+ python -m lidar_slam --no-model /working/1f219b02-5278-45ed-9747-10bbed87cf76 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/1f219b02-5278-45ed-9747-10bbed87cf76 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 0.013201008 Adjusted end_distance from 9.223372036854776e+18 to 154.573201008 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.013201008 meters 0.11168440180912623 Centerline is valid? [0, False] SLAMing on 0.073201008 meters 0.12108270045672857 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99977255e-01 -5.26738977e-04 -6.72403317e-03 1.48628176e-02] [ 4.99978549e-04 9.99991951e-01 -3.98087878e-03 2.69186038e-02] [ 6.72607594e-03 3.97742636e-03 9.99969470e-01 -8.08837761e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.133201008 meters 0.14575931973305928 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.00 [[ 9.99933709e-01 7.33847742e-04 -1.14908477e-02 2.90647003e-02] [-7.95746936e-04 9.99985194e-01 -5.38318063e-03 7.39433820e-02] [ 1.14867271e-02 5.39196758e-03 9.99919488e-01 -3.95549551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.193201008 meters 0.16549904533632284 Centerline is valid? [False, False] Translation: X:0.03, Y:0.10, Z:-0.00 [[ 9.99950084e-01 7.17171494e-04 -9.96566662e-03 2.57613956e-02] [-7.46752037e-04 9.99995326e-01 -2.96484136e-03 1.00075720e-01] [ 9.96349374e-03 2.97213525e-03 9.99945946e-01 -3.81485622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.253201008 meters 0.1861521926454594 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.01 [[ 9.99998903e-01 1.13807407e-03 -9.48296042e-04 3.50925144e-02] [-1.14548736e-03 9.99968501e-01 -7.85396213e-03 1.34673454e-01] [ 9.39327781e-04 7.85503977e-03 9.99968708e-01 -8.06836349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.313201008 meters 0.1936598734353856 Centerline is valid? [False, False] Translation: X:0.04, Y:0.15, Z:-0.01 [[ 0.99999389 0.00164814 -0.00308214 0.04017697] [-0.00166933 0.99997491 -0.00688385 0.15264401] [ 0.00307071 0.00688895 0.99997156 -0.00799406] [ 0. 0. 0. 1. ]] SLAMing on 0.373201008 meters 0.19339212743888065 Centerline is valid? [False, False] Translation: X:0.04, Y:0.17, Z:-0.01 [[ 9.99991784e-01 9.12077900e-05 -4.05254191e-03 4.13777560e-02] [-1.14728795e-04 9.99983149e-01 -5.80415942e-03 1.74605995e-01] [ 4.05194424e-03 5.80457667e-03 9.99974944e-01 -6.23481443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.433201008 meters 0.2167528668603159 Centerline is valid? [False, False] Translation: X:0.04, Y:0.19, Z:-0.00 [[ 0.99998406 0.00163936 -0.00540381 0.04299453] [-0.00166496 0.9999874 -0.00473653 0.18675597] [ 0.00539598 0.00474545 0.99997418 -0.00430991] [ 0. 0. 0. 1. ]] SLAMing on 0.493201008 meters 0.20903830002448964 Centerline is valid? [False, False] Translation: X:0.05, Y:0.20, Z:-0.00 [[ 0.99997326 0.00297174 -0.00668144 0.04625724] [-0.0030014 0.99998567 -0.00443359 0.19927904] [ 0.00666817 0.00445352 0.99996785 -0.00456338] [ 0. 0. 0. 1. ]] SLAMing on 0.553201008 meters 0.2165564208333435 Centerline is valid? [False, False] Translation: X:0.05, Y:0.22, Z:-0.01 [[ 0.99994946 0.00636077 -0.00778551 0.05243765] [-0.0064277 0.99994234 -0.00860198 0.21644468] [ 0.00773035 0.00865159 0.99993269 -0.01318301] [ 0. 0. 0. 1. ]] SLAMing on 0.613201008 meters 0.21471163106402322 Centerline is valid? [False, False] Translation: X:0.06, Y:0.23, Z:-0.01 [[ 0.99987579 0.01204499 -0.01016514 0.05732287] [-0.01207198 0.99992376 -0.00259798 0.23067309] [ 0.01013308 0.00272037 0.99994496 -0.0117916 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6732010079999999 meters 0.21639566700859672 Centerline is valid? [False, False] Translation: X:0.07, Y:0.24, Z:-0.01 [[ 9.99932722e-01 1.14196326e-02 -2.03558137e-03 6.86650117e-02] [-1.14209406e-02 9.99934579e-01 -6.32118161e-04 2.38174475e-01] [ 2.02822964e-03 6.55323887e-04 9.99997728e-01 -1.04185108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.733201008 meters 0.21809589161173204 Centerline is valid? [False, False] Translation: X:0.07, Y:0.24, Z:-0.01 [[ 0.99995419 0.00940075 -0.00180054 0.07084833] [-0.00940791 0.99994772 -0.00400685 0.24385168] [ 0.00176278 0.0040236 0.99999035 -0.01343572] [ 0. 0. 0. 1. ]] SLAMing on 0.793201008 meters 0.2124721355570707 Centerline is valid? [False, False] Translation: X:0.07, Y:0.25, Z:-0.02 [[ 0.99993483 0.01125624 -0.0019072 0.07380071] [-0.01126213 0.99993175 -0.00310641 0.24921838] [ 0.00187211 0.00312769 0.99999336 -0.01662235] [ 0. 0. 0. 1. ]] SLAMing on 0.853201008 meters 0.21143428937462147 Centerline is valid? [False, False] Translation: X:0.08, Y:0.26, Z:-0.02 [[ 0.99990921 0.01330998 -0.0021017 0.07571309] [-0.0133147 0.99990883 -0.00224876 0.25636137] [ 0.00207158 0.00227654 0.99999526 -0.01808989] [ 0. 0. 0. 1. ]] SLAMing on 0.9132010079999999 meters 0.20592237168834693 Centerline is valid? [False, False] Translation: X:0.07, Y:0.26, Z:-0.02 [[ 0.99991803 0.01258526 -0.00235585 0.07492231] [-0.01259439 0.99991306 -0.00390439 0.26139873] [ 0.00230651 0.00393374 0.9999896 -0.01608963] [ 0. 0. 0. 1. ]] SLAMing on 0.973201008 meters 0.20105981573279164 Centerline is valid? [False, False] Translation: X:0.08, Y:0.26, Z:-0.02 [[ 0.99992195 0.01222603 -0.00257129 0.07517361] [-0.01223761 0.99991482 -0.00453774 0.26301699] [ 0.00251559 0.00456885 0.9999864 -0.01577689] [ 0. 0. 0. 1. ]] SLAMing on 1.033201008 meters 0.1989265645632842 Centerline is valid? [False, False] Translation: X:0.08, Y:0.27, Z:-0.02 [[ 0.99993527 0.01106134 -0.00266374 0.07726636] [-0.01107811 0.99991836 -0.00636775 0.2655815 ] [ 0.00259308 0.00639685 0.99997618 -0.01816321] [ 0. 0. 0. 1. ]] SLAMing on 1.093201008 meters 0.19112309757711157 Centerline is valid? [False, False] Translation: X:0.08, Y:0.27, Z:-0.02 [[ 0.99989438 0.01426922 -0.00275939 0.0792701 ] [-0.01427981 0.9998906 -0.00385648 0.26823838] [ 0.00270406 0.00389548 0.99998876 -0.02032182] [ 0. 0. 0. 1. ]] SLAMing on 1.153201008 meters 0.17511452580354517 Centerline is valid? [False, False] Translation: X:0.08, Y:0.27, Z:-0.02 [[ 0.99970808 0.02405138 -0.00229997 0.07874535] [-0.02404257 0.99970378 0.00378336 0.27236299] [ 0.00239028 -0.00372696 0.9999902 -0.02000655] [ 0. 0. 0. 1. ]] SLAMing on 1.213201008 meters 0.16267433431316236 Centerline is valid? [False, False] Translation: X:0.08, Y:0.28, Z:-0.02 [[ 0.9995658 0.02938689 -0.00215097 0.07897882] [-0.02936951 0.9995389 0.00770896 0.27506655] [ 0.00237652 -0.00764244 0.99996797 -0.02041806] [ 0. 0. 0. 1. ]] SLAMing on 1.273201008 meters 0.16336141051498046 Centerline is valid? [False, False] Translation: X:0.08, Y:0.27, Z:-0.02 [[ 0.99945602 0.03286061 -0.00279954 0.08224438] [-0.03282857 0.99940254 0.01080993 0.27167296] [ 0.00315309 -0.01071214 0.99993765 -0.02339866] [ 0. 0. 0. 1. ]] SLAMing on 1.3332010079999999 meters 0.16066304635255318 Centerline is valid? [False, False] Translation: X:0.08, Y:0.26, Z:-0.02 [[ 0.99954773 0.02990716 -0.00314693 0.08284514] [-0.02987659 0.99950987 0.00934877 0.26412366] [ 0.00342498 -0.00925053 0.99995135 -0.02365727] [ 0. 0. 0. 1. ]] SLAMing on 1.393201008 meters 0.16792059823726105 Centerline is valid? [False, False] Translation: X:0.08, Y:0.25, Z:-0.02 [[ 0.99969154 0.02460643 -0.00337024 0.08099471] [-0.02457884 0.99966592 0.00799612 0.24849062] [ 0.00356587 -0.00791082 0.99996235 -0.02007774] [ 0. 0. 0. 1. ]] SLAMing on 1.453201008 meters 0.15391608888053285 Centerline is valid? [False, False] Translation: X:0.08, Y:0.24, Z:-0.02 [[ 0.99975605 0.02188382 -0.00298905 0.07874612] [-0.02186045 0.99973185 0.00763853 0.23742579] [ 0.00315541 -0.00757133 0.99996636 -0.01764515] [ 0. 0. 0. 1. ]] SLAMing on 1.513201008 meters 0.15056800476135626 Centerline is valid? [False, False] Translation: X:0.08, Y:0.22, Z:-0.01 [[ 0.9997837 0.02061801 -0.00272901 0.07736412] [-0.02059111 0.99974243 0.00954357 0.21872871] [ 0.00292507 -0.00948532 0.99995074 -0.01490453] [ 0. 0. 0. 1. ]] SLAMing on 1.573201008 meters 0.14568219889229567 Centerline is valid? [False, False] Translation: X:0.08, Y:0.21, Z:-0.01 [[ 0.99988753 0.0148121 -0.00235022 0.07566575] [-0.0147981 0.9998733 0.00586597 0.20858216] [ 0.00243681 -0.00583053 0.99998003 -0.01315706] [ 0. 0. 0. 1. ]] SLAMing on 1.633201008 meters 0.13519568857636752 Centerline is valid? [False, False] Translation: X:0.07, Y:0.19, Z:-0.01 [[ 0.99996384 0.00840943 -0.00126753 0.07402144] [-0.00840458 0.99995752 0.0037854 0.19347333] [ 0.00129931 -0.00377461 0.99999203 -0.01314125] [ 0. 0. 0. 1. ]] SLAMing on 1.693201008 meters 0.13189667323979845 Centerline is valid? [False, False] Translation: X:0.07, Y:0.18, Z:-0.01 [[ 9.99987779e-01 4.84506752e-03 -9.83400530e-04 7.44895587e-02] [-4.84323233e-03 9.99986542e-01 1.86004439e-03 1.84902119e-01] [ 9.92399335e-04 -1.85525882e-03 9.99997787e-01 -1.42671740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.753201008 meters 0.12255516753885008 Centerline is valid? [False, False] Translation: X:0.08, Y:0.16, Z:-0.02 [[ 9.99997708e-01 -4.40401172e-04 -2.09540917e-03 7.84841801e-02] [ 4.38279561e-04 9.99999391e-01 -1.01285598e-03 1.64670383e-01] [ 2.09585395e-03 1.01193528e-03 9.99997292e-01 -1.60435720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8132010079999998 meters 0.11638686392799956 Centerline is valid? [False, False] Translation: X:0.08, Y:0.16, Z:-0.02 [[ 0.99999479 -0.00255307 -0.00197329 0.07884248] [ 0.00255096 0.99999617 -0.00107488 0.15506472] [ 0.00197603 0.00106984 0.99999748 -0.01648899] [ 0. 0. 0. 1. ]] SLAMing on 1.873201008 meters 0.11871942026396452 Centerline is valid? [False, False] Translation: X:0.08, Y:0.14, Z:-0.02 [[ 0.99999547 -0.00207106 -0.00218436 0.08175705] [ 0.00207361 0.99999717 0.0011657 0.14095309] [ 0.00218194 -0.00117022 0.99999693 -0.0193789 ] [ 0. 0. 0. 1. ]] SLAMing on 1.933201008 meters 0.10729202282356877 Centerline is valid? [False, False] Translation: X:0.08, Y:0.13, Z:-0.02 [[ 0.99999462 -0.00250677 -0.00211355 0.08344726] [ 0.00251129 0.99999456 0.00213635 0.12992578] [ 0.00210819 -0.00214165 0.99999548 -0.02151035] [ 0. 0. 0. 1. ]] SLAMing on 1.993201008 meters 0.10359594195247276 Centerline is valid? [False, False] Translation: X:0.09, Y:0.12, Z:-0.02 [[ 0.99999533 -0.00214638 -0.00217429 0.08500051] [ 0.00215433 0.99999097 0.00366296 0.11771464] [ 0.0021664 -0.00366762 0.99999093 -0.02290529] [ 0. 0. 0. 1. ]] SLAMing on 2.053201008 meters 0.10399145385737238 Centerline is valid? [False, False] Translation: X:0.09, Y:0.10, Z:-0.02 [[ 0.99999249 0.00349037 -0.00168388 0.0857928 ] [-0.00347264 0.9999397 0.01041842 0.10207289] [ 0.00172014 -0.01041249 0.99994431 -0.02425782] [ 0. 0. 0. 1. ]] SLAMing on 2.113201008 meters 0.1071277296298885 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:-0.03 [[ 0.99999748 0.00140405 -0.00175152 0.08786077] [-0.0013869 0.99995149 0.00975162 0.08797382] [ 0.00176513 -0.00974917 0.99995092 -0.02622802] [ 0. 0. 0. 1. ]] SLAMing on 2.173201008 meters 0.10232418238748801 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-0.03 [[ 9.99993366e-01 5.81547047e-04 -3.59570261e-03 9.51622470e-02] [-5.54880697e-04 9.99972371e-01 7.41272737e-03 6.13446757e-02] [ 3.59991412e-03 -7.41068301e-03 9.99966061e-01 -2.86396090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2332010079999995 meters 0.09479145681969403 Centerline is valid? [False, True] Translation: X:0.10, Y:0.05, Z:-0.03 [[ 0.99998311 -0.00501317 -0.00293946 0.09505698] [ 0.00502729 0.99997576 0.00481826 0.04817003] [ 0.00291523 -0.00483295 0.99998407 -0.02942717] [ 0. 0. 0. 1. ]] SLAMing on 2.2932010079999996 meters 0.09214286127392994 Centerline is valid? [True, True] Translation: X:0.16, Y:0.03, Z:-0.04 [[ 9.99966172e-01 -7.69132213e-03 2.91517381e-03 1.55265892e-01] [ 7.69085903e-03 9.99970410e-01 1.70036779e-04 2.51555910e-02] [-2.91639536e-03 -1.47610836e-04 9.99995736e-01 -3.57424640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3532010079999996 meters 0.0897059081329681 Centerline is valid? [True, True] Translation: X:0.22, Y:0.01, Z:-0.03 [[ 9.99915998e-01 -7.69444147e-03 1.04303737e-02 2.16938790e-01] [ 7.68844943e-03 9.99970255e-01 6.14457156e-04 9.85387458e-03] [-1.04347914e-02 -5.34212139e-04 9.99945413e-01 -3.47238905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4132010079999997 meters 0.09346073501704977 Centerline is valid? [True, True] Translation: X:0.28, Y:0.00, Z:-0.04 [[ 9.99915574e-01 -1.29599177e-03 1.29292721e-02 2.77993511e-01] [ 1.28623262e-03 9.99998882e-01 7.63097086e-04 7.11599536e-04] [-1.29302466e-02 -7.46402609e-04 9.99916122e-01 -3.97996092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4732010079999998 meters 0.09314261197881724 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.00, Z:-0.05 [[ 0.99980858 0.00161236 0.01949865 0.3387181 ] [-0.00163509 0.999998 0.00114966 -0.00211474] [-0.01949676 -0.00118132 0.99980922 -0.04667029] [ 0. 0. 0. 1. ]] SLAMing on 2.533201008 meters 0.08880402876301169 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.02, Z:-0.05 [[ 0.99953191 0.00299407 0.03044676 0.40080571] [-0.00305009 0.99999374 0.00179371 -0.02003004] [-0.0304412 -0.00188574 0.99953478 -0.04662263] [ 0. 0. 0. 1. ]] SLAMing on 2.593201008 meters 0.0807863931504493 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.05, Z:-0.04 [[ 9.99491095e-01 4.04603791e-04 3.18965144e-02 4.63952459e-01] [-4.64758138e-04 9.99998128e-01 1.87853085e-03 -4.81435854e-02] [-3.18956946e-02 -1.89239902e-03 9.99489411e-01 -3.97190442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6532010079999995 meters 0.07757836786536823 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.07, Z:-0.04 [[ 0.99904164 -0.00523578 0.04345554 0.52607483] [ 0.00512947 0.99998357 0.00255749 -0.06787633] [-0.04346822 -0.00233213 0.99905209 -0.04117509] [ 0. 0. 0. 1. ]] SLAMing on 2.7132010079999995 meters 0.07428901267851575 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.08, Z:-0.04 [[ 0.99840447 -0.00995793 0.05558202 0.58748884] [ 0.00979124 0.99994672 0.00327056 -0.08127069] [-0.05561162 -0.00272112 0.99844877 -0.04036715] [ 0. 0. 0. 1. ]] SLAMing on 2.7732010079999996 meters 0.07171270507618856 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.10, Z:-0.04 [[ 0.99780673 -0.01850812 0.06355461 0.64872339] [ 0.0183074 0.99982541 0.00373915 -0.09894337] [-0.06361272 -0.00256743 0.99797136 -0.0429109 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8332010079999996 meters 0.06896918778092649 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.11, Z:-0.05 [[ 0.99697542 -0.02810229 0.07245884 0.70962782] [ 0.02786644 0.99960256 0.00426401 -0.1077868 ] [-0.07254987 -0.00223194 0.99736229 -0.04758367] [ 0. 0. 0. 1. ]] SLAMing on 2.8932010079999997 meters 0.0682695443555594 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.11, Z:-0.05 [[ 0.9969489 -0.03160194 0.07137378 0.77114419] [ 0.03138205 0.99949864 0.00420043 -0.11111621] [-0.07147074 -0.00194776 0.9974408 -0.05316207] [ 0. 0. 0. 1. ]] SLAMing on 2.9532010079999997 meters 0.06689246947807163 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.13, Z:-0.06 [[ 9.96759952e-01 -4.40854391e-02 6.72760891e-02 8.31909759e-01] [ 4.39186573e-02 9.99027275e-01 3.95678888e-03 -1.28332609e-01] [-6.73850847e-02 -9.89293190e-04 9.97726552e-01 -5.87548835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.013201008 meters 0.06535571741050955 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.14, Z:-0.06 [[ 9.96098404e-01 -5.14408162e-02 7.17064288e-02 8.93458591e-01] [ 5.12702700e-02 9.98675907e-01 4.21816618e-03 -1.36733989e-01] [-7.18284687e-02 -5.25300638e-04 9.97416861e-01 -6.24479814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.073201008 meters 0.06508980284085057 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.13, Z:-0.07 [[ 9.95858511e-01 -5.04216748e-02 7.56536856e-02 9.56171670e-01] [ 5.02290647e-02 9.98727820e-01 4.44773775e-03 -1.29901225e-01] [-7.57817029e-02 -6.29303624e-04 9.97124234e-01 -6.70611708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.133201008 meters 0.06504950430942759 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.12, Z:-0.07 [[ 9.96175518e-01 -4.55337595e-02 7.45722067e-02 1.01778129e+00] [ 4.53334859e-02 9.98962320e-01 4.37698255e-03 -1.19240196e-01] [-7.46941251e-02 -9.79624778e-04 9.97206011e-01 -7.44642141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1932010079999995 meters 0.06567433850012966 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.11, Z:-0.08 [[ 0.9966516 -0.04021432 0.07119263 1.07920075] [ 0.04001858 0.99919022 0.00417428 -0.10923044] [-0.07130284 -0.00131128 0.99745385 -0.08268599] [ 0. 0. 0. 1. ]] SLAMing on 3.2532010079999996 meters 0.06585309111482313 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.10, Z:-0.09 [[ 0.99669242 -0.03698106 0.07236446 1.14044555] [ 0.0367706 0.99931474 0.00423883 -0.10043401] [-0.07247163 -0.00156393 0.99736925 -0.08821588] [ 0. 0. 0. 1. ]] SLAMing on 3.3132010079999996 meters 0.06602708816318743 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.09, Z:-0.09 [[ 0.99688132 -0.03425459 0.0710933 1.2021657 ] [ 0.03404565 0.99941167 0.00414911 -0.09159405] [-0.0711936 -0.00171576 0.99746104 -0.09441492] [ 0. 0. 0. 1. ]] SLAMing on 3.3732010079999997 meters 0.06627048957105905 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.08, Z:-0.10 [[ 0.99704654 -0.03386333 0.06893093 1.2635263 ] [ 0.03366699 0.99942507 0.0040085 -0.08370289] [-0.06902704 -0.00167596 0.99761338 -0.10120042] [ 0. 0. 0. 1. ]] SLAMing on 3.4332010079999997 meters 0.06465754634527855 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.08, Z:-0.11 [[ 9.97027010e-01 -4.32158328e-02 6.37928927e-02 1.32498462e+00] [ 4.30677290e-02 9.99065320e-01 3.69556466e-03 -8.31450953e-02] [-6.38929736e-02 -9.37162766e-04 9.97956317e-01 -1.12002708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4932010079999998 meters 0.06364176965507766 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.09, Z:-0.12 [[ 9.96664569e-01 -5.32341761e-02 6.18535364e-02 1.38619900e+00] [ 5.31144887e-02 9.98582016e-01 3.57880709e-03 -8.75914113e-02] [-6.19563439e-02 -2.81551263e-04 9.98078821e-01 -1.16544825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.553201008 meters 0.06455098273198684 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.10, Z:-0.12 [[ 9.95855226e-01 -6.66737471e-02 6.18625926e-02 1.44930380e+00] [ 6.65799777e-02 9.97774675e-01 3.57821475e-03 -9.84280240e-02] [-6.19635012e-02 5.55426174e-04 9.98078261e-01 -1.21863019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6132010079999994 meters 0.06655671155007721 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.10, Z:-0.13 [[ 9.95290650e-01 -7.49507992e-02 6.14727560e-02 1.51040290e+00] [ 7.48743244e-02 9.97186659e-01 3.54989752e-03 -9.78046623e-02] [-6.15658798e-02 1.06955126e-03 9.98102449e-01 -1.28044975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6732010079999995 meters 0.07066405654543169 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.10, Z:-0.14 [[ 9.94742635e-01 -8.36086158e-02 5.91328128e-02 1.56876708e+00] [ 8.35532917e-02 9.96497469e-01 3.41185328e-03 -9.62103939e-02] [-5.92109587e-02 1.54682524e-03 9.98244294e-01 -1.36306991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7332010079999995 meters 0.07548552950293612 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.10, Z:-0.15 [[ 9.94728674e-01 -8.90004875e-02 5.09291538e-02 1.62827553e+00] [ 8.89664147e-02 9.96030287e-01 2.94011012e-03 -9.96911233e-02] [-5.09886509e-02 1.60637238e-03 9.98697941e-01 -1.50083593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7932010079999996 meters 0.07710481730034541 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.09, Z:-0.16 [[ 9.95140068e-01 -8.83075324e-02 4.35663226e-02 1.68606712e+00] [ 8.82819066e-02 9.96092354e-01 2.51559710e-03 -8.74168909e-02] [-4.36182270e-02 1.34274655e-03 9.99047370e-01 -1.63545472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8532010079999996 meters 0.07313406617955835 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.06, Z:-0.17 [[ 9.95812502e-01 -8.06254751e-02 4.30928583e-02 1.74400663e+00] [ 8.05932120e-02 9.96743970e-01 2.48830288e-03 -6.36370578e-02] [-4.31531673e-02 9.95108743e-04 9.99067973e-01 -1.68193258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9132010079999997 meters 0.065626593252798 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.03, Z:-0.15 [[ 9.96383309e-01 -7.13708704e-02 4.61140030e-02 1.80399072e+00] [ 7.13239024e-02 9.97449647e-01 2.66521377e-03 -3.45535968e-02] [-4.61866146e-02 6.33456135e-04 9.98932628e-01 -1.54737304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9732010079999998 meters 0.06395507486567563 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.02, Z:-0.16 [[ 9.96682433e-01 -6.52755865e-02 4.86130136e-02 1.86366456e+00] [ 6.52161502e-02 9.97867206e-01 2.80944991e-03 -2.04619408e-02] [-4.86927205e-02 3.70224229e-04 9.98813737e-01 -1.55001838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.033201008 meters 0.06312812211055689 Centerline is valid? [True, True] Translation: X:1.92, Y:0.00, Z:-0.16 [[ 9.97416287e-01 -5.19682945e-02 4.95988520e-02 1.92312421e+00] [ 5.18898518e-02 9.98648694e-01 2.86873730e-03 1.99113130e-03] [-4.96809122e-02 -2.87648228e-04 9.98765100e-01 -1.58491158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.093201008 meters 0.06468253010774698 Centerline is valid? [True, True] Translation: X:1.98, Y:0.02, Z:-0.17 [[ 9.97970448e-01 -4.38940167e-02 4.61335093e-02 1.98305267e+00] [ 4.38176019e-02 9.99035988e-01 2.66683702e-03 1.72719181e-02] [-4.62060942e-02 -6.39964792e-04 9.98931723e-01 -1.68244682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.153201008 meters 0.06535022003727191 Centerline is valid? [True, True] Translation: X:2.04, Y:0.02, Z:-0.18 [[ 9.98143835e-01 -4.23264958e-02 4.37875763e-02 2.04388746e+00] [ 4.22561906e-02 9.99103604e-01 2.53036062e-03 2.19125866e-02] [-4.38554266e-02 -6.75367687e-04 9.99037660e-01 -1.76410742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.213201008 meters 0.06548666698203943 Centerline is valid? [True, True] Translation: X:2.11, Y:0.02, Z:-0.18 [[ 9.98160429e-01 -4.39023438e-02 4.18131808e-02 2.10592783e+00] [ 4.38396817e-02 9.99035660e-01 2.41482693e-03 1.63728545e-02] [-4.18788752e-02 -5.77308154e-04 9.99122528e-01 -1.83053045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.273201008 meters 0.06592672456730678 Centerline is valid? [True, True] Translation: X:2.17, Y:0.01, Z:-0.19 [[ 9.98264550e-01 -4.43777696e-02 3.87104766e-02 2.16802244e+00] [ 4.43245361e-02 9.99014690e-01 2.23274449e-03 7.40737320e-03] [-3.87714190e-02 -5.13045757e-04 9.99247974e-01 -1.90396948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3332010080000005 meters 0.06686042511606118 Centerline is valid? [True, True] Translation: X:2.23, Y:0.01, Z:-0.20 [[ 9.98392364e-01 -4.18868458e-02 3.81861087e-02 2.22900693e+00] [ 4.18332969e-02 9.99122181e-01 2.20060440e-03 9.47623323e-03] [-3.82447646e-02 -5.99615802e-04 9.99268221e-01 -1.98866584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.393201008 meters 0.06533302652968678 Centerline is valid? [True, True] Translation: X:2.29, Y:0.00, Z:-0.19 [[ 9.98589039e-01 -3.75252722e-02 3.75737197e-02 2.29103524e+00] [ 3.74704569e-02 9.99295397e-01 2.16225987e-03 4.19526162e-03] [-3.76283845e-02 -7.51304558e-04 9.99291519e-01 -1.93265976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.453201008 meters 0.06454923854690604 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.01, Z:-0.19 [[ 9.98436162e-01 -3.94948607e-02 3.95649553e-02 2.35296069e+00] [ 3.94356341e-02 9.99219519e-01 2.27657538e-03 -5.18611395e-03] [-3.96239886e-02 -7.12746085e-04 9.99214407e-01 -1.94898950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.513201008 meters 0.06410710271834894 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.01, Z:-0.20 [[ 9.98301614e-01 -4.39936360e-02 3.81896277e-02 2.41452234e+00] [ 4.39417660e-02 9.99031679e-01 2.19693173e-03 -1.34303383e-02] [-3.82492989e-02 -5.15080806e-04 9.99268095e-01 -2.01876234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.573201008 meters 0.061477124612263866 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.03, Z:-0.19 [[ 9.98163852e-01 -5.08465337e-02 3.29174036e-02 2.47822240e+00] [ 5.08117673e-02 9.98706455e-01 1.89237398e-03 -3.25447542e-02] [-3.29710442e-02 -2.16307845e-04 9.99456284e-01 -1.91222582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.633201008 meters 0.0655122932995733 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.04, Z:-0.22 [[ 9.98195843e-01 -5.26206737e-02 2.89158041e-02 2.53660938e+00] [ 5.25946581e-02 9.98614563e-01 1.66006161e-03 -3.62563610e-02] [-2.89630966e-02 -1.36249767e-04 9.99580472e-01 -2.21670191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.693201008 meters 0.061612513770390134 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.04, Z:-0.20 [[ 9.98060880e-01 -5.44643299e-02 3.01349660e-02 2.59785490e+00] [ 5.44372384e-02 9.98515714e-01 1.71930334e-03 -4.48536593e-02] [-3.01838778e-02 -7.55050753e-05 9.99544360e-01 -1.99545278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7532010080000004 meters 0.060962219100122325 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.05, Z:-0.20 [[ 9.97613984e-01 -5.82232359e-02 3.70997738e-02 2.65750833e+00] [ 5.81839756e-02 9.98303588e-01 2.13795297e-03 -4.93427629e-02] [-3.71613158e-02 2.57605513e-05 9.99309279e-01 -1.99890963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.813201008 meters 0.061358165588062806 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.05, Z:-0.21 [[ 9.97605810e-01 -5.96132695e-02 3.50557528e-02 2.71644308e+00] [ 5.95790953e-02 9.98221545e-01 2.01959101e-03 -4.85972356e-02] [-3.51138021e-02 7.38343083e-05 9.99383318e-01 -2.06313903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.873201008 meters 0.06090924641206565 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.05, Z:-0.21 [[ 9.97716552e-01 -5.65311077e-02 3.69582951e-02 2.77573973e+00] [ 5.64909591e-02 9.98400838e-01 2.13051870e-03 -5.16229726e-02] [-3.70196333e-02 -3.78442350e-05 9.99314538e-01 -2.06488140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.933201008 meters 0.061488570361481934 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.05, Z:-0.21 [[ 9.98165935e-01 -4.90644686e-02 3.54604572e-02 2.83342358e+00] [ 4.90227194e-02 9.98795567e-01 2.04637107e-03 -4.50252331e-02] [-3.55181516e-02 -3.04249849e-04 9.99368985e-01 -2.14017812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.993201008 meters 0.0627945462929285 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.03, Z:-0.22 [[ 9.98775939e-01 -3.43425805e-02 3.55978999e-02 2.89315867e+00] [ 3.42909872e-02 9.99409770e-01 2.05904133e-03 -3.13574257e-02] [-3.56476017e-02 -8.35833810e-04 9.99364073e-01 -2.19338940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.053201008 meters 0.06319445377570428 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.03, Z:-0.22 [[ 9.98766821e-01 -3.10464055e-02 3.87421865e-02 2.95442107e+00] [ 3.09827241e-02 9.99517403e-01 2.24318041e-03 -2.95808064e-02] [-3.87931323e-02 -1.04007570e-03 9.99246722e-01 -2.21386490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.113201008 meters 0.06234764556961991 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.04, Z:-0.22 [[ 9.98369041e-01 -3.73358091e-02 4.31890622e-02 3.01468887e+00] [ 3.72627342e-02 9.99302386e-01 2.49607034e-03 -4.12585001e-02] [-4.32521257e-02 -8.82656811e-04 9.99063799e-01 -2.24829304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.173201008 meters 0.0616141853360041 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.05, Z:-0.23 [[ 9.98093358e-01 -4.45937958e-02 4.26736744e-02 3.07646272e+00] [ 4.45289860e-02 9.99005043e-01 2.46854111e-03 -5.35515210e-02] [-4.27412975e-02 -5.63619036e-04 9.99086014e-01 -2.30261174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.233201008 meters 0.06170469104654828 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.07, Z:-0.24 [[ 9.97831325e-01 -5.33673602e-02 3.85301378e-02 3.13838511e+00] [ 5.33211039e-02 9.98574933e-01 2.22787555e-03 -7.14060800e-02] [-3.85941256e-02 -1.68574533e-04 9.99254955e-01 -2.38099293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.293201008 meters 0.061411432780612306 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.08, Z:-0.24 [[ 9.97739187e-01 -5.60522191e-02 3.70764667e-02 3.19787046e+00] [ 5.60116521e-02 9.98427837e-01 2.13277168e-03 -7.87276151e-02] [-3.71377231e-02 -5.12357262e-05 9.99310156e-01 -2.38552773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.353201008 meters 0.061643094952424565 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.08, Z:-0.24 [[ 9.97880146e-01 -5.38036699e-02 3.66111833e-02 3.25642111e+00] [ 5.37620903e-02 9.98551523e-01 2.11995318e-03 -8.30914854e-02] [-3.66722141e-02 -1.47165453e-04 9.99327337e-01 -2.42770246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.413201008 meters 0.06177491205994857 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.08, Z:-0.25 [[ 9.97976438e-01 -5.14056828e-02 3.74230571e-02 3.31520242e+00] [ 5.13606387e-02 9.98677825e-01 2.16466136e-03 -8.20324706e-02] [-3.74848531e-02 -2.38208918e-04 9.99297168e-01 -2.48606425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.473201008 meters 0.06107318214077617 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.09, Z:-0.25 [[ 9.97846948e-01 -5.22340320e-02 3.96619991e-02 3.37523723e+00] [ 5.21834725e-02 9.98634844e-01 2.30965496e-03 -8.91208970e-02] [-3.97284968e-02 -2.34981319e-04 9.99210484e-01 -2.45161143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.533201008 meters 0.06101277885289337 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.09, Z:-0.25 [[ 9.97593950e-01 -5.67466754e-02 3.98261951e-02 3.43393974e+00] [ 5.66994232e-02 9.98388608e-01 2.31588037e-03 -9.46684366e-02] [-3.98934380e-02 -5.21859595e-05 9.99203939e-01 -2.49557823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.593201008 meters 0.06136981448075896 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.11, Z:-0.25 [[ 9.96991702e-01 -6.63072239e-02 4.01360013e-02 3.49337807e+00] [ 6.62665834e-02 9.97799202e-01 2.34356612e-03 -1.06354850e-01] [-4.02030654e-02 3.23159703e-04 9.99191478e-01 -2.52393570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.653201008 meters 0.061891532875856456 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.11, Z:-0.26 [[ 9.96551985e-01 -7.13112817e-02 4.24127709e-02 3.55191088e+00] [ 7.12699441e-02 9.97453962e-01 2.48784003e-03 -1.11078654e-01] [-4.24821974e-02 5.43493896e-04 9.99097076e-01 -2.57075060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.713201008 meters 0.06114108134735916 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.11, Z:-0.25 [[ 9.96269479e-01 -7.33125060e-02 4.55236424e-02 3.61157475e+00] [ 7.32664216e-02 9.97308797e-01 2.68228758e-03 -1.14185447e-01] [-4.55977743e-02 6.63073127e-04 9.98959661e-01 -2.54059367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.773201008 meters 0.06121473967190384 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.11, Z:-0.26 [[ 9.96625297e-01 -7.03334300e-02 4.23228743e-02 3.66916711e+00] [ 7.02905474e-02 9.97523422e-01 2.50233725e-03 -1.05967595e-01] [-4.23940563e-02 4.81005394e-04 9.99100852e-01 -2.64176483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.833201008 meters 0.061311934236916554 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.10, Z:-0.27 [[ 9.96811279e-01 -6.92955773e-02 3.95651078e-02 3.72744706e+00] [ 6.92569570e-02 9.97596092e-01 2.34755420e-03 -1.01805270e-01] [-3.96326720e-02 4.00090468e-04 9.99214237e-01 -2.69154199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.893201008 meters 0.061562391624348414 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.10, Z:-0.28 [[ 9.97018521e-01 -6.60077869e-02 3.99629983e-02 3.78473155e+00] [ 6.59651020e-02 9.97819075e-01 2.38722080e-03 -1.00618780e-01] [-4.00334172e-02 2.56059908e-04 9.99198309e-01 -2.75433230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.953201008 meters 0.061252003425027964 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.09, Z:-0.28 [[ 9.97332872e-01 -6.14793360e-02 3.93374389e-02 3.84225807e+00] [ 6.14346013e-02 9.98108354e-01 2.34614932e-03 -9.26093129e-02] [-3.94072661e-02 7.67880291e-05 9.99223229e-01 -2.80945381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.013201008 meters 0.06135236485056383 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.09, Z:-0.29 [[ 9.97543158e-01 -5.68270010e-02 4.09675556e-02 3.89965237e+00] [ 5.67737642e-02 9.98384032e-01 2.46269045e-03 -8.62664057e-02] [-4.10413006e-02 -1.30757664e-04 9.99157442e-01 -2.88728755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.073201008 meters 0.06148104701349327 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.09, Z:-0.29 [[ 9.97375788e-01 -5.78429821e-02 4.35399491e-02 3.95794184e+00] [ 5.77836239e-02 9.98325688e-01 2.62167113e-03 -8.93965574e-02] [-4.36186950e-02 -9.88952644e-05 9.99048247e-01 -2.90741517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.133201008 meters 0.06116208778273992 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.09, Z:-0.29 [[ 9.97059472e-01 -6.19934336e-02 4.50468944e-02 4.01708840e+00] [ 6.19341614e-02 9.98076554e-01 