996031e-01 1.68616565e-04 -5.67989491e+00] [ 1.26107987e-03 -1.72163754e-04 9.99999190e-01 -2.55283734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.659072329 meters 0.10593280085478275 Centerline is valid? [True, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994902e-01 -2.91173716e-03 -1.31052452e-03 9.49493862e+01] [ 2.91172387e-03 9.99995761e-01 -1.20479212e-05 -5.67941220e+00] [ 1.31055404e-03 8.23197424e-06 9.99999141e-01 -2.55283072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.719072329 meters 0.11320225139898825 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994859e-01 -2.93795596e-03 -1.28436231e-03 9.49492496e+01] [ 2.93781098e-03 9.99995678e-01 -1.14752266e-04 -5.67892477e+00] [ 1.28469389e-03 1.10978462e-04 9.99999169e-01 -2.55269721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.779072329 meters 0.09831059110454822 Centerline is valid? [False, True] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994306e-01 -3.11138605e-03 -1.30641073e-03 9.49495821e+01] [ 3.11079980e-03 9.99995060e-01 -4.50541555e-04 -5.67790174e+00] [ 1.30780609e-03 4.46475008e-04 9.99999045e-01 -2.55314608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.839072329 meters 0.10356934834728436 Centerline is valid? [True, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994020e-01 -3.22101563e-03 -1.25879619e-03 9.49497474e+01] [ 3.22021390e-03 9.99994611e-01 -6.38409335e-04 -5.67733051e+00] [ 1.26084573e-03 6.34351925e-04 9.99999004e-01 -2.55357848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.899072329 meters 0.10769898534923786 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994241e-01 -3.15149262e-03 -1.25971019e-03 9.49496135e+01] [ 3.15082989e-03 9.99994897e-01 -5.27737499e-04 -5.67755468e+00] [ 1.26136692e-03 5.23765327e-04 9.99999067e-01 -2.55339990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.959072329 meters 0.10209948679376671 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994360e-01 -3.13067490e-03 -1.21601377e-03 9.49494335e+01] [ 3.13005059e-03 9.99994969e-01 -5.14976689e-04 -5.67746371e+00] [ 1.21761988e-03 5.11167600e-04 9.99999128e-01 -2.55325696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.019072329 meters 0.11054102598625366 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994186e-01 -3.19272675e-03 -1.19778738e-03 9.49494750e+01] [ 3.19202664e-03 9.99994734e-01 -5.85960115e-04 -5.67735966e+00] [ 1.19965189e-03 5.82133339e-04 9.99999111e-01 -2.55336158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.079072329 meters 0.10474862536703838 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994317e-01 -3.17446687e-03 -1.13542112e-03 9.49491867e+01] [ 3.17380447e-03 9.99994793e-01 -5.84715980e-04 -5.67717450e+00] [ 1.13727137e-03 5.81109053e-04 9.99999184e-01 -2.55310445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13907232900002 meters 0.0998776176649211 Centerline is valid? [False, True] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994331e-01 -3.20491217e-03 -1.03277986e-03 9.49491715e+01] [ 3.20426188e-03 9.99994667e-01 -6.30689048e-04 -5.67709287e+00] [ 1.03479565e-03 6.27376175e-04 9.99999268e-01 -2.55341995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19907232900002 meters 0.1005652971843625 Centerline is valid? [True, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994035e-01 -3.30578651e-03 -1.00077253e-03 9.49492816e+01] [ 3.30493532e-03 9.99994177e-01 -8.50998094e-04 -5.67628881e+00] [ 1.00357992e-03 8.47685529e-04 9.99999137e-01 -2.55371815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.259072329 meters 0.10282587833774985 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99993999e-01 -3.32503492e-03 -9.72804144e-04 9.49492638e+01] [ 3.32419238e-03 9.99994099e-01 -8.66436802e-04 -5.67628123e+00] [ 9.75679336e-04 8.63197815e-04 9.99999151e-01 -2.55380515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319072329 meters 0.10363251344228755 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994364e-01 -3.23385479e-03 -9.01788803e-04 9.49489577e+01] [ 3.23325823e-03 9.99994554e-01 -6.62209229e-04 -5.67695007e+00] [ 9.03925381e-04 6.59289781e-04 9.99999374e-01 -2.55353984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379072329 meters 0.111190414540532 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994593e-01 -3.19011536e-03 -7.98168251e-04 9.49488404e+01] [ 3.18967774e-03 9.99994762e-01 -5.48951346e-04 -5.67729552e+00] [ 7.99915289e-04 5.46402478e-04 9.99999531e-01 -2.55379261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.439072329 meters 0.1080619971379835 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994732e-01 -3.16491732e-03 -7.21150123e-04 9.49488301e+01] [ 3.16460129e-03 9.99994896e-01 -4.38958263e-04 -5.67780719e+00] [ 7.22535709e-04 4.36673798e-04 9.99999644e-01 -2.55405365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.499072329 meters 0.10432897212420135 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99995536e-01 -2.91674016e-03 -6.48026332e-04 9.49481754e+01] [ 2.91674406e-03 9.99995746e-01 5.07202252e-06 -5.67894355e+00] [ 6.48008782e-04 -6.96212684e-06 9.99999790e-01 -2.55329268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.559072329 meters 0.11307752761027161 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99995833e-01 -2.83466090e-03 -5.46982389e-04 9.49478519e+01] [ 2.83474768e-03 9.99995970e-01 1.57950331e-04 -5.67930201e+00] [ 5.46532449e-04 -1.59500230e-04 9.99999838e-01 -2.55316827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.619072329 meters 0.10517473721479649 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99995856e-01 -2.84015778e-03 -4.71669154e-04 9.49478745e+01] [ 2.84027496e-03 9.99995936e-01 2.47941212e-04 -5.67981668e+00] [ 4.70963045e-04 -2.49279854e-04 9.99999858e-01 -2.55348695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.679072329 meters 0.10823987223235981 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99996585e-01 -2.59172199e-03 -3.35527301e-04 9.49472517e+01] [ 2.59196632e-03 9.99996375e-01 7.29816694e-04 -5.68117409e+00] [ 3.33634602e-04 -7.30683877e-04 9.99999677e-01 -2.55300844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.739072329 meters 0.10751666692000347 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99996890e-01 -2.48330424e-03 -2.28553061e-04 9.49468824e+01] [ 2.48351688e-03 9.99996479e-01 9.34821495e-04 -5.68170129e+00] [ 2.26230810e-04 -9.35386204e-04 9.99999537e-01 -2.55282387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.799072329 meters 0.10095570157620044 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99996894e-01 -2.48153649e-03 -2.34273667e-04 9.49468776e+01] [ 2.48177019e-03 9.99996418e-01 1.00255686e-03 -5.68200350e+00] [ 2.31784947e-04 -1.00313516e-03 9.99999470e-01 -2.55281259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.859072329 meters 0.1084650172662025 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99997197e-01 -2.36236557e-03 -1.57293618e-04 9.49466662e+01] [ 2.36256231e-03 9.99996412e-01 1.26263169e-03 -5.68286646e+00] [ 1.54310256e-04 -1.26299977e-03 9.99999191e-01 -2.55278358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91907232900002 meters 0.11064233312306071 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99997392e-01 -2.28187955e-03 -9.30167742e-05 9.49465851e+01] [ 2.28201729e-03 9.99996258e-01 1.50857655e-03 -5.68374594e+00] [ 8.95740362e-05 -1.50878488e-03 9.99998858e-01 -2.55295385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.979072329 meters 0.11124858329169239 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99997416e-01 -2.27209272e-03 -7.69179910e-05 9.49466111e+01] [ 2.27221301e-03 9.99996136e-01 1.60171928e-03 -5.68419338e+00] [ 7.32784391e-05 -1.60188992e-03 9.99998714e-01 -2.55308456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.039072329 meters 0.12428155606570974 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998043e-01 -1.97841009e-03 -1.90038465e-05 9.49460076e+01] [ 1.97844667e-03 9.99995689e-01 2.16985930e-03 -5.68581620e+00] [ 1.47108931e-05 -2.16989265e-03 9.99997646e-01 -2.55238674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099072329 meters 0.1255624227831775 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998017e-01 -1.99060912e-03 6.03928802e-05 9.49460584e+01] [ 1.99046566e-03 9.99995399e-01 2.28910554e-03 -5.68649540e+00] [-6.49493167e-05 -2.28898079e-03 9.99997378e-01 -2.55276751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.159072329 meters 0.10887227171636911 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998192e-01 -1.89839557e-03 1.11740948e-04 9.49457886e+01] [ 1.89811296e-03 9.99995130e-01 2.47713162e-03 -5.68701225e+00] [-1.16442980e-04 -2.47691505e-03 9.99996926e-01 -2.55254497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.219072329 meters 0.11872493168490925 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998406e-01 -1.77831423e-03 1.60057368e-04 9.49454855e+01] [ 1.77787601e-03 9.99994781e-01 2.69761239e-03 -5.68761812e+00] [-1.64853735e-04 -2.69732353e-03 9.99996349e-01 -2.55225694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.279072329 meters 0.11290128698101763 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998525e-01 -1.71716428e-03 3.81431115e-05 9.49456055e+01] [ 1.71704784e-03 9.99994414e-01 2.86770315e-03 -5.68820149e+00] [-4.30672158e-05 -2.86763342e-03 9.99995887e-01 -2.55208173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.339072329 meters 0.11005015813116917 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998479e-01 -1.74413242e-03 -5.44132491e-06 9.49458890e+01] [ 1.74414085e-03 9.99994372e-01 2.86607066e-03 -5.68834570e+00] [ 4.42487530e-07 -2.86607579e-03 9.99995893e-01 -2.55241380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.399072329 meters 0.11745057778172725 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998320e-01 -1.82963674e-03 -1.12768936e-04 9.49463012e+01] [ 1.82994383e-03 9.99994445e-01 2.78606120e-03 -5.68833780e+00] [ 1.07670830e-04 -2.78626288e-03 9.99996113e-01 -2.55270126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.459072329 meters 0.11247594360730306 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998489e-01 -1.73558398e-03 -9.61172745e-05 9.49462451e+01] [ 1.73586599e-03 9.99993945e-01 3.01608746e-03 -5.68919403e+00] [ 9.08820194e-05 -3.01624975e-03 9.99995447e-01 -2.55271997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.519072329 meters 0.11961874810850151 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998455e-01 -1.75456454e-03 -1.06254067e-04 9.49462851e+01] [ 1.75487400e-03 9.99994002e-01 2.98593447e-03 -5.68907825e+00] [ 1.01014415e-04 -2.98611632e-03 9.99995536e-01 -2.55274918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.579072329 meters 0.11504504950996693 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998375e-01 -1.79457402e-03 -1.72572380e-04 9.49464223e+01] [ 1.79506966e-03 9.99994137e-01 2.91615165e-03 -5.68885756e+00] [ 1.67338118e-04 -2.91645669e-03 9.99995733e-01 -2.55271750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63907232900002 meters 0.11441344738076185 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998274e-01 -1.83098803e-03 -3.14920796e-04 9.49467468e+01] [ 1.83189163e-03 9.99994136e-01 2.89334959e-03 -5.68885975e+00] [ 3.09621261e-04 -2.89392149e-03 9.99995765e-01 -2.55278312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69907232900002 meters 0.11258178576519975 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998389e-01 -1.76365311e-03 -3.34755164e-04 9.49467773e+01] [ 1.76467316e-03 9.99993725e-01 3.07171238e-03 -5.68956560e+00] [ 3.29335629e-04 -3.07229816e-03 9.99995226e-01 -2.55278516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.759072329 meters 0.11415521138485171 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998642e-01 -1.60918737e-03 -3.55478103e-04 9.49466920e+01] [ 1.61041862e-03 9.99992610e-01 3.49094115e-03 -5.69114304e+00] [ 3.49857898e-04 -3.49150888e-03 9.99993843e-01 -2.55266306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819072329 meters 0.12169444730671534 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998684e-01 -1.57869667e-03 -3.74054790e-04 9.49468068e+01] [ 1.58005560e-03 9.99992050e-01 3.66095980e-03 -5.69194581e+00] [ 3.68272272e-04 -3.66154601e-03 9.99993229e-01 -2.55281079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.879072329 meters 0.11738276574787943 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998814e-01 -1.50307853e-03 -3.36407035e-04 9.49466807e+01] [ 1.50435631e-03 9.99991531e-01 3.83085414e-03 -5.69252237e+00] [ 3.30646111e-04 -3.83135567e-03 9.99992606e-01 -2.55277425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.939072329 meters 0.11583411062444549 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998989e-01 -1.37499010e-03 -3.62117749e-04 9.49466429e+01] [ 1.37649795e-03 9.99990244e-01 4.19719464e-03 -5.69396334e+00] [ 3.56343115e-04 -4.19768885e-03 9.99991126e-01 -2.55269721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.999072329 meters 0.1101975213819836 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99999039e-01 -1.32888710e-03 -3.94949996e-04 9.49467650e+01] [ 1.33060659e-03 9.99989497e-01 4.38577696e-03 -5.69481763e+00] [ 3.89117646e-04 -4.38629826e-03 9.99990304e-01 -2.55283210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.059072329 meters 0.11555322285882526 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.70, Z:-2.55 [[ 9.99999289e-01 -1.15514390e-03 -2.97437901e-04 9.49465784e+01] [ 1.15658233e-03 9.99987413e-01 4.88218789e-03 -5.69661884e+00] [ 2.91794528e-04 -4.88252843e-03 9.99988038e-01 -2.55299073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.119072329 meters 0.1148925403552474 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.70, Z:-2.55 [[ 9.99999364e-01 -1.09914732e-03 -2.50817555e-04 9.49465590e+01] [ 1.10042113e-03 9.99986204e-01 5.13628028e-03 -5.69773498e+00] [ 2.45168565e-04 -5.13655302e-03 9.99986778e-01 -2.55314167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.179072329 meters 0.12925335596732013 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.70, Z:-2.55 [[ 9.99999586e-01 -8.65839815e-04 -2.81098609e-04 9.49462786e+01] [ 8.67466751e-04 9.99982570e-01 5.84018755e-03 -5.70031576e+00] [ 2.76037042e-04 -5.84042897e-03 9.99982906e-01 -2.55275212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.239072329 meters 0.1226902041675023 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.70, Z:-2.55 [[ 9.99999788e-01 -6.04078036e-04 -2.44139380e-04 9.49459153e+01] [ 6.05675556e-04 9.99978055e-01 6.59724729e-03 -5.70304309e+00] [ 2.40148770e-04 -6.59739376e-03 9.99978208e-01 -2.55243942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.299072329 meters 0.11559071472527559 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.70, Z:-2.55 [[ 9.99999848e-01 -5.01005247e-04 -2.28454344e-04 9.49458836e+01] [ 5.02575839e-04 9.99975879e-01 6.92742684e-03 -5.70444932e+00] [ 2.24978156e-04 -6.92754061e-03 9.99975979e-01 -2.55249807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.359072329 meters 0.12023434838555343 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.70, Z:-2.55 [[ 9.99988466e-01 -4.79378840e-03 -2.95047625e-04 9.49460911e+01] [ 4.79455606e-03 9.99984972e-01 2.65858525e-03 -5.70467215e+00] [ 2.82298495e-04 -2.65996921e-03 9.99996422e-01 -2.55258619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41907232900002 meters 0.13354063791494242 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.71, Z:-2.55 [[ 9.99990144e-01 -4.43000098e-03 -2.94044531e-04 9.49456463e+01] [ 4.43102887e-03 9.99983731e-01 3.59225780e-03 -5.70788832e+00] [ 2.78126041e-04 -3.59352532e-03 9.99993505e-01 -2.55214031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.479072329 meters 0.1183944753603848 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.71, Z:-2.55 [[ 9.99990784e-01 -4.28765106e-03 -2.18385867e-04 9.49455491e+01] [ 4.28850580e-03 9.99982495e-01 4.07659465e-03 -5.70980415e+00] [ 2.00903029e-04 -4.07749363e-03 9.99991667e-01 -2.55236602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.539072329 meters 0.1203896048753147 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.71, Z:-2.55 [[ 9.99991845e-01 -4.03113450e-03 -2.46543750e-04 9.49451302e+01] [ 4.03231722e-03 9.99979364e-01 5.00121270e-03 -5.71331624e+00] [ 2.26378101e-04 -5.00216605e-03 9.99987463e-01 -2.55182308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599072329 meters 0.13706795910079259 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.72, Z:-2.55 [[ 9.99992792e-01 -3.78282924e-03 -3.24666728e-04 9.49447275e+01] [ 3.78462403e-03 9.99976490e-01 5.71799815e-03 -5.71598029e+00] [ 3.03028884e-04 -5.71918568e-03 9.99983599e-01 -2.55107844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.659072329 meters 0.13528685255907363 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.72, Z:-2.55 [[ 9.99993930e-01 -3.47597310e-03 -2.41767290e-04 9.49441844e+01] [ 3.47745423e-03 9.99973330e-01 6.42240866e-03 -5.71837102e+00] [ 2.19436723e-04 -6.42321041e-03 9.99979347e-01 -2.55061788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.719072329 meters 0.12704261279375598 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.72, Z:-2.55 [[ 9.99994350e-01 -3.35407661e-03 -2.23124060e-04 9.49442118e+01] [ 3.35552729e-03 9.99970878e-01 6.85449783e-03 -5.72019112e+00] [ 2.00127051e-04 -6.85520780e-03 9.99976483e-01 -2.55081978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.779072329 