2.71162308e-03 -9.06238925e-02] [-4.51283519e-02 8.62921550e-05 9.98981193e-01 -2.92197175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.193201008 meters 0.06180308700588163 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.10, Z:-0.30 [[ 9.96510888e-01 -6.86817188e-02 4.74222722e-02 4.07532262e+00] [ 6.86227994e-02 9.97638545e-01 2.87129201e-03 -9.96718773e-02] [-4.75074919e-02 3.92975327e-04 9.98870804e-01 -2.96023432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2532010080000004 meters 0.06123385690559471 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.10, Z:-0.30 [[ 9.96294864e-01 -7.09001640e-02 4.86796645e-02 4.13463071e+00] [ 7.08407228e-02 9.97483285e-01 2.94743583e-03 -9.74805013e-02] [-4.87661254e-02 5.11987443e-04 9.98810094e-01 -2.96414664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.313201008 meters 0.06181573990162797 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.10, Z:-0.31 [[ 9.96524115e-01 -7.08047136e-02 4.38905600e-02 4.19397307e+00] [ 7.07556248e-02 9.97490099e-01 2.67288580e-03 -9.69269928e-02] [-4.39696519e-02 4.41908832e-04 9.99032769e-01 -3.07260497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.373201008 meters 0.062041035816718514 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.10, Z:-0.31 [[ 9.96808507e-01 -6.88873051e-02 4.03403019e-02 4.25343787e+00] [ 6.88442209e-02 9.97624394e-01 2.45786468e-03 -9.60727083e-02] [-4.04137849e-02 3.27176240e-04 9.99182976e-01 -3.14299362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.433201008 meters 0.062091271979553005 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.09, Z:-0.32 [[ 9.96958546e-01 -6.65013898e-02 4.06352493e-02 4.31211836e+00] [ 6.64559206e-02 9.97786304e-01 2.47022081e-03 -9.28272070e-02] [-4.07095683e-02 2.37745155e-04 9.99170994e-01 -3.21246919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.493201008 meters 0.06177717960585336 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.09, Z:-0.32 [[ 9.96937731e-01 -6.53841325e-02 4.28961094e-02 4.37096401e+00] [ 6.53317162e-02 9.97860151e-01 2.62418667e-03 -8.90647463e-02] [-4.29758983e-02 1.86325739e-04 9.99076092e-01 -3.21907940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.553201008 meters 0.06173002203940554 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.09, Z:-0.32 [[ 9.96698958e-01 -6.63794031e-02 4.67435759e-02 4.43057600e+00] [ 6.63180344e-02 9.97794425e-01 2.86419191e-03 -9.07131889e-02] [-4.68306028e-02 2.45204980e-04 9.98902815e-01 -3.22793134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.613201008 meters 0.06131156761254529 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.09, Z:-0.32 [[ 9.96546819e-01 -6.86030179e-02 4.67767470e-02 4.48974330e+00] [ 6.85442179e-02 9.97643975e-01 2.86178710e-03 -8.83812023e-02] [-4.68628671e-02 3.54370710e-04 9.98901269e-01 -3.24973627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.673201008 meters 0.06198671270915965 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.09, Z:-0.34 [[ 9.96738993e-01 -6.69108843e-02 4.51033638e-02 4.54664961e+00] [ 6.68538631e-02 9.97758924e-01 2.77317905e-03 -8.54045984e-02] [-4.51878396e-02 2.51198414e-04 9.98978476e-01 -3.38833739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.733201008 meters 0.06134466257064912 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.08, Z:-0.34 [[ 9.96870874e-01 -6.52006336e-02 4.46915911e-02 4.60476855e+00] [ 6.51428767e-02 9.97872160e-01 2.74907769e-03 -8.05337666e-02] [-4.47757361e-02 1.70863324e-04 9.98997049e-01 -3.39116130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.793201008 meters 0.06143179521371479 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.08, Z:-0.35 [[ 9.97225766e-01 -6.08882020e-02 4.28181959e-02 4.66245166e+00] [ 6.08304855e-02 9.98144591e-01 2.65078777e-03 -7.55403972e-02] [-4.29001524e-02 -3.87822226e-05 9.99079364e-01 -3.46678422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.853201008 meters 0.061794431582691337 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.07, Z:-0.36 [[ 9.97954767e-01 -5.06921617e-02 3.89433891e-02 4.72191515e+00] [ 5.06364329e-02 9.98714229e-01 2.41667610e-03 -6.52361347e-02] [-3.90158234e-02 -4.39779122e-04 9.99238496e-01 -3.56054649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.913201008 meters 0.06234405652438832 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.06, Z:-0.36 [[ 9.98299807e-01 -4.13173502e-02 4.11141420e-02 4.77937792e+00] [ 4.12474712e-02 9.99145715e-01 2.54683327e-03 -5.88895248e-02] [-4.11842472e-02 -8.46648779e-04 9.99151210e-01 -3.60671508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.973201008 meters 0.06128449300998041 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.06, Z:-0.36 [[ 9.98231895e-01 -3.83007449e-02 4.54547872e-02 4.83988028e+00] [ 3.82117402e-02 9.99265670e-01 2.82570192e-03 -6.06112226e-02] [-4.55296348e-02 -1.08379926e-03 9.98962401e-01 -3.56551216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.033201008 meters 0.06078577490803816 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.07, Z:-0.36 [[ 9.97979494e-01 -4.11053264e-02 4.84487501e-02 4.90144163e+00] [ 4.10073379e-02 9.99154296e-01 3.01516830e-03 -6.81849640e-02] [-4.85317163e-02 -1.02232187e-03 9.98821119e-01 -3.61146631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.093201008 meters 0.06049470325880367 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.07, Z:-0.37 [[ 9.97743990e-01 -4.42595675e-02 5.04779208e-02 4.96371922e+00] [ 4.41572270e-02 9.99019655e-01 3.14137399e-03 -7.42523581e-02] [-5.05674709e-02 -9.05322010e-04 9.98720237e-01 -3.66225533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.153201008 meters 0.05992789239034123 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.09, Z:-0.37 [[ 9.97335637e-01 -5.36274679e-02 4.94542425e-02 5.02506987e+00] [ 5.35408895e-02 9.98560924e-01 3.07469773e-03 -8.82419644e-02] [-4.95479623e-02 -4.18681493e-04 9.98771658e-01 -3.74148982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2132010079999995 meters 0.06005216748018995 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.11, Z:-0.38 [[ 9.96700237e-01 -6.58148180e-02 4.75083939e-02 5.08478450e+00] [ 6.57491818e-02 9.97831837e-01 2.94465191e-03 -1.06889036e-01] [-4.75991897e-02 1.88702768e-04 9.98866498e-01 -3.83402886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.273201008 meters 0.06035352073652824 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.12, Z:-0.39 [[ 9.96574181e-01 -7.05743974e-02 4.31179265e-02 5.14574527e+00] [ 7.05240915e-02 9.97506453e-01 2.68862959e-03 -1.15667937e-01] [-4.32001583e-02 3.61433764e-04 9.99066372e-01 -3.90123083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.333201008 meters 0.061331673278223274 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.12, Z:-0.40 [[ 9.96708528e-01 -7.19405118e-02 3.73720935e-02 5.20497950e+00] [ 7.19037093e-02 9.97408858e-01 2.32964047e-03 -1.23029964e-01] [-3.74428526e-02 3.65219626e-04 9.99298704e-01 -4.03237321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.393201008 meters 0.06083605103096236 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.12, Z:-0.41 [[ 9.96700148e-01 -7.16365674e-02 3.81708849e-02 5.26364476e+00] [ 7.15982298e-02 9.97430733e-01 2.37216325e-03 -1.21420234e-01] [-3.82427473e-02 3.68632332e-04 9.99268411e-01 -4.06654014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.453201008 meters 0.06027335834631294 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.13, Z:-0.41 [[ 9.96465811e-01 -7.24420785e-02 4.25209700e-02 5.32428822e+00] [ 7.23944223e-02 9.97372530e-01 2.66156695e-03 -1.27153949e-01] [-4.26020568e-02 4.26120584e-04 9.99092029e-01 -4.05450707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.513201008 meters 0.060176298310849495 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.13, Z:-0.41 [[ 9.96197758e-01 -7.37262303e-02 4.64162655e-02 5.38254366e+00] [ 7.36708790e-02 9.97278379e-01 2.90438993e-03 -1.30010722e-01] [-4.65040678e-02 5.26180348e-04 9.98917962e-01 -4.07454596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.573201008 meters 0.06006474669325023 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.13, Z:-0.41 [[ 9.96174318e-01 -7.42458583e-02 4.60899088e-02 5.44125816e+00] [ 7.41918681e-02 9.97239817e-01 2.88333254e-03 -1.30878133e-01] [-4.61767677e-02 5.47194605e-04 9.98933134e-01 -4.11927367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.633201008 meters 0.06010236231988987 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.13, Z:-0.42 [[ 9.96307574e-01 -7.27772774e-02 4.55487169e-02 5.49865998e+00] [ 7.27225865e-02 9.97348110e-01 2.85883557e-03 -1.28337863e-01] [-4.56359850e-02 4.64140976e-04 9.98958028e-01 -4.19328193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.693201008 meters 0.06037586867258159 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.13, Z:-0.43 [[ 9.96617398e-01 -6.90487532e-02 4.45649095e-02 5.55564075e+00] [ 6.89919617e-02 9.97613250e-01 2.81301489e-03 -1.29609540e-01] [-4.46527794e-02 2.71120951e-04 9.99002530e-01 -4.26501820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.753201008 meters 0.059998887266518024 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.13, Z:-0.43 [[ 9.96763516e-01 -6.62704805e-02 4.55051304e-02 5.61440019e+00] [ 6.62082935e-02 9.97801684e-01 2.87408625e-03 -1.26491925e-01] [-4.55955629e-02 1.48032721e-04 9.98959971e-01 -4.28325306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.813201008 meters 0.06045531134152645 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.12, Z:-0.43 [[ 9.97427061e-01 -5.39389458e-02 4.72212625e-02 5.67200015e+00] [ 5.38573980e-02 9.98544135e-01 2.99847396e-03 -1.17393521e-01] [-4.73142492e-02 -4.47544742e-04 9.98879954e-01 -4.32556354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.873201008 meters 0.06073516614611135 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.12, Z:-0.43 [[ 9.97683482e-01 -4.68563716e-02 4.93168446e-02 5.73104838e+00] [ 4.67587617e-02 9.98901302e-01 3.13171663e-03 -1.15466426e-01] [-4.94094011e-02 -8.18467365e-04 9.98778274e-01 -4.32405661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.933201008 meters 0.061651476495881215 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.11, Z:-0.44 [[ 9.97904044e-01 -4.06577789e-02 5.03434667e-02 5.78889443e+00] [ 4.05473242e-02 9.99172451e-01 3.21379898e-03 -1.13082356e-01] [-5.04324709e-02 -1.16577013e-03 9.98726793e-01 -4.39035761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.993201008 meters 0.06198124064336154 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.11, Z:-0.45 [[ 9.98054178e-01 -3.85532887e-02 4.90051272e-02 5.84889539e+00] [ 3.84458547e-02 9.99255772e-01 3.13335315e-03 -1.12641095e-01] [-4.90894573e-02 -1.24321220e-03 9.98793612e-01 -4.45417550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.053201007999998 meters 0.061980229322452014 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.12, Z:-0.45 [[ 9.97986983e-01 -4.04771593e-02 4.88219343e-02 5.91056137e+00] [ 4.03728269e-02 9.99179809e-01 3.12163992e-03 -1.23228379e-01] [-4.89082461e-02 -1.14427650e-03 9.98802620e-01 -4.47500492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.113201007999999 meters 0.06141111171665936 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.13, Z:-0.45 [[ 9.97706427e-01 -4.33125947e-02 5.20183067e-02 5.97078541e+00] [ 4.31980293e-02 9.99060996e-01 3.32522463e-03 -1.27475920e-01] [-5.21134854e-02 -1.07050965e-03 9.98640595e-01 -4.48570541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.173201008 meters 0.06116879852426663 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.13, Z:-0.45 [[ 9.97479521e-01 -4.72510051e-02 5.29334217e-02 6.02872874e+00] [ 4.71378696e-02 9.98882659e-01 3.38444103e-03 -1.32353950e-01] [-5.30341953e-02 -8.80741889e-04 9.98592308e-01 -4.54660068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.233201007999998 meters 0.060641521950522186 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.14, Z:-0.46 [[ 9.97329184e-01 -5.06826658e-02 5.25905602e-02 6.08850474e+00] [ 5.05757241e-02 9.98714566e-01 3.36317063e-03 -1.37889330e-01] [-5.26934130e-02 -6.94382557e-04 9.98610496e-01 -4.57327848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.293201007999999 meters 0.0602504214221585 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.15, Z:-0.46 [[ 9.96849747e-01 -5.91936860e-02 5.27891059e-02 6.14648271e+00] [ 5.90969811e-02 9.98246482e-01 3.39233139e-03 -1.46852183e-01] [-5.28973439e-02 -2.61967891e-04 9.98599921e-01 -4.64357549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.353201008 meters 0.059928404449972446 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.15, Z:-0.47 [[ 9.96521838e-01 -6.70312070e-02 4.95080171e-02 6.20553378e+00] [ 6.69556276e-02 9.97750869e-01 3.18534313e-03 -1.54715108e-01] [-4.96101846e-02 1.40576364e-04 9.98768647e-01 -4.67310433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.413201008 meters 0.060214527062314074 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.16, Z:-0.48 [[ 9.96285993e-01 -7.17934191e-02 4.75386609e-02 6.26261085e+00] [ 7.17290558e-02 9.97419458e-01 3.06065679e-03 -1.57518106e-01] [-4.76357204e-02 3.60613774e-04 9.98864710e-01 -4.76601941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.473201007999998 meters 0.06014372779225974 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.16, Z:-0.48 [[ 9.96335017e-01 -7.37174523e-02 4.33851416e-02 6.32147382e+00] [ 7.36653064e-02 9.97279085e-01 2.80162969e-03 -1.57416059e-01] [-4.34736233e-02 4.04617986e-04 9.99054493e-01 -4.82623654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.533201007999999 meters 0.0601979073978535 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.15, Z:-0.49 [[ 9.96356722e-01 -7.32810485e-02 4.36253517e-02 6.37967872e+00] [ 7.32280596e-02 9.97311253e-01 2.81361371e-03 -1.52919511e-01] [-4.37142387e-02 3.91236924e-04 9.99043999e-01 -4.87775564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.593201008 meters 0.060129207112679516 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.15, Z:-0.49 [[ 9.96526357e-01 -7.07534946e-02 4.39222292e-02 6.43771652e+00] [ 7.06968776e-02 9.97493794e-01 2.84297605e-03 -1.46564352e-01] [-4.40133015e-02 2.72063901e-04 9.99030908e-01 -4.91869030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.653201008 meters 0.059988234990231926 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.14, Z:-0.50 [[ 9.96653965e-01 -6.85130305e-02 4.45739783e-02 6.49618005e+00] [ 6.84520147e-02 9.97650208e-01 2.89557574e-03 -1.41788626e-01] [-4.46676234e-02 1.65291572e-04 9.99001890e-01 -4.95860727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.713201007999999 meters 0.059754777305520416 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.14, Z:-0.50 [[ 9.96268664e-01 -7.07717751e-02 4.93974220e-02 6.55673947e+00] [ 7.06987452e-02 9.97492495e-01 3.22628380e-03 -1.41967538e-01] [-4.95018875e-02 2.78090303e-04 9.98773991e-01 -4.96819143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.773201008 meters 0.05980741005906497 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.15, Z:-0.50 [[ 9.95489737e-01 -7.81932803e-02 5.37214542e-02 6.61642791e+00] [ 7.81177612e-02 9.96937969e-01 3.50735966e-03 -1.45740835e-01] [-5.38312094e-02 7.05059190e-04 9.98549800e-01 -4.97389082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.833201008 meters 0.061491623723229645 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.16, Z:-0.50 [[ 9.94283633e-01 -9.12711398e-02 5.54042947e-02 6.67781548e+00] [ 9.12101468e-02 9.95825037e-01 3.63383411e-03 -1.57523144e-01] [-5.55046480e-02 1.44037207e-03 9.98457390e-01 -4.98150913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.893201007999998 meters 0.061950798414189934 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.16, Z:-0.50 [[ 9.93411432e-01 -1.00572662e-01 5.49442118e-02 6.73880702e+00] [ 1.00526834e-01 9.94927819e-01 3.60425079e-03 -1.57704343e-01] [-5.50280139e-02 1.94286373e-03 9.98482921e-01 -5.00514848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.953201007999999 meters 0.06303269034300178 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.15, Z:-0.51 [[ 9.92664100e-01 -1.08024645e-01 5.43015678e-02 6.79820291e+00] [ 1.07991009e-01 9.94145490e-01 3.56188174e-03 -1.52427194e-01] [-5.43684298e-02 2.32832896e-03 9.98518229e-01 -5.05958904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.013201008 meters 0.062142764177041274 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.14, Z:-0.51 [[ 9.93144540e-01 -1.04454910e-01 5.24699359e-02 6.85620435e+00] [ 1.04418532e-01 9.94527488e-01 3.44166223e-03 -1.37513285e-01] [-5.25422921e-02 2.06076565e-03 9.98616573e-01 -5.09072014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.073201008 meters 0.06142998716754585 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.12, Z:-0.51 [[ 9.93588267e-01 -9.91253600e-02 5.43738774e-02 6.91426660e+00] [ 9.90780758e-02 9.95073254e-01 3.57121740e-03 -1.21057500e-01] [-5.44599893e-02 1.83893944e-03 9.98514260e-01 -5.14776915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.133201007999999 meters 0.0607167829391097 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.09, Z:-0.52 [[ 9.94280820e-01 -9.30171669e-02 5.24734014e-02 6.97260995e+00] [ 9.29645499e-02 9.95663449e-01 3.44792636e-03 -9.48085227e-02] [-5.25665642e-02 1.44995909e-03 9.98616370e-01 -5.23275396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.193201007999999 meters 0.06049979405480566 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.08, Z:-0.53 [[ 9.94756207e-01 -8.92319590e-02 4.99774465e-02 7.03014642e+00] [ 8.91796927e-02 9.96010155e-01 3.27916756e-03 -8.00831405e-02] [-5.00706508e-02 1.19500104e-03 9.98744963e-01 -5.29544872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.253201008 meters 0.06030693991962093 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.06, Z:-0.54 [[ 9.95583628e-01 -8.10220262e-02 4.74201465e-02 7.08671854e+00] [ 8.09649526e-02 9.96712046e-01 3.12627212e-03 -5.85338113e-02] [-4.75175281e-02 7.26904572e-04 9.98870140e-01 -5.38740223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.313201007999998 meters 0.059820651060914797 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.04, Z:-0.54 [[ 9.96077592e-01 -7.57256135e-02 4.57718408e-02 7.14471865e+00] [ 7.56669437e-02 9.97128588e-01 3.01554404e-03 -4.21154538e-02] [-4.58687649e-02 4.59699452e-04 9.98947369e-01 -5.42103547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.373201007999999 meters 0.05949784584501341 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.03, Z:-0.54 [[ 9.96470690e-01 -7.03169106e-02 4.58442681e-02 7.20367671e+00] [ 7.02516999e-02 9.97524683e-01 3.03405656e-03 -3.14555589e-02] [-4.59441345e-02 1.97289330e-04 9.98943991e-01 -5.41440269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.433201008 meters 0.059522224530532415 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.02, Z:-0.55 [[ 9.96509023e-01 -6.90315699e-02 4.69511421e-02 7.26088558e+00] [ 6.89614013e-02 9.97614467e-01 3.11460344e-03 -2.48307467e-02] [-4.70541446e-02 1.34086129e-04 9.98892331e-01 -5.46880896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.493201008 meters 0.0597040734583313 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.02, Z:-0.56 [[ 9.96134470e-01 -7.33463591e-02 4.83366156e-02 7.31795608e+00] [ 7.32768552e-02 9.97306469e-01 3.21075645e-03 -1.99054218e-02] [-4.84419167e-02 3.43610011e-04 9.98825942e-01 -5.56045496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.553201007999998 meters 0.059853860383088486 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.02, Z:-0.56 [[ 9.95803475e-01 -7.70343338e-02 4.94079988e-02 7.37628373e+00] [ 7.69662645e-02 9.97028297e-01 3.28159359e-03 -2.09325368e-02] [-4.95139683e-02 5.34926802e-04 9.98773288e-01 -5.59733432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.613201007999999 meters 0.06050586558302144 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.02, Z:-0.56 [[ 9.95317296e-01 -8.28905307e-02 4.97256428e-02 7.43462397e+00] [ 8.28280119e-02 9.96558326e-01 3.32013105e-03 -2.17540778e-02] [-4.98297107e-02 8.14092266e-04 9.98757397e-01 -5.63046810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.673201008 meters 0.06080037903143449 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.02, Z:-0.57 [[ 9.94879804e-01 -8.81738325e-02 4.93918178e-02 7.49430042e+00] [ 8.81184013e-02 9.96104532e-01 3.30290130e-03 -2.01728386e-02] [-4.94906431e-02 1.06633823e-03 9.98774018e-01 -5.65215767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.733201007999998 meters 0.0627053705763643 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.02, Z:-0.57 [[ 9.93779736e-01 -9.98770140e-02 4.92586823e-02 7.55437041e+00] [ 9.98361218e-02 9.94998435e-01 3.29602496e-03 -2.19016657e-02] [-4.93415089e-02 1.64227298e-03 9.98780616e-01 -5.70875744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.793201007999999 meters 0.06443321990496521 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.02, Z:-0.58 [[ 9.93189372e-01 -1.06728716e-01 4.67317135e-02 7.61442407e+00] [ 1.06699445e-01 9.94286401e-01 3.12756975e-03 -2.40183075e-02] [-4.67985087e-02 1.87997884e-03 9.98902580e-01 -5.76324086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.853201008 meters 0.06763225653616832 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.03, Z:-0.59 [[ 9.92653507e-01 -1.14393218e-01 3.94107323e-02 7.67369637e+00] [ 1.14378388e-01 9.93433754e-01 2.63826765e-03 -3.00338163e-02] [-3.94537516e-02 1.88885038e-03 9.99219612e-01 -5.85701777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.913201008 meters 0.06989866818337032 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.03, Z:-0.59 [[ 9.91935537e-01 -1.20282540e-01 3.99499920e-02 7.73321888e+00] [ 1.20272036e-01 9.92737368e-01 2.67499351e-03 -2.73933570e-02] [-3.99816049e-02 2.15144575e-03 9.99198100e-01 -5.93225376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.973201007999998 meters 0.07171826816289978 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.03, Z:-0.60 [[ 9.91438722e-01 -1.23805425e-01 4.14907003e-02 7.79234121e+00] [ 1.23797173e-01 9.92303654e-01 2.77808593e-03 -2.90452905e-02] [-4.15153156e-02 2.38212942e-03 9.99135028e-01 -5.95038184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.033201007999999 meters 0.06656014977239595 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.01, Z:-0.59 [[ 9.90619133e-01 -1.29026794e-01 4.50091160e-02 7.85273866e+00] [ 1.29022388e-01 9.91637097e-01 3.01513688e-03 -1.27636351e-02] [-4.50217426e-02 2.82033137e-03 9.98982026e-01 -5.86996318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.093201008 meters 0.07013737771337983 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.01, Z:-0.59 [[ 9.90405278e-01 -1.30488644e-01 4.54983427e-02 7.90992522e+00] [ 1.30485794e-01 9.91445502e-01 3.04538260e-03 -5.46614238e-03] [-4.55065150e-02 2.92072437e-03 9.98959772e-01 -5.93881518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.153201007999998 meters 0.06903382866865344 Centerline is valid? [True, True] Translation: X:7.97, Y:0.01, Z:-0.60 [[ 9.90591878e-01 -1.29579117e-01 4.40111655e-02 7.96745017e+00] [ 1.29575603e-01 9.91565173e-01 2.94469979e-03 1.35364724e-02] [-4.40215106e-02 2.78577762e-03 9.99026699e-01 -5.96561820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.213201007999999 meters 0.06853181400575219 Centerline is valid? [True, True] Translation: X:8.03, Y:0.02, Z:-0.60 [[ 9.90810837e-01 -1.28197724e-01 4.31187846e-02 8.02604569e+00] [ 1.28192608e-01 9.91745065e-01 2.89514656e-03 2.43643902e-02] [-4.31339931e-02 2.65896686e-03 9.99065758e-01 -6.00579427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.273201008 meters 0.0691953474693608 Centerline is valid? [True, True] Translation: X:8.08, Y:0.05, Z:-0.61 [[ 9.91292657e-01 -1.24422465e-01 4.31035775e-02 8.08306332e+00] [ 1.24413128e-01 9.92226238e-01 2.90958942e-03 4.82766636e-02] [-4.31305188e-02 2.47839629e-03 9.99066372e-01 -6.07195208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.333201008 meters 0.06607402973484605 Centerline is valid? [True, True] Translation: X:8.14, Y:0.07, Z:-0.61 [[ 9.91251622e-01 -1.24876268e-01 4.27333494e-02 8.14117569e+00] [ 1.24867765e-01 9.92169217e-01 2.87864897e-03 6.98330249e-02] [-4.27581888e-02 2.48255236e-03 9.99082366e-01 -6.06758609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.393201007999998 meters 0.0681620271197454 Centerline is valid? [True, True] Translation: X:8.20, Y:0.08, Z:-0.61 [[ 9.90966104e-01 -1.28149112e-01 3.95472588e-02 8.20096375e+00] [ 1.28143747e-01 9.91751981e-01 2.68097497e-03 7.96896933e-02] [-3.95646368e-02 2.41097862e-03 9.99214105e-01 -6.12512377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.453201007999999 meters 0.0747686873908301 Centerline is valid? [True, True] Translation: X:8.26, Y:0.08, Z:-0.63 [[ 9.90746161e-01 -1.31156315e-01 3.49294423e-02 8.25968416e+00] [ 1.31153996e-01 9.91359180e-01 2.36757835e-03 7.86473341e-02] [-3.49381461e-02 2.23546679e-03 9.99386976e-01 -6.26740243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.513201008 meters 0.06990267053026353 Centerline is valid? [True, True] Translation: X:8.32, Y:0.10, Z:-0.62 [[ 9.90541596e-01 -1.33252263e-01 3.27289051e-02 8.31927461e+00] [ 1.33251346e-01 9.91079792e-01 2.21897835e-03 9.89384453e-02] [-3.27326403e-02 2.16318029e-03 9.99461803e-01 -6.24579734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.573201007999998 meters 0.07056037602636309 Centerline is valid? [True, True] Translation: X:8.38, Y:0.11, Z:-0.63 [[ 9.90533711e-01 -1.32699451e-01 3.51258216e-02 8.37846637e+00] [ 1.32698051e-01 9.91153649e-01 2.38149177e-03 1.08737333e-01] [-3.51311089e-02 2.30218019e-03 9.99380060e-01 -6.26066477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.633201007999999 meters 0.07015131375177433 Centerline is valid? [True, True] Translation: X:8.44, Y:0.12, Z:-0.63 [[ 9.91020583e-01 -1.28509140e-01 3.69270159e-02 8.43765378e+00] [ 1.28504635e-01 9.91705744e-01 2.50532087e-03 1.21660348e-01] [-3.69426904e-02 2.26246816e-03 9.99314825e-01 -6.26010645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.693201007999999 meters 0.0701056692778735 Centerline is valid? [True, True] Translation: X:8.50, Y:0.13, Z:-0.63 [[ 9.91546121e-01 -1.24718038e-01 3.58008441e-02 8.49638294e+00] [ 1.24711319e-01 9.92190095e-01 2.42947498e-03 1.33440437e-01] [-3.58242423e-02 2.05583400e-03 9.99355991e-01 -6.32815917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.753201008 meters 0.07069419921502051 Centerline is valid? [True, True] Translation: X:8.55, Y:0.15, Z:-0.64 [[ 9.91849150e-01 -1.21924817e-01 3.70081557e-02 8.55478904e+00] [ 1.21915650e-01 9.92537284e-01 2.51275485e-03 1.45560739e-01] [-3.70383415e-02 2.01959960e-03 9.99311804e-01 -6.37590399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.813201007999998 meters 0.07162120744104508 Centerline is valid? [True, True] Translation: X:8.61, Y:0.15, Z:-0.64 [[ 9.91896620e-01 -1.22177310e-01 3.48396212e-02 8.61369444e+00] [ 1.22169327e-01 9.92506452e-01 2.36585318e-03 1.51504749e-01] [-3.48676024e-02 1.90965131e-03 9.99390116e-01 -6.42202988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.873201007999999 meters 0.06838072890513136 Centerline is valid? [True, True] Translation: X:8.67, Y:0.17, Z:-0.64 [[ 9.92045018e-01 -1.21016826e-01 3.46642550e-02 8.67166008e+00] [ 1.21008428e-01 9.92648703e-01 2.34787684e-03 1.72785195e-01] [-3.46935604e-02 1.86546748e-03 9.99396256e-01 -6.42729595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.933201008 meters 0.0664544386999065 Centerline is valid? [True, True] Translation: X:8.73, Y:0.19, Z:-0.64 [[ 9.92889119e-01 -1.13769285e-01 3.50392343e-02 8.73038105e+00] [ 1.13755604e-01 9.93505888e-01 2.39027130e-03 1.91656977e-01] [-3.50836250e-02 1.61263488e-03 9.99383079e-01 -6.44193110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.993201008 meters 0.0650018107087063 Centerline is valid? [True, True] Translation: X:8.79, Y:0.20, Z:-0.65 [[ 9.93619753e-01 -1.06930338e-01 3.58565109e-02 8.79011420e+00] [ 1.06911489e-01 9.94265528e-01 2.44813121e-03 2.04418034e-01] [-3.59126723e-02 1.40096146e-03 9.99353950e-01 -6.45595170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.053201007999998 meters 0.06293498128078626 Centerline is valid? [True, True] Translation: X:8.85, Y:0.23, Z:-0.65 [[ 9.94637154e-01 -9.63752452e-02 3.75332500e-02 8.84907205e+00] [ 9.63471125e-02 9.95344499e-01 2.56179236e-03 2.25396727e-01] [-3.76054072e-02 1.06816639e-03 9.99292096e-01 -6.50354819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.113201007999999 meters 0.06211275964962795 Centerline is valid? [True, True] Translation: X:8.91, Y:0.24, Z:-0.66 [[ 9.95235004e-01 -8.90141338e-02 3.97966116e-02 8.90832735e+00] [ 8.89765470e-02 9.96030012e-01 2.71818620e-03 2.38806633e-01] [-3.98805765e-02 8.35731034e-04 9.99204104e-01 -6.58371422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.173201008 meters 0.061392687270962934 Centerline is valid? [True, True] Translation: X:8.97, Y:0.25, Z:-0.66 [[ 9.95655954e-01 -8.46928098e-02 3.86826781e-02 8.96635435e+00] [ 8.46543806e-02 9.96406896e-01 2.63326075e-03 2.46691404e-01] [-3.87667055e-02 6.52836420e-04 9.99248075e-01 -6.61430521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.233201007999998 meters 0.06159092741772098 Centerline is valid? [True, True] Translation: X:9.03, Y:0.25, Z:-0.66 [[ 9.95573100e-01 -8.65838244e-02 3.65710683e-02 9.02601081e+00] [ 8.65501453e-02 9.96244344e-01 2.50604550e-03 2.47058606e-01] [-3.66507029e-02 6.70279788e-04 9.99327912e-01 -6.64644558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.293201007999999 meters 0.06339040750436041 Centerline is valid? [True, True] Translation: X:9.08, Y:0.24, Z:-0.68 [[ 9.95271989e-01 -8.98054054e-02 3.69953774e-02 9.08333845e+00] [ 8.97732510e-02 9.95959009e-01 2.53276437e-03 2.42193914e-01] [-3.70733354e-02 8.00405866e-04 9.99312227e-01 -6.75056297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.353201008 meters 0.0643039439617728 Centerline is valid? [True, True] Translation: X:9.14, Y:0.24, Z:-0.68 [[ 9.95189354e-01 -9.11291107e-02 3.59671495e-02 9.14061046e+00] [ 9.10994331e-02 9.95838747e-01 2.46651368e-03 2.39224782e-01] [-3.60422523e-02 8.21938778e-04 9.99349929e-01 -6.83187410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.413201008 meters 0.06268141956076424 Centerline is valid? [True, True] Translation: X:9.20, Y:0.24, Z:-0.68 [[ 9.95443526e-01 -8.89974742e-02 3.42291849e-02 9.19896389e+00] [ 8.89693279e-02 9.96031600e-01 2.34756474e-03 2.44126959e-01] [-3.43022771e-02 7.08479453e-04 9.99411253e-01 -6.84925123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.473201007999998 meters 0.06321109324290336 Centerline is valid? [True, True] Translation: X:9.26, Y:0.24, Z:-0.69 [[ 9.95817515e-01 -8.62643295e-02 3.00988868e-02 9.25679629e+00] [ 8.62409257e-02 9.96272145e-01 2.07729910e-03 2.43133471e-01] [-3.01658793e-02 5.27145037e-04 9.99544767e-01 -6.91933430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.533201007999999 meters 0.06224320496693693 Centerline is valid? [True, True] Translation: X:9.32, Y:0.24, Z:-0.69 [[ 9.96317641e-01 -8.01897101e-02 3.03441648e-02 9.31555483e+00] [ 8.01630442e-02 9.96779560e-01 2.09624723e-03 2.43942986e-01] [-3.04145407e-02 3.43952534e-04 9.99537312e-01 -6.92763388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.593201008 meters 0.06202010451634558 Centerline is valid? [True, True] Translation: X:9.37, Y:0.25, Z:-0.70 [[ 9.96605878e-01 -7.50925322e-02 3.37318263e-02 9.37407265e+00] [ 7.50565088e-02 9.97176549e-01 2.33471645e-03 2.48521533e-01] [-3.38119059e-02 2.05000980e-04 9.99428193e-01 -6.98712659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.653201007999998 meters 0.06135593669213865 Centerline is valid? [True, True] Translation: X:9.43, Y:0.25, Z:-0.70 [[ 9.97023319e-01 -6.69143096e-02 3.83011328e-02 9.43383627e+00] [ 6.68617616e-02 9.97758722e-01 2.65267918e-03 2.49575310e-01] [-3.83927916e-02 -8.39017918e-05 9.99262721e-01 -6.99203853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.713201007999999 meters 0.06105094650033142 Centerline is valid? [True, True] Translation: X:9.49, Y:0.24, Z:-0.70 [[ 9.97156202e-01 -6.40286863e-02 3.97471405e-02 9.49333682e+00] [ 6.39700384e-02 9.97948039e-01 2.74689988e-03 2.44312135e-01] [-3.98414614e-02 -1.96462149e-04 9.99205994e-01 -7.00456297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.773201008 meters 0.06046803992155168 Centerline is valid? [True, True] Translation: X:9.55, Y:0.24, Z:-0.71 [[ 9.97070167e-01 -6.31744513e-02 4.31285267e-02 9.55270640e+00] [ 6.31038419e-02 9.98002463e-01 2.99801131e-03 2.35426263e-01] [-4.32317736e-02 -2.67651907e-04 9.99065034e-01 -7.05269005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.833201008 meters 0.06051990934981826 Centerline is valid? [True, True] Translation: X:9.61, Y:0.23, Z:-0.71 [[ 9.97027152e-01 -6.44948422e-02 4.21577121e-02 9.61221541e+00] [ 6.44286815e-02 9.97918020e-01 2.92758685e-03 2.26926227e-01] [-4.22587548e-02 -2.02717780e-04 9.99106679e-01 -7.13949637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.893201007999998 meters 0.06027620954833771 Centerline is valid? [True, True] Translation: X:9.67, Y:0.21, Z:-0.72 [[ 9.96858111e-01 -6.72684019e-02 4.18194793e-02 9.67065331e+00] [ 6.72051402e-02 9.97734911e-01 2.91835102e-03 2.05511074e-01] [-4.19210672e-02 -9.86979204e-05 9.99120921e-01 -7.20404310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.953201007999999 meters 0.060408249565191086 Centerline is valid? [True, True] Translation: X:9.73, Y:0.19, Z:-0.73 [[ 9.96879891e-01 -6.83658659e-02 3.94536697e-02 9.73015532e+00] [ 6.83101549e-02 9.97660316e-01 2.75998510e-03 1.94646279e-01] [-3.95500494e-02 -5.62873513e-05 9.99217589e-01 -7.31690071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.013201008 meters 0.060804619857361755 Centerline is valid? [True, True] Translation: X:9.79, Y:0.19, Z:-0.74 [[ 9.96959432e-01 -6.79780737e-02 3.80903325e-02 9.78845186e+00] [ 6.79259020e-02 9.97686813e-01 2.66364322e-03 1.87531655e-01] [-3.81832918e-02 -6.82240377e-05 9.99270750e-01 -7.40224979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.073201007999998 meters 0.06069599354011311 Centerline is valid? [True, True] Translation: X:9.85, Y:0.17, Z:-0.74 [[ 9.96923375e-01 -6.87740503e-02 3.76020610e-02 9.84827551e+00] [ 6.87237579e-02 9.97632261e-01 2.62992674e-03 1.74895840e-01] [-3.76938999e-02 -3.76805003e-05 9.99289332e-01 -7.42690229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.133201007999999 meters 0.060677121464568926 Centerline is valid? [True, True] Translation: X:9.91, Y:0.17, Z:-0.75 [[ 9.96813118e-01 -6.83809767e-02 4.10810146e-02 9.90734751e+00] [ 6.83198609e-02 9.97659279e-01 2.89141799e-03 1.73754058e-01] [-4.11825734e-02 -7.55541782e-05 9.99151635e-01 -7.48717042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.193201007999999 meters 0.06039082088017972 Centerline is valid? [True, True] Translation: X:9.97, Y:0.17, Z:-0.75 [[ 9.96705962e-01 -6.69268514e-02 4.58041698e-02 9.96875364e+00] [ 6.68492271e-02 9.97757873e-01 3.22611909e-03 1.66095115e-01] [-4.59173850e-02 -1.53518783e-04 9.98945229e-01 -7.46433053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.253201008 meters 0.06045411184612316 Centerline is valid? [True, True] Translation: X:10.03, Y:0.17, Z:-0.75 [[ 9.96660564e-01 -6.65363102e-02 4.73353842e-02 1.00277947e+01] [ 6.64532149e-02 9.97783990e-01 3.32872244e-03 1.65126897e-01] [-4.74519694e-02 -1.72017928e-04 9.98873506e-01 -7.52489596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.313201007999998 meters 0.061122435047630645 Centerline is valid? [True, True] Translation: X:10.09, Y:0.16, Z:-0.76 [[ 9.96729406e-01 -6.79996138e-02 4.36639912e-02 1.00862575e+01] [ 6.79296994e-02 9.97685342e-01 3.08466962e-03 1.55680502e-01] [-4.37726803e-02 -1.08499123e-04 9.99041511e-01 -7.62139366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.373201007999999 meters 0.06115856538055833 Centerline is valid? [True, True] Translation: X:10.15, Y:0.15, Z:-0.77 [[ 9.96629784e-01 -6.88840257e-02 4.45428500e-02 1.01456594e+01] [ 6.88122446e-02 9.97624672e-01 3.14463683e-03 1.54262891e-01] [-4.46536614e-02 -6.89452341e-05 9.99002525e-01 -7.65046667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.433201008 meters 0.061387719448972616 Centerline is valid? [True, True] Translation: X:10.20, Y:0.14, Z:-0.77 [[ 9.96331027e-01 -7.32217174e-02 4.43064840e-02 1.02047715e+01] [ 7.31543213e-02 9.97315681e-01 3.14281107e-03 1.43384022e-01] [-4.44176733e-02 1.09930587e-04 9.99013042e-01 -7.69160910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.493201008 meters 0.06170463980049107 Centerline is valid? [True, True] Translation: X:10.26, Y:0.14, Z:-0.77 [[ 9.95970099e-01 -7.67047768e-02 4.64751493e-02 1.02633385e+01] [ 7.66342144e-02 9.97053811e-01 3.30077373e-03 1.36782357e-01] [-4.65914099e-02 2.74114618e-04 9.98913993e-01 -7.74461385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.553201007999998 meters 0.061808949859624505 Centerline is valid? [True, True] Translation: X:10.32, Y:0.13, Z:-0.78 [[ 9.95944649e-01 -7.84133925e-02 4.41089073e-02 1.03232225e+01] [ 7.83515823e-02 9.96920872e-01 3.13108090e-03 1.28797493e-01] [-4.42186090e-02 3.37619406e-04 9.99021822e-01 -7.75124471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.613201007999999 meters 0.061956336766541484 Centerline is valid? [True, True] Translation: X:10.38, Y:0.13, Z:-0.78 [[ 9.95902555e-01 -7.96116541e-02 4.28962218e-02 1.03816726e+01] [ 7.95539015e-02 9.96825886e-01 3.05443769e-03 1.30856763e-01] [-4.30032331e-02 3.70639509e-04 9.99074864e-01 -7.82805828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.673201008 meters 0.062114944790115284 Centerline is valid? [True, True] Translation: X:10.44, Y:0.13, Z:-0.79 [[ 9.96139994e-01 -7.62500276e-02 4.34861570e-02 1.04395739e+01] [ 7.61867914e-02 9.97088706e-01 3.11205704e-03 1.34186133e-01] [-4.35968505e-02 2.13026299e-04 9.99049183e-01 -7.87199220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.733201007999998 meters 0.0617184195637782 Centerline is valid? [True, True] Translation: X:10.50, Y:0.13, Z:-0.78 [[ 9.95831718e-01 -7.76971068e-02 4.77739334e-02 1.05001397e+01] [ 7.76221321e-02 9.96976966e-01 3.42539690e-03 1.33167642e-01] [-4.78956546e-02 2.97195685e-04 9.98852300e-01 -7.83898432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.793201007999999 meters 0.062157745061593654 Centerline is valid? [True, True] Translation: X:10.56, Y:0.12, Z:-0.79 [[ 9.94691276e-01 -8.94264392e-02 5.09134224e-02 1.05595626e+01] [ 8.93568454e-02 9.95993002e-01 3.64605267e-03 1.24404345e-01] [-5.10354659e-02 9.22766032e-04 9.98696415e-01 -7.85671192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.853201008 meters 0.06266638304621377 Centerline is valid? [True, True] Translation: X:10.62, Y:0.13, Z:-0.79 [[ 9.94120864e-01 -9.51538645e-02 5.16667092e-02 1.06189423e+01] [ 9.50890181e-02 9.95461832e-01 3.71735525e-03 1.26198152e-01] [-5.17859577e-02 1.21743623e-03 9.98657465e-01 -7.93783694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.913201008 meters 0.06331416488786475 Centerline is valid? [True, True] Translation: X:10.68, Y:0.13, Z:-0.80 [[ 9.94329694e-01 -9.50533036e-02 4.76794360e-02 1.06767066e+01] [ 9.49979402e-02 9.95471556e-01 3.43097997e-03 1.30953240e-01] [-4.77896484e-02 1.11792295e-03 9.98856796e-01 -8.01858253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.973201007999998 meters 0.06253238465892964 Centerline is valid? [True, True] Translation: X:10.73, Y:0.14, Z:-0.80 [[ 9.94938675e-01 -8.90845398e-02 4.64863090e-02 1.07348750e+01] [ 8.90252623e-02 9.96023741e-01 3.34808258e-03 1.43014511e-01] [-4.65997298e-02 8.07319006e-04 9.98913316e-01 -8.03124334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.033201007999999 meters 0.061855305202888504 Centerline is valid? [True, True] Translation: X:10.79, Y:0.16, Z:-0.81 [[ 9.95641653e-01 -8.15098530e-02 4.53193441e-02 1.07929747e+01] [ 8.14457446e-02 9.96672438e-01 3.26236254e-03 1.60058406e-01] [-4.54344559e-02 4.42923697e-04 9.98967224e-01 -8.08265871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.093201008 meters 0.06195735184658804 Centerline is valid? [True, True] Translation: X:10.85, Y:0.17, Z:-0.82 [[ 9.95729753e-01 -8.06930773e-02 4.48429164e-02 1.08501286e+01] [ 8.06288661e-02 9.96738921e-01 3.24175879e-03 1.69543513e-01] [-4.49582677e-02 3.87717828e-04 9.98988791e-01 -8.17657328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.153201007999998 meters 0.06225244186150329 Centerline is valid? [True, True] Translation: X:10.91, Y:0.18, Z:-0.82 [[ 9.95666713e-01 -8.22149912e-02 4.34567857e-02 1.09080908e+01] [ 8.21561944e-02 9.96614518e-01 3.14026465e-03 1.76172635e-01] [-4.35678404e-02 4.43587159e-04 9.99050372e-01 -8.24447286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.213201007999999 meters 0.06233684015448484 Centerline is valid? [True, True] Translation: X:10.97, Y:0.18, Z:-0.83 [[ 9.95489794e-01 -8.37727586e-02 4.45218446e-02 1.09674322e+01] [ 8.37121057e-02 9.96484752e-01 3.22829696e-03 1.80577632e-01] [-4.46357826e-02 5.13280680e-04 9.99003195e-01 -8.26146714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.273201008 meters 0.062244491031522964 Centerline is valid? [True, True] Translation: X:11.03, Y:0.18, Z:-0.83 [[ 9.95372966e-01 -8.41898872e-02 4.63111419e-02 1.10262179e+01] [ 8.41242408e-02 9.96449581e-01 3.36814656e-03 1.83609582e-01] [-4.64302818e-02 5.43327626e-04 9.98921385e-01 -8.28214022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.333201008 meters 0.06236722702974551 Centerline is valid? [True, True] Translation: X:11.08, Y:0.19, Z:-0.84 [[ 9.95653417e-01 -8.17889858e-02 4.45514928e-02 1.10848842e+01] [ 8.17254131e-02 9.96649586e-01 3.24954473e-03 1.87942225e-01] [-4.46680038e-02 4.05568841e-04 9.99001804e-01 -8.35486117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.393201007999998 meters 0.06255776539514163 Centerline is valid? [True, True] Translation: X:11.14, Y:0.19, Z:-0.85 [[ 9.96069876e-01 -7.80321227e-02 4.19021515e-02 1.11432422e+01] [ 7.79722017e-02 9.96950822e-01 3.06494077e-03 1.93554300e-01] [-4.20135483e-02 2.14307840e-04 9.99117018e-01 -8.45413255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.453201007999999 meters 0.06297135241613307 Centerline is valid? [True, True] Translation: X:11.20, Y:0.20, Z:-0.85 [[ 9.96523587e-01 -7.22951177e-02 4.14023676e-02 1.12011546e+01] [ 7.22313216e-02 9.97383284e-01 3.03668980e-03 1.98441310e-01] [-4.15135672e-02 -3.55852891e-05 9.99137940e-01 -8.54247581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.513201008 meters 0.06262068879861048 Centerline is valid? [True, True] Translation: X:11.26, Y:0.19, Z:-0.85 [[ 9.96387457e-01 -7.20043488e-02 4.50267690e-02 1.12618146e+01] [ 7.19276773e-02 9.97404315e-01 3.32275269e-03 1.94548590e-01] [-4.51491464e-02 -7.20781936e-05 9.98980255e-01 -8.50291059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.573201007999998 meters 0.06240382755009879 Centerline is valid? [True, True] Translation: X:11.32, Y:0.19, Z:-0.85 [[ 9.96169459e-01 -7.35393148e-02 4.73115031e-02 1.13200424e+01] [ 7.34563745e-02 9.97292319e-01 3.49168645e-03 1.87027398e-01] [-4.74401748e-02 -2.97991049e-06 9.98874081e-01 -8.53505525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.633201007999999 meters 0.06255174474351935 Centerline is valid? [True, True] Translation: X:11.38, Y:0.19, Z:-0.86 [[ 9.96173700e-01 -7.46725318e-02 4.54089435e-02 1.13788728e+01] [ 7.45973644e-02 9.97208108e-01 3.35003804e-03 1.87089348e-01] [-4.55323225e-02 5.01677122e-05 9.98962865e-01 -8.62312954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.693201007999999 meters 0.06278297688902071 Centerline is valid? [True, True] Translation: X:11.44, Y:0.18, Z:-0.87 [[ 9.96234658e-01 -7.49598341e-02 4.35606341e-02 1.14385938e+01] [ 7.48905156e-02 9.97186553e-01 3.22335308e-03 1.76184557e-01] [-4.36797005e-02 5.10622943e-05 9.99045585e-01 -8.68504804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.753201008 meters 0.06263763406953288 Centerline is valid? [True, True] Translation: X:11.50, Y:0.17, Z:-0.87 [[ 9.96280848e-01 -7.45635561e-02 4.31827329e-02 1.14971616e+01] [ 7.44944247e-02 9.97216263e-01 3.21012823e-03 1.70172774e-01] [-4.33018821e-02 1.86835734e-05 9.99062033e-01 -8.70372522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.813201007999998 meters 0.0626597404474552 Centerline is valid? [True, True] Translation: X:11.56, Y:0.17, Z:-0.88 [[ 9.96398389e-01 -7.28114277e-02 4.34596995e-02 1.15557840e+01] [ 7.27398098e-02 9.97345724e-01 3.22912222e-03 1.66784942e-01] [-4.35794624e-02 -5.62419007e-05 9.99049962e-01 -8.78188660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.873201007999999 meters 0.06273046918845517 Centerline is valid? [True, True] Translation: X:11.61, Y:0.16, Z:-0.89 [[ 9.95873668e-01 -7.74942282e-02 4.72258535e-02 1.16144744e+01] [ 7.74140117e-02 9.96992790e-01 3.52796213e-03 1.60324068e-01] [-4.73572321e-02 1.42538188e-04 9.98878007e-01 -8.87818602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.933201008 meters 0.06276988728323177 Centerline is valid? [True, True] Translation: X:11.67, Y:0.15, Z:-0.89 [[ 9.95065416e-01 -8.55116338e-02 5.03247215e-02 1.16744123e+01] [ 8.54309077e-02 9.96337014e-01 3.75688532e-03 1.47803778e-01] [-5.04616402e-02 5.60939980e-04 9.98725842e-01 -8.86781268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.993201007999998 meters 0.0627173371752275 Centerline is valid? [True, True] Translation: X:11.74, Y:0.13, Z:-0.88 [[ 9.94171447e-01 -9.45196644e-02 5.18571828e-02 1.17359818e+01] [ 9.44453230e-02 9.95522459e-01 3.88770366e-03 1.32094768e-01] [-5.19924546e-02 1.03262441e-03 9.98646944e-01 -8.80386101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.053201007999998 meters 0.0628876580567503 Centerline is valid? [True, True] Translation: X:11.79, Y:0.14, Z:-0.89 [[ 9.94263446e-01 -9.40154525e-02 5.10028868e-02 1.17939455e+01] [ 9.39430780e-02 9.95570242e-01 3.81975239e-03 1.35742111e-01] [-5.11360721e-02 9.93527994e-04 9.98691201e-01 -8.88921141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.113201007999999 meters 0.06290680248080384 Centerline is valid? [True, True] Translation: X:11.85, Y:0.14, Z:-0.90 [[ 9.94894622e-01 -8.80738377e-02 4.92715926e-02 1.18505584e+01] [ 8.79981786e-02 9.96113738e-01 3.70690393e-03 1.44448430e-01] [-4.94065916e-02 6.47831621e-04 9.98778539e-01 -9.01611926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.173201008 meters 0.06261779433238712 Centerline is valid? [True, True] Translation: X:11.91, Y:0.16, Z:-0.91 [[ 9.96009551e-01 -7.49623172e-02 4.84316628e-02 1.19079339e+01] [ 7.48736953e-02 9.97186367e-01 3.64400450e-03 1.58424171e-01] [-4.85685569e-02 -3.20571445e-06 9.98819851e-01 -9.11257420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.233201007999998 meters 0.06355141955081449 Centerline is valid? [True, True] Translation: X:11.97, Y:0.17, Z:-0.91 [[ 9.96962484e-01 -6.13521266e-02 4.79762717e-02 1.19665466e+01] [ 6.12487443e-02 9.98115956e-01 3.62337958e-03 1.72142875e-01] [-4.81081843e-02 -6.73887110e-04 9.98841904e-01 -9.13219412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.293201007999999 meters 0.06381278178694035 Centerline is valid? [True, True] Translation: X:12.03, Y:0.18, Z:-0.91 [[ 9.97132813e-01 -5.76717665e-02 4.89910322e-02 1.20252900e+01] [ 5.75595601e-02 9.98335221e-01 3.69924152e-03 1.76775584e-01] [-4.91228148e-02 -8.68732836e-04 9.98792368e-01 -9.14663942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.353201008 meters 0.064851745480148 Centerline is valid? [True, True] Translation: X:12.08, Y:0.18, Z:-0.92 [[ 9.97163839e-01 -5.48640565e-02 5.15190561e-02 1.20822012e+01] [ 5.47354618e-02 9.98493256e-01 3.90471555e-03 1.80903239e-01] [-5.16556586e-02 -1.07372182e-03 9.98664378e-01 -9.17604705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.413201007999998 meters 0.06330134414048409 Centerline is valid? [True, True] Translation: X:12.14, Y:0.17, Z:-0.92 [[ 9.96550802e-01 -6.01334778e-02 5.71879643e-02 1.21427885e+01] [ 5.99827918e-02 9.98189936e-01 4.34939357e-03 1.74970852e-01] [-5.73459946e-02 -9.04097894e-04 9.98353955e-01 -9.22333587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.473201007999998 meters 0.06265200862411646 Centerline is valid? [True, True] Translation: X:12.20, Y:0.17, Z:-0.93 [[ 9.96192647e-01 -6.67839233e-02 5.60367461e-02 1.22015753e+01] [ 6.66499200e-02 9.97767332e-01 4.25893312e-03 1.69215911e-01] [-5.61960629e-02 -5.07873214e-04 9.98419623e-01 -9.30356549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.533201007999999 meters 0.062255309668483486 Centerline is valid? [True, True] Translation: X:12.26, Y:0.15, Z:-0.93 [[ 9.95661041e-01 -7.81372346e-02 5.05337927e-02 1.22622171e+01] [ 7.80421364e-02 9.96942607e-01 3.85531436e-03 1.49741811e-01] [-5.06805347e-02 1.05178835e-04 9.98714910e-01 -9.34954493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.593201008 meters 0.06259528806151844 Centerline is valid? [True, True] Translation: X:12.32, Y:0.14, Z:-0.94 [[ 9.94908795e-01 -8.70987155e-02 5.06981522e-02 1.23222705e+01] [ 8.70147147e-02 9.96199525e-01 3.86590098e-03 1.40769381e-01] [-5.08421902e-02 5.65266359e-04 9.98706540e-01 -9.38850361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.653201007999998 meters 0.06413969078967632 Centerline is valid? [True, True] Translation: X:12.38, Y:0.13, Z:-0.95 [[ 9.93716604e-01 -1.00406871e-01 4.94547435e-02 1.23829596e+01] [ 1.00342552e-01 9.94945739e-01 3.78789262e-03 1.30977906e-01] [-4.95851168e-02 1.19832336e-03 9.98769183e-01 -9.45585346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.713201007999999 meters 0.06528671573034009 Centerline is valid? [True, True] Translation: X:12.44, Y:0.13, Z:-0.95 [[ 9.93209484e-01 -1.05152353e-01 4.97785371e-02 1.24428921e+01] [ 1.05093148e-01 9.94455075e-01 3.81248171e-03 1.28819200e-01] [-4.99034102e-02 1.44479016e-03 9.98753004e-01 -9.50744489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.773201008 meters 0.06679015503101525 Centerline is valid? [True, True] Translation: X:12.50, Y:0.12, Z:-0.95 [[ 9.92584875e-01 -1.09201754e-01 5.33876634e-02 1.25012468e+01] [ 1.09139451e-01 9.94018035e-01 4.08979472e-03 1.22398000e-01] [-5.35149130e-02 1.76723186e-03 9.98565487e-01 -9.51554289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.833201008 meters 0.06410545863400384 Centerline is valid? [True, True] Translation: X:12.56, Y:0.14, Z:-0.96 [[ 9.93314157e-01 -1.03021692e-01 5.20914179e-02 1.25602648e+01] [ 1.02953591e-01 9.94678133e-01 3.99613542e-03 1.40243349e-01] [-5.22258829e-02 1.39358067e-03 9.98634325e-01 -9.56139800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.893201007999998 meters 0.06330402150581076 Centerline is valid? [True, True] Translation: X:12.62, Y:0.15, Z:-0.96 [[ 9.94149081e-01 -9.52243074e-02 5.09895711e-02 1.26175204e+01] [ 9.51488041e-02 9.95455375e-01 3.91163257e-03 1.52821432e-01] [-5.11303251e-02 9.62850790e-04 9.98691525e-01 -9.64567037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.953201007999999 meters 0.06229040129983426 Centerline is valid? [True, True] Translation: X:12.68, Y:0.17, Z:-0.97 [[ 9.95188387e-01 -8.43529620e-02 4.98462831e-02 1.26757292e+01] [ 8.42670266e-02 9.96435861e-01 3.82676526e-03 1.69673521e-01] [-4.99914230e-02 3.92045717e-04 9.98749570e-01 -9.69686400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.013201008 meters 0.06229394672233169 Centerline is valid? [True, True] Translation: X:12.73, Y:0.18, Z:-0.98 [[ 9.95502801e-01 -8.05778127e-02 4.98135403e-02 1.27328993e+01] [ 8.04872444e-02 9.96748301e-01 3.82467525e-03 1.77380540e-01] [-4.99597456e-02 2.01879667e-04 9.98751212e-01 -9.75759363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.073201007999998 meters 0.06228298317638586 Centerline is valid? [True, True] Translation: X:12.79, Y:0.18, Z:-0.98 [[ 9.95590112e-01 -8.01229137e-02 4.87918735e-02 1.27909094e+01] [ 8.00352842e-02 9.96784976e-01 3.75019461e-03 1.81696060e-01] [-4.89354830e-02 1.71414785e-04 9.98801927e-01 -9.80796533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.133201007999999 meters 0.06231340842113288 Centerline is valid? [True, True] Translation: X:12.85, Y:0.18, Z:-0.98 [[ 9.95372880e-01 -8.13641971e-02 5.11145486e-02 1.28489922e+01] [ 8.12694679e-02 9.96684408e-01 3.93239043e-03 1.82585666e-01] [-5.12650294e-02 2.39857375e-04 9.98685055e-01 -9.83970786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.193201007999999 meters 0.06192248223877608 Centerline is valid? [True, True] Translation: X:12.91, Y:0.18, Z:-0.98 [[ 9.94767443e-01 -8.58757364e-02 5.53452121e-02 1.29085468e+01] [ 8.57713565e-02 9.96305727e-01 4.26296996e-03 1.80039647e-01] [-5.55068374e-02 5.06370185e-04 9.98458179e-01 -9.79672409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.253201008 meters 0.06205118168609422 Centerline is valid? [True, True] Translation: X:12.97, Y:0.18, Z:-0.98 [[ 9.94419492e-01 -8.96741812e-02 5.55735040e-02 1.29671570e+01] [ 8.95741112e-02 9.95970903e-01 4.29400855e-03 1.83388666e-01] [-5.57346547e-02 7.07901428e-04 9.98445365e-01 -9.82373466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.313201007999998 meters 0.06285285881171804 Centerline is valid? [True, True] Translation: X:13.03, Y:0.18, Z:-0.99 [[ 9.94278876e-01 -9.24768965e-02 5.34559711e-02 1.30251663e+01] [ 9.23874619e-02 9.95714497e-01 4.14705166e-03 1.82509169e-01] [-5.36103918e-02 8.15335634e-04 9.98561596e-01 -9.92871683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.373201007999999 meters 0.06294452526422054 Centerline is valid? [True, True] Translation: X:13.08, Y:0.19, Z:-1.00 [[ 9.94057881e-01 -9.55908673e-02 5.20703004e-02 1.30840876e+01] [ 9.55102991e-02 9.95420247e-01 4.03914057e-03 1.85064442e-01] [-5.22179363e-02 9.58110451e-04 9.98635253e-01 -9.96078349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.433201008 meters 0.06497062063459562 Centerline is valid? [True, True] Translation: X:13.14, Y:0.18, Z:-1.01 [[ 9.93626701e-01 -1.00887850e-01 5.02754402e-02 1.31432929e+01] [ 1.00818650e-01 9.94897109e-01 3.91697939e-03 1.84157554e-01] [-5.04140657e-02 1.17668669e-03 9.98727709e-01 -1.00775105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.493201007999998 meters 0.06478800729681353 Centerline is valid? [True, True] Translation: X:13.20, Y:0.19, Z:-1.01 [[ 9.93163795e-01 -1.05541591e-01 4.98663082e-02 1.32024178e+01] [ 1.05479372e-01 9.94413902e-01 3.88504259e-03 1.88685825e-01] [-4.99977837e-02 1.40138320e-03 9.98748346e-01 -1.00715323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.553201007999998 meters 0.06664580169070242 Centerline is valid? [True, True] Translation: X:13.26, Y:0.19, Z:-1.01 [[ 9.92109668e-01 -1.14740471e-01 5.05275322e-02 1.32623085e+01] [ 1.14688315e-01 9.93393712e-01 3.93994314e-03 1.86470028e-01] [-5.06458037e-02 1.88606186e-03 9.98714897e-01 -1.00850944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.613201007999999 meters 0.0677266347577201 Centerline is valid? [True, True] Translation: X:13.32, Y:0.19, Z:-1.01 [[ 9.91525214e-01 -1.18778817e-01 5.26245404e-02 1.33211446e+01] [ 1.18727914e-01 9.92918347e-01 4.10353493e-03 1.92743914e-01] [-5.27392847e-02 2.17924357e-03 9.98605938e-01 -1.01127020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.673201008 meters 0.06652542698184243 Centerline is valid? [True, True] Translation: X:13.38, Y:0.21, Z:-1.01 [[ 9.91666387e-01 -1.18042047e-01 5.16125139e-02 1.33791241e+01] [ 1.17992108e-01 9.93006379e-01 4.02417603e-03 2.07624563e-01] [-5.17265776e-02 2.09922922e-03 9.98659078e-01 -1.01383637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.733201007999998 meters 0.06632303987024449 Centerline is valid? [True, True] Translation: X:13.44, Y:0.22, Z:-1.02 [[ 9.92150613e-01 -1.13878994e-01 5.16598120e-02 1.34364720e+01] [ 1.13822449e-01 9.93492873e-01 4.04485982e-03 2.24842273e-01] [-5.17842796e-02 1.86693614e-03 9.98656549e-01 -1.01893127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.793201007999999 meters 0.06697595787066984 Centerline is valid? [True, True] Translation: X:13.49, Y:0.24, Z:-1.03 [[ 9.92647541e-01 -1.10893975e-01 4.85117129e-02 1.34923077e+01] [ 1.10840550e-01 9.93830944e-01 3.79834613e-03 2.42419371e-01] [-4.86336552e-02 1.60664599e-03 9.98815391e-01 -1.03073481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.853201008 meters 0.06591300912790742 Centerline is valid? [True, True] Translation: X:13.55, Y:0.26, Z:-1.03 [[ 9.92768855e-01 -1.10646728e-01 4.65542850e-02 1.35500812e+01] [ 1.10597287e-01 9.93858621e-01 3.64440956e-03 2.58779688e-01] [-4.66716195e-02 1.53072131e-03 9.98909113e-01 -1.03487789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.913201007999998 meters 0.06506806191785816 Centerline is valid? [True, True] Translation: X:13.61, Y:0.27, Z:-1.03 [[ 9.92618170e-01 -1.11742408e-01 4.71466097e-02 1.36091808e+01] [ 1.11692441e-01 9.93735931e-01 3.70120763e-03 2.68868192e-01] [-4.72648619e-02 1.59203399e-03 9.98881123e-01 -1.02967118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.973201007999998 meters 0.06475410891076167 Centerline is valid? [True, True] Translation: X:13.67, Y:0.28, Z:-1.03 [[ 9.92661662e-01 -1.10445557e-01 4.92402599e-02 1.36676020e+01] [ 1.10388831e-01 9.93880911e-01 3.87833816e-03 2.80456387e-01] [-4.93672995e-02 1.58569714e-03 9.98779433e-01 -1.03362454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.033201008 meters 0.06448028599925382 Centerline is valid? [True, True] Translation: X:13.73, Y:0.29, Z:-1.04 [[ 9.92946413e-01 -1.07416697e-01 5.01903877e-02 1.37265234e+01] [ 1.07353076e-01 9.94213036e-01 3.96946221e-03 2.94769676e-01] [-5.03263243e-02 1.44662924e-03 9.98731780e-01 -1.04060673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.093201007999998 meters 0.0635358238645943 Centerline is valid? [True, True] Translation: X:13.79, Y:0.31, Z:-1.04 [[ 9.93527080e-01 -1.01522866e-01 5.09612432e-02 1.37857593e+01] [ 1.01449484e-01 9.94832524e-01 4.03128767e-03 3.09872986e-01] [-5.11071701e-02 1.16479834e-03 9.98692495e-01 -1.04353334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.153201008 meters 0.06312512555122766 Centerline is valid? [True, True] Translation: X:13.84, Y:0.32, Z:-1.05 [[ 9.93869981e-01 -9.88774565e-02 4.94541154e-02 1.38440698e+01] [ 9.88053180e-02 9.95099112e-01 3.90725058e-03 3.21256327e-01] [-4.95980853e-02 1.00303054e-03 9.98768754e-01 -1.04610950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.213201008 meters 0.06285019403929894 Centerline is valid? [True, True] Translation: X:13.90, Y:0.33, Z:-1.05 [[ 9.94041282e-01 -9.73909846e-02 4.89584040e-02 1.39026944e+01] [ 9.73179284e-02 9.95245784e-01 3.87938540e-03 3.31121207e-01] [-4.91034623e-02 9.08261219e-04 9.98793284e-01 -1.04968129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.273201007999997 meters 0.06250468690343527 Centerline is valid? [True, True] Translation: X:13.96, Y:0.34, Z:-1.05 [[ 9.94204774e-01 -9.55185446e-02 4.93262189e-02 1.39612256e+01] [ 9.54415142e-02 9.95427321e-01 3.92002273e-03 3.39679104e-01] [-4.94751008e-02 8.10463715e-04 9.98775028e-01 -1.05298054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.333201008 meters 0.06232804397348344 Centerline is valid? [True, True] Translation: X:14.02, Y:0.35, Z:-1.06 [[ 9.94301434e-01 -9.49345748e-02 4.84982885e-02 1.40194128e+01] [ 9.48588986e-02 9.95483226e-01 3.86483300e-03 3.51013276e-01] [-4.86461390e-02 7.57685240e-04 9.98815788e-01 -1.06020365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.393201008 meters 0.06225143705771437 Centerline is valid? [True, True] Translation: X:14.08, Y:0.36, Z:-1.07 [[ 9.94491102e-01 -9.32584365e-02 4.78571964e-02 1.40765027e+01] [ 9.31820799e-02 9.95641722e-01 3.82891150e-03 3.59380212e-01] [-4.80056997e-02 6.51614679e-04 9.98846849e-01 -1.06663635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.453201007999997 meters 0.061850614548779576 Centerline is valid? [True, True] Translation: X:14.13, Y:0.36, Z:-1.07 [[ 9.94942906e-01 -8.89658718e-02 4.66228210e-02 1.41348125e+01] [ 8.88887142e-02 9.96034581e-01 3.72970188e-03 3.64969939e-01] [-4.67697582e-02 4.33402191e-04 9.98905602e-01 -1.06719446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.513201008 meters 0.06145859070122866 Centerline is valid? [True, True] Translation: X:14.19, Y:0.37, Z:-1.07 [[ 9.95380770e-01 -8.50273470e-02 4.45810942e-02 1.41930443e+01] [ 8.49524379e-02 9.96378592e-01 3.57562524e-03 3.73324501e-01] [-4.47236737e-02 2.28164028e-04 9.98999370e-01 -1.06956858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.573201007999998 meters 0.061562275844834445 Centerline is valid? [True, True] Translation: X:14.25, Y:0.39, Z:-1.08 [[ 9.95914324e-01 -8.03858951e-02 4.11432597e-02 1.42509714e+01] [ 8.03175501e-02 9.96763817e-01 3.31410648e-03 3.86349126e-01] [-4.12765200e-02 3.95970587e-06 9.99147761e-01 -1.07894012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.633201008 meters 0.06157409719790815 Centerline is valid? [True, True] Translation: X:14.31, Y:0.39, Z:-1.09 [[ 9.95877203e-01 -8.08472685e-02 4.11377729e-02 1.43073708e+01] [ 8.07793422e-02 9.96726501e-01 3.31349315e-03 3.89574580e-01] [-4.12709953e-02 2.32499454e-05 9.99147989e-01 -1.08542698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.693201008 meters 0.06147729950387243 Centerline is valid? [True, True] Translation: X:14.37, Y:0.39, Z:-1.09 [[ 9.95645393e-01 -8.37952802e-02 4.08485311e-02 1.43670312e+01] [ 8.37307559e-02 9.96482980e-01 3.29091764e-03 3.88547170e-01] [-4.09806294e-02 1.43691400e-04 9.99159931e-01 -1.08784722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.753201007999998 meters 0.06129179881864725 Centerline is valid? [True, True] Translation: X:14.43, Y:0.39, Z:-1.09 [[ 9.94876550e-01 -9.19969617e-02 4.19190834e-02 1.44264553e+01] [ 9.19358721e-02 9.95759170e-01 3.38688031e-03 3.85197191e-01] [-4.20528944e-02 4.84339696e-04 9.99115268e-01 -1.08762397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.813201008 meters 0.06189263030302446 Centerline is valid? [True, True] Translation: X:14.48, Y:0.38, Z:-1.09 [[ 9.94363792e-01 -9.70718258e-02 4.26346078e-02 1.44841292e+01] [ 9.70126607e-02 9.95277135e-01 3.45943010e-03 3.80359567e-01] [-4.27690635e-02 6.96164710e-04 9.99084742e-01 -1.09320823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.873201008 meters 0.061951569743289844 Centerline is valid? [True, True] Translation: X:14.55, Y:0.38, Z:-1.09 [[ 9.93299035e-01 -1.07269666e-01 4.30144778e-02 1.45455413e+01] [ 1.07218684e-01 9.94229311e-01 3.49721588e-03 3.75566589e-01] [-4.31413998e-02 1.13817455e-03 9.99068328e-01 -1.09103164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.933201007999998 meters 0.06330038911250527 Centerline is valid? [True, True] Translation: X:14.61, Y:0.37, Z:-1.09 [[ 9.91961765e-01 -1.18590096e-01 4.41389355e-02 1.46064457e+01] [ 1.18547538e-01 9.92941889e-01 3.58977698e-03 3.70445111e-01] [-4.42531100e-02 1.67164061e-03 9.99018953e-01 -1.09344759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.993201008 meters 0.0642802329136025 Centerline is valid? [True, True] Translation: X:14.67, Y:0.37, Z:-1.10 [[ 9.91350086e-01 -1.23900840e-01 4.32849639e-02 1.46666744e+01] [ 1.23864964e-01 9.92292839e-01 3.52022707e-03 3.69913353e-01] [-4.33875188e-02 1.87171310e-03 9.99056565e-01 -1.09683445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.053201008 meters 0.06390512845155957 Centerline is valid? [True, True] Translation: X:14.73, Y:0.38, Z:-1.10 [[ 9.91524631e-01 -1.23520225e-01 4.02698473e-02 1.47259218e+01] [ 1.23488864e-01 9.92340554e-01 3.27485833e-03 3.77404057e-01] [-4.03659138e-02 1.72577500e-03 9.99183474e-01 -1.10125058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.113201007999997 meters 0.06323780858384125 Centerline is valid? [True, True] Translation: X:14.78, Y:0.40, Z:-1.11 [[ 9.92656934e-01 -1.15369290e-01 3.63612259e-02 1.47826903e+01] [ 1.15338203e-01 9.93321875e-01 2.95845468e-03 3.96216597e-01] [-3.64597159e-02 1.25710788e-03 9.99334333e-01 -1.11010728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.173201008 meters 0.06094903987728654 Centerline is valid? [True, True] Translation: X:14.84, Y:0.41, Z:-1.11 [[ 9.93492954e-01 -1.07926475e-01 3.63816698e-02 1.48416844e+01] [ 1.07890327e-01 9.94158392e-01 2.96114066e-03 4.13460168e-01] [-3.64887279e-02 9.83357860e-04 9.99333581e-01 -1.10893055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.233201007999998 meters 0.05971980924346891 Centerline is valid? [True, True] Translation: X:14.90, Y:0.43, Z:-1.11 [[ 9.94348590e-01 -9.98855812e-02 3.59687738e-02 1.48995943e+01] [ 9.98449999e-02 9.94998697e-01 2.92721381e-03 4.34369444e-01] [-3.60812696e-02 6.80631293e-04 9.99348627e-01 -1.11333653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.293201008 meters 0.05912053286425811 Centerline is valid? [True, True] Translation: X:14.96, Y:0.45, Z:-1.12 [[ 9.95056882e-01 -9.28940016e-02 3.51070514e-02 1.49569498e+01] [ 9.28509977e-02 9.95675916e-01 2.85685897e-03 4.50668541e-01] [-3.52206306e-02 4.16987566e-04 9.99379474e-01 -1.11852750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.353201008 meters 0.058231078594965666 Centerline is valid? [True, True] Translation: X:15.02, Y:0.47, Z:-1.12 [[ 9.95927038e-01 -8.12103416e-02 3.91690649e-02 1.50154009e+01] [ 8.11475642e-02 9.96696985e-01 3.19255541e-03 4.71644635e-01] [-3.92989574e-02 -1.07804641e-06 9.99227498e-01 -1.11912649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.413201007999998 meters 0.05847760311039216 Centerline is valid? [True, True] Translation: X:15.07, Y:0.48, Z:-1.13 [[ 9.96372418e-01 -7.57128173e-02 3.88532430e-02 1.50721670e+01] [ 7.56469523e-02 9.97129642e-01 3.16466948e-03 4.82915025e-01] [-3.89813263e-02 -2.14059970e-04 9.99239916e-01 -1.12538584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.473201008 meters 0.05885001829272076 Centerline is valid? [True, True] Translation: X:15.13, Y:0.49, Z:-1.13 [[ 9.96347608e-01 -7.69431156e-02 3.70297310e-02 1.51310188e+01] [ 7.68842474e-02 9.97035472e-01 3.01324409e-03 4.85743785e-01] [-3.71518037e-02 -1.55235538e-04 9.99309621e-01 -1.13278222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.533201008 meters 0.05894149559096997 Centerline is valid? [True, True] Translation: X:15.19, Y:0.48, Z:-1.14 [[ 9.96074955e-01 -8.09212684e-02 3.58668662e-02 1.51896116e+01] [ 8.08681328e-02 9.96720496e-01 