meters 0.13281634053344796 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.72, Z:-2.55 [[ 9.99994977e-01 -3.15344641e-03 -3.19881914e-04 9.49443479e+01] [ 3.15580098e-03 9.99965769e-01 7.64865989e-03 -5.72349457e+00] [ 2.95751325e-04 -7.64963095e-03 9.99970697e-01 -2.55092021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.839072329 meters 0.12964141177427038 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.73, Z:-2.55 [[ 9.99995554e-01 -2.95966858e-03 -3.64505821e-04 9.49442365e+01] [ 2.96259681e-03 9.99961053e-01 8.31351955e-03 -5.72624651e+00] [ 3.39886362e-04 -8.31456247e-03 9.99965376e-01 -2.55072023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.899072329 meters 0.13431095763469134 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.73, Z:-2.55 [[ 9.99982534e-01 -5.90913493e-03 1.15643508e-04 9.49413121e+01] [ 5.90848409e-03 9.99970086e-01 4.99173019e-03 -5.72512017e+00] [-1.45136855e-04 -4.99095973e-03 9.99987535e-01 -2.54823137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.959072329 meters 0.1259251786781554 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.73, Z:-2.55 [[ 9.99984456e-01 -5.56915259e-03 2.68316824e-04 9.49404763e+01] [ 5.56754446e-03 9.99968474e-01 5.66158891e-03 -5.72714028e+00] [-2.99838617e-04 -5.66000704e-03 9.99983937e-01 -2.54753299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.019072329 meters 0.12552482625046785 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.73, Z:-2.55 [[ 9.99985789e-01 -5.32696628e-03 2.13354619e-04 9.49403474e+01] [ 5.32552952e-03 9.99966303e-01 6.24752717e-03 -5.72933295e+00] [-2.46627796e-04 -6.24630216e-03 9.99980461e-01 -2.54729373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.079072329 meters 0.1285629705831033 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.73, Z:-2.55 [[ 9.99986453e-01 -5.20436201e-03 8.81144649e-05 9.49405169e+01] [ 5.20366948e-03 9.99964807e-01 6.58077832e-03 -5.73065660e+00] [-1.22360117e-04 -6.58023065e-03 9.99978343e-01 -2.54724690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13907232900002 meters 0.12697318655010686 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.73, Z:-2.54 [[ 9.99989433e-01 8.10956420e-04 -4.52513018e-03 9.49499519e+01] [-7.99659937e-04 9.99996561e-01 2.49763961e-03 -5.73387425e+00] [ 4.52714009e-03 -2.49399465e-03 9.99986642e-01 -2.54181527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19907232900002 meters 0.1327222558645423 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.73, Z:-2.54 [[ 9.99989090e-01 9.65054771e-04 -4.57032579e-03 9.49498146e+01] [-9.52338787e-04 9.99995672e-01 2.78365229e-03 -5.73483757e+00] [ 4.57299239e-03 -2.77926942e-03 9.99985682e-01 -2.54148598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.259072329 meters 0.12465123261300842 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99988672e-01 1.00940759e-03 -4.65157033e-03 9.49500504e+01] [-9.95414124e-04 9.99994976e-01 3.00966458e-03 -5.73596817e+00] [ 4.65458493e-03 -3.00500025e-03 9.99984652e-01 -2.54163122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.319072329 meters 0.1277655910772271 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99988459e-01 1.02530414e-03 -4.69362678e-03 9.49503279e+01] [-1.01054570e-03 9.99994542e-01 3.14564939e-03 -5.73670390e+00] [ 4.69682641e-03 -3.14086997e-03 9.99984037e-01 -2.54196070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.379072329 meters 0.12440787084668492 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99988218e-01 1.28467069e-03 -4.68118913e-03 9.49499934e+01] [-1.26740165e-03 9.99992388e-01 3.69012824e-03 -5.73857173e+00] [ 4.68589409e-03 -3.68415181e-03 9.99982235e-01 -2.54158682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.439072329 meters 0.12610664343301747 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99987622e-01 1.44986252e-03 -4.75949583e-03 9.49498026e+01] [-1.43066882e-03 9.99990841e-01 4.03364872e-03 -5.73980698e+00] [ 4.76530047e-03 -4.02678953e-03 9.99980538e-01 -2.54106789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.499072329 meters 0.11624986564965085 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99986871e-01 1.60397468e-03 -4.86664670e-03 9.49497305e+01] [-1.58277437e-03 9.99989256e-01 4.35697549e-03 -5.74096004e+00] [ 4.87358289e-03 -4.34921548e-03 9.99978666e-01 -2.54064734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.559072329 meters 0.11934107857062823 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99986004e-01 1.57578504e-03 -5.05064316e-03 9.49504183e+01] [-1.55321200e-03 9.99988803e-01 4.47015020e-03 -5.74186449e+00] [ 5.05763060e-03 -4.46224292e-03 9.99977254e-01 -2.54120017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.619072329 meters 0.11823867749161329 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99985565e-01 1.54643107e-03 -5.14580370e-03 9.49507869e+01] [-1.52340380e-03 9.99988823e-01 4.47587478e-03 -5.74206999e+00] [ 5.15266782e-03 -4.46797103e-03 9.99976743e-01 -2.54148735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.679072329 meters 0.11948341527220746 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99984620e-01 1.58674099e-03 -5.31434888e-03 9.49508799e+01] [-1.56248609e-03 9.99988359e-01 4.56508634e-03 -5.74254903e+00] [ 5.32153063e-03 -4.55671253e-03 9.99975459e-01 -2.54105742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.739072329 meters 0.11948587349924018 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99984091e-01 1.59369186e-03 -5.41098909e-03 9.49510486e+01] [-1.56891376e-03 9.99988279e-01 4.58037873e-03 -5.74272448e+00] [ 5.41822538e-03 -4.57181648e-03 9.99974870e-01 -2.54099904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.799072329 meters 0.11593394455737045 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99983288e-01 1.43715977e-03 -5.59983516e-03 9.49518510e+01] [-1.41251896e-03 9.99989315e-01 4.40174722e-03 -5.74259190e+00] [ 5.60610134e-03 -4.39376379e-03 9.99974633e-01 -2.54162196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.859072329 meters 0.12348619702845472 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99982865e-01 1.45464545e-03 -5.67037781e-03 9.49520168e+01] [-1.42941481e-03 9.99989072e-01 4.45106899e-03 -5.74283050e+00] [ 5.67679058e-03 -4.44288740e-03 9.99974017e-01 -2.54162443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91907232900002 meters 0.11690843405375181 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99982330e-01 1.28253944e-03 -5.80464213e-03 9.49525120e+01] [-1.25879955e-03 9.99990837e-01 4.09161805e-03 -5.74186725e+00] [ 5.80983660e-03 -4.08423887e-03 9.99974782e-01 -2.54187486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.979072329 meters 0.11606167817429767 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99981384e-01 1.10965198e-03 -5.99999633e-03 9.49531407e+01] [-1.08691676e-03 9.99992223e-01 3.79113812e-03 -5.74109741e+00] [ 6.00415651e-03 -3.78454605e-03 9.99974813e-01 -2.54217764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.039072329 meters 0.12068843481758373 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99980389e-01 1.01550150e-03 -6.17984963e-03 9.49536489e+01] [-9.93193451e-04 9.99992984e-01 3.61180418e-03 -5.74072700e+00] [ 6.18347406e-03 -3.60559557e-03 9.99974382e-01 -2.54233378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099072329 meters 0.11373302233695379 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99979871e-01 9.98395018e-04 -6.26576742e-03 9.49538334e+01] [-9.76695373e-04 9.99993519e-01 3.46531122e-03 -5.74002657e+00] [ 6.26918656e-03 -3.45912172e-03 9.99974366e-01 -2.54234051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.159072329 meters 0.1132417748444855 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99979309e-01 8.25895091e-04 -6.37961821e-03 9.49543794e+01] [-8.05937995e-04 9.99994776e-01 3.13019625e-03 -5.73914842e+00] [ 6.38217010e-03 -3.12498991e-03 9.99974751e-01 -2.54276134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.219072329 meters 0.11337530338261032 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99978648e-01 6.64444097e-04 -6.50085616e-03 9.49547790e+01] [-6.46439634e-04 9.99995951e-01 2.77126204e-03 -5.73806372e+00] [ 6.50267118e-03 -2.76700046e-03 9.99975029e-01 -2.54289695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.279072329 meters 0.11134990482887376 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99977952e-01 4.74876201e-04 -6.62339242e-03 9.49553032e+01] [-4.58925999e-04 9.99996992e-01 2.40947407e-03 -5.73706321e+00] [ 6.62451670e-03 -2.40638130e-03 9.99975162e-01 -2.54326386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.339072329 meters 0.1102196336266445 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99977135e-01 4.30161499e-04 -6.74865466e-03 9.49555933e+01] [-4.15326098e-04 9.99997495e-01 2.19952267e-03 -5.73622577e+00] [ 6.74958391e-03 -2.19666948e-03 9.99974809e-01 -2.54328482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.399072329 meters 0.10905406612131115 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99976650e-01 2.35827386e-04 -6.82960542e-03 9.49560278e+01] [-2.23829246e-04 9.99998431e-01 1.75749484e-03 -5.73488918e+00] [ 6.83000917e-03 -1.75592514e-03 9.99975134e-01 -2.54361337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.459072329 meters 0.1127891515891778 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99976441e-01 4.98907937e-05 -6.86402648e-03 9.49563557e+01] [-4.02106217e-05 9.99999005e-01 1.41040681e-03 -5.73391015e+00] [ 6.86409001e-03 -1.41009757e-03 9.99975448e-01 -2.54393189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.519072329 meters 0.11539725560865645 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99976470e-01 1.48761895e-04 -6.85831587e-03 9.49561689e+01] [-1.38455377e-04 9.99998861e-01 1.50322707e-03 -5.73393407e+00] [ 6.85853168e-03 -1.50224213e-03 9.99975352e-01 -2.54366030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.579072329 meters 0.11328536639974808 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99976144e-01 5.30794708e-05 -6.90710024e-03 9.49565084e+01] [-4.34929860e-05 9.99999036e-01 1.38806024e-03 -5.73381739e+00] [ 6.90716725e-03 -1.38772671e-03 9.99975182e-01 -2.54401324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63907232900002 meters 0.11440171362416592 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99975756e-01 -1.21346669e-04 -6.96220723e-03 9.49569705e+01] [ 1.28949929e-04 9.99999396e-01 1.09163768e-03 -5.73311518e+00] [ 6.96207056e-03 -1.09250899e-03 9.99975168e-01 -2.54449114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69907232900002 meters 0.10295957246097846 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99974897e-01 -1.29588412e-04 -7.08445831e-03 9.49570885e+01] [ 1.37190855e-04 9.99999415e-01 1.07264024e-03 -5.73310971e+00] [ 7.08431517e-03 -1.07358524e-03 9.99974330e-01 -2.54422219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.759072329 meters 0.1081004835929571 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99975483e-01 -7.75048392e-05 -7.00188642e-03 9.49568541e+01] [ 8.50800727e-05 9.99999411e-01 1.08159326e-03 -5.73285636e+00] [ 7.00179847e-03 -1.08216247e-03 9.99974902e-01 -2.54409889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819072329 meters 0.12090196344214979 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99976015e-01 -1.16806596e-04 -6.92503784e-03 9.49569302e+01] [ 1.24011100e-04 9.99999452e-01 1.03993575e-03 -5.73281898e+00] [ 6.92491257e-03 -1.04076959e-03 9.99975481e-01 -2.54448013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.879072329 meters 0.10101509854358585 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99975549e-01 -1.11129429e-04 -6.99213624e-03 9.49570362e+01] [ 1.19100912e-04 9.99999343e-01 1.13965798e-03 -5.73346875e+00] [ 6.99200500e-03 -1.14046288e-03 9.99974905e-01 -2.54441197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.939072329 meters 0.10420560244906067 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99975758e-01 -1.19223697e-04 -6.96194563e-03 9.49570190e+01] [ 1.27085938e-04 9.99999355e-01 1.12888516e-03 -5.73339730e+00] [ 6.96180655e-03 -1.12974256e-03 9.99975128e-01 -2.54446318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.999072329 meters 0.10425723996391406 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99975443e-01 -1.90098813e-04 -7.00550382e-03 9.49572290e+01] [ 1.97060004e-04 9.99999488e-01 9.92997619e-04 -5.73304406e+00] [ 7.00531146e-03 -9.94353739e-04 9.99974968e-01 -2.54460693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.059072329 meters 0.10098079246280033 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99975799e-01 7.37946603e-06 -6.95705658e-03 9.49566736e+01] [ 1.29197510e-06 9.99999223e-01 1.24641852e-03 -5.73349504e+00] [ 6.95706037e-03 -1.24639734e-03 9.99975023e-01 -2.54388038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.119072329 meters 0.10152180722410746 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99975536e-01 4.60425171e-06 -6.99482741e-03 9.49567827e+01] [ 4.85598220e-06 9.99999085e-01 1.35244379e-03 -5.73413554e+00] [ 6.99482724e-03 -1.35244467e-03 9.99974621e-01 -2.54392252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.179072329 meters 0.10108239202341913 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99975837e-01 -6.93177067e-05 -6.95129973e-03 9.49571645e+01] [ 7.88573803e-05 9.99999056e-01 1.37209358e-03 -5.73465390e+00] [ 6.95119806e-03 -1.37260858e-03 9.99974898e-01 -2.54471763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.239072329 meters 0.10873353765876981 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99975891e-01 4.34152562e-05 -6.94366905e-03 9.49570662e+01] [-3.20690846e-05 9.99998664e-01 1.63413416e-03 -5.73552653e+00] [ 6.94373072e-03 -1.63387208e-03 9.99974557e-01 -2.54465526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.299072329 meters 0.10947209521431629 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99976017e-01 1.54973235e-04 -6.92392303e-03 9.49567458e+01] [-1.42660209e-04 9.99998408e-01 1.77878935e-03 -5.73578587e+00] [ 6.92418767e-03 -1.77775892e-03 9.99974447e-01 -2.54423385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.359072329 meters 0.10618095509281411 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99976098e-01 4.24969255e-04 -6.90094113e-03 9.49561928e+01] [-4.09438796e-04 9.99997381e-01 2.25174117e-03 -5.73704743e+00] [ 6.90187997e-03 -2.24886184e-03 9.99973653e-01 -2.54352901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41907232900002 meters 0.10470288493926189 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99976014e-01 4.52752107e-04 -6.91127530e-03 9.49563746e+01] [-4.35913437e-04 9.99996934e-01 2.43771759e-03 -5.73796158e+00] [ 6.91235779e-03 -2.43464640e-03 9.99973146e-01 -2.54383253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.479072329 meters 0.1064234363564169 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99975543e-01 4.99179256e-04 -6.97597134e-03 9.49566545e+01] [-4.79949295e-04 9.99996082e-01 2.75800201e-03 -5.73954007e+00] [ 6.97732074e-03 -2.75458645e-03 9.99971864e-01 -2.54415054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.539072329 meters 0.10746447502204436 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99975385e-01 5.12342716e-04 -6.99768414e-03 9.49565989e+01] [-4.92293249e-04 9.99995770e-01 2.86657948e-03 -5.74008492e+00] [ 6.99912321e-03 -2.86306401e-03 9.99971407e-01 -2.54397200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.599072329 meters 0.10732990264453353 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99975725e-01 6.09355776e-04 -6.94110931e-03 9.49563190e+01] [-5.88284550e-04 9.99995214e-01 3.03735165e-03 -5.74047827e+00] [ 6.94292692e-03 -3.03319457e-03 9.99971297e-01 -2.54376270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.659072329 meters 0.11106275103554641 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99975272e-01 6.16946072e-04 -7.00533898e-03 9.49566130e+01] [-5.94544393e-04 9.99994705e-01 3.19943315e-03 -5.74134156e+00] [ 7.00727576e-03 -3.19518905e-03 9.99970344e-01 -2.54405644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.719072329 meters 0.11674951871430006 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99974940e-01 7.86668609e-04 -7.03569392e-03 9.49564710e+01] [-7.61384956e-04 9.99993246e-01 3.59558275e-03 -5.74275636e+00] [ 7.03847493e-03 -3.59013578e-03 9.99968785e-01 -2.54381207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.779072329 meters 0.10368616330840981 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99974687e-01 6.84517843e-04 -7.08216765e-03 9.49567906e+01] [-6.59777424e-04 9.99993675e-01 3.49508675e-03 -5.74267978e+00] [ 7.08451531e-03 -3.49032562e-03 9.99968813e-01 -2.54414118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.839072329 meters 0.10413469572122996 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99974419e-01 6.92482890e-04 -7.11907325e-03 9.49568077e+01] [-6.67405100e-04 9.99993567e-01 3.52439250e-03 -5.74289287e+00] [ 7.12146804e-03 -3.51955104e-03 9.99968448e-01 -2.54400446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.899072329 meters 0.11922808034890837 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99974110e-01 6.37785601e-04 -7.16746162e-03 9.49570471e+01] [-6.12400950e-04 9.99993535e-01 3.54328838e-03 -5.74334153e+00] [ 7.16967515e-03 -3.53880729e-03 9.99968036e-01 -2.54421128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.959072329 meters 0.11152321470075857 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99973514e-01 4.50938393e-04 -7.26418289e-03 9.49576423e+01] [-4.26709839e-04 9.99994343e-01 3.33654937e-03 -5.74316021e+00] [ 7.26564638e-03 -3.33336129e-03 9.99968049e-01 -2.54475013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.019072329 meters 0.11245092115230917 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99973444e-01 3.23987965e-04 -7.28050899e-03 9.49578817e+01] [-3.01259574e-04 9.99995079e-01 3.12269333e-03 -5.74259044e+00] [ 7.28148487e-03 -3.12041708e-03 9.99968621e-01 -2.54497950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.079072329 meters 0.1135072421644528 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99973773e-01 3.57167840e-04 -7.23367368e-03 9.49577110e+01] [-3.34813856e-04 9.99995166e-01 3.09124236e-03 -5.74222692e+00] [ 7.23474280e-03 -3.08873935e-03 9.99969059e-01 -2.54487421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13907232900002 meters 0.1165200935881804 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973420e-01 1.64682199e-04 -7.28916028e-03 9.49582013e+01] [-1.44104758e-04 9.99996004e-01 2.82345453e-03 -5.74161798e+00] [ 7.28959612e-03 -2.82232908e-03 9.99969448e-01 -2.54535918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19907232900002 meters 0.1250635837867816 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973571e-01 -1.92278147e-05 -7.27024693e-03 9.49585689e+01] [ 3.80299747e-05 9.99996655e-01 2.58604961e-03 -5.74118578e+00] [ 7.27017289e-03 -2.58625775e-03 9.99970227e-01 -2.54592313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.259072329 meters 0.12073439824546664 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99974178e-01 5.73368142e-05 -7.18612411e-03 9.49581597e+01] [-3.83511438e-05 9.99996509e-01 2.64210029e-03 -5.74104781e+00] [ 7.18625051e-03 -2.64175647e-03 9.99970689e-01 -2.54556764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.319072329 meters 0.11446175485599638 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973939e-01 -2.35798238e-05 -7.21946680e-03 9.49583041e+01] [ 4.18643918e-05 9.99996792e-01 2.53253504e-03 -5.74087046e+00] [ 7.21938393e-03 -2.53277128e-03 9.99970732e-01 -2.54562724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.379072329 meters 0.11468402626305753 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973959e-01 -1.12170998e-04 -7.21585180e-03 9.49585008e+01] [ 1.30029999e-04 9.99996930e-01 2.47454626e-03 -5.74095235e+00] [ 7.21555208e-03 -2.47542010e-03 9.99970904e-01 -2.54592967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.439072329 meters 0.1185936702500852 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99974734e-01 -1.44163226e-04 -7.10707645e-03 9.49585363e+01] [ 1.61710964e-04 9.99996940e-01 2.46853864e-03 -5.74107413e+00] [ 7.10669883e-03 -2.46962556e-03 9.99971697e-01 -2.54634454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.499072329 meters 0.11633461185903844 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99974982e-01 -2.01514678e-04 -7.07070526e-03 9.49586732e+01] [ 2.18919901e-04 9.99996948e-01 2.46090881e-03 -5.74133339e+00] [ 7.07018777e-03 -2.46239516e-03 9.99971974e-01 -2.54665173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.559072329 meters 0.11776468351492674 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99974889e-01 -3.13294041e-04 -7.07980613e-03 9.49588979e+01] [ 3.30146107e-04 9.99997115e-01 2.37925724e-03 -5.74146941e+00] [ 7.07904029e-03 -2.38153487e-03 9.99972107e-01 -2.54692923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.619072329 meters 0.12115898467405904 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99975099e-01 -2.35589999e-04 -7.05309622e-03 9.49586153e+01] [ 2.53400449e-04 9.99996782e-01 2.52440890e-03 -5.74180812e+00] [ 7.05247879e-03 -2.52613330e-03 9.99971940e-01 -2.54658642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.679072329 meters 0.12447665595948866 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99975710e-01 -1.58024912e-04 -6.96804392e-03 9.49583289e+01] [ 1.76521567e-04 9.99996463e-01 2.65396234e-03 -5.74217523e+00] [ 6.96759988e-03 -2.65512789e-03 9.99972201e-01 -2.54645259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.739072329 meters 0.1176552579092483 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99975582e-01 -1.96738309e-04 -6.98543328e-03 9.49584964e+01] [ 2.16310328e-04 9.99996053e-01 2.80118821e-03 -5.74316016e+00] [ 6.98485461e-03 -2.80263083e-03 9.99971678e-01 -2.54668806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.799072329 meters 0.11935850741339442 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99975930e-01 -2.40131682e-04 -6.93411020e-03 9.49586665e+01] [ 2.59696469e-04 9.99995988e-01 2.82076553e-03 -5.74350518e+00] [ 6.93340502e-03 -2.82249840e-03 9.99971980e-01 -2.54712896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.859072329 meters 0.12144487840236022 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973200e-01 -1.13861616e-03 -7.23206853e-03 9.49610763e+01] [ 1.15279163e-03 9.99997422e-01 1.95621998e-03 -5.74325634e+00] [ 7.22982251e-03 -1.96450462e-03 9.99971935e-01 -2.54949361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91907232900002 meters 0.13755982207928005 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973641e-01 -9.76810407e-04 -7.19463856e-03 9.49605483e+01] [ 9.92627417e-04 9.99997098e-01 2.19520134e-03 -5.74368087e+00] [ 7.19247338e-03 -2.20228507e-03 9.99971709e-01 -2.54886401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.979072329 meters 0.12761739959957313 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99974239e-01 -9.12484131e-04 -7.11960984e-03 9.49602058e+01] [ 9.28792033e-04 9.99996952e-01 2.28759111e-03 -5.74375672e+00] [ 7.11750075e-03 -2.29414482e-03 9.99972039e-01 -2.54859496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.039072329 meters 0.1307500480779739 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99974509e-01 -1.05822132e-03 -7.06125397e-03 9.49603996e+01] [ 1.07302655e-03 9.99997234e-01 2.09322542e-03 -5.74339364e+00] [ 7.05901934e-03 -2.10074898e-03 9.99972878e-01 -2.54903744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099072329 meters 0.13134199925738976 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99974041e-01 -1.19396128e-03 -7.10570541e-03 9.49607213e+01] [ 1.20767559e-03 9.99997416e-01 1.92606339e-03 -5.74319466e+00] [ 7.10338740e-03 -1.93459477e-03 9.99972899e-01 -2.54935507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.159072329 meters 0.11502619873542075 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99974274e-01 -1.17421851e-03 -7.07623130e-03 9.49605750e+01] [ 1.18745889e-03 9.99997552e-01 1.86719525e-03 -5.74270805e+00] [ 7.07402148e-03 -1.87554995e-03 9.99973220e-01 -2.54923454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.219072329 meters 0.12056675420052963 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973752e-01 -1.49868582e-03 -7.08872945e-03 9.49612285e+01] [ 1.50797405e-03 9.99998011e-01 1.30511861e-03 -5.74106655e+00] [ 7.08675939e-03 -1.31577397e-03 9.99974023e-01 -2.55014971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.279072329 meters 0.1381438399807371 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973485e-01 -1.66993001e-03 -7.08809975e-03 9.49615735e+01] [ 1.67697970e-03 9.99998105e-01 9.88754142e-04 -5.74008631e+00] [ 7.08643517e-03 -1.00061452e-03 9.99974390e-01 -2.55065805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.339072329 meters 0.12497615353969786 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973677e-01 -1.61884325e-03 -7.07286672e-03 9.49612101e+01] [ 1.62548654e-03 9.99998243e-01 9.33617456e-04 -5.73940518e+00] [ 7.07134291e-03 -9.45089730e-04 9.99974551e-01 -2.55012552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.399072329 meters 0.11450902351070884 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973674e-01 -1.78473042e-03 -7.03319923e-03 9.49612550e+01] [ 1.78875183e-03 9.99998240e-01 5.65525638e-04 -5.73809179e+00] [ 7.03217754e-03 -5.78091398e-04 9.99975107e-01 -2.55026106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.459072329 meters 0.12917269783537783 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973554e-01 -1.93409971e-03 -7.01077377e-03 9.49615544e+01] [ 1.93636388e-03 9.99998075e-01 3.16181886e-04 -5.73740801e+00] [ 7.01014874e-03 -3.29748933e-04 9.99975374e-01 -2.55077383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.519072329 meters 0.11857709898759065 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973569e-01 -1.98409332e-03 -6.99461692e-03 9.49615978e+01] [ 1.98530586e-03 9.99998015e-01 1.66413909e-04 -5.73673272e+00] [ 6.99427285e-03 -1.80295964e-04 9.99975524e-01 -2.55089701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.579072329 meters 0.11709647916065011 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973873e-01 -1.95851559e-03 -6.95832392e-03 9.49614419e+01] [ 1.95950078e-03 9.99998071e-01 1.34769563e-04 -5.73638142e+00] [ 6.95804655e-03 -1.48400883e-04 9.99975781e-01 -2.55077490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63907232900002 meters 0.12312397088594958 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973487e-01 -2.11868313e-03 -6.96676773e-03 9.49615492e+01] [ 2.11719912e-03 9.99997734e-01 -2.20381536e-04 -5.73511530e+00] [ 6.96721887e-03 2.05625658e-04 9.99975707e-01 -2.55083007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69907232900002 meters 0.12672008098613288 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.55 [[ 9.99974189e-01 -2.10382619e-03 -6.86995242e-03 9.49612079e+01] [ 2.10203262e-03 9.99997755e-01 -2.68284803e-04 -5.73463757e+00] [ 6.87050142e-03 2.53837014e-04 9.99976366e-01 -2.55060855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.759072329 meters 0.12209624216271585 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.55 [[ 9.99973937e-01 -2.16248764e-03 -6.88830770e-03 9.49615634e+01] [ 2.16036576e-03 9.99997617e-01 -3.15467256e-04 -5.73465543e+00] [ 6.88897348e-03 3.00577770e-04 9.99976226e-01 -2.55114894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.819072329 meters 0.11785704714742358 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.55 [[ 9.99974633e-01 -2.14547621e-03 -6.79185593e-03 9.49614512e+01] [ 2.14368881e-03 9.99997666e-01 -2.70436100e-04 -5.73474830e+00] [ 6.79242030e-03 2.55869614e-04 9.99976899e-01 -2.55129903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.879072329 meters 0.1290619159624852 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.55 [[ 9.99975856e-01 -2.01591884e-03 -6.65003413e-03 9.49608750e+01] [ 2.01514398e-03 9.99997962e-01 -1.23218720e-04 -5.73488089e+00] [ 6.65026898e-03 1.09814969e-04 9.99977881e-01 -2.55085635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.939072329 meters 0.11918244545272098 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99975524e-01 -2.02018125e-03 -6.69855984e-03 9.49608873e+01] [ 2.01997015e-03 9.99997959e-01 -3.82791864e-05 -5.73538463e+00] [ 6.69862350e-03 2.47473586e-05 9.99977564e-01 -2.55070502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.999072329 meters 0.11567866390922296 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99976268e-01 -1.81208714e-03 -6.64673428e-03 9.49604895e+01] [ 1.81423685e-03 9.99998304e-01 3.17407727e-04 -5.73634950e+00] [ 6.64614783e-03 -3.29458944e-04 9.99977860e-01 -2.55032454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.059072329 meters 0.11942926868513533 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99976999e-01 -1.67428186e-03 -6.57249595e-03 9.49602040e+01] [ 1.67889367e-03 9.99998348e-01 6.96228740e-04 -5.73769172e+00] [ 6.57131942e-03 -7.07247248e-04 9.99978159e-01 -2.55018459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.119072329 meters 0.12296788299956449 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99978185e-01 -1.40769381e-03 -6.45348169e-03 9.49595653e+01] [ 1.41568687e-03 9.99998236e-01 1.23416584e-03 -5.73922914e+00] [ 6.45173298e-03 -1.24327503e-03 9.99978414e-01 -2.54963878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.179072329 meters 0.12525733619652382 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99979151e-01 -1.21278576e-03 -6.34246785e-03 9.49591289e+01] [ 1.22283298e-03 9.99998003e-01 1.58047940e-03 -5.74019029e+00] [ 6.34053841e-03 -1.58820223e-03 9.99978637e-01 -2.54937566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.239072329 meters 0.11853237308904047 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99980041e-01 -9.81204631e-04 -6.24142360e-03 9.49586755e+01] [ 9.94712445e-04 9.99997169e-01 2.16148413e-03 -5.74211859e+00] [ 6.23928507e-03 -2.16764941e-03 9.99978186e-01 -2.54907566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.299072329 meters 0.12549089671962063 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99980385e-01 -8.46524692e-04 -6.20589133e-03 9.49585382e+01] [ 8.63757420e-04 9.99995778e-01 2.77467958e-03 -5.74462714e+00] [ 6.20351629e-03 -2.77998554e-03 9.99976894e-01 -2.54908945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.359072329 meters 0.13190521445425027 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.75, Z:-2.55 [[ 9.99981279e-01 -5.72772007e-04 -6.09204841e-03 9.49579853e+01] [ 5.94427188e-04 9.99993510e-01 3.55344682e-03 -5.74727165e+00] [ 6.08997356e-03 -3.55700158e-03 9.99975130e-01 -2.54870592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41907232900002 meters 0.1162408369573616 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.75, Z:-2.55 [[ 9.99981112e-01 -5.49719521e-04 -6.12163643e-03 9.49580395e+01] [ 5.72360948e-04 9.99993001e-01 3.69745309e-03 -5.74797819e+00] [ 6.11956102e-03 -3.70088703e-03 9.99974427e-01 -2.54870534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.479072329 meters 0.1326255039071399 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.75, Z:-2.55 [[ 9.99981856e-01 -3.37554149e-04 -6.01450970e-03 9.49576249e+01] [ 3.63112980e-04 9.99990907e-01 4.24894350e-03 -5.74989777e+00] [ 6.01302076e-03 -4.25105036e-03 9.99972886e-01 -2.54846695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.539072329 meters 0.131012936679712 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.75, Z:-2.55 [[ 9.99983141e-01 -2.47646648e-05 -5.80668159e-03 9.49568283e+01] [ 5.44765717e-05 9.99986908e-01 5.11674563e-03 -5.75280128e+00] [ 5.80647886e-03 -5.11697570e-03 9.99970050e-01 -2.54802250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.599072329 meters 0.12598314947294137 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.76, Z:-2.55 [[ 9.99983333e-01 2.73017195e-05 -5.77345443e-03 9.49568028e+01] [ 5.70424881e-06 9.99983659e-01 5.71675545e-03 -5.75556129e+00] [ 5.77351616e-03 -5.71669310e-03 9.99966992e-01 -2.54820902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.659072329 meters 0.13585533133683872 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.76, Z:-2.55 [[ 9.99983367e-01 1.52269623e-04 -5.76558895e-03 9.49567243e+01] [-1.14743319e-04 9.99978813e-01 6.50843942e-03 -5.75899905e+00] [ 5.76645784e-03 -6.50766961e-03 9.99962198e-01 -2.54826463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.719072329 meters 0.13989195792060793 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.76, Z:-2.55 [[ 9.99983008e-01 3.20437502e-04 -5.82069229e-03 9.49568643e+01] [-2.77817382e-04 9.99973159e-01 7.32150703e-03 -5.76247295e+00] [ 5.82288214e-03 -7.31976554e-03 9.99956257e-01 -2.54848995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.779072329 meters 0.13700119830554414 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.76, Z:-2.55 [[ 9.99983003e-01 4.00818380e-04 -5.81665157e-03 9.49570196e+01] [-3.55781866e-04 9.99969970e-01 7.74165756e-03 -5.76438005e+00] [ 5.81957989e-03 -7.73945652e-03 9.99953116e-01 -2.54885664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.839072329 meters 0.15402160048055777 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.76, Z:-2.55 [[ 9.99975681e-01 -3.88590778e-03 -5.79110137e-03 9.49570123e+01] [ 3.90595676e-03 9.99986404e-01 3.45475187e-03 -5.76432784e+00] [ 5.77759779e-03 -3.47728765e-03 9.99977264e-01 -2.54895173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.899072329 meters 0.1369798311089684 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.77, Z:-2.55 [[ 9.99978531e-01 -3.41427743e-03 -5.59282886e-03 9.49558737e+01] [ 3.43877133e-03 9.99984514e-01 4.37577404e-03 -5.76706367e+00] [ 5.57780215e-03 -4.39491256e-03 9.99974786e-01 -2.54790003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.959072329 meters 0.1293094781728614 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.77, Z:-2.55 [[ 9.99979496e-01 -3.24997179e-03 -5.51767230e-03 9.49556167e+01] [ 3.27642667e-03 9.99983149e-01 4.79232256e-03 -5.76872388e+00] [ 5.50200441e-03 -4.81030255e-03 9.99973294e-01 -2.54777258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.019072329 meters 0.13036139123111914 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.77, Z:-2.55 [[ 9.99979201e-01 -3.20358355e-03 -5.59780121e-03 9.49558709e+01] [ 3.23156357e-03 9.99982296e-01 4.99651988e-03 -5.76973559e+00] [ 5.58169534e-03 -5.01450560e-03 9.99971849e-01 -2.54795085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.079072329 meters 0.12889798937824085 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.77, Z:-2.55 [[ 9.99979052e-01 -3.10940745e-03 -5.67681165e-03 9.49560323e+01] [ 3.13895905e-03 9.99981531e-01 5.20420251e-03 -5.77053485e+00] [ 5.66052482e-03 -5.22191277e-03 9.99970345e-01 -2.54800540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13907232900002 meters 0.1272777276027011 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.77, Z:-2.55 [[ 9.99980079e-01 -2.84768822e-03 -5.63305815e-03 9.49555838e+01] [ 2.87986276e-03 9.99979540e-01 5.71189547e-03 -5.77216331e+00] [ 5.61667720e-03 -5.72800412e-03 9.99967821e-01 -2.54753196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19907232900002 meters 0.1262906571551369 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.77, Z:-2.55 [[ 9.99981155e-01 -2.59965506e-03 -5.56158453e-03 9.49551351e+01] [ 2.63391874e-03 9.99977544e-01 6.16234805e-03 -5.77368150e+00] [ 5.54543966e-03 -6.17688068e-03 9.99965547e-01 -2.54707659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.259072329 meters 0.1308781047113359 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.77, Z:-2.55 [[ 9.99980709e-01 -2.56808397e-03 -5.65573369e-03 9.49554083e+01] [ 2.60378607e-03 9.99976675e-01 6.31425934e-03 -5.77453048e+00] [ 5.63938622e-03 -6.32886385e-03 9.99964071e-01 -2.54721394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.319072329 meters 0.13278624159618474 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.78, Z:-2.55 [[ 9.99981177e-01 -2.41015717e-03 -5.64240382e-03 9.49553479e+01] [ 2.44777409e-03 9.99974763e-01 6.66944061e-03 -5.77587318e+00] [ 5.62618703e-03 -6.68312640e-03 9.99961840e-01 -2.54723330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.379072329 meters 0.12904549786159594 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.78, Z:-2.55 [[ 9.99982473e-01 -2.06868701e-03 -5.54747663e-03 9.49547246e+01] [ 2.10919443e-03 9.99971086e-01 7.30607140e-03 -5.77789306e+00] [ 5.53220226e-03 -7.31764405e-03 9.99957923e-01 -2.54668055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.439072329 meters 0.13036972397573018 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.78, Z:-2.55 [[ 9.99982595e-01 -1.88908662e-03 -5.58940707e-03 9.49546956e+01] [ 1.93288285e-03 9.99967394e-01 7.84057922e-03 -5.78017381e+00] [ 5.57441329e-03 -7.85124642e-03 9.99953641e-01 -2.54659091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.499072329 meters 0.12478280604744536 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.78, Z:-2.55 [[ 9.99983306e-01 -1.62835475e-03 -5.54398418e-03 9.49545617e+01] [ 1.67595111e-03 9.99961688e-01 8.59143321e-03 -5.78317507e+00] [ 5.52978189e-03 -8.60058123e-03 9.99947724e-01 -2.54670321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.559072329 meters 0.12842087602104743 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.79, Z:-2.55 [[ 9.99968888e-01 -5.61298439e-03 -5.54235842e-03 9.49542760e+01] [ 5.64021713e-03 9.99972038e-01 4.91022178e-03 -5.78528494e+00] [ 5.51464245e-03 -4.94132912e-03 9.99972586e-01 -2.54636973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.619072329 meters 0.137497212133898 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.79, Z:-2.55 [[ 9.99971494e-01 -5.30949990e-03 -5.36849561e-03 9.49535108e+01] [ 5.33906856e-03 9.99970575e-01 5.50856268e-03 -5.78722342e+00] [ 5.33908993e-03 -5.53706842e-03 9.99970417e-01 -2.54578934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.679072329 meters 0.1263770820234046 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.79, Z:-2.54 [[ 9.99974612e-01 -4.76895022e-03 -5.29448507e-03 9.49526768e+01] [ 4.80368062e-03 9.99966902e-01 6.56650946e-03 -5.79060756e+00] [ 5.26299448e-03 -6.59177577e-03 9.99964424e-01 -2.54496773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.739072329 meters 0.13789530188980623 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.79, Z:-2.54 [[ 9.99976639e-01 -4.36972279e-03 -5.25614079e-03 9.49523020e+01] [ 4.40921325e-03 9.99961964e-01 7.52522885e-03 -5.79421283e+00] [ 5.22305770e-03 -7.54822850e-03 9.99957871e-01 -2.54470424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.799072329 meters 0.1313866849088757 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.80, Z:-2.54 [[ 9.99977432e-01 -4.15345712e-03 -5.28047399e-03 9.49521999e+01] [ 4.19578608e-03 9.99958953e-01 8.03048298e-03 -5.79625235e+00] [ 5.24690298e-03 -8.05245749e-03 9.99953813e-01 -2.54453576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.859072329 meters 0.13316297016205628 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.80, Z:-2.54 [[ 9.99979120e-01 -3.78927448e-03 -5.23460634e-03 9.49516083e+01] [ 3.83460665e-03 9.99954998e-01 8.67737163e-03 -5.79828390e+00] [ 5.20148983e-03 -8.69726310e-03 9.99948650e-01 -2.54386134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91907232900002 meters 0.12574715274428722 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.80, Z:-2.55 [[ 9.99994749e-01 3.19279118e-03 5.54873553e-04 9.49569582e+01] [-3.19311853e-03 9.99994728e-01 5.90080303e-04 -5.80277442e+00] [-5.52986624e-04 -5.91848982e-04 9.99999672e-01 -2.54981876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.979072329 meters 0.13028150578243083 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99993499e-01 3.57370710e-03 4.79184459e-04 9.49565619e+01] [-3.57431987e-03 9.99992788e-01 1.28408139e-03 -5.80503274e+00] [-4.74592072e-04 -1.28578580e-03 9.99999061e-01 -2.54909829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.039072329 meters 0.1316194782351013 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99993110e-01 3.69826583e-03 3.21604131e-04 9.49567873e+01] [-3.69877381e-03 9.99991890e-01 1.59352992e-03 -5.80641030e+00] [-3.15708226e-04 -1.59470848e-03 9.99998679e-01 -2.54899010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.099072329 meters 0.13143428509526395 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99993212e-01 3.68427930e-03 5.16037952e-05 9.49575000e+01] [-3.68435910e-03 9.99991864e-01 1.64268652e-03 -5.80702072e+00] [-4.55512594e-05 -1.64286549e-03 9.99998649e-01 -2.54925423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.159072329 meters 0.12493233596733261 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99991858e-01 4.03520691e-03 -3.07650150e-05 9.49570861e+01] [-4.03512854e-03 9.99989387e-01 2.22323642e-03 -5.80874292e+00] [ 3.97359074e-05 -2.22309418e-03 9.99997528e-01 -2.54845465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.219072329 meters 0.12023170759260907 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99991235e-01 4.18236796e-03 -1.96245696e-04 9.49572023e+01] [-4.18186051e-03 9.99988084e-01 2.51859329e-03 -5.80992326e+00] [ 2.06777042e-04 -2.51775054e-03 9.99996809e-01 -2.54814644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.279072329 meters 0.1263348260362378 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99991559e-01 4.09889768e-03 -2.83900556e-04 9.49576028e+01] [-4.09819804e-03 9.99988668e-01 2.42260633e-03 -5.80992293e+00] [ 2.93827354e-04 -2.42142240e-03 9.99997025e-01 -2.54843332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.339072329 meters 0.13196232992855278 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99991541e-01 4.08811985e-03 -4.53879653e-04 9.49580916e+01] [-4.08700160e-03 9.99988676e-01 2.43794347e-03 -5.81025412e+00] [ 4.63841119e-04 -2.43606784e-03 9.99996925e-01 -2.54863998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.399072329 meters 0.12278603032801137 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99990925e-01 4.20018578e-03 -7.13219144e-04 9.49586030e+01] [-4.19822525e-03 9.99987465e-01 2.72844911e-03 -5.81173384e+00] [ 7.24670197e-04 -2.72543009e-03 9.99996023e-01 -2.54866931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.459072329 meters 0.12979928324905796 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99990769e-01 4.19708762e-03 -9.19733421e-04 9.49591963e+01] [-4.19451489e-03 9.99987334e-01 2.78154966e-03 -5.81234021e+00] [ 9.31396180e-04 -2.77766615e-03 9.99995709e-01 -2.54892843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.519072329 meters 0.12027944876194034 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99990808e-01 4.15118643e-03 -1.07321809e-03 9.49597243e+01] [-4.14820629e-03 9.99987575e-01 2.76429817e-03 -5.81267629e+00] [ 1.08467988e-03 -2.75982083e-03 9.99995603e-01 -2.54922653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.579072329 meters 0.12114420814163047 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99990158e-01 4.22942114e-03 -1.34043583e-03 9.49601469e+01] [-4.22549839e-03 9.99986821e-01 2.91591601e-03 -5.81340037e+00] [ 1.35275080e-03 -2.91022330e-03 9.99994850e-01 -2.54902936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63907232900002 meters 0.12145646067388212 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99999109e-01 2.31515156e-04 -1.31435795e-03 9.49599112e+01] [-2.33434525e-04 9.99998906e-01 -1.46034343e-03 -5.81221471e+00] [ 1.31401842e-03 1.46064894e-03 9.99998070e-01 -2.54875184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69907232900002 meters 0.1218222702470048 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99998917e-01 3.19799758e-04 -1.43638956e-03 9.49600469e+01] [-3.21692173e-04 9.99999080e-01 -1.31744275e-03 -5.81274815e+00] [ 1.43596692e-03 1.31790340e-03 9.99998101e-01 -2.54859546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.759072329 meters 0.11726199132244074 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99998704e-01 3.47721532e-04 -1.57228318e-03 9.49605005e+01] [-3.49618348e-04 9.99999211e-01 -1.20629443e-03 -5.81345212e+00] [ 1.57186249e-03 1.20684257e-03 9.99998036e-01 -2.54886375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819072329 meters 0.10622045384214798 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99998358e-01 6.52613798e-04 -1.69072304e-03 9.49602653e+01] [-6.53876765e-04 9.99999508e-01 -7.46553104e-04 -5.81478600e+00] [ 1.69023500e-03 7.47657403e-04 9.99998292e-01 -2.54823188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.879072329 meters 0.12160540728658986 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.82, Z:-2.55 [[ 9.99998104e-01 8.25260309e-04 -1.76375744e-03 9.49601737e+01] [-8.25999410e-04 9.99999571e-01 -4.18361834e-04 -5.81603164e+00] [ 1.76341142e-03 4.19817904e-04 9.99998357e-01 -2.54789171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.939072329 meters 0.11617941527384325 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.82, Z:-2.55 [[ 9.99997787e-01 1.11714456e-03 -1.78257316e-03 9.49598219e+01] [-1.11704041e-03 9.99999374e-01 5.94246507e-05 -5.81745186e+00] [ 1.78263843e-03 -5.74333129e-05 9.99998409e-01 -2.54739598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.999072329 meters 0.11812323832622534 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.82, Z:-2.55 [[ 9.99997546e-01 1.16562506e-03 -1.88371249e-03 9.49601699e+01] [-1.16516042e-03 9.99999291e-01 2.47740615e-04 -5.81853877e+00] [ 1.88399993e-03 -2.45545180e-04 9.99998195e-01 -2.54763901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.059072329 meters 0.11544454030084499 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.82, Z:-2.55 [[ 9.99996897e-01 1.51061817e-03 -1.98098364e-03 9.49598972e+01] [-1.50876749e-03 9.99998424e-01 9.35385841e-04 -5.82102086e+00] [ 1.98239353e-03 -9.32394094e-04 9.99997600e-01 -2.54705196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.119072329 meters 0.11555077095083528 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.82, Z:-2.55 [[ 9.99996446e-01 1.73812016e-03 -2.02143678e-03 9.49597046e+01] [-1.73524623e-03 9.99997483e-01 1.42261317e-03 -5.82299927e+00] [ 2.02390436e-03 -1.41910043e-03 9.99996945e-01 -2.54669031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.179072329 meters 0.11665751018710327 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.82, Z:-2.55 [[ 9.99996113e-01 1.89186899e-03 -2.04804197e-03 9.49596575e+01] [-1.88814101e-03 9.99996560e-01 1.82067303e-03 -5.82474467e+00] [ 2.05147940e-03 -1.81679897e-03 9.99996245e-01 -2.54657499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.239072329 meters 0.10438630569844375 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.83, Z:-2.55 [[ 9.99995183e-01 2.25195541e-03 -2.13590031e-03 9.49595269e+01] [-2.24640790e-03 9.99994107e-01 2.59612452e-03 -5.82781644e+00] [ 2.14173408e-03 -2.59131391e-03 9.99994349e-01 -2.54625001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.299072329 meters 0.11680398698485064 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.83, Z:-2.55 [[ 9.99994746e-01 2.35209905e-03 -2.23063465e-03 9.49599336e+01] [-2.34547583e-03 9.99992847e-01 2.96719287e-03 -5.82983883e+00] [ 2.23759782e-03 -2.96194538e-03 9.99993110e-01 -2.54664723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.359072329 meters 0.10449299001046422 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.83, Z:-2.55 [[ 9.99993904e-01 2.60016334e-03 -2.33042266e-03 9.49598441e+01] [-2.59205928e-03 9.99990607e-01 3.47380687e-03 -5.83181071e+00] [ 2.33943324e-03 -3.46774510e-03 9.99991251e-01 -2.54624852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41907232900002 meters 0.10390432760236148 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.83, Z:-2.55 [[ 9.99993068e-01 2.79587733e-03 -2.45908063e-03 9.49598861e+01] [-2.78622501e-03 9.99988436e-01 3.91987952e-03 -5.83371469e+00] [ 2.47001170e-03 -3.91300080e-03 9.99989294e-01 -2.54596090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.479072329 meters 0.11569314143200495 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.83, Z:-2.55 [[ 9.99992686e-01 2.88472347e-03 -2.51119548e-03 9.49599838e+01] [-2.87434347e-03 9.99987352e-01 4.12733024e-03 -5.83469401e+00] [ 2.52306993e-03 -4.12008201e-03 9.99988329e-01 -2.54597131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.539072329 meters 0.10300858484637042 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.84, Z:-2.55 [[ 9.99992516e-01 2.89545535e-03 -2.56580080e-03 9.49602500e+01] [-2.88460467e-03 9.99986924e-01 4.22261980e-03 -5.83539945e+00] [ 2.57799366e-03 -4.21518688e-03 9.99987793e-01 -2.54616560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.599072329 meters 0.09959794595120512 Centerline is valid? [False, True] Translation: X:94.96, Y:-5.84, Z:-2.55 [[ 9.99992183e-01 2.88132434e-03 -2.70773917e-03 9.49608247e+01] [-2.86962543e-03 9.99986575e-01 4.31454480e-03 -5.83638302e+00] [ 2.72013442e-03 -4.30674088e-03 9.99987026e-01 -2.54657375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.659072329 meters 0.09770766375808598 Centerline is valid? [True, True] Translation: X:95.02, Y:-5.84, Z:-2.55 [[ 9.99978608e-01 5.68927183e-03 -3.22744650e-03 9.50214704e+01] [-5.68777189e-03 9.99983712e-01 4.73732778e-04 -5.84371182e+00] [ 3.23008913e-03 -4.55365664e-04 9.99994680e-01 -2.55021880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.719072329 meters 0.0985771168414363 Centerline is valid? [True, True] Translation: X:95.08, Y:-5.86, Z:-2.55 [[ 9.99960244e-01 8.72745678e-03 -1.82785697e-03 9.50809577e+01] [-8.72698084e-03 9.99961883e-01 2.68192429e-04 -5.85605566e+00] [ 1.83012793e-03 -2.52230094e-04 9.99998294e-01 -2.54919653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.779072329 meters 0.0973927948460235 Centerline is valid? [True, True] Translation: X:95.14, Y:-5.86, Z:-2.55 [[ 9.99941169e-01 1.06940019e-02 -1.81547976e-03 9.51416681e+01] [-1.06935350e-02 9.99942787e-01 2.66665471e-04 -5.86422257e+00] [ 1.81822761e-03 -2.47235887e-04 9.99998316e-01 -2.55019283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.839072329 meters 0.09041414842842155 Centerline is valid? [True, True] Translation: X:95.20, Y:-5.87, Z:-2.55 [[ 9.99904143e-01 1.36615540e-02 -2.25113520e-03 9.52030903e+01] [-1.36608437e-02 9.99906632e-01 3.30583716e-04 -5.86524848e+00] [ 2.25544130e-03 -2.99799621e-04 9.99997412e-01 -2.55067586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.899072329 meters 0.09540244807641053 Centerline is valid? [True, True] Translation: X:95.26, Y:-5.88, Z:-2.55 [[ 9.99880845e-01 1.53595682e-02 -1.54263754e-03 9.52607706e+01] [-1.53592371e-02 9.99882014e-01 2.26232115e-04 -5.88099082e+00] [ 1.54593036e-03 -2.02511423e-04 9.99998785e-01 -2.55170393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.959072329 meters 0.09725493847697332 Centerline is valid? [True, True] Translation: X:95.32, Y:-5.89, Z:-2.55 [[ 9.99860309e-01 1.66676722e-02 -1.24543134e-03 9.53197070e+01] [-1.66674570e-02 9.99861072e-01 1.82963798e-04 -5.89339583e+00] [ 1.24830789e-03 -1.62180066e-04 9.99999208e-01 -2.55279644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.019072329 meters 0.0998006602619793 Centerline is valid? [True, True] Translation: X:95.38, Y:-5.91, Z:-2.55 [[ 9.99841788e-01 1.77406754e-02 -1.29125910e-03 9.53788584e+01] [-1.77404449e-02 9.99842608e-01 1.89713700e-04 -5.90648558e+00] [ 1.29442151e-03 -1.66776174e-04 9.99999148e-01 -2.55349273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.079072329 meters 0.09582851288354079 Centerline is valid? [True, True] Translation: X:95.44, Y:-5.91, Z:-2.55 [[ 9.99821319e-01 1.88960537e-02 -5.19515387e-04 9.54403729e+01] [-1.88960163e-02 9.99821451e-01 7.67716825e-05 -5.91188061e+00] [ 5.20873311e-04 -6.69411936e-05 9.99999862e-01 -2.55269233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13907232900002 meters 0.09001368392417292 Centerline is valid? [True, True] Translation: X:95.50, Y:-5.91, Z:-2.55 [[ 9.99809737e-01 1.95012142e-02 -4.37666557e-04 9.55029023e+01] [-1.95011868e-02 9.99809832e-01 6.66866265e-05 -5.91488889e+00] [ 4.38883796e-04 -5.81389212e-05 9.99999902e-01 -2.55306080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.199072329 meters 0.09492254565861868 Centerline is valid? [True, True] Translation: X:95.56, Y:-5.93, Z:-2.55 [[ 9.99798862e-01 2.00470635e-02 -5.91548852e-04 9.55623308e+01] [-2.00470141e-02 9.99799034e-01 8.92797311e-05 -5.93080860e+00] [ 5.93219768e-04 -7.74029854e-05 9.99999821e-01 -2.55410119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.259072329 meters 0.09276046600911712 Centerline is valid? [True, True] Translation: X:95.62, Y:-5.94, Z:-2.55 [[ 9.99799879e-01 1.99572548e-02 -1.38167488e-03 9.56238813e+01] [-1.99569884e-02 9.99800818e-01 2.06293658e-04 -5.93871133e+00] [ 1.38551673e-03 -1.78678304e-04 9.99999024e-01 -2.55469690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319072329 meters 0.09625975720411503 Centerline is valid? [True, True] Translation: X:95.68, Y:-5.95, Z:-2.56 [[ 9.99794832e-01 2.02145135e-02 -1.29095731e-03 9.56837781e+01] [-2.02142803e-02 9.99795652e-01 1.93403225e-04 -5.95356226e+00] [ 1.29460305e-03 -1.67267772e-04 9.99999148e-01 -2.55591724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.379072329 meters 0.09776110395677957 Centerline is valid? [True, True] Translation: X:95.74, Y:-5.96, Z:-2.56 [[ 9.99798730e-01 2.00267293e-02 -1.19583164e-03 9.57442155e+01] [-2.00265289e-02 9.99799433e-01 1.79284674e-04 -5.96484549e+00] [ 1.19918228e-03 -1.55300232e-04 9.99999269e-01 -2.55701023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.439072329 meters 0.09727038390165256 Centerline is valid? [True, True] Translation: X:95.81, Y:-5.97, Z:-2.56 [[ 9.99812638e-01 1.93566684e-02 -8.70146556e-05 9.58054666e+01] [-1.93566673e-02 9.99812642e-01 1.35351206e-05 -5.97464753e+00] [ 8.72603476e-05 -1.18482709e-05 9.99999996e-01 -2.55649897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.499072329 meters 0.09509226133238557 Centerline is valid? [True, True] Translation: X:95.87, Y:-5.98, Z:-2.56 [[ 9.99814648e-01 1.92485796e-02 -4.01655621e-04 9.58668306e+01] [-1.92485563e-02 9.99814727e-01 6.19134333e-05 -5.98165317e+00] [ 4.02772951e-04 -5.41706667e-05 9.99999917e-01 -2.55756756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.559072329 meters 0.09783274067791077 Centerline is valid? [True, True] Translation: X:95.93, Y:-5.99, Z:-2.56 [[ 9.99808243e-01 1.94756076e-02 -2.04382972e-03 9.59273284e+01] [-1.94750212e-02 9.99810297e-01 3.06440463e-04 -5.99439847e+00] [ 2.04941012e-03 -2.66578074e-04 9.99997864e-01 -2.56190660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.619072329 meters 0.10024867874839731 Centerline is valid? [True, False] Translation: X:95.92, Y:-5.99, Z:-2.56 [[ 9.99955195e-01 9.46559632e-03 -1.02768301e-04 9.59178741e+01] [-9.46518675e-03 9.99949284e-01 3.44083219e-03 -5.99032626e+00] [ 1.35332617e-04 -3.43970530e-03 9.99994075e-01 -2.56425834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.679072329 meters 0.09373303543646241 Centerline is valid? [False, True] Translation: X:95.92, Y:-5.99, Z:-2.56 [[ 9.99985712e-01 5.34492077e-03 8.40536187e-05 9.59172897e+01] [-5.34482719e-03 9.99985137e-01 -1.07676731e-03 -5.98865762e+00] [-8.98076053e-05 1.07630268e-03 9.99999417e-01 -2.56398151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.739072329 meters 0.0965269930425796 Centerline is valid? [True, True] Translation: X:95.98, Y:-6.00, Z:-2.56 [[ 9.99980689e-01 6.18811461e-03 5.72659119e-04 9.59775657e+01] [-6.18807271e-03 9.99980851e-01 -7.49094787e-05 -6.00022017e+00] [-5.73111701e-04 7.13643759e-05 9.99999833e-01 -2.56418644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.799072329 meters 0.09539875270223376 Centerline is valid? [True, True] Translation: X:96.04, Y:-6.01, Z:-2.57 [[ 9.99980139e-01 6.29753498e-03 2.51140827e-04 9.60395307e+01] [-6.29752723e-03 9.99980170e-01 -3.16362840e-05 -6.00702382e+00] [-2.51335078e-04 3.00540894e-05 9.99999968e-01 -2.56582403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.859072329 meters 0.10357273385807625 Centerline is valid? [True, False] Translation: X:96.04, Y:-6.01, Z:-2.57 [[ 9.99980302e-01 6.27480186e-03 1.49662076e-04 9.60398730e+01] [-6.27481155e-03 9.99980311e-01 6.44116709e-05 -6.00788449e+00] [-1.49254958e-04 -6.53495035e-05 9.99999987e-01 -2.56602920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91907232900002 meters 0.0972993335170291 Centerline is valid? [False, True] Translation: X:96.04, Y:-6.01, Z:-2.57 [[ 9.99980515e-01 6.24092859e-03 1.45595627e-04 9.60399250e+01] [-6.24093477e-03 9.99980524e-01 4.20690018e-05 -6.00799510e+00] [-1.45330241e-04 -4.29768348e-05 9.99999989e-01 -2.56604881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.979072329 meters 0.09680470523762366 Centerline is valid? [True, True] Translation: X:96.10, Y:-6.02, Z:-2.57 [[ 9.99976590e-01 6.64432890e-03 1.63445264e-03 9.61013326e+01] [-6.64398183e-03 9.99977905e-01 -2.17683933e-04 -6.01685458e+00] [-1.63586289e-03 2.06819564e-04 9.99998641e-01 -2.56546747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.039072329 meters 0.10337082098510318 Centerline is valid? [True, False] Translation: X:96.10, Y:-6.02, Z:-2.57 [[ 9.99976619e-01 6.65067239e-03 1.59032406e-03 9.61014675e+01] [-6.65053812e-03 9.99977881e-01 -8.96987849e-05 -6.01771405e+00] [-1.59088544e-03 7.91201769e-05 9.99998731e-01 -2.56550573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.099072329 meters 0.09282794928897095 Centerline is valid? [False, True] Translation: X:96.10, Y:-6.02, Z:-2.56 [[ 9.99992727e-01 3.22048970e-03 2.04308365e-03 9.60992882e+01] [-3.21285989e-03 9.99987894e-01 -3.72681637e-03 -6.01733708e+00] [-2.05506109e-03 3.72022512e-03 9.99990968e-01 -2.56390681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.159072329 meters 0.10461783509826296 Centerline is valid? [True, False] Translation: X:96.10, Y:-6.02, Z:-2.56 [[ 9.99993117e-01 3.17567157e-03 1.91853751e-03 9.60997224e+01] [-3.16865684e-03 9.99988325e-01 -3.64833122e-03 -6.01818044e+00] [-1.93010101e-03 3.64222693e-03 9.99991504e-01 -2.56417584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.219072329 meters 0.09526034303906998 Centerline is valid? [False, True] Translation: X:96.10, Y:-6.02, Z:-2.56 [[ 9.99993521e-01 3.10820869e-03 1.81554347e-03 9.61001039e+01] [-3.10141897e-03 9.99988231e-01 -3.73069224e-03 -6.01807590e+00] [-1.82711788e-03 3.72503730e-03 9.99991393e-01 -2.56443751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.279072329 meters 0.08613213582377738 Centerline is valid? [True, True] Translation: X:96.16, Y:-6.01, Z:-2.56 [[ 9.99990412e-01 4.19944879e-03 1.24117320e-03 9.61622264e+01] [-4.19925361e-03 9.99991170e-01 -1.59819526e-04 -6.01482333e+00] [-1.24183340e-03 1.54605993e-04 9.99999217e-01 -2.56137911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.339072329 meters 0.09769872313094675 Centerline is valid? [True, True] Translation: X:96.22, Y:-6.04, Z:-2.56 [[ 9.99980314e-01 6.16038706e-03 1.19224154e-03 9.62193649e+01] [-6.16020798e-03 9.99981014e-01 -1.53811992e-04 -6.03809737e+00] [-1.19316645e-03 1.46464508e-04 9.99999277e-01 -2.56378096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.399072329 meters 0.08440721026454649 Centerline is valid? [True, True] Translation: X:96.28, Y:-6.03, Z:-2.56 [[ 9.99963203e-01 8.39338490e-03 1.77289413e-03 9.62821089e+01] [-8.39299261e-03 9.99964752e-01 -2.28592852e-04 -6.02826036e+00] [-1.77475031e-03 2.13704553e-04 9.99998402e-01 -2.56188957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.459072329 meters 0.08064966320802437 Centerline is valid? [True, True] Translation: X:96.34, Y:-6.03, Z:-2.56 [[ 9.99924318e-01 1.21534231e-02 1.91092175e-03 9.63426491e+01] [-1.21529737e-02 9.99926119e-01 -2.46581188e-04 -6.03013839e+00] [-1.91377737e-03 2.23339145e-04 9.99998144e-01 -2.56210140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.519072329 meters 0.08124727816674944 Centerline is valid? [True, True] Translation: X:96.40, Y:-6.04, Z:-2.56 [[ 9.99856930e-01 1.68458230e-02 1.52900000e-03 9.64022795e+01] [-1.68455407e-02 9.99858084e-01 -1.97302027e-04 -6.03804858e+00] [-1.53210672e-03 1.71516967e-04 9.99998812e-01 -2.56468157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.579072329 meters 0.0768486071774488 Centerline is valid? [True, True] Translation: X:96.46, Y:-6.04, Z:-2.56 [[ 9.99754699e-01 2.19433224e-02 3.00525645e-03 9.64637039e+01] [-2.19422548e-02 9.99759165e-01 -3.87731445e-04 -6.03945045e+00] [-3.01304079e-03 3.21694232e-04 9.99995409e-01 -2.56443182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63907232900002 meters 0.07461232203203622 Centerline is valid? [True, True] Translation: X:96.52, Y:-6.04, Z:-2.56 [[ 9.99675307e-01 2.53410841e-02 2.66654980e-03 9.65240551e+01] [-2.53402554e-02 9.99678825e-01 -3.44088332e-04 -6.04268069e+00] [-2.67441294e-03 2.76405556e-04 9.99996386e-01 -2.56479472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.699072329 meters 0.07162952936972353 Centerline is valid? [True, True] Translation: X:96.58, Y:-6.04, Z:-2.57 [[ 9.99507563e-01 3.13048532e-02 2.15350365e-03 9.65846033e+01] [-3.13043265e-02 9.99509861e-01 -2.77863539e-04 -6.04399801e+00] [-2.16114661e-03 2.10312727e-04 9.99997643e-01 -2.56751106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.759072329 meters 0.06455509774329075 Centerline is valid? [True, True] Translation: X:96.65, Y:-6.04, Z:-2.57 [[ 9.99335877e-01 3.63937254e-02 1.81709392e-03 9.66458777e+01] [-3.63933587e-02 9.99337515e-01 -2.34491078e-04 -6.04088377e+00] [-1.82442413e-03 1.68205196e-04 9.99998322e-01 -2.56789152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819072329 meters 0.0792774339500355 Centerline is valid? [True, True] Translation: X:96.70, Y:-6.07, Z:-2.57 [[ 9.99221826e-01 3.93815236e-02 2.19945141e-03 9.67030233e+01] [-3.93809934e-02 9.99224227e-01 -2.83858422e-04 -6.06733012e+00] [-2.20892391e-03 1.97020949e-04 9.99997541e-01 -2.57011066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.879072329 meters 0.06094790869835877 Centerline is valid? [True, True] Translation: X:96.77, Y:-6.05, Z:-2.57 [[ 9.99120849e-01 4.18093737e-02 3.08301712e-03 9.67662910e+01] [-4.18083437e-02 9.99125570e-01 -3.97810176e-04 -6.04990311e+00] [-3.09695343e-03 2.68564602e-04 9.99995168e-01 -2.56973635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.939072329 meters 0.06310269883916318 Centerline is valid? [True, True] Translation: X:96.82, Y:-6.06, Z:-2.57 [[ 9.98970626e-01 4.52606042e-02 3.02763600e-03 9.68249387e+01] [-4.52596265e-02 9.98975182e-01 -3.90715526e-04 -6.05954166e+00] [-3.04221724e-03 2.53283659e-04 9.99995340e-01 -2.57078965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.999072329 meters 0.057034192596579054 Centerline is valid? [True, True] Translation: X:96.89, Y:-6.06, Z:-2.57 [[ 9.98837796e-01 4.79802425e-02 4.57748614e-03 9.68858438e+01] [-4.79780365e-02 9.98848216e-01 -5.90592561e-04 -6.05959096e+00] [-4.60055064e-03 3.70287375e-04 9.99989349e-01 -2.56811103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.059072329 meters 0.05979344392539815 Centerline is valid? [True, True] Translation: X:96.95, Y:-6.07, Z:-2.57 [[ 9.98775327e-01 4.92467219e-02 4.75465251e-03 9.69456412e+01] [-4.92443565e-02 9.98786572e-01 -6.13345967e-04 -6.07083746e+00] [-4.77908836e-03 3.78455015e-04 9.99988508e-01 -2.56863640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.119072329 meters 0.06204176949964918 Centerline is valid? [True, True] Translation: X:97.01, Y:-6.08, Z:-2.57 [[ 9.98736105e-01 5.00954310e-02 4.07914750e-03 9.70059665e+01] [-5.00936981e-02 9.98744384e-01 -5.25948933e-04 -6.08159448e+00] [-4.10037329e-03 3.20944606e-04 9.99991542e-01 -2.57074332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.179072329 meters 0.058951392191501716 Centerline is valid? [True, True] Translation: X:97.07, Y:-6.09, Z:-2.57 [[ 9.98690809e-01 5.10665752e-02 2.97879628e-03 9.70677257e+01] [-5.10656565e-02 9.98695225e-01 -3.83700973e-04 -6.08564603e+00] [-2.99450392e-03 2.31084447e-04 9.99995490e-01 -2.57372318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.239072329 meters 0.05424932877459336 Centerline is valid? [True, True] Translation: X:97.13, Y:-6.09, Z:-2.57 [[ 9.98656810e-01 5.16791293e-02 3.72063595e-03 9.71300644e+01] [-5.16776949e-02 9.98663700e-01 -4.80691519e-04 -6.08829053e+00] [-3.74050578e-03 2.87771970e-04 9.99992963e-01 -2.57313580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.299072329 meters 0.06056529280964842 Centerline is valid? [True, True] Translation: X:97.19, Y:-6.11, Z:-2.57 [[ 9.98652035e-01 5.16721222e-02 4.90976179e-03 9.71893492e+01] [-5.16696140e-02 9.98664031e-01 -6.36410829e-04 -6.10609103e+00] [-4.93608720e-03 3.81867472e-04 9.99987745e-01 -2.57252746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.359072329 meters 0.057986283367759475 Centerline is valid? [True, True] Translation: X:97.25, Y:-6.11, Z:-2.57 [[ 9.98701487e-01 5.07200072e-02 4.77719077e-03 9.72517103e+01] [-5.07176140e-02 9.98712841e-01 -6.20865109e-04 -6.11084031e+00] [-4.80253205e-03 3.77771190e-04 9.99988396e-01 -2.57374022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41907232900002 meters 0.05600535934763127 Centerline is valid? [True, True] Translation: X:97.31, Y:-6.12, Z:-2.57 [[ 9.98713284e-01 5.05162441e-02 4.45928512e-03 9.73127392e+01] [-5.05141579e-02 9.98723177e-01 -5.79318798e-04 -6.11815595e+00] [-4.48285641e-03 3.53316347e-04 9.99989890e-01 -2.57475972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.479072329 meters 0.06362885263858489 Centerline is valid? [True, True] Translation: X:97.37, Y:-6.14, Z:-2.58 [[ 9.98722350e-01 5.03519827e-02 4.28319018e-03 9.73720123e+01] [-5.03500506e-02 9.98731476e-01 -5.57804166e-04 -6.13754257e+00] [-4.30584340e-03 3.41432645e-04 9.99990672e-01 -2.57523920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.539072329 meters 0.05441603368176394 Centerline is valid? [True, True] Translation: X:97.44, Y:-6.13, Z:-2.58 [[ 9.98698173e-01 5.08666477e-02 3.81349336e-03 9.74352602e+01] [-5.08651200e-02 9.98705408e-01 -4.96595789e-04 -6.13464077e+00] [-3.83381661e-03 3.01975510e-04 9.99992605e-01 -2.57638275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.599072329 meters 0.056391673922648385 Centerline is valid? [True, True] Translation: X:97.50, Y:-6.15, Z:-2.58 [[ 9.98704077e-01 5.07590276e-02 3.69962388e-03 9.74956618e+01] [-5.07575851e-02 9.98710886e-01 -4.82836372e-04 -6.14681718e+00] [-3.71936294e-03 2.94426680e-04 9.99993040e-01 -2.57847135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.659072329 meters 0.05433766146845611 Centerline is valid? [True, True] Translation: X:97.56, Y:-6.15, Z:-2.58 [[ 9.98709917e-01 5.06146860e-02 4.08110918e-03 9.75573249e+01] [-5.06129247e-02 9.98718202e-01 -5.33773115e-04 -6.15374258e+00] [-4.10289478e-03 3.26527632e-04 9.99991530e-01 -2.57808357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.719072329 meters 0.05418595990638367 Centerline is valid? [True, True] Translation: X:97.62, Y:-6.16, Z:-2.58 [[ 9.98681797e-01 5.11082738e-02 4.75526221e-03 9.76182304e+01] [-5.11058800e-02 9.98693046e-01 -6.23635822e-04 -6.16275043e+00] [-4.78092026e-03 3.79791883e-04 9.99988499e-01 -2.57711349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.779072329 meters 0.05442594727635725 Centerline is valid? [True, True] Translation: X:97.68, Y:-6.17, Z:-2.58 [[ 9.98607745e-01 5.24678901e-02 5.44902883e-03 9.76787726e+01] [-5.24647542e-02 9.98622519e-01 -7.16950168e-04 -6.17185181e+00] [-5.47913976e-03 4.30070032e-04 9.99984897e-01 -2.57594908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.839072329 meters 0.054853771592347014 Centerline is valid? [True, True] Translation: X:97.74, Y:-6.18, Z:-2.58 [[ 9.98503323e-01 5.43623114e-02 5.98775458e-03 9.77382650e+01] [-5.43585568e-02 9.98521170e-01 -7.88131260e-04 -6.18071896e+00] [-6.02174435e-03 4.61465984e-04 9.99981763e-01 -2.57705902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.899072329 meters 0.05356898106550521 Centerline is valid? [True, True] Translation: X:97.80, Y:-6.19, Z:-2.58 [[ 9.98441419e-01 5.55844035e-02 5.01071402e-03 9.78000249e+01] [-5.55817923e-02 9.98453920e-01 -6.58982028e-04 -6.18715979e+00] [-5.03959617e-03 3.79450485e-04 9.99987229e-01 -2.57939365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.959072329 meters 0.056362551344520215 Centerline is valid? [True, True] Translation: X:97.86, Y:-6.20, Z:-2.58 [[ 9.98329980e-01 5.75647102e-02 4.85330182e-03 9.78591089e+01] [-5.75622744e-02 9.98341712e-01 -6.40212444e-04 -6.19928223e+00] [-4.88210729e-03 3.59776186e-04 9.99988018e-01 -2.58013671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.019072329 meters 0.05223285831130275 Centerline is valid? [True, True] Translation: X:97.92, Y:-6.20, Z:-2.58 [[ 9.98261738e-01 5.86235147e-02 6.06506685e-03 9.79217430e+01] [-5.86197297e-02 9.98280064e-01 -8.00106757e-04 -6.20240409e+00] [-6.10154039e-03 4.43183383e-04 9.99981287e-01 -2.57886324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.079072329 meters 0.0531187573531824 Centerline is valid? [True, True] Translation: X:97.98, Y:-6.21, Z:-2.58 [[ 9.98162244e-01 6.02235968e-02 6.72698046e-03 9.79818181e+01] [-6.02189715e-02 9.98184796e-01 -8.88203689e-04 -6.21192164e+00] [-6.76826044e-03 4.81479543e-04 9.99976979e-01 -2.57821987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13907232900002 meters 0.05079827108704785 Centerline is valid? [True, True] Translation: X:98.04, Y:-6.22, Z:-2.58 [[ 9.98145335e-01 6.06381416e-02 5.37636070e-03 9.80443248e+01] [-6.06351954e-02 9.98159742e-01 -7.09453239e-04 -6.21683824e+00] [-5.40948673e-03 3.82140759e-04 9.99985296e-01 -2.58157183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.199072329 meters 0.051219227096665494 Centerline is valid? [True, True] Translation: X:98.11, Y:-6.23, Z:-2.58 [[ 9.98146792e-01 6.06371851e-02 5.11015925e-03 9.81060597e+01] [-6.06345154e-02 9.98159806e-01 -6.75901053e-04 -6.22611600e+00] [-5.14174030e-03 3.64796438e-04 9.99986715e-01 -2.58309216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.259072329 meters 0.05209644281866063 Centerline is valid? [True, True] Translation: X:98.17, Y:-6.24, Z:-2.58 [[ 9.98184829e-01 5.98224973e-02 6.95092643e-03 9.81667441e+01] [-5.98175196e-02 9.98208903e-01 -9.22007718e-04 -6.23622112e+00] [-6.99363345e-03 5.04546939e-04 9.99975417e-01 -2.58027898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319072329 meters 0.052280197872841654 Centerline is valid? [True, True] Translation: X:98.23, Y:-6.24, Z:-2.58 [[ 9.98234763e-01 5.90001130e-02 6.80765849e-03 9.82277501e+01] [-5.89953079e-02 9.98257850e-01 -9.04678445e-04 -6.24475077e+00] [-6.84917466e-03 5.01461565e-04 9.99976418e-01 -2.58058304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.379072329 meters 0.0512159741239018 Centerline is valid? [True, True] Translation: X:98.29, Y:-6.25, Z:-2.58 [[ 9.98258747e-01 5.86543785e-02 6.25610123e-03 9.82894688e+01] [-5.86503049e-02 9.98278242e-01 -8.32784237e-04 -6.25130779e+00] [-6.29417618e-03 4.64411904e-04 9.99980084e-01 -2.58280742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.439072329 meters 0.0500627812396043 Centerline is valid? [True, True] Translation: X:98.35, Y:-6.26, Z:-2.58 [[ 9.98254221e-01 5.87433200e-02 6.14272370e-03 9.83510791e+01] [-5.87393841e-02 9.98273015e-01 -8.19355117e-04 -6.25846565e+00] [-6.18024695e-03 4.57104897e-04 9.99980798e-01 -2.58168152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.499072329 meters 0.05243092127007079 Centerline is valid? [True, True] Translation: X:98.41, Y:-6.27, Z:-2.58 [[ 9.98217796e-01 5.92823539e-02 6.84359139e-03 9.84107482e+01] [-5.92774661e-02 9.98241126e-01 -9.15023893e-04 -6.26906921e+00] [-6.88579915e-03 5.07722377e-04 9.99976164e-01 -2.58242579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.559072329 meters 0.053503489343582705 Centerline is valid? [True, True] Translation: X:98.47, Y:-6.28, Z:-2.58 [[ 9.98192816e-01 5.97008531e-02 6.84907247e-03 9.84715953e+01] [-5.96959552e-02 9.98216185e-01 -9.17508980e-04 -6.27801989e+00] [-6.89163106e-03 5.06988950e-04 9.99976124e-01 -2.58364983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.619072329 meters 0.05132583024745218 Centerline is valid? [True, True] Translation: X:98.53, Y:-6.28, Z:-2.58 [[ 9.98128114e-01 6.06635304e-02 7.75917618e-03 9.85337396e+01] [-6.06572548e-02 9.98158110e-01 -1.04179295e-03 -6.28314957e+00] [-7.80808346e-03 5.69192510e-04 9.99969354e-01 -2.58382239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.679072329 meters 0.05218770355374748 Centerline is valid? [True, True] Translation: X:98.60, Y:-6.29, Z:-2.58 [[ 9.98079605e-01 6.15300656e-02 7.15210637e-03 9.85953121e+01] [-6.15247427e-02 9.98105095e-01 -9.62092793e-04 -6.29208159e+00] [-7.19775144e-03 5.20213691e-04 9.99973961e-01 -2.58473611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.739072329 meters 0.05127681949663192 Centerline is valid? [True, True] Translation: X:98.66, Y:-6.30, Z:-2.59 [[ 9.98037545e-01 6.23272808e-02 6.03064965e-03 9.86574297e+01] [-6.23235029e-02 9.98055670e-01 -8.12549643e-04 -6.29712517e+00] [-6.06956808e-03 4.35103841e-04 9.99981485e-01 -2.58787331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.799072329 meters 0.052208711861049306 Centerline is valid? [True, True] Translation: X:98.72, Y:-6.31, Z:-2.59 [[ 9.98017134e-01 6.26371767e-02 6.19547169e-03 9.87196510e+01] [-6.26331847e-02 9.98036264e-01 -8.36464815e-04 -6.30710414e+00] [-6.23569922e-03 4.46764094e-04 9.99980458e-01 -2.58779685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.859072329 meters 0.05356895812577071 Centerline is valid? [True, True] Translation: X:98.78, Y:-6.32, Z:-2.59 [[ 9.98055239e-01 6.18800453e-02 7.52324404e-03 9.87807773e+01] [-6.18741162e-02 9.98083442e-01 -1.01854909e-03 -6.31701488e+00] [-7.57185317e-03 5.51074183e-04 9.99971181e-01 -2.58669990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91907232900002 meters 0.05060841645444478 Centerline is valid? [True, True] Translation: X:98.84, Y:-6.32, Z:-2.59 [[ 9.98102721e-01 6.12281056e-02 6.48673192e-03 9.88426091e+01] [-6.12236746e-02 9.98123684e-01 -8.79668676e-04 -6.32091421e+00] [-6.52842121e-03 4.80858135e-04 9.99978574e-01 -2.58928676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.979072329 meters 0.05141712579113272 Centerline is valid? [True, True] Translation: X:98.90, Y:-6.33, Z:-2.59 [[ 9.98091269e-01 6.13798782e-02 6.80650135e-03 9.89049576e+01] [-6.13749895e-02 9.98114350e-01 -9.25011996e-04 -6.33048672e+00] [-6.85044379e-03 5.05497448e-04 9.99976408e-01 -2.59035655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.039072329 meters 0.052899816020825934 Centerline is valid? [True, True] Translation: X:98.97, Y:-6.34, Z:-2.59 [[ 9.98078489e-01 6.16314154e-02 6.39520064e-03 9.89668545e+01] [-6.16270925e-02 9.98098864e-01 -8.71010856e-04 -6.34119092e+00] [-6.43672413e-03 4.75219577e-04 9.99979171e-01 -2.59018982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.099072329 meters 0.051398094272989234 Centerline is valid? [True, True] Translation: X:99.03, Y:-6.35, Z:-2.59 [[ 9.98038223e-01 6.21637029e-02 7.44170733e-03 9.90283437e+01] [-6.21578439e-02 9.98065814e-01 -1.01625406e-03 -6.34674478e+00] [-7.49048780e-03 5.51699909e-04 9.99971794e-01 -2.59018843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.159072329 meters 0.051416459235508125 Centerline is valid? [True, True] Translation: X:99.09, Y:-6.35, Z:-2.59 [[ 9.97942305e-01 6.35499527e-02 8.51820009e-03 9.90891404e+01] [-6.35423056e-02 9.97978465e-01 -1.16566742e-03 -6.35394277e+00] [-8.57505836e-03 6.22002763e-04 9.99963040e-01 -2.59039165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.219072329 meters 0.05238330500690483 Centerline is valid? [True, True] Translation: X:99.15, Y:-6.36, Z:-2.59 [[ 9.97826173e-01 6.53544589e-02 8.46893125e-03 9.91494430e+01] [-6.53469618e-02 9.97861930e-01 -1.15925613e-03 -6.36209118e+00] [-8.52658664e-03 6.03317179e-04 9.99963466e-01 -2.59181747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.279072329 meters 0.05162822338335685 Centerline is valid? [True, True] Translation: X:99.21, Y:-6.37, Z:-2.59 [[ 9.97751969e-01 6.65002330e-02 8.29015872e-03 9.92109279e+01] [-6.64930842e-02 9.97786240e-01 -1.13529117e-03 -6.36895295e+00] [-8.34730343e-03 5.81500783e-04 9.99964992e-01 -2.59239141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.339072329 meters 0.0467388129822767 Centerline is valid? [True, True] Translation: X:99.27, Y:-6.37, Z:-2.59 [[ 9.97649972e-01 6.78362588e-02 9.63197975e-03 9.92730977e+01] [-6.78266421e-02 9.97696246e-01 -1.32196228e-03 -6.36996421e+00] [-9.69946701e-03 6.65550793e-04 9.99952738e-01 -2.59101119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.399072329 meters 0.04670881437625319 Centerline is valid? [True, True] Translation: X:99.33, Y:-6.38, Z:-2.59 [[ 9.97590491e-01 6.86276541e-02 1.01714156e-02 9.93341572e+01] [-6.86169409e-02 9.97642099e-01 -1.39894382e-03 -6.37807847e+00] [-1.02434386e-02 6.97641627e-04 9.99947291e-01 -2.59034107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.459072329 meters 0.050983063224768504 Centerline is valid? [True, True] Translation: X:99.39, Y:-6.39, Z:-2.59 [[ 9.97582322e-01 6.88721313e-02 9.28120694e-03 9.93948464e+01] [-6.88632009e-02 9.97625293e-01 -1.27874656e-03 -6.39154381e+00] [-9.34723679e-03 6.36521346e-04 9.99956111e-01 -2.59252827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.519072329 meters 0.04936105810839607 Centerline is valid? [True, True] Translation: X:99.46, Y:-6.40, Z:-2.59 [[ 9.97678374e-01 6.75245833e-02 8.84830711e-03 9.94571295e+01] [-6.75164005e-02 9.97717418e-01 -1.22059701e-03 -6.39708727e+00] [-8.91053043e-03 6.20357390e-04 9.99960108e-01 -2.59376737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.579072329 meters 0.04998540759919769 Centerline is valid? [True, True] Translation: X:99.52, Y:-6.41, Z:-2.59 [[ 9.97788374e-01 6.56495319e-02 1.04163236e-02 9.95178228e+01] [-6.56380817e-02 9.97842460e-01 -1.43770123e-03 -6.40610991e+00] [-1.04882344e-02 7.50814068e-04 9.99944715e-01 -2.59354384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63907232900002 meters 0.05230967206282609 Centerline is valid? [True, True] Translation: X:99.58, Y:-6.42, Z:-2.59 [[ 9.98056307e-01 6.12468220e-02 1.15080117e-02 9.95771375e+01] [-6.12325501e-02 9.98122262e-01 -1.58878247e-03 -6.41891367e+00] [-1.15837106e-02 8.81029458e-04 9.99932518e-01 -2.59148750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.699072329 meters 0.05991170185183616 Centerline is valid? [True, True] Translation: X:99.63, Y:-6.44, Z:-2.59 [[ 9.98453847e-01 5.45798231e-02 1.05337008e-02 9.96345215e+01] [-5.45674938e-02 9.98509025e-01 -1.45455796e-03 -6.43829708e+00] [-1.05973848e-02 8.77511336e-04 9.99943461e-01 -2.59275654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.759072329 meters 0.06459322242516667 Centerline is valid? [True, True] Translation: X:99.69, Y:-6.45, Z:-2.59 [[ 9.98741307e-01 4.88663879e-02 1.13083289e-02 9.96937161e+01] [-4.88518098e-02 9.98804816e-01 -1.56196629e-03 -6.45309820e+00] [-1.13711410e-02 1.00756792e-03 9.99934839e-01 -2.59363810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.819072329 meters 0.07137844269855775 Centerline is valid? [True, True] Translation: X:99.75, Y:-6.47, Z:-2.59 [[ 9.99183390e-01 3.84630243e-02 1.23753674e-02 9.97521297e+01] [-3.84447710e-02 9.99259264e-01 -1.70958452e-03 -6.47189438e+00] [-1.24319563e-02 1.23242029e-03 9.99921961e-01 -2.59275265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.879072329 meters 0.07727916273520924 Centerline is valid? [True, True] Translation: X:99.81, Y:-6.49, Z:-2.59 [[ 9.99495593e-01 2.94128855e-02 1.19766956e-02 9.98111060e+01] [-2.93951434e-02 9.99566500e-01 -1.65477072e-03 -6.48892460e+00] [-1.20201752e-02 1.30187936e-03 9.99926908e-01 -2.59410800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.939072329 meters 0.0874503817093878 Centerline is valid? [True, True] Translation: X:99.87, Y:-6.51, Z:-2.60 [[ 9.99836145e-01 1.43205844e-02 1.10726814e-02 9.98687474e+01] [-1.43045050e-02 9.99896515e-01 -1.53000448e-03 -6.51276057e+00] [-1.10934461e-02 1.37136455e-03 9.99937525e-01 -2.59617791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.999072329 meters 0.10314363651850446 Centerline is valid? [True, False] Translation: X:99.87, Y:-6.51, Z:-2.59 [[ 9.99985734e-01 5.11305624e-04 5.31707968e-03 9.98689505e+01] [-5.24278817e-04 9.99996889e-01 2.43880212e-03 -6.51491138e+00] [-5.31581616e-03 -2.44155496e-03 9.99982890e-01 -2.59355956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.059072329 meters 0.09979685452763257 Centerline is valid? [False, True] Translation: X:99.87, Y:-6.52, Z:-2.59 [[ 9.99985978e-01 2.32659267e-04 5.29060900e-03 9.98691966e+01] [-2.47146574e-04 9.99996222e-01 2.73781712e-03 -6.51716519e+00] [-5.28995203e-03 -2.73908628e-03 9.99982257e-01 -2.59393765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.119072329 meters 0.08529168105281708 Centerline is valid? [True, True] Translation: X:99.93, Y:-6.51, Z:-2.60 [[ 9.99888411e-01 -1.38677751e-02 5.55433223e-03 9.99325274e+01] [ 1.38725974e-02 9.99903426e-01 -8.30626108e-04 -6.50654360e+00] [-5.54227689e-03 9.07586434e-04 9.99984230e-01 -2.59873731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.179072329 meters 0.09899498927630809 Centerline is valid? [True, True] Translation: X:99.99, Y:-6.53, Z:-2.60 [[ 9.99705002e-01 -2.36406350e-02 5.57047779e-03 9.99889226e+01] [ 2.36456325e-02 9.99720056e-01 -8.32975315e-04 -6.53344545e+00] [-5.54922631e-03 9.64447059e-04 9.99984138e-01 -2.59825508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.239072329 meters 0.09999024082052757 Centerline is valid? [True, True] Translation: X:100.05, Y:-6.54, Z:-2.60 [[ 9.99315096e-01 -3.63968576e-02 6.67885916e-03 1.00048632e+02] [ 3.64043170e-02 9.99336644e-01 -9.98666759e-04 -6.54043144e+00] [-6.63808037e-03 1.24112207e-03 9.99977197e-01 -2.60006242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.299072329 meters 0.10975102753954344 Centerline is valid? [True, False] Translation: X:100.06, Y:-6.54, Z:-2.60 [[ 9.99387467e-01 -3.17366525e-02 1.47470426e-02 1.00059157e+02] [ 3.18246318e-02 9.99476813e-01 -5.76996187e-03 -6.54361155e+00] [-1.45562078e-02 6.23574678e-03 9.99874608e-01 -2.60405488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.359072329 meters 0.11022733782693514 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.55, Z:-2.60 [[ 9.99518298e-01 -2.71176574e-02 1.50932053e-02 1.00057222e+02] [ 2.71242066e-02 9.99632045e-01 -2.29339620e-04 -6.54718124e+00] [-1.50814326e-02 6.38620367e-04 9.99886065e-01 -2.60217289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41907232900002 meters 0.12264862579040416 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.55, Z:-2.60 [[ 9.99508842e-01 -2.74064687e-02 1.51973607e-02 1.00057386e+02] [ 2.74116342e-02 9.99624222e-01 -1.31657498e-04 -6.54831270e+00] [-1.51880416e-02 5.48177327e-04 9.99884505e-01 -2.60278923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.479072329 meters 0.14388588626240692 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.55, Z:-2.61 [[ 9.99585040e-01 -2.08924944e-02 1.98305608e-02 1.00061804e+02] [ 2.11058774e-02 9.99720917e-01 -1.06126934e-02 -6.54868974e+00] [-1.96033008e-02 1.10268309e-02 9.99747028e-01 -2.61024890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.539072329 meters 0.15589497041926406 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.55, Z:-2.61 [[ 9.99666115e-01 -1.65812841e-02 1.98171693e-02 1.00061155e+02] [ 1.66957930e-02 9.99844782e-01 -5.62684760e-03 -6.55122563e+00] [-1.97207929e-02 5.95583224e-03 9.99787787e-01 -2.60937764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.599072329 meters 0.18304726442100563 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.55, Z:-2.61 [[ 9.99727333e-01 -1.30025569e-02 1.93956743e-02 1.00062305e+02] [ 1.30306088e-02 9.99914226e-01 -1.32061284e-03 -6.55372654e+00] [-1.93768393e-02 1.57299020e-03 9.99811014e-01 -2.60998997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.659072329 meters 0.19238032195850274 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.56, Z:-2.61 [[ 9.99778790e-01 -9.73938852e-03 1.86417874e-02 1.00064872e+02] [ 9.69146026e-03 9.99949500e-01 2.65963089e-03 -6.55636988e+00] [-1.86667491e-02 -2.47837641e-03 9.99822689e-01 -2.61154359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.719072329 meters 0.21609663235372026 Centerline is valid? [False, False] Translation: X:100.07, Y:-6.56, Z:-2.61 [[ 9.99819948e-01 -6.80207311e-03 1.77145164e-02 1.00067807e+02] [ 6.68871249e-03 9.99956824e-01 6.45071206e-03 -6.56033397e+00] [-1.77576298e-02 -6.33106329e-03 9.99822276e-01 -2.61306736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.779072329 meters 0.2327920111751596 Centerline is valid? [False, False] Translation: X:100.07, Y:-6.56, Z:-2.62 [[ 9.99824317e-01 -8.00838228e-03 1.69469978e-02 1.00071037e+02] [ 7.91104117e-03 9.99951868e-01 5.80312145e-03 -6.56231813e+00] [-1.69926557e-02 -5.66803354e-03 9.99839549e-01 -2.61542071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.839072329 meters 0.2430873506350794 Centerline is valid? [False, False] Translation: X:100.07, Y:-6.56, Z:-2.62 [[ 9.99832101e-01 -9.05386003e-03 1.59309940e-02 1.00074735e+02] [ 8.97113560e-03 9.99945943e-01 5.25649823e-03 -6.56423291e+00] [-1.59777244e-02 -5.11269656e-03 9.99859276e-01 -2.61779439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.899072329 meters 0.2600520623183355 Centerline is valid? [False, False] Translation: X:100.08, Y:-6.57, Z:-2.62 [[ 9.99837308e-01 -1.01286315e-02 1.49254178e-02 1.00078183e+02] [ 1.00533670e-02 9.99936411e-01 5.10914004e-03 -6.56854384e+00] [-1.49762173e-02 -4.95825812e-03 9.99875557e-01 -2.61975819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.959072329 meters 0.2617461456488688 Centerline is valid? [False, False] Translation: X:100.08, Y:-6.57, Z:-2.62 [[ 9.99841406e-01 -1.01694510e-02 1.46199944e-02 1.00078895e+02] [ 1.00919989e-02 9.99934700e-01 5.36173934e-03 -6.56999715e+00] [-1.46735656e-02 -5.21334403e-03 9.99878746e-01 -2.61982284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.019072329 meters 0.26936505961081697 Centerline is valid? [False, False] Translation: X:100.08, Y:-6.58, Z:-2.62 [[ 9.99847879e-01 -1.12411139e-02 1.33363073e-02 1.00082983e+02] [ 1.11693202e-02 9.99922793e-01 5.44565658e-03 -6.57514191e+00] [-1.33964928e-02 -5.29587069e-03 9.99896238e-01 -2.62188380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.079072329 meters 0.2428901912280958 Centerline is valid? [False, False] Translation: X:100.09, Y:-6.58, Z:-2.63 [[ 9.99847787e-01 -1.31939145e-02 1.14159164e-02 1.00089365e+02] [ 1.31409542e-02 9.99902599e-01 4.70180523e-03 -6.58149512e+00] [-1.14768397e-02 -4.55107352e-03 9.99923782e-01 -2.62524431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13907232900002 meters 0.24172146883703555 Centerline is valid? [False, False] Translation: X:100.09, Y:-6.59, Z:-2.63 [[ 9.99843646e-01 -1.44121541e-02 1.02456080e-02 