2.93209707e-03 4.82471067e-01] [-3.59865096e-02 -2.01019661e-05 9.99352276e-01 -1.13814879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.593201007999998 meters 0.05949629415793666 Centerline is valid? [True, True] Translation: X:15.25, Y:0.47, Z:-1.14 [[ 9.95573989e-01 -8.65422262e-02 3.66452737e-02 1.52490785e+01] [ 8.64906545e-02 9.96248165e-01 2.99324340e-03 4.74116423e-01] [-3.67668287e-02 1.89478436e-04 9.99323854e-01 -1.14484356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.653201008 meters 0.05949100904847083 Centerline is valid? [True, True] Translation: X:15.31, Y:0.47, Z:-1.15 [[ 9.95337146e-01 -8.88776181e-02 3.74798020e-02 1.53084504e+01] [ 8.88249961e-02 9.96042516e-01 3.07014212e-03 4.72133050e-01] [-3.76043432e-02 2.73316775e-04 9.99292669e-01 -1.14702161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.713201008 meters 0.05976826199465189 Centerline is valid? [True, True] Translation: X:15.37, Y:0.46, Z:-1.15 [[ 9.95094127e-01 -9.07043941e-02 3.95017927e-02 1.53682926e+01] [ 9.06469701e-02 9.95877799e-01 3.24604744e-03 4.62262910e-01] [-3.96333891e-02 3.50595080e-04 9.99214227e-01 -1.14773200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.773201007999997 meters 0.059878641356651746 Centerline is valid? [True, True] Translation: X:15.43, Y:0.47, Z:-1.16 [[ 9.95097850e-01 -8.97517841e-02 4.15317578e-02 1.54262242e+01] [ 8.96868041e-02 9.95964116e-01 3.42895259e-03 4.67774819e-01] [-4.16718950e-02 3.12707274e-04 9.99131300e-01 -1.15588127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.833201008 meters 0.06037600064113015 Centerline is valid? [True, True] Translation: X:15.48, Y:0.47, Z:-1.16 [[ 9.95528837e-01 -8.57983097e-02 3.95092961e-02 1.54840438e+01] [ 8.57363226e-02 9.96312517e-01 3.26374458e-03 4.71658944e-01] [-3.96436300e-02 1.38229908e-04 9.99213873e-01 -1.16415438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.893201008 meters 0.060681369107236455 Centerline is valid? [True, True] Translation: X:15.54, Y:0.47, Z:-1.17 [[ 9.95587421e-01 -8.55094217e-02 3.86500433e-02 1.55426410e+01] [ 8.54497660e-02 9.96337355e-01 3.19582498e-03 4.68781632e-01] [-3.87817551e-02 1.20914010e-04 9.99247697e-01 -1.16780059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.953201007999997 meters 0.0611461824102279 Centerline is valid? [True, True] Translation: X:15.60, Y:0.47, Z:-1.18 [[ 9.95335473e-01 -8.87327816e-02 3.78654056e-02 1.56011264e+01] [ 8.86779481e-02 9.96055437e-01 3.12850662e-03 4.68278061e-01] [-3.79936442e-02 2.43912853e-04 9.99277951e-01 -1.17561110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.013201008 meters 0.061918040150788715 Centerline is valid? [True, True] Translation: X:15.66, Y:0.46, Z:-1.18 [[ 9.94491174e-01 -9.80381890e-02 3.70920285e-02 1.56614841e+01] [ 9.79914621e-02 9.95182489e-01 3.08003616e-03 4.59816331e-01] [-3.72152984e-02 5.71633327e-04 9.99307107e-01 -1.18257002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.073201007999998 meters 0.06332762799550622 Centerline is valid? [True, True] Translation: X:15.72, Y:0.45, Z:-1.19 [[ 9.93736223e-01 -1.05674364e-01 3.63489778e-02 1.57217447e+01] [ 1.05634525e-01 9.94400435e-01 3.02015409e-03 4.49707118e-01] [-3.64645922e-02 8.38470495e-04 9.99334594e-01 -1.18948202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.133201008 meters 0.06392363715166706 Centerline is valid? [True, True] Translation: X:15.78, Y:0.44, Z:-1.19 [[ 9.93147801e-01 -1.10998455e-01 3.65621192e-02 1.57815823e+01] [ 1.10961774e-01 9.93820034e-01 3.03720620e-03 4.43727198e-01] [-3.66732918e-02 1.04060296e-03 9.99326767e-01 -1.19102941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.193201008 meters 0.06359581256502905 Centerline is valid? [True, True] Translation: X:15.84, Y:0.44, Z:-1.19 [[ 9.93188582e-01 -1.09641015e-01 3.94371495e-02 1.58414164e+01] [ 1.09597158e-01 9.93970680e-01 3.27884700e-03 4.43025517e-01] [-3.95588664e-02 1.06568611e-03 9.99216673e-01 -1.19199477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.253201007999998 meters 0.06180918895849615 Centerline is valid? [True, True] Translation: X:15.90, Y:0.45, Z:-1.19 [[ 9.94132032e-01 -9.80795616e-02 4.56278749e-02 1.59010240e+01] [ 9.80085633e-02 9.95178332e-01 3.79597481e-03 4.50426544e-01] [-4.57801800e-02 6.98222318e-04 9.98951294e-01 -1.19108148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.313201008 meters 0.06133054651135458 Centerline is valid? [True, True] Translation: X:15.96, Y:0.46, Z:-1.20 [[ 9.95067344e-01 -8.76477823e-02 4.64633973e-02 1.59592849e+01] [ 8.75627827e-02 9.96151503e-01 3.86550397e-03 4.64241888e-01] [-4.66233859e-02 2.22027595e-04 9.98912514e-01 -1.19840172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.373201008 meters 0.06207110086636364 Centerline is valid? [True, True] Translation: X:16.02, Y:0.48, Z:-1.21 [[ 9.95882817e-01 -7.70135114e-02 4.78156161e-02 1.60174589e+01] [ 7.69114114e-02 9.97030010e-01 3.97420347e-03 4.75780590e-01] [-4.79796715e-02 -2.80274433e-04 9.98848273e-01 -1.20694194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.433201007999998 meters 0.06219774203786516 Centerline is valid? [True, True] Translation: X:16.08, Y:0.48, Z:-1.21 [[ 9.96065572e-01 -7.36515756e-02 4.92830846e-02 1.60755416e+01] [ 7.35384692e-02 9.97283925e-01 4.10678469e-03 4.76765490e-01] [-4.94516993e-02 -4.66424235e-04 9.98776407e-01 -1.20675115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.493201008 meters 0.06251549065782183 Centerline is valid? [True, True] Translation: X:16.13, Y:0.47, Z:-1.21 [[ 9.95785637e-01 -7.67715974e-02 5.01705769e-02 1.61339523e+01] [ 7.66573626e-02 9.97048649e-01 4.20000774e-03 4.68460622e-01] [-5.03449472e-02 -3.36363276e-04 9.98731832e-01 -1.21174770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.553201008 meters 0.06261059779921366 Centerline is valid? [True, True] Translation: X:16.19, Y:0.46, Z:-1.22 [[ 9.95287630e-01 -8.23916451e-02 5.11287595e-02 1.61936278e+01] [ 8.22803638e-02 9.96600027e-01 4.28110132e-03 4.63441967e-01] [-5.13076501e-02 -5.40342589e-05 9.98682894e-01 -1.21727232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.613201007999997 meters 0.06293865377241464 Centerline is valid? [True, True] Translation: X:16.25, Y:0.46, Z:-1.22 [[ 9.94902225e-01 -8.83192925e-02 4.86751001e-02 1.62523027e+01] [ 8.82248082e-02 9.96092191e-01 4.09037727e-03 4.59166043e-01] [-4.88461463e-02 2.24825924e-04 9.98806289e-01 -1.22495044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.673201008 meters 0.06344259999165588 Centerline is valid? [True, True] Translation: X:16.31, Y:0.46, Z:-1.23 [[ 9.94984313e-01 -8.84127163e-02 4.67911070e-02 1.63101533e+01] [ 8.83253296e-02 9.96083904e-01 3.93592237e-03 4.58274411e-01] [-4.69558542e-02 2.16658932e-04 9.98896942e-01 -1.23145177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.733201007999998 meters 0.06382804892720773 Centerline is valid? [True, True] Translation: X:16.37, Y:0.46, Z:-1.24 [[ 9.95011405e-01 -8.91586859e-02 4.47552635e-02 1.63683511e+01] [ 8.90795366e-02 9.96017405e-01 3.76376085e-03 4.63590092e-01] [-4.49125934e-02 2.41793166e-04 9.98990891e-01 -1.24041929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.793201007999997 meters 0.06416413534593364 Centerline is valid? [True, True] Translation: X:16.43, Y:0.47, Z:-1.25 [[ 9.94959435e-01 -8.95090716e-02 4.52089408e-02 1.64268352e+01] [ 8.94281646e-02 9.95985976e-01 3.81304757e-03 4.73308502e-01] [-4.53687733e-02 2.49124944e-04 9.98970276e-01 -1.24788428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.853201008 meters 0.06461873460016503 Centerline is valid? [True, True] Translation: X:16.48, Y:0.48, Z:-1.25 [[ 9.95242497e-01 -8.69189945e-02 4.40165944e-02 1.64839112e+01] [ 8.68391701e-02 9.96215376e-01 3.72601112e-03 4.81885697e-01] [-4.41738692e-02 1.14079911e-04 9.99023852e-01 -1.25498149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.913201007999998 meters 0.06481025430844682 Centerline is valid? [True, True] Translation: X:16.54, Y:0.49, Z:-1.26 [[ 9.95310941e-01 -8.57883744e-02 4.46820563e-02 1.65428828e+01] [ 8.57050174e-02 9.96313380e-01 3.78146628e-03 4.87052007e-01] [-4.48417363e-02 6.57416525e-05 9.98994101e-01 -1.25721441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.973201008 meters 0.06466310164598997 Centerline is valid? [True, True] Translation: X:16.60, Y:0.49, Z:-1.26 [[ 9.94970804e-01 -8.68739532e-02 4.98599675e-02 1.66022620e+01] [ 8.67705540e-02 9.96219305e-01 4.23870056e-03 4.92016851e-01] [-5.00396949e-02 1.08993698e-04 9.98747224e-01 -1.25918809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.033201008 meters 0.06483643619010063 Centerline is valid? [True, True] Translation: X:16.66, Y:0.50, Z:-1.26 [[ 9.94605411e-01 -8.70436666e-02 5.64223047e-02 1.66607405e+01] [ 8.69113784e-02 9.96204489e-01 4.79888518e-03 4.99796388e-01] [-5.66258658e-02 1.30743113e-04 9.98395460e-01 -1.26478254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.093201007999998 meters 0.0648752846615919 Centerline is valid? [True, True] Translation: X:16.72, Y:0.50, Z:-1.27 [[ 9.94597852e-01 -8.62436599e-02 5.77680109e-02 1.67196528e+01] [ 8.61037173e-02 9.96274070e-01 4.91188547e-03 5.02819123e-01] [-5.79763903e-02 8.86897371e-05 9.98317951e-01 -1.26518426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.153201008 meters 0.06512526512358563 Centerline is valid? [True, True] Translation: X:16.78, Y:0.50, Z:-1.27 [[ 9.94610172e-01 -8.58039695e-02 5.82089677e-02 1.67782981e+01] [ 8.56603714e-02 9.96312038e-01 4.96230950e-03 5.04977938e-01] [-5.84200811e-02 5.06382923e-05 9.98292087e-01 -1.26607516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.213201008 meters 0.06606693915397079 Centerline is valid? [True, True] Translation: X:16.84, Y:0.51, Z:-1.28 [[ 9.94578417e-01 -8.77030832e-02 5.58743337e-02 1.68352710e+01] [ 8.75727692e-02 9.96146651e-01 4.78119982e-03 5.12813357e-01] [-5.60783563e-02 1.37791976e-04 9.98426361e-01 -1.28187148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.273201007999997 meters 0.06695731280754003 Centerline is valid? [True, True] Translation: X:16.89, Y:0.51, Z:-1.29 [[ 9.94357939e-01 -9.23524730e-02 5.21853474e-02 1.68933956e+01] [ 9.22449735e-02 9.95726310e-01 4.46994165e-03 5.09331432e-01] [-5.23751336e-02 3.69114020e-04 9.98627413e-01 -1.29056930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.333201008 meters 0.06740929265968215 Centerline is valid? [True, True] Translation: X:16.95, Y:0.50, Z:-1.29 [[ 9.94049890e-01 -9.65480013e-02 5.04311427e-02 1.69531881e+01] [ 9.64528202e-02 9.95328168e-01 4.32331980e-03 5.03846207e-01] [-5.06129447e-02 5.66630371e-04 9.98718183e-01 -1.29298524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.393201008 meters 0.06740502031235265 Centerline is valid? [True, True] Translation: X:17.01, Y:0.51, Z:-1.29 [[ 9.93832503e-01 -9.72617346e-02 5.32645341e-02 1.70123078e+01] [ 9.71566401e-02 9.95258634e-01 4.56503182e-03 5.08945766e-01] [-5.34559903e-02 6.38126165e-04 9.98570002e-01 -1.29482960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.453201007999997 meters 0.0669986436968058 Centerline is valid? [True, True] Translation: X:17.07, Y:0.52, Z:-1.30 [[ 9.93980669e-01 -9.40467746e-02 5.61928241e-02 1.70707468e+01] [ 9.39238631e-02 9.95567666e-01 4.83021858e-03 5.20955225e-01] [-5.63980252e-02 4.76703216e-04 9.98408251e-01 -1.29974819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.513201008 meters 0.06655458677039275 Centerline is valid? [True, True] Translation: X:17.13, Y:0.54, Z:-1.30 [[ 9.94542245e-01 -8.55405384e-02 5.97372526e-02 1.71274637e+01] [ 8.53853416e-02 9.96334691e-01 5.15049597e-03 5.35426522e-01] [-5.99588733e-02 -2.17001052e-05 9.98200848e-01 -1.30299186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.573201007999998 meters 0.06651419055938144 Centerline is valid? [True, True] Translation: X:17.19, Y:0.54, Z:-1.30 [[ 9.94884357e-01 -8.13565502e-02 5.98851186e-02 1.71857863e+01] [ 8.11926927e-02 9.96685022e-01 5.16848248e-03 5.42869275e-01] [-6.01070906e-02 -2.79808345e-04 9.98191895e-01 -1.30497611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.633201008 meters 0.06636247303459784 Centerline is valid? [True, True] Translation: X:17.24, Y:0.54, Z:-1.31 [[ 9.94859791e-01 -8.18048291e-02 5.96822034e-02 1.72434941e+01] [ 8.16420959e-02 9.96648333e-01 5.16415434e-03 5.44643777e-01] [-5.99046213e-02 -2.65029342e-04 9.98204070e-01 -1.30950797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.693201008 meters 0.06646058951731625 Centerline is valid? [True, True] Translation: X:17.30, Y:0.55, Z:-1.32 [[ 9.94712235e-01 -8.42757054e-02 5.86956073e-02 1.73013812e+01] [ 8.41215160e-02 9.96442466e-01 5.09732219e-03 5.47231365e-01] [-5.89163761e-02 -1.32805278e-04 9.98262913e-01 -1.31644506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.753201007999998 meters 0.06656013419311735 Centerline is valid? [True, True] Translation: X:17.36, Y:0.56, Z:-1.32 [[ 9.94804465e-01 -8.37680412e-02 5.78531969e-02 1.73595390e+01] [ 8.36172655e-02 9.96485268e-01 5.02634105e-03 5.55463166e-01] [-5.80709051e-02 -1.62700390e-04 9.98312448e-01 -1.32493386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.813201008 meters 0.06653875288897616 Centerline is valid? [True, True] Translation: X:17.42, Y:0.56, Z:-1.33 [[ 9.94773058e-01 -8.39802881e-02 5.80850551e-02 1.74168754e+01] [ 8.38279243e-02 9.96467403e-01 5.05911290e-03 5.61986172e-01] [-5.83047297e-02 -1.63519612e-04 9.98298819e-01 -1.32926589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.873201008 meters 0.0662126845161886 Centerline is valid? [True, True] Translation: X:17.48, Y:0.57, Z:-1.33 [[ 9.94882160e-01 -8.20256553e-02 5.90023689e-02 1.74752147e+01] [ 8.18640997e-02 9.96630174e-01 5.15421129e-03 5.67741357e-01] [-5.92263187e-02 -2.97657047e-04 9.98244536e-01 -1.33035969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.933201007999998 meters 0.06620924573581548 Centerline is valid? [True, True] Translation: X:17.53, Y:0.57, Z:-1.33 [[ 9.94920729e-01 -8.12785969e-02 5.93846176e-02 1.75333992e+01] [ 8.11126828e-02 9.96691357e-01 5.20312395e-03 5.72772745e-01] [-5.96110377e-02 -3.59850226e-04 9.98221616e-01 -1.33342708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.993201008 meters 0.06614965410915659 Centerline is valid? [True, True] Translation: X:17.59, Y:0.57, Z:-1.34 [[ 9.94452257e-01 -8.73460324e-02 5.86121022e-02 1.75916332e+01] [ 8.71938178e-02 9.96178031e-01 5.15439046e-03 5.70728622e-01] [-5.88383042e-02 -1.51822664e-05 9.98267526e-01 -1.34056355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.053201008 meters 0.06651321772952 Centerline is valid? [True, True] Translation: X:17.65, Y:0.57, Z:-1.35 [[ 9.94298737e-01 -9.13765162e-02 5.49577423e-02 1.76499074e+01] [ 9.12487988e-02 9.95816393e-01 4.83402885e-03 5.72709202e-01] [-5.51695374e-02 2.08359188e-04 9.98476980e-01 -1.34883650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.113201007999997 meters 0.06655435736878479 Centerline is valid? [True, True] Translation: X:17.71, Y:0.57, Z:-1.35 [[ 9.93982939e-01 -9.48959444e-02 5.47053548e-02 1.77081388e+01] [ 9.47738246e-02 9.95487123e-01 4.82815412e-03 5.73401949e-01] [-5.49166485e-02 3.85532874e-04 9.98490868e-01 -1.35480933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.173201008 meters 0.06661974150416665 Centerline is valid? [True, True] Translation: X:17.77, Y:0.57, Z:-1.36 [[ 9.93390660e-01 -1.00218925e-01 5.59568067e-02 1.77668964e+01] [ 1.00099307e-01 9.94965170e-01 4.94350486e-03 5.71456765e-01] [-5.61705065e-02 6.90406034e-04 9.98420952e-01 -1.35626393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.233201007999998 meters 0.06716307290120059 Centerline is valid? [True, True] Translation: X:17.83, Y:0.57, Z:-1.36 [[ 9.92767630e-01 -1.05951680e-01 5.64506399e-02 1.78256850e+01] [ 1.05838972e-01 9.94370757e-01 4.99101959e-03 5.72109197e-01] [-5.66616724e-02 1.01975501e-03 9.98392916e-01 -1.35798629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.293201007999997 meters 0.06800746046741067 Centerline is valid? [True, True] Translation: X:17.89, Y:0.58, Z:-1.37 [[ 9.92141331e-01 -1.12559830e-01 5.46430639e-02 1.78859201e+01] [ 1.12463731e-01 9.93644041e-01 4.84030737e-03 5.75188114e-01] [-5.48405791e-02 1.34309383e-03 9.98494220e-01 -1.36534125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.353201008 meters 0.06883788205921612 Centerline is valid? [True, True] Translation: X:17.95, Y:0.58, Z:-1.37 [[ 9.91379286e-01 -1.18835651e-01 5.51833320e-02 1.79452407e+01] [ 1.18747360e-01 9.92912470e-01 4.88783151e-03 5.81714025e-01] [-5.53730671e-02 1.70718008e-03 9.98464275e-01 -1.36998731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.413201007999998 meters 0.0685553809009527 Centerline is valid? [True, True] Translation: X:18.00, Y:0.59, Z:-1.37 [[ 9.91034476e-01 -1.21591827e-01 5.53723395e-02 1.80042930e+01] [ 1.21507414e-01 9.92578424e-01 4.90113362e-03 5.87498664e-01] [-5.55573273e-02 1.87095742e-03 9.98453746e-01 -1.37079965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.473201008 meters 0.06755141426283585 Centerline is valid? [True, True] Translation: X:18.06, Y:0.60, Z:-1.37 [[ 9.91181386e-01 -1.20364871e-01 5.54234412e-02 1.80619280e+01] [ 1.20277663e-01 9.92728105e-01 4.91867572e-03 6.00714519e-01] [-5.56124435e-02 1.79090215e-03 9.98450824e-01 -1.37348399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.533201008 meters 0.06653444724371436 Centerline is valid? [True, True] Translation: X:18.12, Y:0.62, Z:-1.38 [[ 9.91803030e-01 -1.14764760e-01 5.61765042e-02 1.81204750e+01] [ 1.14665194e-01 9.93391595e-01 5.00318475e-03 6.17630211e-01] [-5.63794564e-02 1.47931596e-03 9.98408318e-01 -1.37981060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.593201007999998 meters 0.06565925483588018 Centerline is valid? [True, True] Translation: X:18.18, Y:0.63, Z:-1.39 [[ 9.92512372e-01 -1.07757791e-01 5.75104363e-02 1.81783622e+01] [ 1.07641642e-01 9.94176561e-01 5.12268424e-03 6.34907071e-01] [-5.77275369e-02 1.10619034e-03 9.98331762e-01 -1.38582416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.653201008 meters 0.0641582961693538 Centerline is valid? [True, True] Translation: X:18.24, Y:0.65, Z:-1.39 [[ 9.93286735e-01 -9.92958821e-02 5.93446713e-02 1.82358231e+01] [ 9.91569980e-02 9.95057751e-01 5.28786156e-03 6.50659932e-01] [-5.95764381e-02 6.32076717e-04 9.98223546e-01 -1.38692822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.713201008 meters 0.06376738120000286 Centerline is valid? [True, True] Translation: X:18.29, Y:0.66, Z:-1.39 [[ 9.93460345e-01 -9.68607216e-02 6.04528174e-02 1.82939472e+01] [ 9.67120779e-02 9.95297823e-01 5.38686207e-03 6.62928682e-01] [-6.06903329e-02 4.94883726e-04 9.98156520e-01 -1.38944743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.773201007999997 meters 0.06365057654973781 Centerline is valid? [True, True] Translation: X:18.35, Y:0.67, Z:-1.39 [[ 9.93194183e-01 -9.98679496e-02 5.99308566e-02 1.83522027e+01] [ 9.97264981e-02 9.95000482e-01 5.35417189e-03 6.67960215e-01] [-6.01659414e-02 6.58962090e-04 9.98188171e-01 -1.39414726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.833201008 meters 0.06427276154819025 Centerline is valid? [True, True] Translation: X:18.41, Y:0.66, Z:-1.40 [[ 9.92510993e-01 -1.07464810e-01 5.80796348e-02 1.84121206e+01] [ 1.07343955e-01 9.94208316e-01 5.20583417e-03 6.64442216e-01] [-5.83026999e-02 1.06765006e-03 9.98298380e-01 -1.39991242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.893201008 meters 0.06514457149386312 Centerline is valid? [True, True] Translation: X:18.47, Y:0.66, Z:-1.41 [[ 9.91964173e-01 -1.13253165e-01 5.63985849e-02 1.84720182e+01] [ 1.13148424e-01 9.93565226e-01 5.05728249e-03 6.62470732e-01] [-5.66084260e-02 1.36476797e-03 9.98395525e-01 -1.40657954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.953201007999997 meters 0.06568341880256309 Centerline is valid? [True, True] Translation: X:18.53, Y:0.66, Z:-1.42 [[ 9.91917356e-01 -1.15153746e-01 5.32876421e-02 1.85304057e+01] [ 1.15062995e-01 9.93346705e-01 4.77807687e-03 6.64892704e-01] [-5.34833171e-02 1.39197829e-03 9.98567773e-01 -1.41568695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.013201008 meters 0.06533730606631286 Centerline is valid? [True, True] Translation: X:18.59, Y:0.67, Z:-1.42 [[ 9.92294392e-01 -1.12631118e-01 5.16340182e-02 1.85879597e+01] [ 1.12542334e-01 9.93636130e-01 4.63301161e-03 6.72204816e-01] [-5.18272472e-02 1.21370148e-03 9.98655328e-01 -1.42141777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.073201007999998 meters 0.06481648842031866 Centerline is valid? [True, True] Translation: X:18.65, Y:0.68, Z:-1.42 [[ 9.92220392e-01 -1.12515904e-01 5.32810034e-02 1.86472920e+01] [ 1.12421109e-01 9.93649144e-01 4.78246654e-03 6.77711157e-01] [-5.34807270e-02 1.24464868e-03 9.98568106e-01 -1.42197476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.133201007999997 meters 0.06457215689959488 Centerline is valid? [True, True] Translation: X:18.71, Y:0.68, Z:-1.42 [[ 9.91623935e-01 -1.15081998e-01 5.86353508e-02 1.87060521e+01] [ 1.14970863e-01 9.93354850e-01 5.27669522e-03 6.82501890e-01] [-5.88529627e-02 1.50885962e-03 9.98265522e-01 -1.42138783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.193201008 meters 0.06426531780705497 Centerline is valid? [True, True] Translation: X:18.76, Y:0.69, Z:-1.42 [[ 9.91433625e-01 -1.16458167e-01 5.91342699e-02 1.87646235e+01] [ 1.16346770e-01 9.93194324e-01 5.33516119e-03 6.90963494e-01] [-5.93531443e-02 1.59062308e-03 9.98235781e-01 -1.42418322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.253201007999998 meters 0.064237287587047 Centerline is valid? [True, True] Translation: X:18.82, Y:0.70, Z:-1.43 [[ 9.90983694e-01 -1.19985254e-01 5.96226212e-02 1.88236126e+01] [ 1.19877390e-01 9.92774042e-01 5.39571678e-03 6.95058518e-01] [-5.98391971e-02 1.80033687e-03 9.98206406e-01 -1.42575315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.313201008 meters 0.06452278087714584 Centerline is valid? [True, True] Translation: X:18.88, Y:0.70, Z:-1.43 [[ 9.90900120e-01 -1.22673567e-01 5.53908690e-02 1.88825829e+01] [ 1.22584421e-01 9.92445408e-01 5.01707278e-03 7.02669521e-01] [-5.55878758e-02 1.81863961e-03 9.98452142e-01 -1.43301453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.373201008 meters 0.06509819087231337 Centerline is valid? [True, True] Translation: X:18.94, Y:0.71, Z:-1.44 [[ 9.90655692e-01 -1.26591970e-01 5.07520658e-02 1.89423709e+01] [ 1.26522184e-01 9.91953120e-01 4.59840353e-03 7.09969043e-01] [-5.09257910e-02 1.86582755e-03 9.98700697e-01 -1.44113505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.433201007999998 meters 0.06574225567626356 Centerline is valid? [True, True] Translation: X:19.00, Y:0.71, Z:-1.45 [[ 9.90294998e-01 -1.29603400e-01 5.01874011e-02 1.90011665e+01] [ 1.29539085e-01 9.91563896e-01 4.54585413e-03 7.14953143e-01] [-5.03531732e-02 1.99949340e-03 9.98729473e-01 -1.44604816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.493201008 meters 0.06630060981096736 Centerline is valid? [True, True] Translation: X:19.06, Y:0.72, Z:-1.45 [[ 9.89957726e-01 -1.31915654e-01 5.08130000e-02 1.90590682e+01] [ 1.31852652e-01 9.91258632e-01 4.60470604e-03 7.20264385e-01] [-5.09762576e-02 2.14136448e-03 9.98697570e-01 -1.44927454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.553201008 meters 0.06543888077426853 Centerline is valid? [True, True] Translation: X:19.12, Y:0.73, Z:-1.45 [[ 9.89914940e-01 -1.30961371e-01 5.40141783e-02 1.91187329e+01] [ 1.30888506e-01 9.91384987e-01 4.89963302e-03 7.31997100e-01] [-5.41905081e-02 2.21961519e-03 9.98528148e-01 -1.44902410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.613201007999997 meters 0.06486074526326474 Centerline is valid? [True, True] Translation: X:19.18, Y:0.74, Z:-1.45 [[ 9.90256519e-01 -1.27284049e-01 5.64871505e-02 1.91768226e+01] [ 1.27198352e-01 9.91864062e-01 5.12463294e-03 7.44436955e-01] [-5.66798586e-02 2.11037130e-03 9.98390174e-01 -1.45250582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.673201008 meters 0.06342967017485507 Centerline is valid? [True, True] Translation: X:19.23, Y:0.76, Z:-1.46 [[ 9.90475945e-01 -1.25914813e-01 5.57033477e-02 1.92348773e+01] [ 1.25829424e-01 9.92039030e-01 5.05160194e-03 7.60360434e-01] [-5.58959665e-02 2.00562994e-03 9.98434584e-01 -1.45783474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.733201007999998 meters 0.06299291774777059 Centerline is valid? [True, True] Translation: X:19.29, Y:0.77, Z:-1.46 [[ 9.90885892e-01 -1.22755036e-01 5.54648522e-02 1.92922321e+01] [ 1.22664595e-01 9.92435360e-01 5.04502535e-03 7.72582801e-01] [-5.56645828e-02 1.80452920e-03 9.98447894e-01 -1.46065936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.793201007999997 meters 0.06301940988985481 Centerline is valid? [True, True] Translation: X:19.35, Y:0.78, Z:-1.47 [[ 9.91096584e-01 -1.22341822e-01 5.25360840e-02 1.93502735e+01] [ 1.22260132e-01 9.92486590e-01 4.77801854e-03 7.81077797e-01] [-5.27259103e-02 1.68759072e-03 9.98607596e-01 -1.46550984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.853201008 meters 0.06302015960821104 Centerline is valid? [True, True] Translation: X:19.41, Y:0.79, Z:-1.47 [[ 9.91244485e-01 -1.22419051e-01 4.94767303e-02 1.94083187e+01] [ 1.22346172e-01 9.92477240e-01 4.51028841e-03 7.89279545e-01] [-4.96566739e-02 1.58249002e-03 9.98765093e-01 -1.47224294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.913201007999998 meters 0.06307933479547177 Centerline is valid? [True, True] Translation: X:19.47, Y:0.80, Z:-1.48 [[ 9.91515460e-01 -1.20393332e-01 4.90157000e-02 1.94660702e+01] [ 1.20318756e-01 9.92725202e-01 4.47996160e-03 8.03541315e-01] [-4.91984782e-02 1.45555686e-03 9.98787961e-01 -1.48195569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.973201008 meters 0.062496191430437185 Centerline is valid? [True, True] Translation: X:19.53, Y:0.82, Z:-1.49 [[ 9.92208181e-01 -1.14669097e-01 4.87229225e-02 1.95251925e+01] [ 1.14587759e-01 9.93403079e-01 4.46858030e-03 8.17818668e-01] [-4.89139093e-02 1.14928856e-03 9.98802337e-01 -1.48615186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.033201008 meters 0.06111507548713055 Centerline is valid? [True, True] Translation: X:19.58, Y:0.83, Z:-1.48 [[ 9.93466651e-01 -1.02689946e-01 4.97874270e-02 1.95848754e+01] [ 1.02589919e-01 9.94713250e-01 4.56714208e-03 8.33192390e-01] [-4.99932129e-02 5.70384765e-04 9.98749395e-01 -1.48312267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.093201007999998 meters 0.0607948813577577 Centerline is valid? [True, True] Translation: X:19.64, Y:0.85, Z:-1.49 [[ 9.94255054e-01 -9.43621497e-02 5.05239701e-02 1.96416965e+01] [ 9.42484240e-02 9.95537925e-01 4.63397482e-03 8.52742357e-01] [-5.07358002e-02 1.54451675e-04 9.98712098e-01 -1.49033862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.153201008 meters 0.0616734584848975 Centerline is valid? [True, True] Translation: X:19.70, Y:0.87, Z:-1.50 [[ 9.95323517e-01 -8.24395795e-02 5.03469192e-02 1.96972383e+01] [ 8.23112425e-02 9.96595961e-01 4.62067115e-03 8.72071129e-01] [-5.05564625e-02 -4.54945182e-04 9.98721101e-01 -1.50090696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.213201008 meters 0.0617344390631644 Centerline is valid? [True, True] Translation: X:19.76, Y:0.88, Z:-1.50 [[ 9.95511963e-01 -7.86360763e-02 5.26526249e-02 1.97560164e+01] [ 7.84903207e-02 9.96903158e-01 4.83355861e-03 8.78077164e-01] [-5.28696601e-02 -6.79144003e-04 9.98601191e-01 -1.50088496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.273201007999997 meters 0.061771529406268344 Centerline is valid? [True, True] Translation: X:19.81, Y:0.88, Z:-1.51 [[ 9.95504597e-01 -7.88321167e-02 5.24985177e-02 1.98137126e+01] [ 7.86869007e-02 9.96887676e-01 4.83050072e-03 8.80995161e-01] [-5.27159239e-02 -6.77840021e-04 9.98609319e-01 -1.50654915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.333201008 meters 0.06172156463472732 Centerline is valid? [True, True] Translation: X:19.87, Y:0.88, Z:-1.51 [[ 9.95376300e-01 -8.07909818e-02 5.19503385e-02 1.98718428e+01] [ 8.06505082e-02 9.96730893e-01 4.79810089e-03 8.79567905e-01] [-5.21681506e-02 -5.86094712e-04 9.98638143e-01 -1.51322691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.393201008 meters 0.061725169772825286 Centerline is valid? [True, True] Translation: X:19.93, Y:0.88, Z:-1.52 [[ 9.95215726e-01 -8.42760399e-02 4.94288163e-02 1.99311901e+01] [ 8.41531723e-02 9.96442373e-01 4.56528610e-03 8.77155282e-01] [-4.96377112e-02 -3.83852825e-04 9.98767215e-01 -1.52221789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.453201007999997 meters 0.061423859715509725 Centerline is valid? [True, True] Translation: X:19.99, Y:0.87, Z:-1.53 [[ 9.94582151e-01 -9.19228201e-02 4.85442171e-02 1.99907368e+01] [ 9.18129296e-02 9.95766135e-01 4.49343526e-03 8.66226033e-01] [-4.87517367e-02 -1.21037119e-05 9.98810927e-01 -1.52864853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.513201008 meters 0.06078952454494734 Centerline is valid? [True, True] Translation: X:20.05, Y:0.85, Z:-1.53 [[ 9.94148813e-01 -9.60076015e-02 4.95043191e-02 2.00518392e+01] [ 9.58976798e-02 9.95380585e-01 4.59632474e-03 8.54075225e-01] [-4.97169202e-02 1.77918556e-04 9.98763333e-01 -1.52597164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.573201007999998 meters 0.06090465354470561 Centerline is valid? [True, True] Translation: X:20.11, Y:0.85, Z:-1.54 [[ 9.94156352e-01 -9.63432011e-02 4.86943106e-02 2.01089164e+01] [ 9.62365873e-02 9.95348158e-01 4.53468289e-03 8.54032522e-01] [-4.89046783e-02 1.77990475e-04 9.98803434e-01 -1.53517508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.633201007999997 meters 0.06097983081949987 Centerline is valid? [True, True] Translation: X:20.17, Y:0.86, Z:-1.54 [[ 9.93913888e-01 -9.69349591e-02 5.23335218e-02 2.01669255e+01] [ 9.68122724e-02 9.95290695e-01 4.88025179e-03 8.56171571e-01] [-5.25601342e-02 2.15977129e-04 9.98617737e-01 -1.54329121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.693201008 meters 0.06076880716461695 Centerline is valid? [True, True] Translation: X:20.23, Y:0.85, Z:-1.54 [[ 9.93850880e-01 -9.69205665e-02 5.35428102e-02 2.02263252e+01] [ 9.67921096e-02 9.95292096e-01 4.99320885e-03 8.54306125e-01] [-5.37746804e-02 2.20016544e-04 9.98553071e-01 -1.54283021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.753201007999998 meters 0.06054376406623172 Centerline is valid? [True, True] Translation: X:20.29, Y:0.85, Z:-1.54 [[ 9.93805336e-01 -9.77154558e-02 5.29400032e-02 2.02861453e+01] [ 9.75903787e-02 9.95214363e-01 4.94873517e-03 8.52771466e-01] [-5.31702194e-02 2.48355533e-04 9.98585433e-01 -1.54406417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.813201008 meters 0.0601987782986567 Centerline is valid? [True, True] Translation: X:20.35, Y:0.85, Z:-1.55 [[ 9.93395355e-01 -1.00587954e-01 5.52062677e-02 2.03455145e+01] [ 1.00455623e-01 9.94928087e-01 5.17389122e-03 8.51925477e-01] [-5.54466974e-02 4.06060502e-04 9.98461566e-01 -1.54560163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.873201008 meters 0.06070184729290172 Centerline is valid? [True, True] Translation: X:20.40, Y:0.85, Z:-1.56 [[ 9.92981372e-01 -1.05978967e-01 5.25019292e-02 2.04043828e+01] [ 1.05865977e-01 9.94368155e-01 4.93631989e-03 8.51969789e-01] [-5.27293926e-02 6.56494336e-04 9.98608622e-01 -1.55664553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.933201007999998 meters 0.06237188960104104 Centerline is valid? [True, True] Translation: X:20.46, Y:0.85, Z:-1.57 [[ 9.92022258e-01 -1.16109971e-01 4.90949449e-02 2.04633017e+01] [ 1.16023351e-01 9.93235740e-01 4.62014471e-03 8.45812667e-01] [-4.92992988e-02 1.11287366e-03 9.98783430e-01 -1.56760740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.993201008 meters 0.06298737950399434 Centerline is valid? [True, True] Translation: X:20.53, Y:0.83, Z:-1.56 [[ 9.91344435e-01 -1.22036104e-01 4.84086774e-02 2.05251928e+01] [ 1.21959049e-01 9.92524689e-01 4.55335960e-03 8.34582077e-01] [-4.86024817e-02 1.38992854e-03 9.98817234e-01 -1.56448420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.053201008 meters 0.06244008851315747 Centerline is valid? [True, True] Translation: X:20.58, Y:0.84, Z:-1.57 [[ 9.91434477e-01 -1.21210156e-01 4.86392520e-02 2.05838011e+01] [ 1.21131595e-01 9.92625935e-01 4.57048556e-03 8.40628218e-01] [-4.88345723e-02 1.36041319e-03 9.98805954e-01 -1.56880860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.113201007999997 meters 0.06092844536466715 Centerline is valid? [True, True] Translation: X:20.64, Y:0.86, Z:-1.58 [[ 9.92713361e-01 -1.09064319e-01 5.12362806e-02 2.06414773e+01] [ 1.08960055e-01 9.94034384e-01 4.83213289e-03 8.63545614e-01] [-5.14576379e-02 7.85785075e-04 9.98674869e-01 -1.57828741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.173201008 meters 0.06022406308199705 Centerline is valid? [True, True] Translation: X:20.70, Y:0.88, Z:-1.58 [[ 9.93689290e-01 -9.95724367e-02 5.16422838e-02 2.06998689e+01] [ 9.94538570e-02 9.95030271e-01 4.86725369e-03 8.76831030e-01] [-5.18702800e-02 2.99486450e-04 9.98653786e-01 -1.58108232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.233201007999998 meters 0.0608760019378575 Centerline is valid? [True, True] Translation: X:20.76, Y:0.89, Z:-1.59 [[ 9.94789371e-01 -8.85589698e-02 5.05115427e-02 2.07572849e+01] [ 8.84308119e-02 9.96070897e-01 4.77080268e-03 8.91224731e-01] [-5.07355750e-02 -2.79167069e-04 9.98712082e-01 -1.58536548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.293201007999997 meters 0.060779913817254366 Centerline is valid? [True, True] Translation: X:20.82, Y:0.89, Z:-1.59 [[ 9.94737701e-01 -8.80950413e-02 5.23084046e-02 2.08160519e+01] [ 8.79562866e-02 9.96112020e-01 4.95322267e-03 8.94658530e-01] [-5.25413850e-02 -3.26304307e-04 9.98618694e-01 -1.58961280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.353201008 meters 0.06032333051371316 Centerline is valid? [True, True] Translation: X:20.88, Y:0.89, Z:-1.60 [[ 9.93811223e-01 -9.74634638e-02 5.32928347e-02 2.08753383e+01] [ 9.73321940e-02 9.95239091e-01 5.05926098e-03 8.87946628e-01] [-5.35322055e-02 1.59158187e-04 9.98566111e-01 -1.59523687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.413201007999998 meters 0.06149521131528327 Centerline is valid? [True, True] Translation: X:20.94, Y:0.87, Z:-1.60 [[ 9.92479676e-01 -1.12174317e-01 4.90001525e-02 2.09366825e+01] [ 1.12080470e-01 9.93688172e-01 4.66741030e-03 8.72851520e-01] [-4.92144355e-02 8.59650245e-04 9.98787866e-01 -1.60190063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.473201008 meters 0.06235056279786519 Centerline is valid? [True, True] Translation: X:21.00, Y:0.87, Z:-1.61 [[ 9.92230079e-01 -1.15861179e-01 4.53393684e-02 2.09966000e+01] [ 1.15784643e-01 9.93264949e-01 4.31947669e-03 8.74982031e-01] [-4.55344651e-02 9.63687899e-04 9.98962303e-01 -1.60889793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.533201008 meters 0.06430524235012185 Centerline is valid? [True, True] Translation: X:21.06, Y:0.88, Z:-1.62 [[ 9.91338690e-01 -1.24436969e-01 4.19885962e-02 2.10565019e+01] [ 1.24378971e-01 9.92226720e-01 4.00106128e-03 8.75831097e-01] [-4.21600870e-02 1.25609154e-03 9.99110079e-01 -1.61773739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.593201007999998 meters 0.0655027678086507 Centerline is valid? [True, True] Translation: X:21.11, Y:0.88, Z:-1.62 [[ 9.90703428e-01 -1.28733178e-01 4.39827978e-02 2.11145011e+01] [ 1.28673841e-01 9.91678119e-01 4.18936567e-03 8.81476197e-01] [-4.41560886e-02 1.50901663e-03 9.99023505e-01 -1.62202947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.653201008 meters 0.06433264708926388 Centerline is valid? [True, True] Translation: X:21.17, Y:0.89, Z:-1.62 [[ 9.90235536e-01 -1.30901019e-01 4.79427459e-02 2.11739790e+01] [ 1.30833020e-01 9.91393898e-01 4.56722588e-03 8.91140312e-01] [-4.81280003e-02 1.74986487e-03 9.98839644e-01 -1.61524208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.713201008 meters 0.062466261598127376 Centerline is valid? [True, True] Translation: X:21.23, Y:0.91, Z:-1.61 [[ 9.90957895e-01 -1.24489264e-01 5.00487042e-02 2.12332624e+01] [ 1.24406122e-01 9.92219844e-01 4.78513030e-03 9.09213336e-01] [-5.02550149e-02 1.48450253e-03 9.98735315e-01 -1.61482176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.773201007999997 meters 0.06124565640538657 Centerline is valid? [True, True] Translation: X:21.29, Y:0.93, Z:-1.62 [[ 9.91926770e-01 -1.16830240e-01 4.93150880e-02 2.12917117e+01] [ 1.16740070e-01 9.93151312e-01 4.71468751e-03 9.27542213e-01] [-4.95281624e-02 1.08042208e-03 9.98772143e-01 -1.62139608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.833201008 meters 0.06164007238203439 Centerline is valid? [True, True] Translation: X:21.35, Y:0.94, Z:-1.63 [[ 9.92426533e-01 -1.12707814e-01 4.88520772e-02 2.13485369e+01] [ 1.12614385e-01 9.93627796e-01 4.66947611e-03 9.36432210e-01] [-4.90670682e-02 8.67334630e-04 9.98795109e-01 -1.63168292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.893201008 meters 0.06080408987280729 Centerline is valid? [True, True] Translation: X:21.41, Y:0.95, Z:-1.63 [[ 9.93500569e-01 -1.04663205e-01 4.47463202e-02 2.14055525e+01] [ 1.04576770e-01 9.94507630e-01 4.27464327e-03 9.54844318e-01] [-4.49479547e-02 4.32565136e-04 9.98989236e-01 -1.63460876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.953201007999997 meters 0.06107000634616294 Centerline is valid? [True, True] Translation: X:21.46, Y:0.96, Z:-1.64 [[ 9.93762234e-01 -1.02907032e-01 4.29740158e-02 2.14621484e+01] [ 1.02824947e-01 9.94690926e-01 4.12207149e-03 9.63962481e-01] [-4.31700537e-02 3.22441921e-04 9.99067687e-01 -1.64263262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.013201008 meters 0.06111760546459507 Centerline is valid? [True, True] Translation: X:21.52, Y:0.97, Z:-1.64 [[ 9.93662825e-01 -1.03882563e-01 4.29255481e-02 2.15201755e+01] [ 1.03801678e-01 9.94589502e-01 4.11499933e-03 9.69833886e-01] [-4.31207762e-02 3.66822055e-04 9.99069799e-01 -1.64265443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.073201007999998 meters 0.06135295705279944 Centerline is valid? [True, True] Translation: X:21.58, Y:0.97, Z:-1.64 [[ 9.93384895e-01 -1.06700856e-01 4.24426372e-02 2.15793566e+01] [ 1.06623832e-01 9.94291056e-01 4.08086008e-03 9.73706941e-01] [-4.26357659e-02 4.71531858e-04 9.99090571e-01 -1.64466544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.133201007999997 meters 0.061528771537276664 Centerline is valid? [True, True] Translation: X:21.64, Y:0.98, Z:-1.65 [[ 9.93656107e-01 -1.04584739e-01 4.13469784e-02 2.16371926e+01] [ 1.04509425e-01 9.94515913e-01 3.98477655e-03 9.82444233e-01] [-4.15369748e-02 3.61651392e-04 9.99136902e-01 -1.64919544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.193201008 meters 0.061391114328744625 Centerline is valid? [True, True] Translation: X:21.70, Y:0.99, Z:-1.65 [[ 9.94055918e-01 -1.00606266e-01 4.16078358e-02 2.16950920e+01] [ 1.00526116e-01 9.94926301e-01 4.01943414e-03 9.94519047e-01] [-4.18011104e-02 1.87131813e-04 9.99125934e-01 -1.65194001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.253201007999998 meters 0.061555081519288006 Centerline is valid? [True, True] Translation: X:21.75, Y:1.00, Z:-1.66 [[ 9.94300258e-01 -9.69109292e-02 4.44439896e-02 2.17525634e+01] [ 9.68150072e-02 9.95293058e-01 4.31078373e-03 1.00291955e+00] [-4.46525564e-02 1.66317926e-05 9.99002577e-01 -1.65674920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.313201008 meters 0.06169402988616158 Centerline is valid? [True, True] Translation: X:21.81, Y:1.01, Z:-1.66 [[ 9.94405567e-01 -9.61284687e-02 4.37822564e-02 2.18112032e+01] [ 9.60347301e-02 9.95368935e-01 4.24421551e-03 1.00823854e+00] [-4.39874878e-02 -1.58543554e-05 9.99032082e-01 -1.65965685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.373201008 meters 0.062438474743121336 Centerline is valid? [True, True] Translation: X:21.87, Y:1.01, Z:-1.67 [[ 9.94267163e-01 -9.84079275e-02 4.18173102e-02 2.18684806e+01] [ 9.83238323e-02 9.95146158e-01 4.06800596e-03 1.01008567e+00] [-4.20146596e-02 6.69534494e-05 9.99116992e-01 -1.66793136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.433201007999998 meters 0.06303680730045776 Centerline is valid? [True, True] Translation: X:21.93, Y:1.00, Z:-1.67 [[ 9.93506242e-01 -1.05816786e-01 4.18109398e-02 2.19286218e+01] [ 1.05739330e-01 9.94385570e-01 4.06594376e-03 1.00289800e+00] [-4.20064403e-02 3.81520235e-04 9.99117267e-01 -1.66891992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.493201008 meters 0.06368234948352153 Centerline is valid? [True, True] Translation: X:21.99, Y:1.00, Z:-1.67 [[ 9.92900827e-01 -1.11841826e-01 4.04889270e-02 2.19882379e+01] [ 1.11773585e-01 9.93725840e-01 3.95237530e-03 1.00293302e+00] [-4.06769338e-02 6.01275795e-04 9.99172170e-01 -1.67267780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.553201008 meters 0.06484553139777123 Centerline is valid? [True, True] Translation: X:22.05, Y:1.00, Z:-1.68 [[ 9.92374342e-01 -1.17771984e-01 3.63720382e-02 2.20487529e+01] [ 1.17720802e-01 9.93040376e-01 3.55304428e-03 1.00193379e+00] [-3.65373516e-02 7.55795539e-04 9.99332002e-01 -1.67980374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.613201007999997 meters 0.0660662868407899 Centerline is valid? [True, True] Translation: X:22.11, Y:1.01, Z:-1.69 [[ 9.92639299e-01 -1.16423842e-01 3.33573115e-02 2.21068138e+01] [ 1.16380074e-01 9.93199410e-01 3.25735716e-03 1.00641425e+00] [-3.35096962e-02 6.48745644e-04 9.99438182e-01 -1.69053573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.673201008 meters 0.06475898931250867 Centerline is valid? [True, True] Translation: X:22.17, Y:1.01, Z:-1.69 [[ 9.93137437e-01 -1.11279400e-01 3.59850828e-02 2.21668698e+01] [ 1.11224911e-01 9.93789031e-01 3.51878774e-03 1.01463527e+00] [-3.61531491e-02 5.07797797e-04 9.99346132e-01 -1.68707883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.733201007999998 meters 0.0644393071957094 Centerline is valid? [True, True] Translation: X:22.23, Y:1.02, Z:-1.69 [[ 9.93037855e-01 -1.10656356e-01 4.03854986e-02 2.22259316e+01] [ 1.10587205e-01 9.93858579e-01 3.94912537e-03 1.02385616e+00] [-4.05744701e-02 5.44488425e-04 9.99176369e-01 -1.69100747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.793201007999997 meters 0.06413628055170317 Centerline is valid? [True, True] Translation: X:22.28, Y:1.03, Z:-1.69 [[ 9.92624647e-01 -1.12908575e-01 4.41357410e-02 2.22844395e+01] [ 1.12828159e-01 9.93605138e-01 4.31688202e-03 1.03068271e+00] [-4.43409120e-02 6.94710886e-04 9.99016217e-01 -1.69113025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.853201008 meters 0.06455265646406026 Centerline is valid? [True, True] Translation: X:22.34, Y:1.03, Z:-1.69 [[ 9.91962089e-01 -1.17258757e-01 4.75562626e-02 2.23433350e+01] [ 1.17170222e-01 9.93100938e-01 4.65476377e-03 1.02509838e+00] [-4.77739807e-02 9.54828632e-04 9.98857715e-01 -1.69040449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.913201007999998 meters 0.06604934121233848 Centerline is valid? [True, True] Translation: X:22.40, Y:1.02, Z:-1.69 [[ 9.90863833e-01 -1.26042410e-01 4.79809940e-02 2.24044558e+01] [ 1.25962275e-01 9.92023888e-01 4.70225783e-03 1.02006962e+00] [-4.81909761e-02 1.38449794e-03 9.98837180e-01 -1.69278977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.973201008 meters 0.06695661707333957 Centerline is valid? [True, True] Translation: X:22.46, Y:1.03, Z:-1.70 [[ 9.90466556e-01 -1.30478928e-01 4.41729691e-02 2.24630562e+01] [ 1.30415367e-01 9.91449990e-01 4.33009359e-03 1.02887533e+00] [-4.43602757e-02 1.47202108e-03 9.99014514e-01 -1.70450363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.033201008 meters 0.06759722756872587 Centerline is valid? [True, True] Translation: X:22.52, Y:1.04, Z:-1.72 [[ 9.90458707e-01 -1.32359351e-01 3.83738325e-02 2.25219150e+01] [ 1.32312774e-01 9.91200876e-01 3.76209649e-03 1.03852902e+00] [-3.85341251e-02 1.35114700e-03 9.99256371e-01 -1.71618066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.093201007999998 meters 0.06763088675830808 Centerline is valid? [True, True] Translation: X:22.58, Y:1.04, Z:-1.72 [[ 9.90579285e-01 -1.32332100e-01 3.52263321e-02 2.25813096e+01] [ 1.32292863e-01 9.91204660e-01 3.45266952e-03 1.04199725e+00] [-3.53734035e-02 1.24004940e-03 9.99373396e-01 -1.71645247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.153201008 meters 0.06691823850153031 Centerline is valid? [True, True] Translation: X:22.64, Y:1.06, Z:-1.72 [[ 9.90902947e-01 -1.28984872e-01 3.83959825e-02 2.26397553e+01] [ 1.28935609e-01 9.91645813e-01 3.76689572e-03 1.05678113e+00] [-3.85610878e-02 1.21798131e-03 9.99255502e-01 -1.71997569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.213201008 meters 0.06598810048545836 Centerline is valid? [True, True] Translation: X:22.70, Y:1.07, Z:-1.72 [[ 9.91154457e-01 -1.24842374e-01 4.50246962e-02 2.26968253e+01] [ 1.24770354e-01 9.92175814e-01 4.41738118e-03 1.07317841e+00] [-4.52238909e-02 1.23944023e-03 9.98976108e-01 -1.72470089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.273201007999997 meters 0.06446083558925192 Centerline is valid? [True, True] Translation: X:22.75, Y:1.09, Z:-1.73 [[ 9.92073700e-01 -1.15137431e-01 5.03303681e-02 2.27546155e+01] [ 1.15034794e-01 9.93349175e-01 4.94091161e-03 1.09401684e+00] [-5.05645135e-02 8.87995068e-04 9.98720402e-01 -1.72552432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.333201008 meters 0.06356365842489405 Centerline is valid? [True, True] Translation: X:22.81, Y:1.11, Z:-1.73 [[ 9.92947063e-01 -1.07265659e-01 5.04995955e-02 2.28130498e+01] [ 1.07152087e-01 9.94230276e-01 4.95876229e-03 1.11212053e+00] [-5.07401317e-02 4.87348584e-04 9.98711771e-01 -1.72631380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.393201008 meters 0.06342633157697168 Centerline is valid? [True, True] Translation: X:22.87, Y:1.13, Z:-1.73 [[ 9.93763554e-01 -9.92221308e-02 5.08818892e-02 2.28695367e+01] [ 9.90962601e-02 9.95065306e-01 4.99683280e-03 1.12767542e+00] [-5.11265990e-02 7.65346019e-05 9.98692177e-01 -1.73008982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.453201007999997 meters 0.06361638345084754 Centerline is valid? [True, True] Translation: X:22.93, Y:1.14, Z:-1.74 [[ 9.93890362e-01 -9.84070407e-02 4.99800151e-02 2.29272083e+01] [ 9.82845529e-02 9.95146247e-01 4.90850858e-03 1.13842065e+00] [-5.02204563e-02 3.37440704e-05 9.98738156e-01 -1.73812158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.513201008 meters 0.06495183010805225 Centerline is valid? [True, True] Translation: X:22.98, Y:1.15, Z:-1.76 [[ 9.94504069e-01 -9.53434263e-02 4.32583763e-02 2.29840349e+01] [ 9.52481636e-02 9.95444432e-01 4.26267758e-03 1.15023661e+00] [-4.34677281e-02 -1.18969300e-04 9.99054825e-01 -1.75696043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.573201007999998 meters 0.06616913652989938 Centerline is valid? [True, True] Translation: X:23.04, Y:1.16, Z:-1.76 [[ 9.95365899e-01 -8.60344522e-02 4.29511378e-02 2.30412878e+01] [ 8.59318317e-02 9.96292025e-01 4.23326891e-03 1.16480405e+00] [-4.31560830e-02 -5.22781576e-04 9.99068205e-01 -1.76343736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.633201007999997 meters 0.06734650707039691 Centerline is valid? [True, True] Translation: X:23.10, Y:1.17, Z:-1.76 [[ 9.95849109e-01 -7.93538760e-02 4.45815452e-02 2.30987060e+01] [ 7.92365584e-02 9.96846151e-01 4.39531069e-03 1.17287955e+00] [-4.47897267e-02 -8.44578022e-04 9.98996080e-01 -1.76303070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.693201008 meters 0.06803103404194412 Centerline is valid? [True, True] Translation: X:23.16, Y:1.18, Z:-1.77 [[ 9.95879679e-01 -7.64177945e-02 4.88260670e-02 2.31575513e+01] [ 7.62734734e-02 9.97075310e-01 4.81492608e-03 1.18013600e+00] [-4.90512119e-02 -1.07095333e-03 9.98795691e-01 -1.76586806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.753201007999998 meters 0.06710214291614541 Centerline is valid? [True, True] Translation: X:23.22, Y:1.18, Z:-1.77 [[ 9.95660262e-01 -7.66805916e-02 5.27326316e-02 2.32173527e+01] [ 7.65119693e-02 9.97055040e-01 5.21200981e-03 1.18064600e+00] [-5.29769961e-02 -1.15471356e-03 9.98595065e-01 -1.76811918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.813201008 meters 0.06831996116433789 Centerline is valid? [True, True] Translation: X:23.28, Y:1.19, Z:-1.78 [[ 9.95542028e-01 -7.59455263e-02 5.59316280e-02 2.32751401e+01] [ 7.57538998e-02 9.97111147e-01 5.54140377e-03 1.18524512e+00] [-5.61908945e-02 -1.27966141e-03 9.98419223e-01 -1.77588713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.873201008 meters 0.06791143950163582 Centerline is valid? [True, True] Translation: X:23.33, Y:1.18, Z:-1.78 [[ 9.95627153e-01 -7.39378437e-02 5.70943678e-02 2.33348776e+01] [ 7.37340682e-02 9.97261818e-01 5.67040068e-03 1.18116235e+00] [-5.73572902e-02 -1.43580488e-03 9.98352683e-01 -1.77664540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.933201007999998 meters 0.06651913025034228 Centerline is valid? [True, True] Translation: X:23.40, Y:1.17, Z:-1.78 [[ 9.95194994e-01 -8.01184856e-02 5.62845569e-02 2.33956544e+01] [ 7.99293604e-02 9.96784761e-01 5.60697494e-03 1.17310841e+00] [-5.65528110e-02 -1.08124475e-03 9.98399024e-01 -1.78188164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.993201008 meters 0.06505499984877025 Centerline is valid? [True, True] Translation: X:23.46, Y:1.16, Z:-1.79 [[ 9.94178952e-01 -9.37900690e-02 5.30248503e-02 2.34553696e+01] [ 9.36415912e-02 9.95591955e-01 5.28316769e-03 1.15698958e+00] [-5.32866230e-02 -2.87082765e-04 9.98579217e-01 -1.79301355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.053201008 meters 0.06494456229854577 Centerline is valid? [True, True] Translation: X:23.51, Y:1.15, Z:-1.80 [[ 9.93431695e-01 -1.01106210e-01 5.35817354e-02 2.35147540e+01] [ 1.00965217e-01 9.94875632e-01 5.33873283e-03 1.15105316e+00] [-5.38469419e-02 1.06225115e-04 9.98549195e-01 -1.79953024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.113201007999997 meters 0.06467153906345888 Centerline is valid? [True, True] Translation: X:23.58, Y:1.14, Z:-1.80 [[ 9.92871550e-01 -1.06870130e-01 5.27717869e-02 2.35757734e+01] [ 1.06740876e-01 9.94272908e-01 5.26977554e-03 1.14024816e+00] [-5.30327396e-02 4.00696576e-04 9.98592694e-01 -1.79860490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.173201008 meters 0.06456282164147449 Centerline is valid? [True, True] Translation: X:23.63, Y:1.14, Z:-1.80 [[ 9.92493419e-01 -1.09143361e-01 5.51773521e-02 2.36337519e+01] [ 1.09004610e-01 9.94025878e-01 5.52704523e-03 1.14227903e+00] [-5.54509562e-02 5.29029715e-04 9.98461272e-01 -1.80084308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.233201007999998 meters 0.0650090521988553 Centerline is valid? [True, True] Translation: X:23.69, Y:1.16, Z:-1.81 [[ 9.92369107e-01 -1.10410115e-01 5.48922807e-02 2.36906949e+01] [ 1.10274653e-01 9.93885935e-01 5.49988580e-03 1.15865922e+00] [-5.51639088e-02 5.95310463e-04 9.98477135e-01 -1.81259919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.293201007999997 meters 0.0653205906610868 Centerline is valid? [True, True] Translation: X:23.75, Y:1.16, Z:-1.82 [[ 9.92209103e-01 -1.12128128e-01 5.42989854e-02 2.37494701e+01] [ 1.11997447e-01 9.93693531e-01 5.45330367e-03 1.16362119e+00] [-5.45680192e-02 6.70530181e-04 9.98509831e-01 -1.81852727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.353201008 meters 0.06480757382506605 Centerline is valid? [True, True] Translation: X:23.81, Y:1.16, Z:-1.81 [[ 9.91464864e-01 -1.17022843e-01 5.74724132e-02 2.38096931e+01] [ 1.16883838e-01 9.93128739e-01 5.78590593e-03 1.15625624e+00] [-5.77545884e-02 9.81073782e-04 9.98330329e-01 -1.80851106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.413201007999998 meters 0.06451142860477634 Centerline is valid? [True, True] Translation: X:23.87, Y:1.16, Z:-1.81 [[ 9.90987671e-01 -1.19352190e-01 6.08152238e-02 2.38680530e+01] [ 1.19199797e-01 9.92851298e-01 6.14068809e-03 1.16417277e+00] [-6.11133785e-02 1.16381613e-03 9.98130152e-01 -1.81104439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.473201007999997 meters 0.06487391777590458 Centerline is valid? [True, True] Translation: X:23.92, Y:1.18, Z:-1.83 [[ 9.91138483e-01 -1.17376635e-01 6.21870776e-02 2.39237860e+01] [ 1.17212284e-01 9.93086918e-01 6.29705776e-03 1.17940870e+00] [-6.24963007e-02 1.04783313e-03 9.98044646e-01 -1.82504169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.533201008 meters 0.0638833938740918 Centerline is valid? [True, True] Translation: X:23.98, Y:1.19, Z:-1.82 [[ 9.91600426e-01 -1.13439226e-01 6.21300067e-02 2.39832468e+01] [ 1.13267225e-01 9.93544619e-01 6.29493779e-03 1.18663566e+00] [-6.24430267e-02 7.95230454e-04 9.98048213e-01 -1.82145395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.593201007999998 meters 0.06349994248652284 Centerline is valid? [True, True] Translation: X:24.04, Y:1.19, Z:-1.83 [[ 9.91660028e-01 -1.13320120e-01 6.13916837e-02 2.40409691e+01] [ 1.13151188e-01 9.93558234e-01 6.23256131e-03 1.19294079e+00] [-6.17024874e-02 7.65960045e-04 9.98094292e-01 -1.82535277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.653201008 meters 0.06364723151799455 Centerline is valid? [True, True] Translation: X:24.10, Y:1.21, Z:-1.84 [[ 9.92267293e-01 -1.09052525e-01 5.92719703e-02 2.40970751e+01] [ 1.08886527e-01 9.94035879e-01 6.03292696e-03 1.21217637e+00] [-5.95763710e-02 4.67642893e-04 9.98223641e-01 -1.83900343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.713201008 meters 0.0637470636461928 Centerline is valid? [True, True] Translation: X:24.16, Y:1.22, Z:-1.85 [[ 9.92901379e-01 -1.04881718e-01 5.60952497e-02 2.41551726e+01] [ 1.04725711e-01 9.94484684e-01 5.72169602e-03 1.22318971e+00] [-5.63859681e-02 1.93535034e-04 9.98409027e-01 -1.84676772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.773201007999997 meters 0.0633976157942042 Centerline is valid? [True, True] Translation: X:24.21, Y:1.23, Z:-1.85 [[ 9.93530051e-01 -9.86560516e-02 5.62585248e-02 2.42125086e+01] [ 9.84882572e-02 9.95121577e-01 5.75419213e-03 1.22882922e+00] [-5.65517578e-02 -1.76158738e-04 9.98399653e-01 -1.84542805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.833201008 meters 0.06357891893046926 Centerline is valid? [True, True] Translation: X:24.27, Y:1.24, Z:-1.85 [[ 9.93958469e-01 -9.39103992e-02 5.68102084e-02 2.42706415e+01] [ 9.37312819e-02 9.95580549e-01 5.81524699e-03 1.23956700e+00] [-5.71052507e-02 -4.55220331e-04 9.98368060e-01 -1.85061858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.893201008 meters 0.06375434850655899 Centerline is valid? [True, True] Translation: X:24.33, Y:1.25, Z:-1.86 [[ 9.93788798e-01 -9.55016414e-02 5.71249637e-02 2.43276537e+01] [ 9.53222091e-02 9.95429199e-01 5.86396519e-03 1.24755807e+00] [-5.74238752e-02 -3.82265180e-04 9.98349815e-01 -1.86139326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.953201007999997 meters 0.06360346102738823 Centerline is valid? [True, True] Translation: X:24.39, Y:1.25, Z:-1.86 [[ 9.93883223e-01 -9.58387503e-02 5.48732378e-02 2.43861161e+01] [ 9.56734717e-02 9.95396810e-01 5.63713688e-03 1.24964225e+00] [-5.51609020e-02 -3.52742613e-04 9.98477416e-01 -1.86489940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.013201008 meters 0.06343940358789943 Centerline is valid? [True, True] Translation: X:24.45, Y:1.25, Z:-1.87 [[ 9.93908785e-01 -9.68044046e-02 5.26709969e-02 2.44453616e+01] [ 9.66534490e-02 9.95303383e-01 5.41169373e-03 1.25110867e+00] [-5.29474972e-02 -2.87896430e-04 9.98597256e-01 -1.86897078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.073201007999998 meters 0.06334864805264423 Centerline is valid? [True, True] Translation: X:24.50, Y:1.26, Z:-1.88 [[ 9.93617127e-01 -9.93299360e-02 5.34655843e-02 2.45037227e+01] [ 9.91773319e-02 9.95054539e-01 5.50649730e-03 1.25601311e+00] [-5.37481324e-02 -1.68776023e-04 9.98554510e-01 -1.87588294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.133201007999997 meters 0.0632021184328217 Centerline is valid? [True, True] Translation: X:24.56, Y:1.26, Z:-1.88 [[ 9.93027270e-01 -1.04381650e-01 5.47842254e-02 2.45624571e+01] [ 1.04228356e-01 9.94537311e-01 5.65575442e-03 1.25782024e+00] [-5.50753132e-02 9.37513597e-05 9.98482199e-01 -1.88106786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.193201008 meters 0.06297745306009564 Centerline is valid? [True, True] Translation: X:24.62, Y:1.26, Z:-1.88 [[ 9.92587194e-01 -1.08966556e-01 5.38233352e-02 2.46220602e+01] [ 1.08824653e-01 9.94045362e-01 5.56901431e-03 1.25625530e+00] [-5.41096730e-02 3.29573475e-04 9.98534944e-01 -1.88362188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.253201007999998 meters 0.06275565497852062 Centerline is valid? [True, True] Translation: X:24.68, Y:1.26, Z:-1.89 [[ 9.92591668e-01 -1.09459070e-01 5.27303817e-02 2.46807061e+01] [ 1.09322941e-01 9.93991247e-01 5.46776827e-03 1.26284628e+00] [-5.30120347e-02 3.37379170e-04 9.98593816e-01 -1.88694120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.313201008 meters 0.06274813405335627 Centerline is valid? [True, True] Translation: X:24.74, Y:1.27, Z:-1.89 [[ 9.92578788e-01 -1.09310457e-01 5.32782657e-02 2.47384790e+01] [ 1.09170555e-01 9.94007607e-01 5.53787193e-03 1.27043593e+00] [-5.35643487e-02 3.19643632e-04 9.98564349e-01 -1.89251242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.373201008 meters 0.06254909535011684 Centerline is valid? [True, True] Translation: X:24.80, Y:1.28, Z:-1.90 [[ 9.92535954e-01 -1.09670990e-01 5.33352994e-02 2.47961364e+01] [ 1.09530659e-01 9.93967890e-01 5.55590272e-03 1.27709251e+00] [-5.36228964e-02 3.27417280e-04 9.98561204e-01 -1.89608899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.433201007999998 meters 0.06250788374447509 Centerline is valid? [True, True] Translation: X:24.86, Y:1.28, Z:-1.90 [[ 9.92127091e-01 -1.13074890e-01 5.38321838e-02 2.48551051e+01] [ 1.12936077e-01 9.93586342e-01 5.62349299e-03 1.28002342e+00] [-5.41227985e-02 5.00375913e-04 9.98534162e-01 -1.90008667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.493201008 meters 0.0627197028494215 Centerline is valid? [True, True] Translation: X:24.91, Y:1.28, Z:-1.91 [[ 9.91727402e-01 -1.16980270e-01 5.28429422e-02 2.49134594e+01] [ 1.16851208e-01 9.93134003e-01 5.53600123e-03 1.28158427e+00] [-5.31277256e-02 6.84557532e-04 9.98587490e-01 -1.90625985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.553201008 meters 0.06313351005170277 Centerline is valid? [True, True] Translation: X:24.97, Y:1.28, Z:-1.91 [[ 9.90997653e-01 -1.22809419e-01 5.33057122e-02 2.49726540e+01] [ 1.22686222e-01 9.92429769e-01 5.58973965e-03 1.28455923e+00] [-5.35886483e-02 1.00045755e-03 9.98562595e-01 -1.90939878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.613201007999997 meters 0.06358303956044528 Centerline is valid? [True, True] Translation: X:25.03, Y:1.29, Z:-1.92 [[ 9.90880662e-01 -1.23603860e-01 5.36432596e-02 2.50296781e+01] [ 1.23480146e-01 9.92331088e-01 5.62725986e-03 1.28836026e+00] [-5.39274252e-02 1.04793454e-03 9.98544308e-01 -1.91603537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.673201008 meters 0.06316046130673549 Centerline is valid? [True, True] Translation: X:25.09, Y:1.30, Z:-1.92 [[ 9.90915785e-01 -1.23595370e-01 5.30102887e-02 2.50885629e+01] [ 1.23474488e-01 9.92332160e-01 5.56196504e-03 1.29684574e+00] [-5.32912475e-02 1.03397933e-03 9.98578477e-01 -1.91821848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.733201007999998 meters 0.06275499140242255 Centerline is valid? [True, True] Translation: X:25.15, Y:1.31, Z:-1.92 [[ 9.91508961e-01 -1.18918959e-01 5.26142745e-02 2.51452018e+01] [ 1.18792456e-01 9.92903672e-01 5.53625981e-03 1.30804975e+00] [-5.28992726e-02 7.60927695e-04 9.98599563e-01 -1.92298777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.793201007999997 meters 0.062292136638369335 Centerline is valid? [True, True] Translation: X:25.20, Y:1.32, Z:-1.93 [[ 9.92630964e-01 -1.09683015e-01 5.15112268e-02 2.52021321e+01] [ 1.09549297e-01 9.93966583e-01 5.42071803e-03 1.32492642e+00] [-5.17949988e-02 2.62246101e-04 9.98657704e-01 -1.92805989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.853201008 meters 0.062271367139041266 Centerline is valid? [True, True] Translation: X:25.26, Y:1.34, Z:-1.93 [[ 9.93238177e-01 -1.04257202e-01 5.10720930e-02 2.52591826e+01] [ 1.04118011e-01 9.94550368e-01 5.38562065e-03 1.33629291e+00] [-5.13552587e-02 -3.16793015e-05 9.98680448e-01 -1.93288492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.913201007999998 meters 0.06168140314882495 Centerline is valid? [True, True] Translation: X:25.32, Y:1.34, Z:-1.93 [[ 9.93166986e-01 -1.03117130e-01 5.46460946e-02 2.53182448e+01] [ 1.02954912e-01 9.94669213e-01 5.78293603e-03 1.34052154e+00] [-5.49511077e-02 -1.17337289e-04 9.98489039e-01 -1.93275730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.973201007999997 meters 0.061529221841576553 Centerline is valid? [True, True] Translation: X:25.38, Y:1.35, Z:-1.94 [[ 9.93067354e-01 -1.03984806e-01 5.48123238e-02 2.53758451e+01] [ 1.03822946e-01 9.94578883e-01 5.80004584e-03 1.34610245e+00] [-5.51182965e-02 -6.90592623e-05 9.98479829e-01 -1.93657768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.033201008 meters 0.06180377361731042 Centerline is valid? [True, True] Translation: X:25.44, Y:1.35, Z:-1.94 [[ 9.93388145e-01 -1.03737768e-01 4.91779240e-02 2.54353768e+01] [ 1.03606325e-01 9.94604679e-01 5.22133411e-03 1.34895356e+00] [-4.94542429e-02 -9.16674418e-05 9.98776386e-01 -1.94362487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.093201007999998 meters 0.061958114018956005 Centerline is valid? [True, True] Translation: X:25.49, Y:1.35, Z:-1.95 [[ 9.93267056e-01 -1.05791901e-01 4.72083626e-02 2.54929482e+01] [ 1.05673095e-01 9.94388291e-01 5.01233509e-03 1.35328964e+00] [-4.74737075e-02 1.00664638e-05 9.98872488e-01 -1.95112144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.153201008 meters 0.06207581065480679 Centerline is valid? [True, True] Translation: X:25.55, Y:1.36, Z:-1.96 [[ 9.93317962e-01 -1.06302882e-01 4.49346579e-02 2.55507094e+01] [ 1.06195827e-01 9.94333795e-01 4.76972898e-03 1.36180888e+00] [-4.51870849e-02 3.40156707e-05 9.98978541e-01 -1.95794986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.213201008 meters 0.062265597110663595 Centerline is valid? [True, True] Translation: X:25.61, Y:1.37, Z:-1.97 [[ 9.93349664e-01 -1.06666366e-01 4.33443252e-02 2.56079442e+01] [ 1.06566521e-01 9.94294868e-01 4.61426774e-03 1.36836979e+00] [-4.35892273e-02 3.54726410e-05 9.99049537e-01 -1.96606489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.273201007999997 meters 0.06127459705964876 Centerline is valid? [True, True] Translation: X:25.67, Y:1.37, Z:-1.96 [[ 9.93032993e-01 -1.09325766e-01 4.39698839e-02 2.56680416e+01] [ 1.09225536e-01 9.94005963e-01 4.68280467e-03 1.36962696e+00] [-4.42182780e-02 1.52454610e-04 9.99021882e-01 -1.96163717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.333201008 meters 0.06118888415570237 Centerline is valid? [True, True] Translation: X:25.73, Y:1.37, Z:-1.97 [[ 9.92824745e-01 -1.11153364e-01 4.40903125e-02 2.57251926e+01] [ 1.11053680e-01 9.93803241e-01 4.71149751e-03 1.37435542e+00] [-4.43407943e-02 2.18700151e-04 9.99016439e-01 -1.96605785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.393201008 meters 0.06149615503284222 Centerline is valid? [True, True] Translation: X:25.78, Y:1.38, Z:-1.97 [[ 9.92484751e-01 -1.14872149e-01 4.21711694e-02 2.57836760e+01] [ 1.14784145e-01 9.93380218e-01 4.51035256e-03 1.37982375e+00] [-4.24101193e-02 3.64125469e-04 9.99100220e-01 -1.97292087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.453201007999997 meters 0.06155545628034741 Centerline is valid? [True, True] Translation: X:25.84, Y:1.38, Z:-1.98 [[ 9.92161452e-01 -1.18001544e-01 4.11252898e-02 2.58424217e+01] [ 1.17920667e-01 9.93013291e-01 4.39538513e-03 1.38442004e+00] [-4.13566217e-02 4.88589917e-04 9.99144329e-01 -1.97799130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.513201008 meters 0.06159910922951069 Centerline is valid? [True, True] Translation: X:25.90, Y:1.39, Z:-1.98 [[ 9.91892972e-01 -1.20768395e-01 3.95389282e-02 2.59020083e+01] [ 1.20695213e-01 9.92680551e-01 4.24148467e-03 1.38503791e+00] [-3.97617623e-02 5.65060521e-04 9.99209029e-01 -1.97950298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.573201007999998 meters 0.061856985485942116 Centerline is valid? [True, True] Translation: X:25.96, Y:1.39, Z:-1.98 [[ 9.91515879e-01 -1.23693988e-01 3.99506980e-02 2.59606204e+01] [ 1.23621825e-01 9.92320168e-01 4.28117912e-03 1.38926043e+00] [-4.01734395e-02 6.93921124e-04 9.99192481e-01 -1.98314040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.633201007999997 meters 0.06205150444486945 Centerline is valid? [True, True] Translation: X:26.02, Y:1.40, Z:-1.99 [[ 9.91136479e-01 -1.26494629e-01 4.05904909e-02 2.60186595e+01] [ 1.26422072e-01 9.91966961e-01 4.35976658e-03 1.39601903e+00] [-4.08159130e-02 8.10410271e-04 9.99166355e-01 -1.98733085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.693201008 meters 0.06203772153650697 Centerline is valid? [True, True] Translation: X:26.08, Y:1.40, Z:-1.99 [[ 9.90993064e-01 -1.27098085e-01 4.21761165e-02 2.60771492e+01] [ 1.27019838e-01 9.91889783e-01 4.54081142e-03 1.40187745e+00] [-4.24111875e-02 8.57290867e-04 9.99099873e-01 -1.98950829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.753201007999998 meters 0.06167217855553342 Centerline is valid? [True, True] Translation: X:26.14, Y:1.41, Z:-1.99 [[ 9.91026859e-01 -1.26322213e-01 4.36859512e-02 2.61359704e+01] [ 1.26237009e-01 9.91988906e-01 4.71472118e-03 1.41024674e+00] [-4.39315529e-02 8.42368503e-04 9.99034188e-01 -1.99183315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.813201007999997 meters 0.06124127767972696 Centerline is valid? [True, True] Translation: X:26.19, Y:1.42, Z:-2.00 [[ 9.91470453e-01 -1.23133197e-01 4.27148231e-02 2.61942886e+01] [ 1.23048404e-01 9.92389922e-01 4.61870648e-03 1.42143382e+00] [-4.29584761e-02 6.76679814e-04 9.99076629e-01 -1.99744233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.873201008 meters 0.0605362166261706 Centerline is valid? [True, True] Translation: X:26.25, Y:1.43, Z:-2.00 [[ 9.92130976e-01 -1.17883504e-01 4.21853745e-02 2.62520429e+01] [ 1.17795717e-01 9.93027336e-01 4.56942279e-03 1.43429567e+00] [-4.24298896e-02 