1.00093758e+02] [ 1.43697297e-02 9.99887919e-01 4.20236156e-03 -6.58573484e+00] [-1.03050247e-02 -4.05447789e-03 9.99938682e-01 -2.62784343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.199072329 meters 0.2553658257278544 Centerline is valid? [False, False] Translation: X:100.10, Y:-6.59, Z:-2.63 [[ 9.99839476e-01 -1.56963241e-02 8.63984551e-03 1.00098933e+02] [ 1.56636040e-02 9.99869937e-01 3.84184403e-03 -6.59058037e+00] [-8.69902462e-03 -3.70589620e-03 9.99955296e-01 -2.63026565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.259072329 meters 0.25784401439372545 Centerline is valid? [False, False] Translation: X:100.10, Y:-6.59, Z:-2.63 [[ 9.99844233e-01 -1.56916179e-02 8.07972081e-03 1.00100234e+02] [ 1.56561032e-02 9.99867577e-01 4.44017845e-03 -6.59330018e+00] [-8.14832445e-03 -4.31298988e-03 9.99957501e-01 -2.63047134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.319072329 meters 0.2436157357425836 Centerline is valid? [False, False] Translation: X:100.10, Y:-6.60, Z:-2.63 [[ 9.99993648e-01 -3.53434522e-03 4.61138699e-04 1.00103446e+02] [ 3.53379189e-03 9.99993042e-01 1.19527221e-03 -6.60082512e+00] [-4.65359995e-04 -1.19363505e-03 9.99999179e-01 -2.63083570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.379072329 meters 0.2501288942251158 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.61, Z:-2.63 [[ 9.99999594e-01 -7.10856257e-04 -5.54242948e-04 1.00107006e+02] [ 7.13435543e-04 9.99988853e-01 4.66748387e-03 -6.60605159e+00] [ 5.50918859e-04 -4.66787739e-03 9.99988954e-01 -2.63259530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.439072329 meters 0.24298208886791026 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.61, Z:-2.63 [[ 9.99999269e-01 -7.38186861e-04 -9.58026334e-04 1.00107983e+02] [ 7.42714358e-04 9.99988518e-01 4.73413873e-03 -6.60656608e+00] [ 9.54520655e-04 -4.73484680e-03 9.99988335e-01 -2.63277828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.499072329 meters 0.24727190402856192 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.61, Z:-2.63 [[ 9.99998553e-01 -8.96983872e-04 -1.44544850e-03 1.00109265e+02] [ 9.03830081e-04 9.99988345e-01 4.74271869e-03 -6.60712253e+00] [ 1.44117751e-03 -4.74401827e-03 9.99987709e-01 -2.63309690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.559072329 meters 0.24364894964229739 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.61, Z:-2.63 [[ 9.99998017e-01 -9.61392546e-04 -1.74430874e-03 1.00110026e+02] [ 9.69693517e-04 9.99988180e-01 4.76430069e-03 -6.60744985e+00] [ 1.73970776e-03 -4.76598269e-03 9.99987129e-01 -2.63333854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.619072329 meters 0.24403326095761677 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.61, Z:-2.63 [[ 9.99998037e-01 -9.26673640e-04 -1.75119105e-03 1.00110040e+02] [ 9.35322425e-04 9.99987339e-01 4.94445332e-03 -6.60795769e+00] [ 1.74658698e-03 -4.94608154e-03 9.99986243e-01 -2.63340678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.679072329 meters 0.24365842064895046 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.61, Z:-2.63 [[ 9.99998079e-01 -9.14782268e-04 -1.73342315e-03 1.00109917e+02] [ 9.23841915e-04 9.99985882e-01 5.23287540e-03 -6.60904557e+00] [ 1.72861174e-03 -5.23446676e-03 9.99984806e-01 -2.63328414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.739072329 meters 0.2422060043821366 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.61, Z:-2.63 [[ 9.99998437e-01 -1.07431241e-03 -1.40448004e-03 1.00109248e+02] [ 1.08225063e-03 9.99983376e-01 5.66358143e-03 -6.61071872e+00] [ 1.39837224e-03 -5.66509257e-03 9.99982975e-01 -2.63343578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.799072329 meters 0.24692129332837018 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.61, Z:-2.63 [[ 9.99998659e-01 -1.38028998e-03 -8.81766773e-04 1.00108369e+02] [ 1.38574699e-03 9.99979705e-01 6.21838956e-03 -6.61294731e+00] [ 8.73165697e-04 -6.21960312e-03 9.99980277e-01 -2.63409510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.859072329 meters 0.23779381391952137 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.62, Z:-2.63 [[ 9.99998883e-01 -1.47875444e-03 -2.17610945e-04 1.00106940e+02] [ 1.48021271e-03 9.99975367e-01 6.86105801e-03 -6.61528691e+00] [ 2.07459764e-04 -6.86137246e-03 9.99976439e-01 -2.63415341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91907232900002 meters 0.23991717627229417 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.62, Z:-2.63 [[ 9.99982703e-01 -5.84294268e-03 6.73227166e-04 1.00105131e+02] [ 5.84058652e-03 9.99976992e-01 3.45017507e-03 -6.61796208e+00] [-6.93370851e-04 -3.44618335e-03 9.99993822e-01 -2.63469287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.979072329 meters 0.23721545058940288 Centerline is valid? [False, False] Translation: X:100.10, Y:-6.62, Z:-2.63 [[ 9.99976794e-01 -6.36692481e-03 2.42372911e-03 1.00101446e+02] [ 6.35523848e-03 9.99968289e-01 4.79917730e-03 -6.62327747e+00] [-2.45420825e-03 -4.78366255e-03 9.99985547e-01 -2.63489054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.039072329 meters 0.2338270799094141 Centerline is valid? [False, False] Translation: X:100.10, Y:-6.63, Z:-2.63 [[ 9.99971730e-01 -6.60479886e-03 3.59383391e-03 1.00098887e+02] [ 6.58396099e-03 9.99961624e-01 5.77949003e-03 -6.62688945e+00] [-3.63186836e-03 -5.75566498e-03 9.99976841e-01 -2.63483515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.099072329 meters 0.2336021542625261 Centerline is valid? [False, False] Translation: X:100.09, Y:-6.63, Z:-2.63 [[ 9.99955472e-01 -7.54411027e-03 5.66918056e-03 1.00094419e+02] [ 7.50559670e-03 9.99948818e-01 6.78433984e-03 -6.63187508e+00] [-5.72007221e-03 -6.74148717e-03 9.99960916e-01 -2.63462390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.159072329 meters 0.23221562646841926 Centerline is valid? [False, False] Translation: X:100.09, Y:-6.64, Z:-2.63 [[ 9.99906723e-01 -1.16989513e-02 7.04836142e-03 1.00091073e+02] [ 1.16710568e-02 9.99923947e-01 3.98580493e-03 -6.63608296e+00] [-7.09445511e-03 -3.90317132e-03 9.99967216e-01 -2.63428155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.219072329 meters 0.23189443495712117 Centerline is valid? [False, False] Translation: X:100.09, Y:-6.64, Z:-2.63 [[ 9.99894422e-01 -1.20841292e-02 8.06967433e-03 1.00088930e+02] [ 1.20438064e-02 9.99914835e-01 5.02687039e-03 -6.64008790e+00] [-8.12973243e-03 -4.92915006e-03 9.99954804e-01 -2.63452855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.279072329 meters 0.23315136038921472 Centerline is valid? [False, False] Translation: X:100.09, Y:-6.64, Z:-2.63 [[ 9.99820029e-01 -1.65283873e-02 9.31247789e-03 1.00086353e+02] [ 1.65115332e-02 9.99861901e-01 1.88383235e-03 -6.64362755e+00] [-9.34232856e-03 -1.72973002e-03 9.99954863e-01 -2.63481660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.339072329 meters 0.23419225008354064 Centerline is valid? [False, False] Translation: X:100.08, Y:-6.65, Z:-2.64 [[ 9.99785227e-01 -1.73533541e-02 1.13296295e-02 1.00082362e+02] [ 1.73197947e-02 9.99845338e-01 3.05352429e-03 -6.64877380e+00] [-1.13808662e-02 -2.85664162e-03 9.99931155e-01 -2.63525029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.399072329 meters 0.23264249463295447 Centerline is valid? [False, False] Translation: X:100.08, Y:-6.65, Z:-2.64 [[ 9.99764102e-01 -1.77171036e-02 1.25636200e-02 1.00079801e+02] [ 1.76670299e-02 9.99835579e-01 4.08547172e-03 -6.65271086e+00] [-1.26339370e-02 -3.86254611e-03 9.99912728e-01 -2.63534832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.459072329 meters 0.2331277575078131 Centerline is valid? [False, False] Translation: X:100.08, Y:-6.66, Z:-2.64 [[ 9.99741894e-01 -1.80467865e-02 1.38006982e-02 1.00077179e+02] [ 1.79791702e-02 9.99825820e-01 5.00796779e-03 -6.65597556e+00] [-1.38886722e-02 -4.75855010e-03 9.99892225e-01 -2.63535462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.519072329 meters 0.2335737826099979 Centerline is valid? [False, False] Translation: X:100.07, Y:-6.66, Z:-2.63 [[ 9.99698959e-01 -1.85357868e-02 1.60753164e-02 1.00072169e+02] [ 1.84333874e-02 9.99808995e-01 6.49494077e-03 -6.66098190e+00] [-1.61926348e-02 -6.19666300e-03 9.99849689e-01 -2.63498516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.579072329 meters 0.2360106141818322 Centerline is valid? [False, False] Translation: X:100.07, Y:-6.67, Z:-2.64 [[ 9.99572479e-01 -2.32395313e-02 1.77421356e-02 1.00068818e+02] [ 2.31782698e-02 9.99724682e-01 3.65077007e-03 -6.66592339e+00] [-1.78220931e-02 -3.23797729e-03 9.99835931e-01 -2.63511729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63907232900002 meters 0.23789713187188413 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.67, Z:-2.63 [[ 9.99502442e-01 -2.41991069e-02 2.02304855e-02 1.00063470e+02] [ 2.40977631e-02 9.99695882e-01 5.23835400e-03 -6.67188778e+00] [-2.03510966e-02 -4.74823816e-03 9.99781620e-01 -2.63488324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.699072329 meters 0.23815764622953114 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.68, Z:-2.63 [[ 9.99466259e-01 -2.45305687e-02 2.15742390e-02 1.00060555e+02] [ 2.43990543e-02 9.99682206e-01 6.33818720e-03 -6.67548747e+00] [-2.17228622e-02 -5.80841322e-03 9.99747158e-01 -2.63473672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.759072329 meters 0.23912167748769514 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.68, Z:-2.63 [[ 9.99304515e-01 -2.91662061e-02 2.32340051e-02 1.00057166e+02] [ 2.90890312e-02 9.99570150e-01 3.65278471e-03 -6.68100408e+00] [-2.33305559e-02 -2.97438955e-03 9.99723381e-01 -2.63453388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.819072329 meters 0.23956152042271645 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.68, Z:-2.63 [[ 9.99286040e-01 -2.92209226e-02 2.39488806e-02 1.00055625e+02] [ 2.91237645e-02 9.99566148e-01 4.39576999e-03 -6.68353075e+00] [-2.40669387e-02 -3.69515002e-03 9.99703520e-01 -2.63441514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.879072329 meters 0.24088897927601496 Centerline is valid? [False, False] Translation: X:100.05, Y:-6.69, Z:-2.63 [[ 9.99097995e-01 -3.37982985e-02 2.57074058e-02 1.00051985e+02] [ 3.37594235e-02 9.99428096e-01 1.94483935e-03 -6.68914865e+00] [-2.57584358e-02 -1.07521790e-03 9.99667618e-01 -2.63425547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.939072329 meters 0.24249438363866413 Centerline is valid? [False, False] Translation: X:100.05, Y:-6.69, Z:-2.63 [[ 9.99049017e-01 -3.41610070e-02 2.70940383e-02 1.00048985e+02] [ 3.40871986e-02 9.99413799e-01 3.18149348e-03 -6.69335605e+00] [-2.71868388e-02 -2.25490807e-03 9.99627826e-01 -2.63398713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.999072329 meters 0.24390764474209453 Centerline is valid? [False, False] Translation: X:100.05, Y:-6.70, Z:-2.63 [[ 9.98848753e-01 -3.85981472e-02 2.84842394e-02 1.00046259e+02] [ 3.85965139e-02 9.99254692e-01 6.07350572e-04 -6.69881215e+00] [-2.84864525e-02 4.92740980e-04 9.99594057e-01 -2.63379703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.059072329 meters 0.24503013054734873 Centerline is valid? [False, False] Translation: X:100.04, Y:-6.70, Z:-2.63 [[ 9.98794606e-01 -3.91157608e-02 2.96528593e-02 1.00043898e+02] [ 3.90762163e-02 9.99234403e-01 1.91212077e-03 -6.70402076e+00] [-2.97049512e-02 -7.51094372e-04 9.99558428e-01 -2.63369439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.119072329 meters 0.2467603827144412 Centerline is valid? [False, False] Translation: X:100.04, Y:-6.71, Z:-2.63 [[ 9.98706903e-01 -3.99400861e-02 3.14533276e-02 1.00040279e+02] [ 3.98431680e-02 9.99199087e-01 3.70233212e-03 -6.71052236e+00] [-3.15760077e-02 -2.44434443e-03 9.99498365e-01 -2.63376572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.179072329 meters 0.2476210506861621 Centerline is valid? [False, False] Translation: X:100.03, Y:-6.72, Z:-2.64 [[ 9.99011150e-01 -3.41327440e-02 2.84899557e-02 1.00029251e+02] [ 3.40662405e-02 9.99415608e-01 2.81653453e-03 -6.71680126e+00] [-2.85694424e-02 -1.84320372e-03 9.99590111e-01 -2.63562186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.239072329 meters 0.24805653102941144 Centerline is valid? [False, False] Translation: X:100.03, Y:-6.72, Z:-2.64 [[ 9.98967363e-01 -3.46021335e-02 2.94431665e-02 1.00027229e+02] [ 3.44834528e-02 9.99395006e-01 4.52924861e-03 -6.72396951e+00] [-2.95820753e-02 -3.50926949e-03 9.99556194e-01 -2.63525566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.299072329 meters 0.25050545541694963 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.73, Z:-2.64 [[ 9.99280844e-01 -2.88176112e-02 2.46442731e-02 1.00017347e+02] [ 2.87447541e-02 9.99581318e-01 3.30558402e-03 -6.72666121e+00] [-2.47292140e-02 -2.59481322e-03 9.99690819e-01 -2.63645365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.359072329 meters 0.2492797417316804 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.73, Z:-2.64 [[ 9.99277194e-01 -2.86882485e-02 2.49414243e-02 1.00016498e+02] [ 2.85870116e-02 9.99581597e-01 4.40618221e-03 -6.73032814e+00] [-2.50573944e-02 -3.68999661e-03 9.99679204e-01 -2.63600938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41907232900002 meters 0.24931688208803823 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.64 [[ 9.99274255e-01 -2.85424548e-02 2.52248014e-02 1.00015554e+02] [ 2.84035178e-02 9.99579425e-01 5.84925973e-03 -6.73558878e+00] [-2.53811447e-02 -5.12854157e-03 9.99664692e-01 -2.63526934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.479072329 meters 0.24972432680887183 Centerline is valid? [False, False] Translation: X:100.01, Y:-6.74, Z:-2.63 [[ 9.99282574e-01 -2.82100476e-02 2.52691801e-02 1.00014933e+02] [ 2.80444460e-02 9.99582972e-01 6.88415681e-03 -6.73898080e+00] [-2.54528445e-02 -6.17055777e-03 9.99656980e-01 -2.63428549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.539072329 meters 0.24981118368743332 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.63 [[ 9.99294863e-01 -2.80045236e-02 2.50104767e-02 1.00015308e+02] [ 2.78255837e-02 9.99584850e-01 7.47425539e-03 -6.74093655e+00] [-2.52094066e-02 -6.77305390e-03 9.99659248e-01 -2.63405196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.599072329 meters 0.2463294978253996 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.63 [[ 9.99310936e-01 -2.77912011e-02 2.46028884e-02 1.00016011e+02] [ 2.75961189e-02 9.99585245e-01 8.23363363e-03 -6.74371467e+00] [-2.48215068e-02 -7.54901589e-03 9.99663396e-01 -2.63382091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.659072329 meters 0.2455422770753226 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.75, Z:-2.63 [[ 9.99325037e-01 -2.76446631e-02 2.41918126e-02 1.00016700e+02] [ 2.74427629e-02 9.99586050e-01 8.63844083e-03 -6.74518936e+00] [-2.44206052e-02 -7.96872003e-03 9.99670012e-01 -2.63353709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.719072329 meters 0.24704774960923037 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.75, Z:-2.63 [[ 9.99346735e-01 -2.75595701e-02 2.33789060e-02 1.00018334e+02] [ 2.73615303e-02 9.99587316e-01 8.74894279e-03 -6.74582162e+00] [-2.36103750e-02 -8.10354477e-03 9.99688393e-01 -2.63353151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.779072329 meters 0.24592763807406176 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.75, Z:-2.63 [[ 9.99362691e-01 -2.75383614e-02 2.27123632e-02 1.00019758e+02] [ 2.73462695e-02 9.99587940e-01 8.72531432e-03 -6.74599248e+00] [-2.29432852e-02 -8.09865519e-03 9.99703965e-01 -2.63368079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.839072329 meters 0.245113620054681 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.75, Z:-2.63 [[ 9.99369482e-01 -2.75557081e-02 2.23902215e-02 1.00020486e+02] [ 2.73647620e-02 9.99586865e-01 8.79025630e-03 -6.74640904e+00] [-2.26231930e-02 -8.17201080e-03 9.99710663e-01 -2.63381431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.899072329 meters 0.24607680020971645 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.75, Z:-2.63 [[ 9.99372929e-01 -2.76641517e-02 2.21007451e-02 1.00021502e+02] [ 2.74822387e-02 9.99586213e-01 8.49289055e-03 -6.74558721e+00] [-2.23265488e-02 -7.88018695e-03 9.99719675e-01 -2.63472808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.959072329 meters 0.24544128095335274 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.63 [[ 9.99371568e-01 -2.77184970e-02 2.20942055e-02 1.00021602e+02] [ 2.75423935e-02 9.99586711e-01 8.23547682e-03 -6.74475518e+00] [-2.23133492e-02 -7.62177408e-03 9.99721973e-01 -2.63491867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.019072329 meters 0.24602329362499342 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.64 [[ 9.99370507e-01 -2.78530513e-02 2.19726400e-02 1.00021946e+02] [ 2.76845124e-02 9.99585194e-01 7.93771033e-03 -6.74389938e+00] [-2.21846151e-02 -7.32441177e-03 9.99727061e-01 -2.63509454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.079072329 meters 0.24710331030278868 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.64 [[ 9.99368861e-01 -2.80490401e-02 2.17975022e-02 1.00022751e+02] [ 2.78990468e-02 9.99585137e-01 7.15517613e-03 -6.74112575e+00] [-2.19891550e-02 -6.54253068e-03 9.99736802e-01 -2.63602574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13907232900002 meters 0.24766647769990968 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.64 [[ 9.99364609e-01 -2.82021686e-02 2.17948682e-02 1.00023052e+02] [ 2.80616502e-02 9.99583562e-01 6.72654272e-03 -6.73976830e+00] [-2.19754951e-02 -6.11066877e-03 9.99739835e-01 -2.63666844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.199072329 meters 0.24964040330582465 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.64 [[ 9.99353181e-01 -2.84510669e-02 2.19944798e-02 1.00022868e+02] [ 2.83226700e-02 9.99580053e-01 6.12737940e-03 -6.73791026e+00] [-2.21595738e-02 -5.50047370e-03 9.99739315e-01 -2.63709639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.259072329 meters 0.2479881086175403 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.64 [[ 9.99348182e-01 -2.86972469e-02 2.19015939e-02 1.00023303e+02] [ 2.85844500e-02 9.99576545e-01 5.44603547e-03 -6.73570233e+00] [-2.20486058e-02 -4.81644063e-03 9.99745298e-01 -2.63759185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.319072329 meters 0.251417905158042 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.73, Z:-2.64 [[ 9.99338347e-01 -2.90038742e-02 2.19463718e-02 1.00023701e+02] [ 2.89082957e-02 9.99571206e-01 4.65995412e-03 -6.73311629e+00] [-2.20721180e-02 -4.02243864e-03 9.99748289e-01 -2.63857095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.379072329 meters 0.25409403711881684 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.73, Z:-2.64 [[ 9.99320681e-01 -2.92923592e-02 2.23636803e-02 1.00023291e+02] [ 2.92102403e-02 9.99565327e-01 3.98992433e-03 -6.73091649e+00] [-2.24708337e-02 -3.33396543e-03 9.99741940e-01 -2.63949123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.439072329 meters 0.254336580848852 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.73, Z:-2.64 [[ 9.99307555e-01 -2.95235864e-02 2.26444087e-02 1.00023006e+02] [ 2.94527754e-02 9.99560204e-01 3.45432312e-03 -6.72911362e+00] [-2.27364338e-02 -2.78499051e-03 9.99737615e-01 -2.64014401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.499072329 meters 0.257166906052215 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.73, Z:-2.64 [[ 9.99292048e-01 -2.98328436e-02 2.29216968e-02 1.00022954e+02] [ 2.97788190e-02 9.99552880e-01 2.69472521e-03 -6.72648566e+00] [-2.29918394e-02 -2.01023641e-03 9.99733632e-01 -2.64121861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.559072329 meters 0.2585088283646541 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.72, Z:-2.64 [[ 9.99259458e-01 -3.02636118e-02 2.37623728e-02 1.00021466e+02] [ 3.02236730e-02 9.99541082e-01 2.03818996e-03 -6.72442250e+00] [-2.38131508e-02 -1.31849441e-03 9.99715557e-01 -2.64167615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.619072329 meters 0.26201490607604183 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.72, Z:-2.64 [[ 9.99235799e-01 -3.06106220e-02 2.43065350e-02 1.00020682e+02] [ 3.05800537e-02 9.99530994e-01 1.62841404e-03 -6.72320718e+00] [-2.43449819e-02 -8.83874462e-04 9.99703226e-01 -2.64236687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.679072329 meters 0.2615395535993796 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.72, Z:-2.64 [[ 9.99205006e-01 -3.10559536e-02 2.49976886e-02 1.00019672e+02] [ 3.10427574e-02 9.99517638e-01 9.15879116e-04 -6.72077682e+00] [-2.50140742e-02 -1.39153814e-04 9.99687089e-01 -2.64326287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.739072329 meters 0.2650271392340244 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.72, Z:-2.64 [[ 9.99429407e-01 -3.22165965e-02 1.01465200e-02 1.00021567e+02] [ 3.22242397e-02 9.99480490e-01 -5.90650400e-04 -6.71717366e+00] [-1.01222200e-02 9.17277271e-04 9.99948348e-01 -2.64038613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.799072329 meters 0.26428691585511555 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.72, Z:-2.64 [[ 9.99399870e-01 -3.27833502e-02 1.11871642e-02 1.00019803e+02] [ 3.27981016e-02 9.99461350e-01 -1.13763963e-03 -6.71544428e+00] [-1.11438426e-02 1.50387464e-03 9.99936775e-01 -2.64124852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.859072329 meters 0.2685022668653478 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.71, Z:-2.64 [[ 9.99374935e-01 -3.32328838e-02 1.20546211e-02 1.00018422e+02] [ 3.32523733e-02 9.99445978e-01 -1.41990426e-03 -6.71451891e+00] [-1.20007551e-02 1.81986149e-03 9.99926332e-01 -2.64217744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91907232900002 meters 0.26655366950006965 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.71, Z:-2.64 [[ 9.99323972e-01 -3.41988897e-02 1.34920173e-02 1.00015755e+02] [ 3.42290595e-02 9.99411990e-01 -2.01150654e-03 -6.71292445e+00] [-1.34152926e-02 2.47196577e-03 9.99906955e-01 -2.64291037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.979072329 meters 0.5082438017224227 Centerline is valid? [False, False] Translation: X:100.01, Y:-6.71, Z:-2.64 [[ 9.99259104e-01 -3.54474290e-02 1.49907521e-02 1.00012527e+02] [ 3.54986792e-02 9.99364707e-01 -3.16654156e-03 -6.70999746e+00] [-1.48689828e-02 3.69634738e-03 9.99882618e-01 -2.64285665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.039072329 meters 0.5095961280118032 Centerline is valid? [False, False] Translation: X:100.01, Y:-6.71, Z:-2.64 [[ 9.99221558e-01 -3.60421575e-02 1.60387489e-02 1.00010707e+02] [ 3.61057621e-02 9.99341148e-01 -3.69385815e-03 -6.70831649e+00] [-1.58950471e-02 4.27007394e-03 9.99864548e-01 -2.64362328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.099072329 meters 0.5124752844958745 Centerline is valid? [False, False] Translation: X:100.01, Y:-6.71, Z:-2.64 [[ 9.99141291e-01 -3.74084287e-02 1.78126133e-02 1.00007533e+02] [ 3.74928156e-02 9.99287090e-01 -4.42721915e-03 -6.70645707e+00] [-1.76342992e-02 5.09126248e-03 9.99831541e-01 -2.64486341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.159072329 meters 0.5146213295274891 Centerline is valid? [False, False] Translation: X:100.00, Y:-6.70, Z:-2.65 [[ 9.99131535e-01 -3.64348858e-02 2.02157172e-02 1.00001899e+02] [ 3.64921042e-02 9.99330892e-01 -2.46863108e-03 -6.70272618e+00] [-2.01122464e-02 3.20420121e-03 9.99792594e-01 -2.64516901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.219072329 meters 0.5188085643722118 Centerline is valid? [False, False] Translation: X:100.00, Y:-6.70, Z:-2.65 [[ 9.99079424e-01 -3.72064009e-02 2.13538984e-02 9.99997981e+01] [ 3.72761126e-02 9.99300866e-01 -2.87574607e-03 -6.70143898e+00] [-2.12319730e-02 3.66908905e-03 9.99767844e-01 -2.64584366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.279072329 meters 0.5190660823133034 Centerline is valid? [False, False] Translation: X:99.99, Y:-6.70, Z:-2.65 [[ 9.98844438e-01 -4.07539319e-02 2.54736259e-02 9.99906206e+01] [ 4.08579075e-02 9.99158573e-01 -3.57441252e-03 -6.70124197e+00] [-2.53065203e-02 4.61108112e-03 9.99669104e-01 -2.64576256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.339072329 meters 0.5182710966583703 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.70, Z:-2.65 [[ 9.98493770e-01 -4.68271431e-02 2.85903909e-02 9.99844213e+01] [ 4.70574162e-02 9.98864517e-01 -7.43484803e-03 -6.70310574e+00] [-2.82097743e-02 8.76903936e-03 9.99563561e-01 -2.64613620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.399072329 meters 0.5209516766476524 Centerline is valid? [False, False] Translation: X:99.96, Y:-6.70, Z:-2.65 [[ 9.96613660e-01 -7.51790751e-02 3.33064559e-02 9.99626624e+01] [ 7.54754862e-02 9.97117682e-01 -7.73169500e-03 -6.69937145e+00] [-3.26291944e-02 1.02193338e-02 9.99415279e-01 -2.64915136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.459072329 meters 0.5218867644558827 Centerline is valid? [False, False] Translation: X:99.94, Y:-6.69, Z:-2.65 [[ 9.93870522e-01 -1.05087536e-01 3.43219440e-02 9.99383588e+01] [ 1.05420766e-01 9.94395179e-01 -8.04303769e-03 -6.69446681e+00] [-3.32843527e-02 1.16119837e-02 9.99378464e-01 -2.64894622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.519072329 meters 0.5251518648432405 Centerline is valid? [False, False] Translation: X:99.91, Y:-6.69, Z:-2.65 [[ 9.91077563e-01 -1.26915432e-01 4.07153242e-02 9.99107556e+01] [ 1.27199954e-01 9.91867046e-01 -4.46478666e-03 -6.68639827e+00] [-3.98175381e-02 9.60393724e-03 9.99160812e-01 -2.65090991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.579072329 meters 0.528254196035715 Centerline is valid? [False, False] Translation: X:99.87, Y:-6.67, Z:-2.65 [[ 9.86152959e-01 -1.59952414e-01 4.37900220e-02 9.98652446e+01] [ 1.60210626e-01 9.87079862e-01 -2.42922861e-03 -6.66843876e+00] [-4.28356879e-02 9.41121783e-03 9.99037803e-01 -2.65149588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63907232900002 meters 0.4957490697382196 Centerline is valid? [False, False] Translation: X:99.81, Y:-6.65, Z:-2.65 [[ 9.80584514e-01 -1.90934870e-01 4.46977275e-02 9.98138600e+01] [ 1.91101882e-01 9.81570055e-01 5.45992705e-04 -6.64564412e+00] [-4.39781999e-02 8.00642786e-03 9.99000408e-01 -2.64967167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.699072329 meters 0.534680364892406 Centerline is valid? [False, False] Translation: X:99.76, Y:-6.62, Z:-2.65 [[ 9.77373867e-01 -2.06553644e-01 4.55622195e-02 9.97632251e+01] [ 2.06701900e-01 9.78402842e-01 1.48450329e-03 -6.61932439e+00] [-4.48848346e-02 7.96688262e-03 9.98960400e-01 -2.64866558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.759072329 meters 0.5360138669526922 Centerline is valid? [False, False] Translation: X:99.71, Y:-6.59, Z:-2.65 [[ 9.70693988e-01 -2.35514931e-01 4.78110676e-02 9.97051384e+01] [ 2.35678801e-01 9.71828375e-01 2.26092257e-03 -6.58904605e+00] [-4.69966332e-02 9.07339114e-03 9.98853838e-01 -2.64722003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.819072329 meters 0.5657417798250163 Centerline is valid? [False, False] Translation: X:99.65, Y:-6.56, Z:-2.65 [[ 9.67323108e-01 -2.48650370e-01 4.95882824e-02 9.96490969e+01] [ 2.48767907e-01 9.68555330e-01 3.88592312e-03 -6.55703287e+00] [-4.89952315e-02 8.57703001e-03 9.98762185e-01 -2.64633677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.879072329 meters 0.5272434115249408 Centerline is valid? [False, False] Translation: X:99.61, Y:-6.53, Z:-2.65 [[ 9.59624723e-01 -2.76686273e-01 5.06467961e-02 9.96052904e+01] [ 2.76622132e-01 9.60941957e-01 8.41143744e-03 -6.53216000e+00] [-5.09959607e-02 5.93820138e-03 9.98681205e-01 -2.64529574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.939072329 meters 0.527723976461585 Centerline is valid? [False, False] Translation: X:99.55, Y:-6.50, Z:-2.64 [[ 9.53201444e-01 -2.98089782e-01 5.04924563e-02 9.95549752e+01] [ 2.98041653e-01 9.54513625e-01 8.65524483e-03 -6.50004759e+00] [-5.07757776e-02 6.79866327e-03 9.98686937e-01 -2.64252089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.999072329 meters 0.6462358476797082 Centerline is valid? [False, False] Translation: X:99.51, Y:-6.47, Z:-2.64 [[ 9.49918239e-01 -3.08283715e-01 5.11516358e-02 9.95056654e+01] [ 3.08226923e-01 9.51268452e-01 9.19220034e-03 -6.46624622e+00] [-5.14927431e-02 7.03447256e-03 9.98648594e-01 -2.64020166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.059072329 meters 0.5501248918097189 Centerline is valid? [False, False] Translation: X:99.49, Y:-6.45, Z:-2.64 [[ 9.45197205e-01 -3.22596942e-01 5.03334538e-02 9.94865122e+01] [ 3.22535004e-01 9.46509142e-01 9.57156566e-03 -6.45365528e+00] [-5.07288320e-02 7.18728363e-03 9.98686602e-01 -2.63969375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.119072329 meters 0.5686483470879584 Centerline is valid? [False, False] Translation: X:99.47, Y:-6.45, Z:-2.64 [[ 9.47750962e-01 -3.15582566e-01 4.66450311e-02 9.94739031e+01] [ 3.15650669e-01 9.48855913e-01 6.09193527e-03 -6.45450002e+00] [-4.61819221e-02 8.94989775e-03 9.98892952e-01 -2.63563075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.179072329 meters 0.5518254920491669 Centerline is valid? [False, False] Translation: X:99.47, Y:-6.46, Z:-2.64 [[ 9.46847121e-01 -3.17916561e-01 4.90875811e-02 9.94696927e+01] [ 3.17997829e-01 9.48070153e-01 6.35341683e-03 -6.45697938e+00] [-4.85583270e-02 9.59402978e-03 9.98774271e-01 -2.63519852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.239072329 meters 0.5525540861233841 Centerline is valid? [False, False] Translation: X:99.47, Y:-6.46, Z:-2.63 [[ 9.46305062e-01 -3.19596310e-01 4.86305319e-02 9.94720967e+01] [ 3.19610185e-01 9.47517829e-01 7.70023093e-03 -6.46199788e+00] [-4.85392614e-02 8.25604579e-03 9.98787153e-01 -2.63342047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.299072329 meters 0.568023332102059 Centerline is valid? [False, False] Translation: X:99.45, Y:-6.46, Z:-2.63 [[ 9.49856920e-01 -3.08959706e-01 4.81220419e-02 9.94515723e+01] [ 3.09008145e-01 9.51036377e-01 6.61639916e-03 -6.46275030e+00] [-4.78100131e-02 8.58547038e-03 9.98819549e-01 -2.63169053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.359072329 meters 0.5415119676036322 Centerline is valid? [False, False] Translation: X:99.45, Y:-6.46, Z:-2.63 [[ 9.51833223e-01 -3.02396780e-01 5.06922398e-02 9.94493176e+01] [ 3.02561504e-01 9.53118877e-01 4.57640364e-03 -6.46266795e+00] [-4.96996204e-02 1.09815473e-02 9.98703837e-01 -2.63225007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41907232900002 meters 0.6499878050748507 Centerline is valid? [False, False] Translation: X:99.45, Y:-6.47, Z:-2.63 [[ 9.55158529e-01 -2.91607718e-01 5.13529251e-02 9.94529786e+01] [ 2.91763060e-01 9.56479507e-01 4.61184762e-03 -6.46674264e+00] [-5.04628709e-02 1.05778410e-02 9.98669919e-01 -2.63239376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.479072329 meters 0.5335650756602288 Centerline is valid? [False, False] Translation: X:99.46, Y:-6.47, Z:-2.63 [[ 9.59200943e-01 -2.78243486e-01 5.01409438e-02 9.94577700e+01] [ 2.78570710e-01 9.60415602e-01 4.80589072e-04 -6.47089862e+00] [-4.82898655e-02 1.35068168e-02 9.98742036e-01 -2.63086447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.539072329 meters 0.5152487637187867 Centerline is valid? [False, False] Translation: X:99.46, Y:-6.47, Z:-2.63 [[ 9.63412728e-01 -2.63419640e-01 4.94571487e-02 9.94591011e+01] [ 2.63870048e-01 9.64554481e-01 -2.69260861e-03 -6.47067665e+00] [-4.69948284e-02 1.56443536e-02 9.98772617e-01 -2.62906007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.599072329 meters 0.5103722217732893 Centerline is valid? [False, False] Translation: X:99.46, Y:-6.47, Z:-2.63 [[ 9.68014803e-01 -2.46221629e-01 4.81897383e-02 9.94589766e+01] [ 2.46707676e-01 9.69080320e-01 -4.31932084e-03 -6.47000784e+00] [-4.56362168e-02 1.60699448e-02 9.98828861e-01 -2.62677461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.659072329 meters 0.5197821031003659 Centerline is valid? [False, False] Translation: X:99.46, Y:-6.47, Z:-2.63 [[ 9.71994893e-01 -2.30313967e-01 4.67055080e-02 9.94612023e+01] [ 2.30873568e-01 9.72959364e-01 -6.88992327e-03 -6.47015759e+00] [-4.38557158e-02 1.74800375e-02 9.98884941e-01 -2.62552405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.719072329 meters 0.5157777968087209 Centerline is valid? [False, False] Translation: X:99.47, Y:-6.47, Z:-2.63 [[ 9.75674100e-01 -2.14671315e-01 4.44553474e-02 9.94685595e+01] [ 2.15303026e-01 9.76497211e-01 -9.88960228e-03 -6.47461162e+00] [-4.12875089e-02 1.92203996e-02 9.98962421e-01 -2.62606962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.779072329 meters 0.5068528833771693 Centerline is valid? [False, False] Translation: X:99.47, Y:-6.47, Z:-2.62 [[ 9.79541233e-01 -1.96962198e-01 4.12900097e-02 9.94720137e+01] [ 1.97608224e-01 9.80205700e-01 -1.21563135e-02 -6.47451023e+00] [-3.80783686e-02 2.00668558e-02 9.99073250e-01 -2.62365424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.839072329 meters Centerline is valid? [False, False] Translation: X:99.49, Y:-6.48, Z:-2.63 [[ 9.84124668e-01 -1.72428706e-01 4.20354563e-02 9.94894568e+01] [ 1.73164854e-01 9.84785776e-01 -1.45226705e-02 -6.48002517e+00] [-3.88917942e-02 2.15711819e-02 9.99010567e-01 -2.62598538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.899072329 meters Centerline is valid? [False, False] Translation: X:99.50, Y:-6.48, Z:-2.63 [[ 9.86998741e-01 -1.55713826e-01 3.98332838e-02 9.94984733e+01] [ 1.56483947e-01 9.87534390e-01 -1.69883254e-02 -6.48318483e+00] [-3.66914205e-02 2.30007252e-02 9.99061913e-01 -2.62823468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.959072329 meters Centerline is valid? [False, False] Translation: X:99.50, Y:-6.48, Z:-2.63 [[ 9.89671037e-01 -1.38526640e-01 3.68999881e-02 9.95032574e+01] [ 1.39324585e-01 9.90044818e-01 -1.99979488e-02 -6.48319924e+00] [-3.37623934e-02 2.49324663e-02 9.99118848e-01 -2.62749877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.019072329 meters Centerline is valid? [False, False] Translation: X:99.52, Y:-6.49, Z:-2.63 [[ 9.92799586e-01 -1.13287785e-01 3.89211961e-02 9.95191279e+01] [ 1.14203822e-01 9.93209893e-01 -2.21719416e-02 -6.48808194e+00] [-3.61451069e-02 2.64572438e-02 9.98996269e-01 -2.62821587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.079072329 meters Centerline is valid? [False, False] /app/lidar_slam/slicer/lidar_slice_maker.py:45: RuntimeWarning: divide by zero encountered in scalar divide num_point_20_cm = int(0.2 / (total_centerline_len / len(centerline))) Traceback (most recent call last): File "/app/lidar_slam/__main__.py", line 321, in main slice_2d = Slice_2D.make_2d_slice_of_frame( ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/app/lidar_slam/slicer/lidar_slice_maker.py", line 45, in make_2d_slice_of_frame num_point_20_cm = int(0.2 / (total_centerline_len / len(centerline))) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ OverflowError: cannot convert float infinity to integer