4.35790531e-04 9.99099352e-01 -1.99965212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.933201007999998 meters 0.06059428746844411 Centerline is valid? [True, True] Translation: X:26.31, Y:1.45, Z:-2.01 [[ 9.92657415e-01 -1.13787367e-01 4.10328200e-02 2.63084061e+01] [ 1.13700479e-01 9.93505096e-01 4.45266178e-03 1.44692406e+00] [-4.12729724e-02 2.45483559e-04 9.99147878e-01 -2.00788521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.993201008 meters 0.06083872509157376 Centerline is valid? [True, True] Translation: X:26.37, Y:1.46, Z:-2.01 [[ 9.93200921e-01 -1.09388537e-01 3.98255908e-02 2.63663305e+01] [ 1.09302699e-01 9.93999067e-01 4.33296689e-03 1.45753282e+00] [-4.00605770e-02 4.95378497e-05 9.99197252e-01 -2.01381675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.053201008 meters 0.06144739813227421 Centerline is valid? [True, True] Translation: X:26.42, Y:1.47, Z:-2.02 [[ 9.94146462e-01 -1.01350289e-01 3.74290028e-02 2.64249201e+01] [ 1.01268216e-01 9.94850765e-01 4.08703909e-03 1.46677402e+00] [-3.76504947e-02 -2.72747109e-04 9.99290932e-01 -2.01730680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.113201007999997 meters 0.06111581938025476 Centerline is valid? [True, True] Translation: X:26.48, Y:1.47, Z:-2.02 [[ 9.93851296e-01 -1.03571593e-01 3.91474852e-02 2.64832348e+01] [ 1.03483467e-01 9.94621981e-01 4.27626904e-03 1.46822198e+00] [-3.93798493e-02 -1.98858031e-04 9.99224293e-01 -2.02123275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.173201008 meters 0.0608474626686047 Centerline is valid? [True, True] Translation: X:26.54, Y:1.47, Z:-2.03 [[ 9.93034808e-01 -1.09818923e-01 4.26810695e-02 2.65433133e+01] [ 1.09719735e-01 9.93951609e-01 4.66669220e-03 1.46824904e+00] [-4.29354088e-02 4.87678227e-05 9.99077849e-01 -2.02506556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.233201007999998 meters 0.06071907428277935 Centerline is valid? [True, True] Translation: X:26.60, Y:1.47, Z:-2.03 [[ 9.92732838e-01 -1.12217647e-01 4.34593219e-02 2.66021001e+01] [ 1.12117314e-01 9.93683639e-01 4.74697224e-03 1.47107650e+00] [-4.37175112e-02 1.60067240e-04 9.99043920e-01 -2.02748612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.293201007999997 meters 0.061200501612823074 Centerline is valid? [True, True] Translation: X:26.66, Y:1.47, Z:-2.03 [[ 9.91972325e-01 -1.19414992e-01 4.16048927e-02 2.66626082e+01] [ 1.19328712e-01 9.92844331e-01 4.55997678e-03 1.46698688e+00] [-4.18517114e-02 4.41287505e-04 9.99123736e-01 -2.02935288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.353201008 meters 0.06150568723774523 Centerline is valid? [True, True] Translation: X:26.72, Y:1.47, Z:-2.03 [[ 9.91541634e-01 -1.23602026e-01 3.95945467e-02 2.67222776e+01] [ 1.23527174e-01 9.92331696e-01 4.34079839e-03 1.47157863e+00] [-3.98274552e-02 5.86920151e-04 9.99206400e-01 -2.03236656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.413201007999998 meters 0.06278413104576865 Centerline is valid? [True, True] Translation: X:26.78, Y:1.48, Z:-2.04 [[ 9.91268248e-01 -1.26502414e-01 3.72075277e-02 2.67801295e+01] [ 1.26438340e-01 9.91966080e-01 4.07961660e-03 1.47644892e+00] [-3.74246867e-02 6.60463622e-04 9.99299233e-01 -2.04265056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.473201007999997 meters 0.06355742352813191 Centerline is valid? [True, True] Translation: X:26.84, Y:1.48, Z:-2.05 [[ 9.90530962e-01 -1.32241140e-01 3.68875922e-02 2.68394915e+01] [ 1.32182044e-01 9.91217196e-01 4.04702124e-03 1.48273117e+00] [-3.70987984e-02 8.67177492e-04 9.99311226e-01 -2.04729254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.533201008 meters 0.06330353639292284 Centerline is valid? [True, True] Translation: X:26.90, Y:1.49, Z:-2.05 [[ 9.90094397e-01 -1.35016331e-01 3.85185050e-02 2.68978522e+01] [ 1.34954277e-01 9.90842847e-01 4.21854533e-03 1.48877205e+00] [-3.87353577e-02 1.02147891e-03 9.99248982e-01 -2.04737393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.593201007999998 meters 0.06373741395690824 Centerline is valid? [True, True] Translation: X:26.96, Y:1.49, Z:-2.04 [[ 9.89730677e-01 -1.36334739e-01 4.29653990e-02 2.69574314e+01] [ 1.36257822e-01 9.90662131e-01 4.72744231e-03 1.49091076e+00] [-4.32087083e-02 1.17547700e-03 9.99065376e-01 -2.04493495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.653201008 meters 0.06288451782428699 Centerline is valid? [True, True] Translation: X:27.02, Y:1.51, Z:-2.05 [[ 9.90347386e-01 -1.31436477e-01 4.40057587e-02 2.70157692e+01] [ 1.31350897e-01 9.91324107e-01 4.84322651e-03 1.50817533e+00] [-4.42605461e-02 9.83719191e-04 9.99019538e-01 -2.05047260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.713201008 meters 0.06283214975315718 Centerline is valid? [True, True] Translation: X:27.07, Y:1.52, Z:-2.06 [[ 9.91120721e-01 -1.26105725e-01 4.21552318e-02 2.70728679e+01] [ 1.26022571e-01 9.92016547e-01 4.63487885e-03 1.52451970e+00] [-4.24031722e-02 7.18786216e-04 9.99100322e-01 -2.06021252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.773201007999997 meters 0.06214600644524357 Centerline is valid? [True, True] Translation: X:27.13, Y:1.53, Z:-2.06 [[ 9.91727880e-01 -1.21488656e-01 4.14284683e-02 2.71311697e+01] [ 1.21403938e-01 9.92592692e-01 4.56406119e-03 1.53475289e+00] [-4.16760766e-02 5.03272479e-04 9.99131048e-01 -2.06080834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.833201008 meters 0.062230279614366786 Centerline is valid? [True, True] Translation: X:27.19, Y:1.54, Z:-2.07 [[ 9.91874027e-01 -1.20587339e-01 4.05537656e-02 2.71894721e+01] [ 1.20505028e-01 9.92702621e-01 4.47702870e-03 1.54140291e+00] [-4.07977024e-02 4.46284171e-04 9.99167327e-01 -2.06605368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.893201008 meters 0.0637105968492938 Centerline is valid? [True, True] Translation: X:27.25, Y:1.54, Z:-2.08 [[ 9.90947232e-01 -1.28161400e-01 3.99779918e-02 2.72484539e+01] [ 1.28086938e-01 9.91753054e-01 4.42901335e-03 1.54261492e+00] [-4.02159240e-02 7.31740046e-04 9.99190745e-01 -2.07702341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.953201007999997 meters 0.06419675874670835 Centerline is valid? [True, True] Translation: X:27.31, Y:1.54, Z:-2.08 [[ 9.90014217e-01 -1.34493605e-01 4.22293693e-02 2.73083941e+01] [ 1.34416426e-01 9.90913907e-01 4.67472605e-03 1.54016464e+00] [-4.24743901e-02 1.04827564e-03 9.99097006e-01 -2.07616232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.013201008 meters 0.06544528868834289 Centerline is valid? [True, True] Translation: X:27.37, Y:1.53, Z:-2.07 [[ 9.88762936e-01 -1.42053066e-01 4.65701836e-02 2.73692693e+01] [ 1.41966972e-01 9.89857905e-01 5.16791686e-03 1.53245920e+00] [-4.68319828e-02 1.50158328e-03 9.98901652e-01 -2.07079056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.073201007999998 meters 0.06573297654033686 Centerline is valid? [True, True] Translation: X:27.43, Y:1.54, Z:-2.07 [[ 9.87856099e-01 -1.47321700e-01 4.93623807e-02 2.74284633e+01] [ 1.47230693e-01 9.89086918e-01 5.49462738e-03 1.53717342e+00] [-4.96331628e-02 1.83975636e-03 9.98765821e-01 -2.07233854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.133201007999997 meters 0.066188398026819 Centerline is valid? [True, True] Translation: X:27.49, Y:1.55, Z:-2.08 [[ 9.87321807e-01 -1.50801983e-01 4.95420083e-02 2.74866969e+01] [ 1.50714586e-01 9.88561926e-01 5.51656005e-03 1.54604247e+00] [-4.98072513e-02 2.02008321e-03 9.98756806e-01 -2.07820137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.193201008 meters 0.06659320720967471 Centerline is valid? [True, True] Translation: X:27.54, Y:1.55, Z:-2.08 [[ 9.87546961e-01 -1.50083896e-01 4.71786486e-02 2.75437428e+01] [ 1.50003762e-01 9.88671462e-01 5.25460778e-03 1.55136618e+00] [-4.74328155e-02 1.88780284e-03 9.98872647e-01 -2.08296389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.253201007999998 meters 0.06702070624379217 Centerline is valid? [True, True] Translation: X:27.60, Y:1.56, Z:-2.09 [[ 9.88035521e-01 -1.47911684e-01 4.36799986e-02 2.76003723e+01] [ 1.47840603e-01 9.88999205e-01 4.87112622e-03 1.56070962e+00] [-4.39199804e-02 1.64483159e-03 9.99033698e-01 -2.09094456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.313201007999997 meters 0.06581992657722666 Centerline is valid? [True, True] Translation: X:27.66, Y:1.58, Z:-2.10 [[ 9.88318111e-01 -1.46234272e-01 4.29284082e-02 2.76579599e+01] [ 1.46163977e-01 9.89248786e-01 4.78866545e-03 1.57502784e+00] [-4.31671427e-02 1.54186209e-03 9.99066675e-01 -2.09551165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.373201008 meters 0.06566626853116955 Centerline is valid? [True, True] Translation: X:27.72, Y:1.59, Z:-2.11 [[ 9.89191311e-01 -1.40512914e-01 4.19126677e-02 2.77150692e+01] [ 1.40440097e-01 9.90078062e-01 4.69143418e-03 1.59043012e+00] [-4.21560199e-02 1.24549318e-03 9.99110264e-01 -2.10608882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.433201007999998 meters 0.065062420560884 Centerline is valid? [True, True] Translation: X:27.77, Y:1.60, Z:-2.11 [[ 9.90286887e-01 -1.32785161e-01 4.12308463e-02 2.77728113e+01] [ 1.32707944e-01 9.91144435e-01 4.61637353e-03 1.60244520e+00] [-4.14787097e-02 9.00126647e-04 9.99138983e-01 -2.11207525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.493201008 meters 0.0626328871979796 Centerline is valid? [True, True] Translation: X:27.83, Y:1.63, Z:-2.11 [[ 9.92075137e-01 -1.17571905e-01 4.43144517e-02 2.78304391e+01] [ 1.17467428e-01 9.93064332e-01 4.96341868e-03 1.62682222e+00] [-4.45906600e-02 2.81420394e-04 9.99005302e-01 -2.11210121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.553201008 meters 0.06249892115794818 Centerline is valid? [True, True] Translation: X:27.89, Y:1.64, Z:-2.12 [[ 9.92840488e-01 -1.10876499e-01 4.44316085e-02 2.78872684e+01] [ 1.10764967e-01 9.93834192e-01 4.97196270e-03 1.64306363e+00] [-4.47089255e-02 -1.49002344e-05 9.99000056e-01 -2.11920521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.613201007999997 meters 0.062344476649426196 Centerline is valid? [True, True] Translation: X:27.95, Y:1.65, Z:-2.12 [[ 9.93277827e-01 -1.05806616e-01 4.69480470e-02 2.79451858e+01] [ 1.05675889e-01 9.94386689e-01 5.26482368e-03 1.65387095e+00] [-4.72415663e-02 -2.68156026e-04 9.98883458e-01 -2.12154500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.673201008 meters 0.062430064470210725 Centerline is valid? [True, True] Translation: X:28.00, Y:1.66, Z:-2.12 [[ 9.93337790e-01 -1.04917657e-01 4.76688626e-02 2.80036332e+01] [ 1.04781301e-01 9.94480859e-01 5.35728935e-03 1.65878764e+00] [-4.79678456e-02 -3.26792513e-04 9.98848827e-01 -2.12461353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.733201007999998 meters 0.062282492869070886 Centerline is valid? [True, True] Translation: X:28.06, Y:1.66, Z:-2.13 [[ 9.93196225e-01 -1.05578110e-01 4.91377694e-02 2.80626707e+01] [ 1.05433416e-01 9.94410963e-01 5.53462773e-03 1.65870921e+00] [-4.94474721e-02 -3.16208494e-04 9.98776675e-01 -2.12712727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.793201007999997 meters 0.06258372448133216 Centerline is valid? [True, True] Translation: X:28.12, Y:1.66, Z:-2.13 [[ 9.93273282e-01 -1.05103407e-01 4.85948623e-02 2.81200772e+01] [ 1.04960573e-01 9.94461236e-01 5.48887092e-03 1.65919821e+00] [-4.89026058e-02 -3.51404237e-04 9.98803490e-01 -2.13438841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.853201008 meters 0.06272725237788333 Centerline is valid? [True, True] Translation: X:28.18, Y:1.66, Z:-2.14 [[ 9.93037151e-01 -1.07541381e-01 4.80839707e-02 2.81783833e+01] [ 1.07404448e-01 9.94200583e-01 5.43002766e-03 1.65690120e+00] [-4.83890644e-02 -2.27786876e-04 9.98828537e-01 -2.14006672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.913201007999998 meters 0.062386548854290146 Centerline is valid? [True, True] Translation: X:28.24, Y:1.65, Z:-2.14 [[ 9.92338170e-01 -1.13909417e-01 4.78497714e-02 2.82378238e+01] [ 1.13780591e-01 9.93491137e-01 5.41637672e-03 1.64693651e+00] [-4.81553001e-02 6.94979276e-05 9.98839858e-01 -2.14106835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.973201007999997 meters 0.06236873704562161 Centerline is valid? [True, True] Translation: X:28.30, Y:1.65, Z:-2.14 [[ 9.92483375e-01 -1.13245725e-01 4.63913450e-02 2.82966225e+01] [ 1.13123316e-01 9.93567011e-01 5.26404703e-03 1.65475648e+00] [-4.66890408e-02 2.34636003e-05 9.98909472e-01 -2.14477224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.033201008 meters 0.06315525755633611 Centerline is valid? [True, True] Translation: X:28.35, Y:1.67, Z:-2.16 [[ 9.92884382e-01 -1.11440819e-01 4.19707886e-02 2.83527688e+01] [ 1.11338415e-01 9.93771070e-01 4.77684938e-03 1.66967628e+00] [-4.22416915e-02 -6.98980593e-05 9.99107419e-01 -2.15926853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.093201007999998 meters 0.06416468369643322 Centerline is valid? [True, True] Translation: X:28.41, Y:1.68, Z:-2.17 [[ 9.93197697e-01 -1.09601241e-01 3.93179753e-02 2.84088635e+01] [ 1.09509841e-01 9.93975627e-01 4.47735919e-03 1.68320490e+00] [-3.95718333e-02 -1.41197620e-04 9.99216718e-01 -2.17252749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.153201008 meters 0.0638779778209068 Centerline is valid? [True, True] Translation: X:28.47, Y:1.69, Z:-2.17 [[ 9.93335381e-01 -1.08347007e-01 3.93159958e-02 2.84661493e+01] [ 1.08254808e-01 9.94113118e-01 4.47273963e-03 1.69271074e+00] [-3.95691551e-02 -1.86784938e-04 9.99216817e-01 -2.17298732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.213201008 meters 0.06335625850384764 Centerline is valid? [True, True] Translation: X:28.53, Y:1.70, Z:-2.17 [[ 9.93386383e-01 -1.06129676e-01 4.38176528e-02 2.85256639e+01] [ 1.06012061e-01 9.94352244e-01 5.00583818e-03 1.70186960e+00] [-4.41014494e-02 -3.27531812e-04 9.99027004e-01 -2.17109648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.273201007999997 meters 0.0629941839116545 Centerline is valid? [True, True] Translation: X:28.58, Y:1.71, Z:-2.17 [[ 9.93318035e-01 -1.06081654e-01 4.54528870e-02 2.85848859e+01] [ 1.05955240e-01 9.94357365e-01 5.18828617e-03 1.70732028e+00] [-4.57467949e-02 -3.37646653e-04 9.98953010e-01 -2.17165489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.333201008 meters 0.06295111957388179 Centerline is valid? [True, True] Translation: X:28.64, Y:1.72, Z:-2.18 [[ 9.93061532e-01 -1.07738141e-01 4.71305194e-02 2.86426394e+01] [ 1.07603536e-01 9.94179266e-01 5.39126695e-03 1.71567103e+00] [-4.74370303e-02 -2.82449271e-04 9.98874190e-01 -2.17841168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.393201008 meters 0.06298017659838118 Centerline is valid? [True, True] Translation: X:28.70, Y:1.71, Z:-2.19 [[ 9.92447274e-01 -1.13384989e-01 4.68214975e-02 2.87012916e+01] [ 1.13257700e-01 9.93551128e-01 5.37121924e-03 1.71281401e+00] [-4.71285672e-02 -2.77567912e-05 9.98888831e-01 -2.18541699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.453201007999997 meters 0.06264330422693384 Centerline is valid? [True, True] Translation: X:28.76, Y:1.71, Z:-2.18 [[ 9.91639149e-01 -1.19417884e-01 4.88995661e-02 2.87609753e+01] [ 1.19286350e-01 9.92844044e-01 5.60986959e-03 1.71159934e+00] [-4.92195617e-02 2.70084443e-04 9.98787946e-01 -2.18440121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.513201008 meters 0.06270359251397925 Centerline is valid? [True, True] Translation: X:28.82, Y:1.71, Z:-2.18 [[ 9.90811072e-01 -1.25568467e-01 5.02591204e-02 2.88209838e+01] [ 1.25436788e-01 9.92084787e-01 5.77820941e-03 1.70963923e+00] [-5.05868697e-02 5.79228764e-04 9.98719497e-01 -2.18494410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.573201007999998 meters 0.06321926446672872 Centerline is valid? [True, True] Translation: X:28.88, Y:1.71, Z:-2.19 [[ 9.90169000e-01 -1.30581374e-01 5.01383766e-02 2.88791573e+01] [ 1.30455935e-01 9.91437258e-01 5.78034099e-03 1.70880298e+00] [-5.04638595e-02 8.17334343e-04 9.98725553e-01 -2.18774650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.633201007999997 meters 0.06340512437299614 Centerline is valid? [True, True] Translation: X:28.94, Y:1.72, Z:-2.19 [[ 9.89620615e-01 -1.34163133e-01 5.14906890e-02 2.89371084e+01] [ 1.34035627e-01 9.90958728e-01 5.93716198e-03 1.71619897e+00] [-5.18216960e-02 1.02604888e-03 9.98655826e-01 -2.19237132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.693201008 meters 0.06443370575075644 Centerline is valid? [True, True] Translation: X:28.99, Y:1.73, Z:-2.20 [[ 9.89374765e-01 -1.36553065e-01 4.99082690e-02 2.89946040e+01] [ 1.36435528e-01 9.90632147e-01 5.77034135e-03 1.72548889e+00] [-5.02286935e-02 1.10023091e-03 9.98737137e-01 -2.20271595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.753201007999998 meters 0.06434498102554588 Centerline is valid? [True, True] Translation: X:29.05, Y:1.73, Z:-2.20 [[ 9.88926521e-01 -1.39552072e-01 5.04931226e-02 2.90537394e+01] [ 1.39435704e-01 9.90213922e-01 5.83720509e-03 1.72836463e+00] [-5.08135870e-02 1.26797718e-03 9.98707350e-01 -2.20036394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.813201007999997 meters 0.06542127303351875 Centerline is valid? [True, True] Translation: X:29.11, Y:1.73, Z:-2.20 [[ 9.87989513e-01 -1.45303383e-01 5.25704184e-02 2.91123093e+01] [ 1.45184467e-01 9.89385835e-01 6.09426241e-03 1.73296361e+00] [-5.28979443e-02 1.61134085e-03 9.98598624e-01 -2.20422587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.873201008 meters 0.06593774495548892 Centerline is valid? [True, True] Translation: X:29.17, Y:1.74, Z:-2.21 [[ 9.87723058e-01 -1.46734598e-01 5.35921413e-02 2.91701237e+01] [ 1.46613092e-01 9.89174402e-01 6.21316521e-03 1.74459032e+00] [-5.39236606e-02 1.72042300e-03 9.98543579e-01 -2.21181003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.933201007999998 meters 0.065136528294687 Centerline is valid? [True, True] Translation: X:29.23, Y:1.76, Z:-2.22 [[ 9.88768881e-01 -1.40716730e-01 5.03478137e-02 2.92273705e+01] [ 1.40600947e-01 9.90049055e-01 5.85178720e-03 1.75807815e+00] [-5.06702498e-02 1.29288520e-03 9.98714601e-01 -2.21793909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.993201008 meters 0.06395028448914435 Centerline is valid? [True, True] Translation: X:29.29, Y:1.77, Z:-2.22 [[ 9.89694670e-01 -1.35134228e-01 4.73624443e-02 2.92854771e+01] [ 1.35025452e-01 9.90826847e-01 5.50332746e-03 1.77163929e+00] [-4.76716693e-02 9.48521589e-04 9.98862609e-01 -2.22145675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.053201008 meters 0.06309485730779994 Centerline is valid? [True, True] Translation: X:29.34, Y:1.79, Z:-2.23 [[ 9.91282544e-01 -1.24176724e-01 4.40347379e-02 2.93420758e+01] [ 1.24071526e-01 9.92260044e-01 5.12466955e-03 1.79290517e+00] [-4.43302756e-02 3.83461671e-04 9.99016857e-01 -2.23146859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.113201008000004 meters 0.06269367164931293 Centerline is valid? [True, True] Translation: X:29.40, Y:1.81, Z:-2.24 [[ 9.91990925e-01 -1.17466230e-01 4.64293948e-02 2.93997159e+01] [ 1.17341346e-01 9.93076875e-01 5.41568093e-03 1.80972344e+00] [-4.67441179e-02 7.57813328e-05 9.98906893e-01 -2.23636431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.173201008 meters 0.06273334444539566 Centerline is valid? [True, True] Translation: X:29.46, Y:1.82, Z:-2.23 [[ 9.93042116e-01 -1.06878073e-01 4.94412078e-02 2.94576547e+01] [ 1.06722755e-01 9.94272027e-01 5.77833535e-03 1.82452015e+00] [-4.97755873e-02 -4.61628461e-04 9.98760321e-01 -2.23414471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.233201008 meters 0.06320879235098953 Centerline is valid? [True, True] Translation: X:29.52, Y:1.84, Z:-2.23 [[ 9.93514929e-01 -1.00130892e-01 5.38691917e-02 2.95159773e+01] [ 9.99357908e-02 9.94973879e-01 6.31012632e-03 1.83665266e+00] [-5.42302772e-02 -8.85744425e-04 9.98528063e-01 -2.23329861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.293201008000004 meters 0.06320512876128989 Centerline is valid? [True, True] Translation: X:29.57, Y:1.84, Z:-2.24 [[ 9.93416529e-01 -9.99602559e-02 5.59602346e-02 2.95739931e+01] [ 9.97486548e-02 9.94990983e-01 6.56878712e-03 1.84382668e+00] [-5.63365465e-02 -9.43583566e-04 9.98411390e-01 -2.23986048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.353201008 meters 0.06301998003746016 Centerline is valid? [True, True] Translation: X:29.63, Y:1.84, Z:-2.25 [[ 9.93227858e-01 -1.02804623e-01 5.41260639e-02 2.96320702e+01] [ 1.02610260e-01 9.94701271e-01 6.36515906e-03 1.84327163e+00] [-5.44936324e-02 -7.68163826e-04 9.98513823e-01 -2.24672011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.413201008 meters 0.06265086290160081 Centerline is valid? [True, True] Translation: X:29.69, Y:1.84, Z:-2.25 [[ 9.92997924e-01 -1.06826633e-01 5.04300800e-02 2.96917023e+01] [ 1.06662441e-01 9.94277525e-01 5.94364053e-03 1.83932928e+00] [-5.07764342e-02 -5.23027287e-04 9.98709908e-01 -2.25254655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.473201008000004 meters 0.06255862266290178 Centerline is valid? [True, True] Translation: X:29.75, Y:1.84, Z:-2.26 [[ 9.92520532e-01 -1.13349754e-01 4.53302015e-02 2.97514306e+01] [ 1.13223228e-01 9.93555131e-01 5.35738771e-03 1.83715073e+00] [-4.56453129e-02 -1.84885559e-04 9.98957692e-01 -2.26343257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.533201008 meters 0.06294735941171427 Centerline is valid? [True, True] Translation: X:29.81, Y:1.84, Z:-2.27 [[ 9.92206107e-01 -1.16974776e-01 4.29411577e-02 2.98086293e+01] [ 1.16864644e-01 9.93134886e-01 5.07477231e-03 1.83953334e+00] [-4.32399821e-02 -1.69169531e-05 9.99064714e-01 -2.27346521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.593201008 meters 0.06247377738548378 Centerline is valid? [True, True] Translation: X:29.87, Y:1.84, Z:-2.27 [[ 9.91861310e-01 -1.19412418e-01 4.41793716e-02 2.98682403e+01] [ 1.19298293e-01 9.92844734e-01 5.22028225e-03 1.83741587e+00] [-4.44866229e-02 9.27276326e-05 9.99009976e-01 -2.27094210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.653201008 meters 0.06194014129048854 Centerline is valid? [True, True] Translation: X:29.93, Y:1.84, Z:-2.27 [[ 9.91415702e-01 -1.21556332e-01 4.81556330e-02 2.99275968e+01] [ 1.21422364e-01 9.92584517e-01 5.70846359e-03 1.84034227e+00] [-4.84924356e-02 1.87710365e-04 9.98823532e-01 -2.27039092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.713201008 meters 0.06186224936415387 Centerline is valid? [True, True] Translation: X:29.99, Y:1.85, Z:-2.27 [[ 9.91385411e-01 -1.21494239e-01 4.89297066e-02 2.99858692e+01] [ 1.21356031e-01 9.92592118e-01 5.79658160e-03 1.85102713e+00] [-4.92714924e-02 1.91268580e-04 9.98785404e-01 -2.27464937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.773201008 meters 0.06185198979162372 Centerline is valid? [True, True] Translation: X:30.04, Y:1.86, Z:-2.28 [[ 9.91638354e-01 -1.20200209e-01 4.69604664e-02 3.00437184e+01] [ 1.20070967e-01 9.92749665e-01 5.57365011e-03 1.86088055e+00] [-4.72899412e-02 1.11543399e-04 9.98881199e-01 -2.28038672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.833201008 meters 0.061781507640301526 Centerline is valid? [True, True] Translation: X:30.10, Y:1.87, Z:-2.28 [[ 9.91664679e-01 -1.20408948e-01 4.58568334e-02 3.01020612e+01] [ 1.20285457e-01 9.92724369e-01 5.45299990e-03 1.86621531e+00] [-4.61797860e-02 1.08362766e-04 9.98933139e-01 -2.28344924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.893201008 meters 0.061496912571686595 Centerline is valid? [True, True] Translation: X:30.16, Y:1.87, Z:-2.29 [[ 9.91548874e-01 -1.21594928e-01 4.52272391e-02 3.01607663e+01] [ 1.21475565e-01 9.92579796e-01 5.38854467e-03 1.87330643e+00] [-4.55468634e-02 1.50999007e-04 9.98962192e-01 -2.28735024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.953201008 meters 0.061509589345985334 Centerline is valid? [True, True] Translation: X:30.22, Y:1.88, Z:-2.29 [[ 9.91610067e-01 -1.21348743e-01 4.45416468e-02 3.02173708e+01] [ 1.21232089e-01 9.92609927e-01 5.32101091e-03 1.88264204e+00] [-4.48581788e-02 1.23508902e-04 9.98993358e-01 -2.29491638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.013201008 meters 0.06117382462305358 Centerline is valid? [True, True] Translation: X:30.27, Y:1.89, Z:-2.30 [[ 9.91731398e-01 -1.20349164e-01 4.45523569e-02 3.02747648e+01] [ 1.20231391e-01 9.92731622e-01 5.32351354e-03 1.89006882e+00] [-4.48692139e-02 7.70963288e-05 9.98992867e-01 -2.29602782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.073201008000005 meters 0.06084702270982104 Centerline is valid? [True, True] Translation: X:30.33, Y:1.90, Z:-2.30 [[ 9.91690182e-01 -1.20231376e-01 4.57711657e-02 3.03340858e+01] [ 1.20106267e-01 9.92745895e-01 5.48378791e-03 1.89590357e+00] [-4.60984602e-02 5.91851990e-05 9.98936899e-01 -2.29752538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.133201008 meters 0.06063652449965399 Centerline is valid? [True, True] Translation: X:30.39, Y:1.90, Z:-2.30 [[ 9.91696464e-01 -1.20648623e-01 4.45200287e-02 3.03920747e+01] [ 1.20530077e-01 9.92695273e-01 5.34741363e-03 1.90219122e+00] [-4.48399801e-02 6.29912937e-05 9.98994180e-01 -2.30103559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.193201008 meters 0.061037402375331784 Centerline is valid? [True, True] Translation: X:30.45, Y:1.91, Z:-2.31 [[ 9.91266740e-01 -1.24681707e-01 4.29502332e-02 3.04496274e+01] [ 1.24575007e-01 9.92196763e-01 5.16238033e-03 1.90677522e+00] [-4.32587368e-02 2.33229681e-04 9.99063875e-01 -2.30995809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.253201008000005 meters 0.06117458104802276 Centerline is valid? [True, True] Translation: X:30.51, Y:1.91, Z:-2.31 [[ 9.90365098e-01 -1.32049754e-01 4.17113310e-02 3.05099367e+01] [ 1.31955438e-01 9.91242946e-01 5.01847450e-03 1.90658392e+00] [-4.20087509e-02 5.33914954e-04 9.99117100e-01 -2.31116050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.313201008 meters 0.06119875819522777 Centerline is valid? [True, True] Translation: X:30.57, Y:1.91, Z:-2.31 [[ 9.89233730e-01 -1.39668573e-01 4.36957301e-02 3.05692003e+01] [ 1.39572703e-01 9.90197897e-01 5.25226367e-03 1.90977335e+00] [-4.40009962e-02 9.03014772e-04 9.99031079e-01 -2.30822155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.373201008 meters 0.06191316775508709 Centerline is valid? [True, True] Translation: X:30.63, Y:1.92, Z:-2.32 [[ 9.88973673e-01 -1.41240590e-01 4.45215649e-02 3.06267948e+01] [ 1.41141929e-01 9.89974820e-01 5.36764330e-03 1.91568812e+00] [-4.48333573e-02 9.75401650e-04 9.98994003e-01 -2.31562809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.433201008000005 meters 0.06190299033547369 Centerline is valid? [True, True] Translation: X:30.69, Y:1.93, Z:-2.32 [[ 9.88763846e-01 -1.43270029e-01 4.26585877e-02 3.06854623e+01] [ 1.43181124e-01 9.89683112e-01 5.14807076e-03 1.92758034e+00] [-4.29560481e-02 1.01767828e-03 9.99076445e-01 -2.31987778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.493201008 meters 0.06121419042475386 Centerline is valid? [True, True] Translation: X:30.74, Y:1.94, Z:-2.32 [[ 9.88791287e-01 -1.42863857e-01 4.33786770e-02 3.07437671e+01] [ 1.42771756e-01 9.89741822e-01 5.22988578e-03 1.93624681e+00] [-4.36808525e-02 1.02198441e-03 9.99045013e-01 -2.31918036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.553201008 meters 0.06126172547695055 Centerline is valid? [True, True] Translation: X:30.80, Y:1.96, Z:-2.33 [[ 9.89685389e-01 -1.37644720e-01 3.97084708e-02 3.07988263e+01] [ 1.37562802e-01 9.90481411e-01 4.80100316e-03 1.95604734e+00] [-3.99913350e-02 7.10925853e-04 9.99199774e-01 -2.33071520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.613201008000004 meters 0.06107997742114444 Centerline is valid? [True, True] Translation: X:30.86, Y:1.97, Z:-2.34 [[ 9.90700397e-01 -1.31060974e-01 3.65478436e-02 3.08554539e+01] [ 1.30987217e-01 9.91374223e-01 4.41566734e-03 1.97362046e+00] [-3.68113118e-02 4.12696953e-04 9.99322149e-01 -2.34041876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.673201008 meters 0.059997593083975405 Centerline is valid? [True, True] Translation: X:30.91, Y:1.99, Z:-2.34 [[ 9.91585589e-01 -1.23672014e-01 3.82524752e-02 3.09148912e+01] [ 1.23585047e-01 9.92323141e-01 4.63891488e-03 1.98503858e+00] [-3.85325203e-02 1.27552803e-04 9.99257339e-01 -2.33507601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.733201008 meters 0.059662457924997726 Centerline is valid? [True, True] Translation: X:30.97, Y:1.99, Z:-2.34 [[ 9.91909439e-01 -1.20091595e-01 4.11542764e-02 3.09722165e+01] [ 1.19987850e-01 9.92762816e-01 4.99072874e-03 1.99459515e+00] [-4.14557799e-02 -1.23378204e-05 9.99140340e-01 -2.33686632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.793201008000004 meters 0.06044697040552965 Centerline is valid? [True, True] Translation: X:31.03, Y:2.02, Z:-2.35 [[ 9.92873553e-01 -1.11028748e-01 4.32981000e-02 3.10288513e+01] [ 1.10905322e-01 9.93817110e-01 5.24983169e-03 2.01590097e+00] [-4.36132748e-02 -4.10429301e-04 9.99048404e-01 -2.34755160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.853201008 meters 0.06152799700622155 Centerline is valid? [True, True] Translation: X:31.09, Y:2.03, Z:-2.35 [[ 9.93454125e-01 -1.05438818e-01 4.39494850e-02 3.10858135e+01] [ 1.05305492e-01 9.94425559e-01 5.34432538e-03 2.02945136e+00] [-4.42679905e-02 -6.81219952e-04 9.99019460e-01 -2.35392984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.913201008 meters 0.061709294205669576 Centerline is valid? [True, True] Translation: X:31.14, Y:2.03, Z:-2.35 [[ 9.93543751e-01 -1.05025898e-01 4.28995915e-02 3.11436080e+01] [ 1.04898354e-01 9.94469251e-01 5.21968169e-03 2.03167800e+00] [-4.32105264e-02 -6.85885579e-04 9.99065754e-01 -2.35406268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.973201008000004 meters 0.06087873566483922 Centerline is valid? [True, True] Translation: X:31.20, Y:2.03, Z:-2.36 [[ 9.93209186e-01 -1.08268037e-01 4.25857426e-02 3.12031756e+01] [ 1.08145345e-01 9.94121592e-01 5.18117159e-03 2.03163616e+00] [-4.28963615e-02 -5.40537409e-04 9.99079381e-01 -2.35568277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.033201008 meters 0.06039478601295643 Centerline is valid? [True, True] Translation: X:31.26, Y:2.03, Z:-2.37 [[ 9.92261206e-01 -1.17004731e-01 4.15643105e-02 3.12627746e+01] [ 1.16895111e-01 9.93131343e-01 5.06640831e-03 2.02780800e+00] [-4.18716133e-02 -1.68535738e-04 9.99122985e-01 -2.36517285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.093201008 meters 0.06019328481888636 Centerline is valid? [True, True] Translation: X:31.32, Y:2.03, Z:-2.37 [[ 9.91605261e-01 -1.22680813e-01 4.08463539e-02 3.13221396e+01] [ 1.22579370e-01 9.92446177e-01 4.98834862e-03 2.02716990e+00] [-4.11497824e-02 6.04475998e-05 9.99152987e-01 -2.37157858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.153201008 meters 0.060164541565306914 Centerline is valid? [True, True] Translation: X:31.38, Y:2.03, Z:-2.37 [[ 9.91394618e-01 -1.24611229e-01 4.01092623e-02 3.13813630e+01] [ 1.24514609e-01 9.92205637e-01 4.90786612e-03 2.02718650e+00] [-4.04082114e-02 1.28557047e-04 9.99183246e-01 -2.37086280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.213201008 meters 0.05974443625666177 Centerline is valid? [True, True] Translation: X:31.44, Y:2.03, Z:-2.37 [[ 9.91372493e-01 -1.23985614e-01 4.25223129e-02 3.14401305e+01] [ 1.23875712e-01 9.92284011e-01 5.22006116e-03 2.03401704e+00] [-4.28414237e-02 9.24567304e-05 9.99081880e-01 -2.37218161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.273201008 meters 0.05974340500749727 Centerline is valid? [True, True] Translation: X:31.50, Y:2.04, Z:-2.38 [[ 9.91043402e-01 -1.26088744e-01 4.39841376e-02 3.14984701e+01] [ 1.25973313e-01 9.92018947e-01 5.39745545e-03 2.04134338e+00] [-4.43136563e-02 1.91714913e-04 9.99017649e-01 -2.37784772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.333201008 meters 0.059886965923777694 Centerline is valid? [True, True] Translation: X:31.55, Y:2.05, Z:-2.39 [[ 9.91063475e-01 -1.25684827e-01 4.46823622e-02 3.15545031e+01] [ 1.25564588e-01 9.92070208e-01 5.49872056e-03 2.05479282e+00] [-4.50191461e-02 1.60941292e-04 9.98986111e-01 -2.38581751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.393201008 meters 0.06001844508016131 Centerline is valid? [True, True] Translation: X:31.61, Y:2.07, Z:-2.39 [[ 9.91492837e-01 -1.22874457e-01 4.29397455e-02 3.16125514e+01] [ 1.22760851e-01 9.92422222e-01 5.28269325e-03 2.06619063e+00] [-4.32634657e-02 3.35671867e-05 9.99063697e-01 -2.39063575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.453201008 meters 0.05968780499803601 Centerline is valid? [True, True] Translation: X:31.67, Y:2.07, Z:-2.39 [[ 9.91691654e-01 -1.20988484e-01 4.36972529e-02 3.16716376e+01] [ 1.20868537e-01 9.92653909e-01 5.38642733e-03 2.07327688e+00] [-4.40279446e-02 -6.00519848e-05 9.99030298e-01 -2.38878527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.513201008 meters 0.05945024643427569 Centerline is valid? [True, True] Translation: X:31.73, Y:2.08, Z:-2.40 [[ 9.91281728e-01 -1.23693844e-01 4.53912934e-02 3.17295561e+01] [ 1.23566709e-01 9.92320427e-01 5.60696459e-03 2.08077546e+00] [-4.57362547e-02 5.07711859e-05 9.98953549e-01 -2.39528196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.573201008000005 meters 0.059336795779091504 Centerline is valid? [True, True] Translation: X:31.79, Y:2.09, Z:-2.40 [[ 9.90540731e-01 -1.27899805e-01 4.97061412e-02 3.17875340e+01] [ 1.27751727e-01 9.91787062e-01 6.15786031e-03 2.08862950e+00] [-5.00854969e-02 2.50433899e-04 9.98744903e-01 -2.40178090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.633201008 meters 0.05919272026755913 Centerline is valid? [True, True] Translation: X:31.85, Y:2.09, Z:-2.40 [[ 9.90367922e-01 -1.28831032e-01 5.07340542e-02 3.18461249e+01] [ 1.28678008e-01 9.91666513e-01 6.28470056e-03 2.09227919e+00] [-5.11209271e-02 3.04191204e-04 9.98692424e-01 -2.40258562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.693201008 meters 0.05862538974949677 Centerline is valid? [True, True] Translation: X:31.91, Y:2.10, Z:-2.40 [[ 9.90494949e-01 -1.27566274e-01 5.14451285e-02 3.19050105e+01] [ 1.27406568e-01 9.91830022e-01 6.38540563e-03 2.09682351e+00] [-5.18393853e-02 2.29735263e-04 9.98655409e-01 -2.40218402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.753201008000005 meters 0.058718933314640585 Centerline is valid? [True, True] Translation: X:31.96, Y:2.11, Z:-2.41 [[ 9.90673561e-01 -1.26020663e-01 5.18139813e-02 3.19628861e+01] [ 1.25855893e-01 9.92027607e-01 6.44364599e-03 2.10738671e+00] [-5.22129325e-02 1.37545161e-04 9.98635965e-01 -2.41056846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.813201008 meters 0.05898706507334025 Centerline is valid? [True, True] Translation: X:32.02, Y:2.11, Z:-2.42 [[ 9.89816759e-01 -1.32168910e-01 5.28598463e-02 3.20223241e+01] [ 1.32005477e-01 9.91227103e-01 6.58669644e-03 2.10823757e+00] [-5.32666688e-02 4.58166717e-04 9.98580218e-01 -2.41776092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.873201008 meters 0.058975070597669405 Centerline is valid? [True, True] Translation: X:32.08, Y:2.12, Z:-2.42 [[ 9.90103019e-01 -1.31157596e-01 4.99369303e-02 3.20799904e+01] [ 1.31009922e-01 9.91361462e-01 6.23320630e-03 2.11686200e+00] [-5.03230805e-02 3.70716951e-04 9.98732922e-01 -2.42480027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.933201008000005 meters 0.05962446084781421 Centerline is valid? [True, True] Translation: X:32.14, Y:2.13, Z:-2.44 [[ 9.90712059e-01 -1.27771369e-01 4.65198209e-02 3.21352693e+01] [ 1.27638857e-01 9.91803634e-01 5.82017350e-03 2.13048809e+00] [-4.68821789e-02 1.71620670e-04 9.98900411e-01 -2.43819382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.993201008 meters 0.05964221089142705 Centerline is valid? [True, True] Translation: X:32.19, Y:2.14, Z:-2.44 [[ 9.90873484e-01 -1.26709309e-01 4.59835865e-02 3.21926810e+01] [ 1.26578465e-01 9.91939886e-01 5.75797727e-03 2.13668750e+00] [-4.63425428e-02 1.15104798e-04 9.98925601e-01 -2.44187382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.053201008 meters 0.059210287322536075 Centerline is valid? [True, True] Translation: X:32.25, Y:2.14, Z:-2.44 [[ 9.90348848e-01 -1.29712753e-01 4.88237664e-02 3.22506869e+01] [ 1.29568673e-01 9.91551577e-01 6.11789567e-03 2.13802434e+00] [-4.92048517e-02 2.67179722e-04 9.98788672e-01 -2.44207112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.113201008000004 meters 0.058610145861652904 Centerline is valid? [True, True] Translation: X:32.31, Y:2.15, Z:-2.44 [[ 9.90076235e-01 -1.30632949e-01 5.18081157e-02 3.23084726e+01] [ 1.30471923e-01 9.91430745e-01 6.49264704e-03 2.14988675e+00] [-5.22123124e-02 3.31288935e-04 9.98635952e-01 -2.44259388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.173201008 meters 0.058143136407767484 Centerline is valid? [True, True] Translation: X:32.37, Y:2.16, Z:-2.44 [[ 9.90190930e-01 -1.28407873e-01 5.50757765e-02 3.23654546e+01] [ 1.28221481e-01 9.91721420e-01 6.91938173e-03 2.16106251e+00] [-5.55083303e-02 2.10388601e-04 9.98458202e-01 -2.44454118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.233201008 meters 0.058171493569521775 Centerline is valid? [True, True] Translation: X:32.42, Y:2.17, Z:-2.45 [[ 9.90391312e-01 -1.27161679e-01 5.43595153e-02 3.24233005e+01] [ 1.26977982e-01 9.91881994e-01 6.83394671e-03 2.16867929e+00] [-5.47872406e-02 1.34180097e-04 9.98498042e-01 -2.44750419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.293201008000004 meters 0.05812942095092932 Centerline is valid? [True, True] Translation: X:32.48, Y:2.17, Z:-2.45 [[ 9.90250508e-01 -1.28084233e-01 5.47572801e-02 3.24814685e+01] [ 1.27899198e-01 9.91763276e-01 6.88480397e-03 2.17452757e+00] [-5.51880943e-02 1.85731547e-04 9.98475959e-01 -2.45018884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.353201008 meters 0.05826274231850579 Centerline is valid? [True, True] Translation: X:32.54, Y:2.18, Z:-2.46 [[ 9.90105881e-01 -1.29546783e-01 5.39256382e-02 3.25384647e+01] [ 1.29368497e-01 9.91573281e-01 6.79860316e-03 2.18002454e+00] [-5.43519591e-02 2.44941774e-04 9.98521810e-01 -2.45761240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.413201008 meters 0.05858359992413842 Centerline is valid? [True, True] Translation: X:32.60, Y:2.19, Z:-2.47 [[ 9.90133073e-01 -1.29925448e-01 5.24964359e-02 3.25955385e+01] [ 1.29756994e-01 9.91523732e-01 6.61901461e-03 2.19207877e+00] [-5.29114404e-02 2.58074413e-04 9.98599175e-01 -2.46670525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.473201008000004 meters 0.05847437275538635 Centerline is valid? [True, True] Translation: X:32.65, Y:2.20, Z:-2.47 [[ 9.89963153e-01 -1.30560338e-01 5.41013328e-02 3.26535279e+01] [ 1.30381434e-01 9.91440325e-01 6.83843149e-03 2.19582832e+00] [-5.45310709e-02 2.84014162e-04 9.98512034e-01 -2.46884013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.533201008 meters 0.05799253596642273 Centerline is valid? [True, True] Translation: X:32.71, Y:2.20, Z:-2.47 [[ 9.89982682e-01 -1.29731865e-01 5.57129393e-02 3.27126678e+01] [ 1.29540715e-01 9.91549083e-01 7.04408728e-03 2.19821780e+00] [-5.61559565e-02 2.43569602e-04 9.98421980e-01 -2.46583874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.593201008 meters 0.05808025854457609 Centerline is valid? [True, True] Translation: X:32.77, Y:2.21, Z:-2.47 [[ 9.90191639e-01 -1.27914845e-01 5.61988472e-02 3.27692549e+01] [ 1.27716479e-01 9.91785146e-01 7.12208565e-03 2.20941595e+00] [-5.66482023e-02 1.25289237e-04 9.98394193e-01 -2.47390060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.653201008 meters 0.05838559910174155 Centerline is valid? [True, True] Translation: X:32.83, Y:2.21, Z:-2.48 [[ 9.89855532e-01 -1.30864403e-01 5.53220841e-02 3.28276623e+01] [ 1.30676695e-01 9.91400235e-01 7.01257588e-03 2.21477761e+00] [-5.57640237e-02 2.87870055e-04 9.98443935e-01 -2.48357982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.713201008 meters 0.058451141311949124 Centerline is valid? [True, True] Translation: X:32.89, Y:2.22, Z:-2.49 [[ 9.89565669e-01 -1.33106547e-01 5.51582676e-02 3.28870381e+01] [ 1.32922713e-01 9.91101653e-01 7.00465732e-03 2.21757645e+00] [-5.55998159e-02 4.00218193e-04 9.98453054e-01 -2.48772670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.773201008 meters 0.05855131069430138 Centerline is valid? [True, True] Translation: X:32.95, Y:2.22, Z:-2.49 [[ 9.89232340e-01 -1.35103327e-01 5.62713852e-02 3.29456281e+01] [ 1.34914479e-01 9.90831384e-01 7.15905906e-03 2.21870889e+00] [-5.67226672e-02 5.09851883e-04 9.98389843e-01 -2.48902868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.833201008 meters 0.05847716656976365 Centerline is valid? [True, True] Translation: X:33.00, Y:2.23, Z:-2.50 [[ 9.89375778e-01 -1.34111050e-01 5.61230452e-02 3.30022875e+01] [ 1.33920764e-01 9.90966213e-01 7.15498070e-03 2.23031801e+00] [-5.65756035e-02 4.37076475e-04 9.98398222e-01 -2.49585169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.893201008 meters 0.058806827377699294 Centerline is valid? [True, True] Translation: X:33.06, Y:2.25, Z:-2.50 [[ 9.89668961e-01 -1.31978438e-01 5.60092738e-02 3.30587942e+01] [ 1.31784627e-01 9.91252542e-01 7.15608729e-03 2.24607859e+00] [-5.64637842e-02 2.99003804e-04 9.98404603e-01 -2.50464127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.953201008 meters 0.058756296390200156 Centerline is valid? [True, True] Translation: X:33.12, Y:2.25, Z:-2.51 [[ 9.89620010e-01 -1.31853613e-01 5.71564521e-02 3.31171122e+01] [ 1.31650765e-01 9.91269158e-01 7.31656031e-03 2.25369665e+00] [-5.76221431e-02 2.84076144e-04 9.98338424e-01 -2.50640556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.013201008 meters 0.058877947017933946 Centerline is valid? [True, True] Translation: X:33.17, Y:2.26, Z:-2.51 [[ 9.89312173e-01 -1.32406331e-01 6.10736294e-02 3.31740770e+01] [ 1.32174611e-01 9.91195471e-01 7.83650995e-03 2.26065359e+00] [-6.15735084e-02 3.19628515e-04 9.98102500e-01 -2.51161170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.073201008 meters 0.058473289261474375 Centerline is valid? [True, True] Translation: X:33.23, Y:2.27, Z:-2.51 [[ 9.89166555e-01 -1.32807380e-01 6.25437963e-02 3.32334315e+01] [ 1.32564929e-01 9.91141805e-01 8.02879959e-03 2.26704184e+00] [-6.30560550e-02 3.49293903e-04 9.98009926e-01 -2.51066932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.133201008 meters 0.05856751137764168 Centerline is valid? [True, True] Translation: X:33.29, Y:2.27, Z:-2.51 [[ 9.88971843e-01 -1.33884837e-01 6.33209568e-02 3.32901166e+01] [ 1.33637451e-01 9.90996814e-01 8.14533870e-03 2.27015124e+00] [-6.38414037e-02 4.06540643e-04 9.97959974e-01 -2.51426650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.193201008 meters 0.05847624255842503 Centerline is valid? [True, True] Translation: X:33.35, Y:2.28, Z:-2.52 [[ 9.89140892e-01 -1.33120863e-01 6.22826687e-02 3.33474750e+01] [ 1.32879701e-01 9.91099751e-01 8.01681796e-03 2.28189096e+00] [-6.27955431e-02 3.46339891e-04 9.98026352e-01 -2.52023733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.253201008000005 meters 0.058898809971696636 Centerline is valid? [True, True] Translation: X:33.40, Y:2.29, Z:-2.53 [[ 9.89304065e-01 -1.33723297e-01 5.82713216e-02 3.34038821e+01] [ 1.33512195e-01 9.91018649e-01 7.51869041e-03 2.28820473e+00] [-5.87533904e-02 3.41661071e-04 9.98272469e-01 -2.52995574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.313201008 meters 0.059114436647299616 Centerline is valid? [True, True] Translation: X:33.46, Y:2.29, Z:-2.54 [[ 9.89015439e-01 -1.36588201e-01 5.64988859e-02 3.34615040e+01] [ 1.36394080e-01 9.90627792e-01 7.29601079e-03 2.28997395e+00] [-5.69659156e-02 4.90246253e-04 9.98376003e-01 -2.53503046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.373201008 meters 0.059434581861959476 Centerline is valid? [True, True] Translation: X:33.52, Y:2.30, Z:-2.54 [[ 9.88570829e-01 -1.39301357e-01 5.76441444e-02 3.35187972e+01] [ 1.39103786e-01 9.90249816e-01 7.44566051e-03 2.30127689e+00] [-5.81192940e-02 6.57955928e-04 9.98309428e-01 -2.54096290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.433201008000005 meters 0.059817990761564646 Centerline is valid? [True, True] Translation: X:33.58, Y:2.31, Z:-2.54 [[ 9.87707903e-01 -1.45273683e-01 5.76944943e-02 3.35770558e+01] [ 1.45084993e-01 9.89391009e-01 7.46832506e-03 2.30961315e+00] [-5.81673650e-02 9.94081640e-04 9.98306351e-01 -2.54369377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.493201008 meters 0.06074655832959515 Centerline is valid? [True, True] Translation: X:33.64, Y:2.31, Z:-2.55 [[ 9.87103236e-01 -1.49697862e-01 5.67252282e-02 3.36360007e+01] [ 1.49521743e-01 9.88731041e-01 7.36051874e-03 2.30970802e+00] [-5.71878478e-02 1.21606310e-03 9.98362695e-01 -2.54814002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.553201008 meters 0.06208994010874541 Centerline is valid? [True, True] Translation: X:33.70, Y:2.31, Z:-2.55 [[ 9.85873838e-01 -1.57610012e-01 5.66732737e-02 3.36969337e+01] [ 1.57447031e-01 9.87500024e-01 7.35764615e-03 2.31041640e+00] [-5.71244978e-02 1.66932784e-03 9.98365667e-01 -2.55035664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.613201008000004 meters 0.06195852436726761 Centerline is valid? [True, True] Translation: X:33.76, Y:2.32, Z:-2.55 [[ 9.85034645e-01 -1.61805698e-01 5.93773043e-02 3.37550620e+01] [ 1.61634419e-01 9.86820601e-01 7.70822288e-03 2.32271638e+00] [-5.98419814e-02 2.00454950e-03 9.98205850e-01 -2.55381955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.673201008 meters 0.06314707878571695 Centerline is valid? [True, True] Translation: X:33.81, Y:2.33, Z:-2.56 [[ 9.84656285e-01 -1.63792755e-01 6.01991153e-02 3.38113874e+01] [ 1.63620238e-01 9.86492424e-01 7.81765845e-03 2.33252165e+00] [-6.06664470e-02 2.15208703e-03 9.98155775e-01 -2.56391297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.733201008 meters 0.06335611229395471 Centerline is valid? [True, True] Translation: X:33.87, Y:2.34, Z:-2.57 [[ 9.84980507e-01 -1.61563758e-01 6.09143013e-02 3.38690692e+01] [ 1.61382515e-01 9.86860182e-01 7.91617249e-03 2.34079347e+00] [-6.13928650e-02 2.03322758e-03 9.98111608e-01 -2.56790775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.793201008000004 meters 0.06092525329878432 Centerline is valid? [True, True] Translation: X:33.93, Y:2.36, Z:-2.57 [[ 9.86388557e-01 -1.52723769e-01 6.09349307e-02 3.39274174e+01] [ 1.52525254e-01 9.88267810e-01 7.92352809e-03 2.35709193e+00] [-6.14301416e-02 1.47843834e-03 9.98110290e-01 -2.56543853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.853201008 meters 0.06034848586864462 Centerline is valid? [True, True] Translation: X:33.98, Y:2.38, Z:-2.58 [[ 9.87454252e-01 -1.46464188e-01 5.90113664e-02 3.39836083e+01] [ 1.46266808e-01 9.89215412e-01 7.67395992e-03 2.37696270e+00] [-5.94989135e-02 1.05371985e-03 9.98227814e-01 -2.57578382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.913201008 meters 0.06034672376657354 Centerline is valid? [True, True] Translation: X:34.04, Y:2.40, Z:-2.59 [[ 9.88831032e-01 -1.37468126e-01 5.75821619e-02 3.40382788e+01] [ 1.37264736e-01 9.90506067e-01 7.49159852e-03 2.39748011e+00] [-5.80653367e-02 4.96075149e-04 9.98312662e-01 -2.58784917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.973201008000004 meters 0.0601016986035986 Centerline is valid? [True, True] Translation: X:34.10, Y:2.41, Z:-2.59 [[ 9.89162381e-01 -1.35271449e-01 5.70913271e-02 3.40957020e+01] [ 1.35067788e-01 9.90808510e-01 7.42893519e-03 2.40573281e+00] [-5.75714956e-02 3.62776050e-04 9.98341320e-01 -2.58784950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.033201008 meters 0.060183086594124226 Centerline is valid? [True, True] Translation: X:34.15, Y:2.41, Z:-2.59 [[ 9.89415846e-01 -1.33931176e-01 5.58455302e-02 3.41529315e+01] [ 1.33733179e-01 9.90990601e-01 7.28454794e-03 2.40995722e+00] [-5.63180236e-02 2.60953137e-04 9.98412847e-01 -2.59172237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.093201008 meters 0.060446179813463875 Centerline is valid? [True, True] Translation: X:34.21, Y:2.42, Z:-2.60 [[ 9.89280183e-01 -1.34885330e-01 5.59523625e-02 3.42104233e+01] [ 1.34687745e-01 9.90861167e-01 7.30476441e-03 2.41759051e+00] [-5.64263287e-02 3.09638842e-04 9.98406718e-01 -2.60012516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.153201008 meters 0.06052757224332387 Centerline is valid? [True, True] Translation: X:34.27, Y:2.42, Z:-2.60 [[ 9.88621084e-01 -1.37635940e-01 6.07017247e-02 3.42690056e+01] [ 1.37407379e-01 9.90482766e-01 7.94367812e-03 2.42085908e+00] [-6.12173478e-02 4.87577189e-04 9.98124340e-01 -2.60334007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.213201008 meters 0.06044928619275715 Centerline is valid? [True, True] Translation: X:34.33, Y:2.43, Z:-2.61 [[ 9.88608014e-01 -1.38002641e-01 6.00788245e-02 3.43273780e+01] [ 1.37778586e-01 9.90431739e-01 7.87600164e-03 2.42666763e+00] [-6.05908837e-02 4.91297151e-04 9.98162564e-01 -2.60664113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.273201008 meters 0.06042605772283422 Centerline is valid? [True, True] Translation: X:34.39, Y:2.43, Z:-2.61 [[ 9.88455256e-01 -1.39202476e-01 5.98237243e-02 3.43853997e+01] [ 1.38981506e-01 9.90263790e-01 7.85927906e-03 2.42588948e+00] [-6.03352991e-02 5.45845589e-04 9.98178017e-01 -2.60975433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.333201008 meters 0.06049576189692846 Centerline is valid? [True, True] Translation: X:34.44, Y:2.43, Z:-2.61 [[ 9.88069512e-01 -1.41610227e-01 6.05407607e-02 3.44448608e+01] [ 1.41388253e-01 9.89922248e-01 7.95649686e-03 2.42720657e+00] [-6.10573672e-02 6.98180415e-04 9.98134014e-01 -2.61431521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.393201008 meters 0.06118491650013603 Centerline is valid? [True, True] Translation: X:34.50, Y:2.43, Z:-2.62 [[ 9.87568354e-01 -1.45512706e-01 5.94541712e-02 3.45031107e+01] [ 1.45304779e-01 9.89355967e-01 7.82893958e-03 2.42928910e+00] [-5.99605493e-02 9.07362209e-04 9.98200335e-01 -2.62357543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.453201008 meters 0.06104902901067639 Centerline is valid? [True, True] Translation: X:34.56, Y:2.44, Z:-2.63 [[ 9.87958088e-01 -1.43246818e-01 5.84736263e-02 3.45617721e+01] [ 1.43041398e-01 9.89686710e-01 7.70544947e-03 2.43612882e+00] [-5.89743520e-02 7.51488141e-04 9.98259215e-01 -2.62925612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.513201008 meters 0.06069163811709721 Centerline is valid? [True, True] Translation: X:34.62, Y:2.45, Z:-2.63 [[ 9.88724555e-01 -1.38921224e-01 5.58985463e-02 3.46187409e+01] [ 1.38725934e-01 9.90303328e-01 7.37789671e-03 2.44570468e+00] [-5.63814629e-02 4.59870380e-04 9.98409194e-01 -2.63212746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.573201008 meters 0.061157531881820416 Centerline is valid? [True, True] Translation: X:34.68, Y:2.46, Z:-2.64 [[ 9.89069949e-01 -1.36850088e-01 5.48879733e-02 3.46754757e+01] [ 1.36657548e-01 9.90591719e-01 7.26371182e-03 2.45704105e+00] [-5.53656114e-02 3.16536755e-04 9.98466098e-01 -2.64245245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.633201008 meters 0.06120105519422776 Centerline is valid? [True, True] Translation: X:34.73, Y:2.47, Z:-2.65 [[ 9.88884433e-01 -1.37978027e-01 5.54043499e-02 3.47330828e+01] [ 1.37783552e-01 9.90435216e-01 7.33312502e-03 2.46637601e+00] [-5.58862294e-02 3.82194970e-04 9.98437070e-01 -2.64611026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.693201008 meters 0.0615036727559731 Centerline is valid? [True, True] Translation: X:34.79, Y:2.47, Z:-2.65 [[ 9.88190866e-01 -1.42312246e-01 5.67982087e-02 3.47910701e+01] [ 1.42113838e-01 9.89821619e-01 7.53792971e-03 2.46996689e+00] [-5.72928346e-02 6.22898161e-04 9.98357222e-01 -2.65078283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.753201008000005 meters 0.062097691665159854 Centerline is valid? [True, True] Translation: X:34.85, Y:2.47, Z:-2.65 [[ 9.86990312e-01 -1.50157828e-01 5.74695562e-02 3.48504408e+01] [ 1.49967662e-01 9.88661443e-01 7.63230318e-03 2.47387317e+00] [-5.79639844e-02 1.08556567e-03 9.98318085e-01 -2.65362662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.813201008 meters 0.06332449711831646 Centerline is valid? [True, True] Translation: X:34.91, Y:2.48, Z:-2.66 [[ 9.86164193e-01 -1.55860851e-01 5.64586588e-02 3.49090359e+01] [ 1.55686385e-01 9.87778042e-01 7.50263481e-03 2.47535201e+00] [-5.69379905e-02 1.39101467e-03 9.98376748e-01 -2.65972975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.873201008 meters 0.06557066004919263 Centerline is valid? [True, True] Translation: X:34.97, Y:2.47, Z:-2.66 [[ 9.84476727e-01 -1.66229687e-01 5.63317375e-02 3.49688524e+01] [ 1.66072744e-01 9.86085068e-01 7.48886996e-03 2.47419636e+00] [-5.67927577e-02 1.98254801e-03 9.98384020e-01 -2.66272224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.933201008000005 meters 0.06665613334752757 Centerline is valid? [True, True] Translation: X:35.03, Y:2.48, Z:-2.67 [[ 9.83660359e-01 -1.71000576e-01 5.63125270e-02 3.50273933e+01] [ 1.70851381e-01 9.85268349e-01 7.48899323e-03 2.48345030e+00] [-5.67635727e-02 2.25444726e-03 9.98385103e-01 -2.66969015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.993201008 meters 0.0670856287232532 Centerline is valid? [True, True] Translation: X:35.09, Y:2.49, Z:-2.67 [[ 9.83131614e-01 -1.74528396e-01 5.46998015e-02 3.50863268e+01] [ 1.74393007e-01 9.84649249e-01 7.27564222e-03 2.49355105e+00] [-5.51299247e-02 2.38634899e-03 9.98476338e-01 -2.67342839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.053201008 meters 0.06784221806472726 Centerline is valid? [True, True] Translation: X:35.14, Y:2.50, Z:-2.67 [[ 9.83096947e-01 -1.74539494e-01 5.52843394e-02 3.51443763e+01] [ 1.74401165e-01 9.84647220e-01 7.35423645e-03 2.49666339e+00] [-5.57191758e-02 2.41172581e-03 9.98443567e-01 -2.67451501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.113201008000004 meters 0.06694210526805851 Centerline is valid? [True, True] Translation: X:35.20, Y:2.52, Z:-2.68 [[ 9.84220248e-01 -1.68235133e-01 5.48401556e-02 3.52012397e+01] [ 1.68088931e-01 9.85744799e-01 7.30082183e-03 2.51680326e+00] [-5.52866529e-02 2.03240646e-03 9.98468455e-01 -2.68402724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.173201008 meters 0.06435060571173606 Centerline is valid? [True, True] Translation: X:35.26, Y:2.54, Z:-2.69 [[ 9.86134487e-01 -1.56753204e-01 5.44720634e-02 3.52580281e+01] [ 1.56591371e-01 9.87636844e-01 7.25303876e-03 2.53876514e+00] [-5.49355538e-02 1.37738343e-03 9.98488952e-01 -2.69128054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.233201008 meters 0.06312363930813471 Centerline is valid? [True, True] Translation: X:35.32, Y:2.55, Z:-2.70 [[ 9.87317724e-01 -1.49051798e-01 5.46559494e-02 3.53159158e+01] [ 1.48876984e-01 9.88828933e-01 7.27908872e-03 2.55486463e+00] [-5.51303454e-02 9.50239580e-04 9.98478714e-01 -2.69573599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.293201008000004 meters 0.06226508640032636 Centerline is valid? [True, True] Translation: X:35.37, Y:2.57, Z:-2.70 [[ 9.88658313e-01 -1.40213097e-01 5.38054668e-02 3.53737325e+01] [ 1.40030708e-01 9.90121247e-01 7.16364818e-03 2.57052107e+00] [-5.42783732e-02 4.52017279e-04 9.98525740e-01 -2.69957268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.353201008 meters 0.062360477809434676 Centerline is valid? [True, True] Translation: X:35.43, Y:2.58, Z:-2.70 [[ 9.88829917e-01 -1.39504774e-01 5.24767785e-02 3.54325299e+01] [ 1.39329732e-01 9.90221321e-01 6.99727183e-03 2.57750566e+00] [-5.29397777e-02 3.92463772e-04 9.98597630e-01 -2.70429573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.413201008 meters 0.06331770417010885 Centerline is valid? [True, True] Translation: X:35.49, Y:2.58, Z:-2.71 [[ 9.88229194e-01 -1.44034703e-01 5.15467225e-02 3.54905921e+01] [ 1.43871154e-01 9.89572450e-01 6.88887680e-03 2.57619971e+00] [-5.20014538e-02 6.08297273e-04 9.98646824e-01 -2.71348014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.473201008000004 meters 0.06398061656175875 Centerline is valid? [True, True] Translation: X:35.55, Y:2.57, Z:-2.72 [[ 9.87399831e-01 -1.49683754e-01 5.13453694e-02 3.55506009e+01] [ 1.49528838e-01 9.88733518e-01 6.86711845e-03 2.57224096e+00] [-5.17947838e-02 8.97021826e-04 9.98657347e-01 -2.71648445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.533201008 meters 0.06540873729149914 Centerline is valid? [True, True] Translation: X:35.61, Y:2.57, Z:-2.72 [[ 9.86232959e-01 -1.57517677e-01 5.03262551e-02 3.56116083e+01] [ 1.57378885e-01 9.87515339e-01 6.73362140e-03 2.56561140e+00] [-5.07586133e-02 1.27937057e-03 9.98710131e-01 -2.72147331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.593201008 meters 0.06492726552246646 Centerline is valid? [True, True] Translation: X:35.67, Y:2.57, Z:-2.72 [[ 9.85925631e-01 -1.59430277e-01 5.03253199e-02 3.56705087e+01] [ 1.59294155e-01 9.87208225e-01 6.73000807e-03 2.57196004e+00] [-5.07545368e-02 1.38124187e-03 9.98710203e-01 -2.72241749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.653201008 meters 0.06429447315424339 Centerline is valid? [True, True] Translation: X:35.73, Y:2.58, Z:-2.73 [[ 9.86546242e-01 -1.55104879e-01 5.16622639e-02 3.57285921e+01] [ 1.54954596e-01 9.87897314e-01 6.92611639e-03 2.58284971e+00] [-5.21112862e-02 1.17237115e-03 9.98640596e-01 -2.72713222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.713201008 meters 0.06353412905601344 Centerline is valid? [True, True] Translation: X:35.79, Y:2.60, Z:-2.73 [[ 9.87106976e-01 -1.51165092e-01 5.26206460e-02 3.57857806e+01] [ 1.51003528e-01 9.88508044e-01 7.05565694e-03 2.59615201e+00] [-5.30825009e-02 9.81214997e-04 9.98589648e-01 -2.73140955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.773201008 meters 0.06280134625730771 Centerline is valid? [True, True] Translation: X:35.84, Y:2.61, Z:-2.74 [[ 9.87946535e-01 -1.45558661e-01 5.26718204e-02 3.58427309e+01] [ 1.45388634e-01 9.89349391e-01 7.06594236e-03 2.61070649e+00] [-5.31393426e-02 6.77110736e-04 9.98586877e-01 -2.73569804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.833201008 meters 0.06270485712428712 Centerline is valid? [True, True] Translation: X:35.90, Y:2.62, Z:-2.74 [[ 9.88088159e-01 -1.44340792e-01 5.33622218e-02 3.59007566e+01] [ 1.44164496e-01 9.89527843e-01 7.15863960e-03 2.61611833e+00] [-5.38366880e-02 6.19570799e-04 9.98549562e-01 -2.74056048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.893201008 meters 0.06252958316535039 Centerline is valid? [True, True] Translation: X:35.96, Y:2.62, Z:-2.75 [[ 9.88327537e-01 -1.43240936e-01 5.18720887e-02 3.59586794e+01] [ 1.43072223e-01 9.89687704e-01 6.97051441e-03 2.62438554e+00] [-5.23356314e-02 5.32303696e-04 9.98629410e-01 -2.74593184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.953201008 meters 0.06293340578333352 Centerline is valid? [True, True] Translation: X:36.02, Y:2.63, Z:-2.75 [[ 9.88543741e-01 -1.42984622e-01 4.83391087e-02 3.60169468e+01] [ 1.42837059e-01 9.89724800e-01 6.51121434e-03 2.63396978e+00] [-4.87734182e-02 4.67995913e-04 9.98809759e-01 -2.75453955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.013201008 meters 0.06265572065908273 Centerline is valid? [True, True] Translation: X:36.08, Y:2.64, Z:-2.76 [[ 9.88609812e-01 -1.42739622e-01 4.77078565e-02 3.60755136e+01] [ 1.42595795e-01 9.89760170e-01 6.42222222e-03 2.63909746e+00] [-4.81360418e-02 4.53867830e-04 9.98840686e-01 -2.75638372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.073201008 meters 0.0626519543686115 Centerline is valid? [True, True] Translation: X:36.13, Y:2.65, Z:-2.76 [[ 9.88498363e-01 -1.43261881e-01 4.84460489e-02 3.61335747e+01] [ 1.43113613e-01 9.89684701e-01 6.53345515e-03 2.64725557e+00] [-4.88823085e-02 4.74979361e-04 9.98804432e-01 -2.76056150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.133201008 meters 0.06351069991150908 Centerline is valid? [True, True] Translation: X:36.19, Y:2.65, Z:-2.77 [[ 9.87869680e-01 -1.47219177e-01 4.93964435e-02 3.61908075e+01] [ 1.47069156e-01 9.89103669e-01 6.67796557e-03 2.65245331e+00] [-4.98413281e-02 6.67733549e-04 9.98756925e-01 -2.76901297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.193201008 meters 0.0633077581127424 Centerline is valid? [True, True] Translation: X:36.25, Y:2.66, Z:-2.77 [[ 9.87290500e-01 -1.50483307e-01 5.11101076e-02 3.62490263e+01] [ 1.50327048e-01 9.88612175e-01 6.90984304e-03 2.65627122e+00] [-5.15678907e-02 8.61209197e-04 9.98669120e-01 -2.76826517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.253201008000005 meters 0.06331083615577254 Centerline is valid? [True, True] Translation: X:36.31, Y:2.66, Z:-2.77 [[ 9.86950946e-01 -1.52807645e-01 5.07705940e-02 3.63083761e+01] [ 1.52655792e-01 9.88255482e-01 6.87828335e-03 2.66093892e+00] [-5.12253722e-02 9.61896993e-04 9.98686656e-01 -2.76883355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.313201008 meters 0.06417567532783829 Centerline is valid? [True, True] Translation: X:36.36, Y:2.67, Z:-2.78 [[ 9.86447789e-01 -1.56134472e-01 5.04260502e-02 3.63647400e+01] [ 1.55988244e-01 9.87735182e-01 6.84671456e-03 2.66905536e+00] [-5.08765921e-02 1.11194460e-03 9.98704329e-01 -2.77725456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.373201008 meters 0.06390914058701351 Centerline is valid? [True, True] Translation: X:36.42, Y:2.68, Z:-2.78 [[ 9.86476350e-01 -1.55784384e-01 5.09473927e-02 3.64220814e+01] [ 1.55634555e-01 9.87790468e-01 6.91933643e-03 2.68250390e+00] [-5.14032734e-02 1.10341303e-03 9.98677368e-01 -2.78260824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.433201008000005 meters 0.06310084190352593 Centerline is valid? [True, True] Translation: X:36.48, Y:2.69, Z:-2.78 [[ 9.86948688e-01 -1.52221404e-01 5.25445733e-02 3.64799573e+01] [ 1.52056097e-01 9.88345981e-01 7.15293375e-03 2.69450965e+00] [-5.30210475e-02 9.30144138e-04 9.98592962e-01 -2.78241902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.493201008 meters 0.06285309738680711 Centerline is valid? [True, True] Translation: X:36.54, Y:2.71, Z:-2.79 [[ 9.87459243e-01 -1.48940608e-01 5.23539666e-02 3.65367007e+01] [ 1.48771723e-01 9.88845860e-01 7.13014497e-03 2.70661059e+00] [-5.28319712e-02 7.48062231e-04 9.98603136e-01 -2.78816549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.553201008 meters 0.06267259943442506 Centerline is valid? [True, True] Translation: X:36.59, Y:2.71, Z:-2.79 [[ 9.87537757e-01 -1.48217245e-01 5.29228378e-02 3.65937615e+01] [ 1.48043385e-01 9.88954570e-01 7.21218506e-03 2.71354641e+00] [-5.34072525e-02 7.12570983e-04 9.98572560e-01 -2.79254764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.613201008000004 meters 0.062390990408987844 Centerline is valid? [True, True] Translation: X:36.65, Y:2.72, Z:-2.79 [[ 9.87246453e-01 -1.49707826e-01 5.41480249e-02 3.66518091e+01] [ 1.49528023e-01 9.88729948e-01 7.37977295e-03 2.71975640e+00] [-5.46425835e-02 8.10992465e-04 9.98505649e-01 -2.79347431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.673201008 meters 0.06254679895792394 Centerline is valid? [True, True] Translation: X:36.71, Y:2.73, Z:-2.80 [[ 9.87136880e-01 -1.50660604e-01 5.34991762e-02 3.67096119e+01] [ 1.50485654e-01 9.88585191e-01 7.30671337e-03 2.72907732e+00] [-5.39893272e-02 8.38132258e-04 9.98541161e-01 -2.79958446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.733201008 meters 0.06334198168460303 Centerline is valid? [True, True] Translation: X:36.77, Y:2.73, Z:-2.81 [[ 9.86569467e-01 -1.54782591e-01 5.21827157e-02 3.67671579e+01] [ 1.54621058e-01 9.87948028e-01 7.14298988e-03 2.73431442e+00] [-5.26594215e-02 1.02149101e-03 9.98612008e-01 -2.80756456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.793201008000004 meters 0.06454071734593357 Centerline is valid? [True, True] Translation: X:36.83, Y:2.73, Z:-2.81 [[ 9.85238355e-01 -1.63449157e-01 5.08896602e-02 3.68272163e+01] [ 1.63306836e-01 9.86550703e-01 6.97042633e-03 2.73487787e+00] [-5.13445404e-02 1.44309805e-03 9.98679957e-01 -2.81040146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.853201008 meters 0.06583463972205937 Centerline is valid? [True, True] Translation: X:36.89, Y:2.74, Z:-2.81 [[ 9.84153023e-01 -1.69693367e-01 5.14488843e-02 3.68873811e+01] [ 1.69556368e-01 9.85495290e-01 7.04781107e-03 2.73865013e+00] [-5.18985999e-02 1.78736137e-03 9.98650760e-01 -2.81307771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.913201008 meters 0.06714429517803609 Centerline is valid? [True, True] Translation: X:36.95, Y:2.75, Z:-2.82 [[ 9.82932368e-01 -1.75773293e-01 5.42928150e-02 3.69463071e+01] [ 1.75629842e-01 9.84428163e-01 7.43972591e-03 2.74851384e+00] [-5.47550812e-02 2.22269111e-03 9.98497341e-01 -2.81800459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.973201008000004 meters 0.06650492524018978 Centerline is valid? [True, True] Translation: X:37.00, Y:2.76, Z:-2.82 [[ 9.82702842e-01 -1.76725710e-01 5.53457061e-02 3.70045204e+01] [ 1.76578324e-01 9.84257398e-01 7.58083304e-03 2.75925292e+00] [-5.58141488e-02 2.32314585e-03 9.98438473e-01 -2.81852774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.033201008 meters 0.06609064079047978 Centerline is valid? [True, True] Translation: X:37.06, Y:2.77, Z:-2.82 [[ 9.83581929e-01 -1.72155082e-01 5.41222398e-02 3.70612754e+01] [ 1.72006332e-01 9.85067826e-01 7.42969423e-03 2.77444331e+00] [-5.45931367e-02 2.00165499e-03 9.98506676e-01 -2.82340923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.093201008 meters 0.0651833754212036 Centerline is valid? [True, True] Translation: X:37.12, Y:2.79, Z:-2.83 [[ 9.84793066e-01 -1.66255896e-01 5.04142259e-02 3.71193138e+01] [ 1.66118994e-01 9.86081413e-01 6.92294779e-03 2.79132124e+00] [-5.08635120e-02 1.55708952e-03 9.98704400e-01 -2.82988873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.153201008 meters 0.065748132571935 Centerline is valid? [True, True] Translation: X:37.18, Y:2.80, Z:-2.84 [[ 9.85748755e-01 -1.60929761e-01 4.90000477e-02 3.71760002e+01] [ 1.60793740e-01 9.86965078e-01 6.73110991e-03 2.80355719e+00] [-4.94445718e-02 1.24371773e-03 9.98776095e-01 -2.84125561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.213201008 meters 0.06483640746895604 Centerline is valid? [True, True] Translation: X:37.23, Y:2.82, Z:-2.84 [[ 9.85421207e-01 -1.63180480e-01 4.81370485e-02 3.72338607e+01] [ 1.63052019e-01 9.86595331e-01 6.60993395e-03 2.81712786e+00] [-4.85703995e-02 1.33527383e-03 9.98818869e-01 -2.84290562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.273201008 meters 0.06545639129055951 Centerline is valid? [True, True] Translation: X:37.29, Y:2.82, Z:-2.84 [[ 9.84594996e-01 -1.68112736e-01 4.80708033e-02 3.72931747e+01] [ 1.67989692e-01 9.85766542e-01 6.61733539e-03 2.81955628e+00] [-4.84990479e-02 1.56000412e-03 9.98822011e-01 -2.84441202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.333201008 meters 0.06517154750526241 Centerline is valid? [True, True] Translation: X:37.35, Y:2.83, Z:-2.85 [[ 9.84589646e-01 -1.67908738e-01 4.88864472e-02 3.73506024e+01] [ 1.67781378e-01 9.85801279e-01 6.72663933e-03 2.83168327e+00] [-4.93217837e-02 1.57925603e-03 9.98781692e-01 -2.84998069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.393201008 meters 0.06363884032151147 Centerline is valid? [True, True] Translation: X:37.41, Y:2.85, Z:-2.85 [[ 9.85654811e-01 -1.60185668e-01 5.31521037e-02 3.74083069e+01] [ 1.60022905e-01 9.87086073e-01 7.33171605e-03 2.84708817e+00] [-5.36401372e-02 1.27901284e-03 9.98559512e-01 -2.85243935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.453201008 meters 0.06218995609092548 Centerline is valid? [True, True] Translation: X:37.47, Y:2.86, Z:-2.85 [[ 9.86641270e-01 -1.53835871e-01 5.36053166e-02 3.74667293e+01] [ 1.53660852e-01 9.88095968e-01 7.39601385e-03 2.86344911e+00] [-5.41049695e-02 9.39826125e-04 9.98534811e-01 -2.85394310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.513201008 meters 0.06134747013962618 Centerline is valid? [True, True] Translation: X:37.52, Y:2.88, Z:-2.86 [[ 9.88316470e-01 -1.43391514e-01 5.16665100e-02 3.75228261e+01] [ 1.43214670e-01 9.89665978e-01 7.12813519e-03 2.88386284e+00] [-5.21547013e-02 3.54548763e-04 9.98638954e-01 -2.86002631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.573201008 meters 0.061254071773293256 Centerline is valid? [True, True] Translation: X:37.58, Y:2.90, Z:-2.87 [[ 9.89176427e-01 -1.37286549e-01 5.17918924e-02 3.75805753e+01] [ 1.37100496e-01 9.90531374e-01 7.14502875e-03 2.89717086e+00] [-5.22824107e-02 3.30001525e-05 9.98632339e-01 -2.86529598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.633201008 meters 0.061462392703766584 Centerline is valid? [True, True] Translation: X:37.64, Y:2.91, Z:-2.87 [[ 9.89670070e-01 -1.34354147e-01 5.00211510e-02 3.76380350e+01] [ 1.34176089e-01 9.90933371e-01 6.91604016e-03 2.90589073e+00] [-5.04968265e-02 -1.32955520e-04 9.98724213e-01 -2.87216066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.693201008 meters 0.06151991438305605 Centerline is valid? [True, True] Translation: X:37.70, Y:2.91, Z:-2.88 [[ 9.89601323e-01 -1.34904487e-01 4.98999020e-02 3.76960937e+01] [ 1.34728016e-01 9.90858602e-01 6.89877262e-03 2.90988541e+00] [-5.03744225e-02 -1.04119720e-04 9.98730397e-01 -2.87754161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.753201008000005 meters 0.06156218144987554 Centerline is valid? [True, True] Translation: X:37.75, Y:2.90, Z:-2.88 [[ 9.89177983e-01 -1.38033417e-01 4.97362327e-02 3.77543503e+01] [ 1.37861163e-01 9.90427571e-01 6.89386939e-03 2.90443725e+00] [-5.02117205e-02 3.74310649e-05 9.98738595e-01 -2.88320317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.813201008 meters 0.061661867945708056 Centerline is valid? [True, True] Translation: X:37.81, Y:2.91, Z:-2.89 [[ 9.89421713e-01 -1.36448837e-01 4.92583942e-02 3.78134371e+01] [ 1.36277772e-01 9.90647118e-01 6.83052901e-03 2.90781582e+00] [-4.97297040e-02 -4.54494889e-05 9.98762712e-01 -2.88889163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.873201008 meters 0.06178052129528848 Centerline is valid? [True, True] Translation: X:37.87, Y:2.91, Z:-2.89 [[ 9.89981017e-01 -1.32094381e-01 4.98864715e-02 3.78707986e+01] [ 1.31912845e-01 9.91237104e-01 6.92850354e-03 2.91377047e+00] [-5.03645380e-02 -2.78420585e-04 9.98730863e-01 -2.89233599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.933201008000005 meters 0.06177865759514615 Centerline is valid? [True, True] Translation: X:37.93, Y:2.91, Z:-2.90 [[ 9.89900151e-01 -1.32911984e-01 4.93162868e-02 3.79308214e+01] [ 1.32734890e-01 9.91127814e-01 6.86338894e-03 2.91092194e+00] [-4.97909702e-02 -2.48077855e-04 9.98759630e-01 -2.89813477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.993201008 meters 0.06145460294876861 Centerline is valid? [True, True] Translation: X:37.99, Y:2.91, Z:-2.90 [[ 9.89166933e-01 -1.38089028e-01 4.98015904e-02 3.79901172e+01] [ 1.37914371e-01 9.90419820e-01 6.94304926e-03 2.90848047e+00] [-5.02832411e-02 5.20249812e-07 9.98734998e-01 -2.90089780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.053201008 meters 0.06151873399300326 Centerline is valid? [True, True] Translation: X:38.05, Y:2.92, Z:-2.91 [[ 9.89241336e-01 -1.37677289e-01 4.94625524e-02 3.80481435e+01] [ 1.37503914e-01 9.90477139e-01 6.90728758e-03 2.91842077e+00] [-4.99425040e-02 -3.16798475e-05 9.98752094e-01 -2.90568776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.113201008000004 meters 0.0616863600898293 Centerline is valid? [True, True] Translation: X:38.10, Y:2.93, Z:-2.91 [[ 9.89323997e-01 -1.36371489e-01 5.13891533e-02 3.81035982e+01] [ 1.36181725e-01 9.90657763e-01 7.19269079e-03 2.93455693e+00] [-5.18899416e-02 -1.17638086e-04 9.98652803e-01 -2.91435728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.173201008 meters 0.061641615472583094 Centerline is valid? [True, True] Translation: X:38.16, Y:2.95, Z:-2.92 [[ 9.89549808e-01 -1.35084277e-01 5.04322953e-02 3.81613517e+01] [ 1.34899840e-01 9.90834096e-01 7.05889732e-03 2.94518682e+00] [-5.09235837e-02 -1.81821910e-04 9.98702536e-01 -2.91756928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.233201008 meters 0.061429091579008645 Centerline is valid? [True, True] Translation: X:38.22, Y:2.95, Z:-2.92 [[ 9.89142840e-01 -1.38376462e-01 4.94812805e-02 3.82207288e+01] [ 1.38202451e-01 9.90379702e-01 6.93745285e-03 2.94855797e+00] [-4.99652360e-02 -2.36975759e-05 9.98750957e-01 -2.92013389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.293201008000004 meters 0.061178984771214445 Centerline is valid? [True, True] Translation: X:38.28, Y:2.95, Z:-2.92 [[ 9.88622579e-01 -1.41813835e-01 5.01421206e-02 3.82789625e+01] [ 1.41638787e-01 9.89893336e-01 7.04532864e-03 2.95254215e+00] [-5.06344761e-02 1.36898174e-04 9.98717243e-01 -2.92440074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.353201008 meters 0.061277935615285786 Centerline is valid? [True, True] Translation: X:38.34, Y:2.96, Z:-2.93 [[ 9.88259230e-01 -1.44235120e-01 5.03976558e-02 3.83365441e+01] [ 1.44061280e-01 9.89543411e-01 7.08411908e-03 2.96017612e+00] [-5.08924471e-02 2.59404754e-04 9.98704106e-01 -2.93108831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.413201008 meters 0.06135257012593488 Centerline is valid? [True, True] Translation: X:38.39, Y:2.97, Z:-2.94 [[ 9.88136242e-01 -1.45443627e-01 4.93246314e-02 3.83945805e+01] [ 1.45277922e-01 9.89366495e-01 6.94727316e-03 2.96767718e+00] [-4.98105743e-02 3.00927577e-04 9.98758638e-01 -2.93627709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.473201008000004 meters 0.06130134536664597 Centerline is valid? [True, True] Translation: X:38.45, Y:2.97, Z:-2.94 [[ 9.88216698e-01 -1.45346590e-01 4.79804918e-02 3.84528228e+01] [ 1.45189154e-01 9.89380762e-01 6.76886739e-03 2.97346509e+00] [-4.84548073e-02 2.77139225e-04 9.98825338e-01 -2.93993565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.533201008 meters 0.06096564340774819 Centerline is valid? [True, True] Translation: X:38.51, Y:2.98, Z:-2.94 [[ 9.87905319e-01 -1.46916716e-01 4.95838663e-02 3.85112796e+01] [ 1.46749926e-01 9.89148802e-01 7.00755261e-03 2.97957914e+00] [-5.00753486e-02 3.53630215e-04 9.98745380e-01 -2.94279240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.593201008 meters 0.06097652833595916 Centerline is valid? [True, True] Translation: X:38.57, Y:2.99, Z:-2.95 [[ 9.87615786e-01 -1.48167031e-01 5.15905998e-02 3.85698163e+01] [ 1.47987486e-01 9.88962261e-01 7.30413825e-03 2.98834792e+00] [-5.21033887e-02 4.21080949e-04 9.98641607e-01 -2.94570905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.653201008 meters 0.06110118148551563 Centerline is valid? [True, True] Translation: X:38.63, Y:2.99, Z:-2.95 [[ 9.86663590e-01 -1.54074048e-01 5.24990230e-02 3.86282479e+01] [ 1.53895664e-01 9.88059033e-01 7.44788141e-03 2.99153187e+00] [-5.30196592e-02 7.30818617e-04 9.98593201e-01 -2.94864005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.713201008 meters 0.061544687564375464 Centerline is valid? [True, True] Translation: X:38.69, Y:3.00, Z:-2.95 [[ 9.85900016e-01 -1.58579864e-01 5.34189593e-02 3.86872409e+01] [ 1.58401517e-01 9.87345662e-01 7.58311944e-03 2.99570115e+00] [-5.39455078e-02 9.85446635e-04 9.98543395e-01 -2.95278969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.773201008 meters 0.06155851451341797 Centerline is valid? [True, True] Translation: X:38.74, Y:3.01, Z:-2.96 [[ 9.85356024e-01 -1.62165591e-01 5.26861137e-02 3.87449381e+01] [ 1.61996597e-01 9.86762884e-01 7.49083574e-03 3.00687966e+00] [-5.32034573e-02 1.15383102e-03 9.98583026e-01 -2.95549515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.833201008 meters 0.06240581979531093 Centerline is valid? [True, True] Translation: X:38.80, Y:3.01, Z:-2.96 [[ 9.85314569e-01 -1.62888571e-01 5.12104869e-02 3.88017989e+01] [ 1.62729118e-01 9.86643808e-01 7.29595106e-03 3.01497272e+00] [-5.17149369e-02 1.14463049e-03 9.98661231e-01 -2.96498045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.893201008 meters 0.062018871476623126 Centerline is valid? [True, True] Translation: X:38.86, Y:3.03, Z:-2.97 [[ 9.85485657e-01 -1.62260320e-01 4.98959703e-02 3.88601618e+01] [ 1.62107967e-01 9.86747396e-01 7.11223287e-03 3.02589386e+00] [-5.03887519e-02 1.07953083e-03 9.98729097e-01 -2.96720492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.953201008 meters 0.06155750246029065 Centerline is valid? [True, True] Translation: X:38.92, Y:3.04, Z:-2.97 [[ 9.85819311e-01 -1.60362828e-01 4.94373237e-02 3.89181921e+01] [ 1.60210283e-01 9.87057667e-01 7.05879129e-03 3.03903155e+00] [-4.99294571e-02 9.61674864e-04 9.98752284e-01 -2.97088275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.013201008 meters 0.06101932302794263 Centerline is valid? [True, True] Translation: X:38.98, Y:3.05, Z:-2.97 [[ 9.85984984e-01 -1.59157394e-01 5.00253562e-02 3.89758328e+01] [ 1.58999112e-01 9.87252811e-01 7.15331002e-03 3.05210076e+00] [-5.05261757e-02 9.00930972e-04 9.98722331e-01 -2.97257831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.073201008 meters 0.060827986844507596 Centerline is valid? [True, True] Translation: X:39.03, Y:3.06, Z:-2.97 [[ 9.85580051e-01 -1.59936713e-01 5.52468270e-02 3.90347844e+01] [ 1.59743982e-01 9.87126740e-01 7.91581557e-03 3.06066144e+00] [-5.58016497e-02 1.02367824e-03 9.98441349e-01 -2.97193848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.133201008 meters 0.06112989405728488 Centerline is valid? [True, True] Translation: X:39.09, Y:3.06, Z:-2.97 [[ 9.84793186e-01 -1.64268540e-01 5.65528754e-02 3.90927705e+01] [ 1.64072812e-01 9.86414821e-01 8.11869610e-03 3.06481873e+00] [-5.71182408e-02 1.28355269e-03 9.98366596e-01 -2.97402679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.193201008 meters 0.062379964458812255 Centerline is valid? [True, True] Translation: X:39.15, Y:3.07, Z:-2.98 [[ 9.83993835e-01 -1.69685943e-01 5.44317363e-02 3.91527060e+01] [ 1.69512567e-01 9.85496999e-01 7.82020008e-03 3.06957841e+00] [-5.49692907e-02 1.53183468e-03 9.98486870e-01 -2.98037350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.253201008 meters 0.06368853265696875 Centerline is valid? [True, True] Translation: X:39.21, Y:3.08, Z:-2.99 [[ 9.83831659e-01 -1.72335254e-01 4.87424617e-02 3.92114763e+01] [ 1.72199489e-01 9.85037207e-01 7.00269074e-03 3.07895656e+00] [-4.92199488e-02 1.50395816e-03 9.98786831e-01 -2.98975618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.313201008 meters 0.062776114935049 Centerline is valid? [True, True] Translation: X:39.27, Y:3.10, Z:-2.99 [[ 9.84547097e-01 -1.69346340e-01 4.45963166e-02 3.92687998e+01] [ 1.69229873e-01 9.85555817e-01 6.40165877e-03 3.09522520e+00] [-4.50362568e-02 1.24429443e-03 9.98984578e-01 -2.99476385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.373201008 meters 0.061701912783687154 Centerline is valid? [True, True] Translation: X:39.33, Y:3.11, Z:-3.00 [[ 9.86143262e-01 -1.60439324e-01 4.21982262e-02 3.93254689e+01] [ 1.60326225e-01 9.87045399e-01 6.07301907e-03 3.11390621e+00] [-4.26259161e-02 7.76615453e-04 9.99090801e-01 -3.00027225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.433201008000005 meters 0.06059756079386106 Centerline is valid? [True, True] Translation: X:39.38, Y:3.13, Z:-3.00 [[ 9.87144765e-01 -1.53984105e-01 4.28264900e-02 3.93834447e+01] [ 1.53861449e-01 9.88073197e-01 6.16542720e-03 3.13133139e+00] [-4.32650847e-02 5.03176612e-04 9.99063501e-01 -3.00326269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.493201008 meters 0.06001287200825751 Centerline is valid? [True, True] Translation: X:39.44, Y:3.15, Z:-3.01 [[ 9.87584201e-01 -1.50293222e-01 4.57098924e-02 3.94416086e+01] [ 1.50149517e-01 9.88641398e-01 6.58087537e-03 3.14624635e+00] [-4.61797529e-02 3.64149705e-04 9.98933080e-01 -3.00648090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.553201008 meters 0.05959949533225427 Centerline is valid? [True, True] Translation: X:39.50, Y:3.16, Z:-3.01 [[ 9.88436217e-01 -1.44883145e-01 4.47517551e-02 3.94988373e+01] [ 1.44740117e-01 9.89448766e-01 6.43717385e-03 3.15821811e+00] [-4.52122069e-02 1.14638521e-04 9.98977399e-01 -3.00550272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.613201008000004 meters 0.05947466953739593 Centerline is valid? [True, True] Translation: X:39.56, Y:3.17, Z:-3.01 [[ 9.88723585e-01 -1.42984202e-01 4.45105689e-02 3.95565335e+01] [ 1.42840251e-01 9.89724971e-01 6.41444449e-03 3.16630780e+00] [-4.49703857e-02 1.57882821e-05 9.98988320e-01 -3.00774745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.673201008 meters 0.0599203523326093 Centerline is valid? [True, True] Translation: X:39.61, Y:3.17, Z:-3.02 [[ 9.89134571e-01 -1.41183836e-01 4.09868902e-02 3.96142974e+01] [ 1.41059559e-01 9.89983393e-01 5.92302355e-03 3.17431016e+00] [-4.14125758e-02 -7.70747053e-05 9.99142128e-01 -3.01743189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.733201008 meters 0.06033924923515938 Centerline is valid? [True, True] Translation: X:39.67, Y:3.18, Z:-3.03 [[ 9.89204038e-01 -1.41746933e-01 3.71911115e-02 3.96731135e+01] [ 1.41644879e-01 9.89902927e-01 5.37811510e-03 3.17993477e+00] [-3.75779214e-02 -5.21226986e-05 9.99293699e-01 -3.02716067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.793201008000004 meters 0.06030476082673674 Centerline is valid? [True, True] Translation: X:39.73, Y:3.18, Z:-3.03 [[ 9.89121250e-01 -1.42579216e-01 3.61983386e-02 3.97327946e+01] [ 1.42483342e-01 9.89783394e-01 5.22781920e-03 3.18073888e+00] [-3.65738928e-02 -1.32867911e-05 9.99330951e-01 -3.02883321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.853201008 meters 0.06036009458242765 Centerline is valid? [True, True] Translation: X:39.79, Y:3.18, Z:-3.03 [[ 9.88911834e-01 -1.43912354e-01 3.66417546e-02 3.97904551e+01] [ 1.43814480e-01 9.89590437e-01 5.30674373e-03 3.18413218e+00] [-3.70240359e-02 2.17132093e-05 9.99314375e-01 -3.03251124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.913201008 meters 0.0599217019929892 Centerline is valid? [True, True] Translation: X:39.85, Y:3.18, Z:-3.03 [[ 9.88271918e-01 -1.47961802e-01 3.77613694e-02 3.98505808e+01] [ 1.47860896e-01 9.88993060e-01 5.46653527e-03 3.18204202e+00] [-3.81545706e-02 1.81006609e-04 9.99271833e-01 -3.03258581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.973201008000004 meters 0.06012500283291399 Centerline is valid? [True, True] Translation: X:39.91, Y:3.18, Z:-3.04 [[ 9.87641383e-01 -1.51980244e-01 3.82949682e-02 3.99093315e+01] [ 1.51878897e-01 9.88383478e-01 5.55890330e-03 3.18141560e+00] [-3.86949573e-02 3.25994600e-04 9.99251017e-01 -3.03760906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.033201008 meters 0.0601362691100053 Centerline is valid? [True, True] Translation: X:39.97, Y:3.19, Z:-3.04 [[ 9.87339395e-01 -1.53974831e-01 3.81139249e-02 3.99675978e+01] [ 1.53876024e-01 9.88074687e-01 5.53007414e-03 3.18899642e+00] [-3.85108967e-02 4.04759164e-04 9.99258098e-01 -3.04189795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.093201008 meters 0.061141949468354974 Centerline is valid? [True, True] Translation: X:40.03, Y:3.19, Z:-3.05 [[ 9.86481396e-01 -1.59891341e-01 3.59056429e-02 4.00275064e+01] [ 1.59807001e-01 9.87134448e-01 5.22527284e-03 3.19136543e+00] [-3.62791729e-02 5.83338682e-04 9.99341524e-01 -3.04557735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.153201008 meters 0.06189277015613262 Centerline is valid? [True, True] Translation: X:40.09, Y:3.20, Z:-3.05 [[ 9.85565834e-01 -1.65990743e-01 3.32725081e-02 4.00879742e+01] [ 1.65921728e-01 9.86127028e-01 4.84399951e-03 3.19518427e+00] [-3.36149786e-02 7.46551613e-04 9.99434578e-01 -3.04697771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.213201008 meters 0.0642490364965194 Centerline is valid? [True, True] Translation: X:40.15, Y:3.20, Z:-3.06 [[ 9.84205315e-01 -1.74294609e-01 3.10046327e-02 4.01465702e+01] [ 1.74238831e-01 9.84693082e-01 4.51262919e-03 3.20285293e+00] [-3.13165743e-02 9.60857339e-04 9.99509054e-01 -3.05514341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.273201008 meters 0.06498946390313463 Centerline is valid? [True, True] Translation: X:40.20, Y:3.21, Z:-3.06 [[ 9.83641899e-01 -1.77190275e-01 3.24379658e-02 4.02045765e+01] [ 1.77131016e-01 9.84175989e-01 4.71436982e-03 3.21199962e+00] [-3.27600076e-02 1.10851818e-03 9.99462632e-01 -3.05711063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.333201008 meters 0.06425361496775137 Centerline is valid? [True, True] Translation: X:40.26, Y:3.22, Z:-3.06 [[ 9.83615257e-01 -1.76760278e-01 3.54518155e-02 4.02633754e+01] [ 1.76688565e-01 9.84253228e-01 5.17057359e-03 3.22464190e+00] [-3.58075159e-02 1.17807534e-03 9.99358011e-01 -3.05554802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.393201008 meters 0.062347335137847806 Centerline is valid? [True, True] Translation: X:40.32, Y:3.25, Z:-3.06 [[ 9.85038681e-01 -1.68336346e-01 3.69008342e-02 4.03205542e+01] [ 1.68252680e-01 9.85729199e-01 5.38344661e-03 3.24764796e+00] [-3.72804594e-02 9.05761090e-04 9.99304432e-01 -3.05662655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.453201008 meters 0.06099156856785874 Centerline is valid? [True, True] Translation: X:40.38, Y:3.27, Z:-3.06 [[ 9.85956161e-01 -1.62480007e-01 3.86095266e-02 4.03777690e+01] [ 1.62383909e-01 9.86711576e-01 5.63302368e-03 3.26805852e+00] [-3.90117206e-02 7.15651467e-04 9.99238497e-01 -3.05997706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.513201008 meters 0.060435707659601184 Centerline is valid? [True, True] Translation: X:40.43, Y:3.29, Z:-3.07 [[ 9.86926508e-01 -1.56103960e-01 4.00951471e-02 4.04342009e+01] [ 1.55994930e-01 9.87740515e-01 5.85294299e-03 3.28974059e+00] [-4.05172688e-02 4.78215070e-04 9.99178724e-01 -3.06727435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.573201008 meters 0.06017403030466818 Centerline is valid? [True, True] Translation: X:40.49, Y:3.30, Z:-3.07 [[ 9.87458656e-01 -1.52749766e-01 3.99112873e-02 4.04919897e+01] [ 1.52639221e-01 9.88264838e-01 5.82047730e-03 3.30321421e+00] [-4.03319985e-02 3.44547112e-04 9.99186275e-01 -3.07129196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.633201008 meters 0.06017342330462635 Centerline is valid? [True, True] Translation: X:40.55, Y:3.31, Z:-3.08 [[ 9.87848267e-01 -1.50346352e-01 3.93925959e-02 4.05486169e+01] [ 1.50236440e-01 9.88633359e-01 5.75264448e-03 3.31493002e+00] [-3.98097235e-02 2.35463505e-04 9.99207251e-01 -3.07667926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.693201008 meters 0.05996378054505932 Centerline is valid? [True, True] Translation: X:40.61, Y:3.33, Z:-3.08 [[ 9.88143300e-01 -1.47564894e-01 4.23959965e-02 4.06057026e+01] [ 1.47434142e-01 9.89052369e-01 6.21163034e-03 3.33214860e+00] [-4.28484793e-02 1.12636456e-04 9.99081576e-01 -3.08485282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.753201008 meters 0.05995513223157347 Centerline is valid? [True, True] Translation: X:40.66, Y:3.34, Z:-3.09 [[ 9.88145835e-01 -1.46756241e-01 4.50601229e-02 4.06638750e+01] [ 1.46607660e-01 9.89172684e-01 6.60265345e-03 3.34119546e+00] [-4.55412233e-02 8.17746661e-05 9.98962457e-01 -3.08924882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.813201008 meters 0.05968098354589785 Centerline is valid? [True, True] Translation: X:40.72, Y:3.35, Z:-3.09 [[ 9.88376994e-01 -1.44126177e-01 4.83586823e-02 4.07222502e+01] [ 1.43951710e-01 9.89559318e-01 7.08958900e-03 3.34905960e+00] [-4.88755800e-02 -4.58716605e-05 9.98804874e-01 -3.08921053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.873201008 meters 0.060002104255600354 Centerline is valid? [True, True] Translation: X:40.78, Y:3.36, Z:-3.09 [[ 9.88719086e-01 -1.41024581e-01 5.04642089e-02 4.07798196e+01] [ 1.40830369e-01 9.90006072e-01 7.40164594e-03 3.35653641e+00] [-5.10036873e-02 -2.11255461e-04 9.98698443e-01 -3.09369410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.933201008000005 meters 0.060201846398211765 Centerline is valid? [True, True] Translation: X:40.84, Y:3.37, Z:-3.10 [[ 9.88693944e-01 -1.40686279e-01 5.18811621e-02 4.08371539e+01] [ 1.40480473e-01 9.90054198e-01 7.61063206e-03 3.36594148e+00] [-5.24358738e-02 -2.36295642e-04 9.98624265e-01 -3.10393736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.993201008 meters 0.06034257581622661 Centerline is valid? [True, True] Translation: X:40.90, Y:3.37, Z:-3.11 [[ 9.88334189e-01 -1.43020046e-01 5.23526198e-02 4.08956300e+01] [ 1.42813078e-01 9.89719784e-01 7.69248602e-03 3.36946968e+00] [-5.29146032e-02 -1.26108187e-04 9.98599033e-01 -3.11210447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.053201008 meters 0.06052173371863806 Centerline is valid? [True, True] Translation: X:40.96, Y:3.36, Z:-3.11 [[ 9.87808802e-01 -1.47028611e-01 5.11503499e-02 4.09558297e+01] [ 1.46835617e-01 9.89132237e-01 7.53121177e-03 3.36167943e+00] [-5.17017637e-02 7.12959131e-05 9.98662567e-01 -3.11435653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.113201008000004 meters 0.060567618344030516 Centerline is valid? [True, True] Translation: X:41.02, Y:3.36, Z:-3.12 [[ 9.87516570e-01 -1.48631348e-01 5.21511932e-02 4.10156250e+01] [ 1.48432896e-01 9.88892662e-01 7.67970861e-03 3.36258863e+00] [-5.27133778e-02 1.57113116e-04 9.98609671e-01 -3.11814517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.173201008 meters 0.0607434738672739 Centerline is valid? [True, True] Translation: X:41.07, Y:3.37, Z:-3.13 [[ 9.87030428e-01 -1.50540065e-01 5.57550220e-02 4.10734105e+01] [ 1.50315287e-01 9.88603875e-01 8.22758702e-03 3.36584826e+00] [-5.63582123e-02 2.59953386e-04 9.98410579e-01 -3.12743721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.233201008 meters 0.061068885832363196 Centerline is valid? [True, True] Translation: X:41.13, Y:3.36, Z:-3.12 [[ 9.85403269e-01 -1.58547052e-01 6.19937831e-02 4.11345459e+01] [ 1.58284672e-01 9.87351104e-01 9.15210874e-03 3.35848898e+00] [-6.26606700e-02 7.94147733e-04 9.98034573e-01 -3.12240096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.293201008000004 meters 0.06136004076437335 Centerline is valid? [True, True] Translation: X:41.19, Y:3.36, Z:-3.12 [[ 9.84778772e-01 -1.61235592e-01 6.49142022e-02 4.11929980e+01] [ 1.60952700e-01 9.86915444e-01 9.59872978e-03 3.36193670e+00] [-6.56124855e-02 9.95490784e-04 9.97844683e-01 -3.12185429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.353201008 meters 0.06121903613186229 Centerline is valid? [True, True] Translation: X:41.25, Y:3.38, Z:-3.13 [[ 9.85080326e-01 -1.59433716e-01 6.47892031e-02 4.12498272e+01] [ 1.59146895e-01 9.87208264e-01 9.59738402e-03 3.37946104e+00] [-6.54905833e-02 8.56806336e-04 9.97852819e-01 -3.13159573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.413201008 meters 0.06174705750223782 Centerline is valid? [True, True] Translation: X:41.31, Y:3.39, Z:-3.14 [[ 9.84964218e-01 -1.60288493e-01 6.44444540e-02 4.13078011e+01] [ 1.60005545e-01 9.87069805e-01 9.56164095e-03 3.38969865e+00] [-6.51437957e-02 8.93595802e-04 9.97875487e-01 -3.13996119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.473201008000004 meters 0.06212799510938984 Centerline is valid? [True, True] Translation: X:41.37, Y:3.40, Z:-3.15 [[ 9.84906379e-01 -1.61392637e-01 6.25447217e-02 4.13660607e+01] [ 1.61127439e-01 9.86889844e-01 9.29433817e-03 3.39636866e+00] [-6.32247883e-02 9.23617883e-04 9.97998884e-01 -3.14605734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.533201008 meters 0.06261405289734939 Centerline is valid? [True, True] Translation: X:41.42, Y:3.41, Z:-3.15 [[ 9.85163665e-01 -1.60658053e-01 6.03452072e-02 4.14235951e+01] [ 1.60408983e-01 9.87009776e-01 8.98111589e-03 3.40696191e+00] [-6.10041980e-02 8.32044280e-04 9.98137163e-01 -3.15384022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.593201008 meters 0.06269999576240544 Centerline is valid? [True, True] Translation: X:41.48, Y:3.42, Z:-3.16 [[ 9.85128765e-01 -1.59989964e-01 6.26460552e-02 4.14818848e+01] [ 1.59719176e-01 9.87118312e-01 9.33928139e-03 3.41834876e+00] [-6.33332596e-02 8.05381577e-04 9.97992109e-01 -3.15845200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.653201008 meters 0.06256224714063408 Centerline is valid? [True, True] Translation: X:41.54, Y:3.43, Z:-3.16 [[ 9.85139312e-01 -1.58996033e-01 6.49676698e-02 4.15406685e+01] [ 1.58701627e-01 9.87278934e-01 9.70054872e-03 3.42815584e+00] [-6.56835605e-02 7.54082991e-04 9.97840218e-01 -3.15964417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.713201008 meters 0.06239383220715246 Centerline is valid? [True, True] Translation: X:41.60, Y:3.44, Z:-3.16 [[ 9.85233871e-01 -1.57275969e-01 6.76645325e-02 4.15983341e+01] [ 1.56951477e-01 9.87554478e-01 1.01186834e-02 3.44013699e+00] [-6.84138378e-02 6.50778707e-04 9.97656816e-01 -3.16151452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.773201008 meters 0.062362561045770995 Centerline is valid? [True, True] Translation: X:41.65, Y:3.46, Z:-3.17 [[ 9.85902836e-01 -1.52208414e-01 6.94852285e-02 4.16544957e+01] [ 1.51852332e-01 9.88348378e-01 1.04093253e-02 3.45622799e+00] [-7.02599997e-02 2.88910655e-04 9.97528671e-01 -3.16802818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.833201008 meters 0.062389380898856525 Centerline is valid? [True, True] Translation: X:41.71, Y:3.47, Z:-3.17 [[ 9.86085617e-01 -1.51154997e-01 6.91904825e-02 4.17118518e+01] [ 1.50798776e-01 9.88510053e-01 1.03732507e-02 3.46733161e+00] [-6.99634562e-02 2.04926771e-04 9.97549534e-01 -3.17325475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.893201008 meters 0.06295468248362615 Centerline is valid? [True, True] Translation: X:41.77, Y:3.48, Z:-3.18 [[ 9.86616036e-01 -1.48195604e-01 6.80210283e-02 4.17678212e+01] [ 1.47843053e-01 9.88958069e-01 1.02161238e-02 3.48201848e+00] [-6.87839294e-02 -2.29550185e-05 9.97631581e-01 -3.18363597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.953201008 meters 0.06325203655218778 Centerline is valid? [True, True] Translation: X:41.83, Y:3.49, Z:-3.19 [[ 9.86765295e-01 -1.48604151e-01 6.48926727e-02 4.18261594e+01] [ 1.48283078e-01 9.88896762e-01 9.76333672e-03 3.48813359e+00] [-6.56230263e-02 -1.16365873e-05 9.97844486e-01 -3.19242419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.013201008 meters 0.0633113760939778 Centerline is valid? [True, True] Translation: X:41.88, Y:3.49, Z:-3.20 [[ 9.86460486e-01 -1.50618798e-01 6.48820963e-02 4.18847169e+01] [ 1.50301199e-01 9.88591911e-01 9.77667725e-03 3.49208634e+00] [-6.56144670e-02 1.07551085e-04 9.97845043e-01 -3.19524204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.073201008 meters 0.0633579368099085 Centerline is valid? [True, True] Translation: X:41.94, Y:3.50, Z:-3.20 [[ 9.86148526e-01 -1.52009010e-01 6.63652389e-02 4.19428102e+01] [ 1.51678607e-01 9.88379090e-01 1.00186715e-02 3.50104117e+00] [-6.71169428e-02 1.86288889e-04 9.97745098e-01 -3.20058812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.133201008 meters 0.0635543467117004 Centerline is valid? [True, True] Translation: X:42.00, Y:3.51, Z:-3.21 [[ 9.86172885e-01 -1.51831982e-01 6.64085082e-02 4.19989826e+01] [ 1.51499581e-01 9.88406305e-01 1.00425350e-02 3.51103168e+00] [-6.71633662e-02 1.57185440e-04 9.97741979e-01 -3.20858031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.193201008 meters 0.0635963688874903 Centerline is valid? [True, True] Translation: X:42.06, Y:3.52, Z:-3.21 [[ 9.86102664e-01 -1.52518747e-01 6.58753964e-02 4.20569415e+01] [ 1.52192768e-01 9.88300558e-01 9.96834937e-03 3.51801557e+00] [-6.66250512e-02 1.95943036e-04 9.97778064e-01 -3.21355085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.253201008 meters 0.06352371342277938 Centerline is valid? [True, True] Translation: X:42.11, Y:3.52, Z:-3.22 [[ 9.85821804e-01 -1.53971986e-01 6.66933088e-02 4.21140194e+01] [ 1.53639805e-01 9.88075174e-01 1.01123693e-02 3.52289039e+00] [-6.74550243e-02 2.77752777e-04 9.97722277e-01 -3.21797247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.313201008 meters 0.06350807903935458 Centerline is valid? [True, True] Translation: X:42.17, Y:3.53, Z:-3.22 [[ 9.85063695e-01 -1.58323202e-01 6.76999376e-02 4.21728323e+01] [ 1.57990649e-01 9.87387174e-01 1.02724834e-02 3.52697235e+00] [-6.84724225e-02 5.76906570e-04 9.97652843e-01 -3.22232931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.373201008 meters 0.06367540418963431 Centerline is valid? [True, True] Translation: X:42.23, Y:3.54, Z:-3.23 [[ 9.85282323e-01 -1.57134558e-01 6.72865084e-02 4.22282883e+01] [ 1.56802229e-01 9.87577088e-01 1.02252931e-02 3.54199802e+00] [-6.80573609e-02 4.75873921e-04 9.97681296e-01 -3.23251617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.433201008000005 meters 0.06367680605690111 Centerline is valid? [True, True] Translation: X:42.29, Y:3.55, Z:-3.24 [[ 9.85478093e-01 -1.56734583e-01 6.53238005e-02 4.22861596e+01] [ 1.56419365e-01 9.87640671e-01 9.94417774e-03 3.54946017e+00] [-6.60750387e-02 4.18138089e-04 9.97814569e-01 -3.23746686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.493201008 meters 0.06368758246394633 Centerline is valid? [True, True] Translation: X:42.34, Y:3.56, Z:-3.24 [[ 9.85338718e-01 -1.58089532e-01 6.41506894e-02 4.23448383e+01] [ 1.57787441e-01 9.87424663e-01 9.78052608e-03 3.55559662e+00] [-6.48901716e-02 4.85042114e-04 9.97892294e-01 -3.24288683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.553201008 meters 0.06430116312380721 Centerline is valid? [True, True] Translation: X:42.40, Y:3.57, Z:-3.25 [[ 9.85337304e-01 -1.58858759e-01 6.22438070e-02 4.24005112e+01] [ 1.58574890e-01 9.87301191e-01 9.50595987e-03 3.56705971e+00] [-6.29634898e-02 5.03727981e-04 9.98015704e-01 -3.25486299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.613201008000004 meters 0.06417279713599194 Centerline is valid? [True, True] Translation: X:42.46, Y:3.58, Z:-3.26 [[ 9.85576443e-01 -1.58296574e-01 5.98437050e-02 4.24590536e+01] [ 1.58033005e-01 9.87391510e-01 9.14191941e-03 3.57631229e+00] [-6.05363007e-02 4.47220127e-04 9.98165896e-01 -3.25901577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.673201008 meters 0.06375967732534074 Centerline is valid? [True, True] Translation: X:42.52, Y:3.58, Z:-3.26 [[ 9.85146822e-01 -1.60240513e-01 6.17148041e-02 4.25184949e+01] [ 1.59963072e-01 9.87077835e-01 9.44258643e-03 3.57998939e+00] [-6.24304002e-02 5.69755620e-04 9.98049157e-01 -3.25736088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.733201008 meters 0.06371635984474544 Centerline is valid? [True, True] Translation: X:42.58, Y:3.59, Z:-3.27 [[ 9.85005787e-01 -1.61120934e-01 6.16736866e-02 4.25752148e+01] [ 1.60844683e-01 9.86934482e-01 9.45074499e-03 3.59348565e+00] [-6.23906008e-02 6.10846059e-04 9.98051622e-01 -3.26514904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.793201008000004 meters 0.06398063999709998 Centerline is valid? [True, True] Translation: X:42.63, Y:3.60, Z:-3.27 [[ 9.83966574e-01 -1.65982745e-01 6.52649224e-02 4.26333413e+01] [ 1.65682700e-01 9.86128197e-01 1.00211050e-02 3.60054611e+00] [-6.60229108e-02 9.52836230e-04 9.97817652e-01 -3.26856456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.853201008 meters 0.06447586809522639 Centerline is valid? [True, True] Translation: X:42.69, Y:3.61, Z:-3.27 [[ 9.82914689e-01 -1.72275627e-01 6.48060404e-02 4.26927733e+01] [ 1.71992273e-01 9.85047862e-01 9.96831164e-03 3.60603262e+00] [-6.55543487e-02 1.34813823e-03 9.97848090e-01 -3.27051574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.913201008 meters 0.06468196723167184 Centerline is valid? [True, True] Translation: X:42.75, Y:3.62, Z:-3.28 [[ 9.83069971e-01 -1.71729410e-01 6.38939948e-02 4.27492994e+01] [ 1.71452855e-01 9.85143308e-01 9.82762633e-03 3.61618163e+00] [-6.46324338e-02 1.29356349e-03 9.97908300e-01 -3.27633975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.973201008000004 meters 0.06401428793621561 Centerline is valid? [True, True] Translation: X:42.81, Y:3.63, Z:-3.28 [[ 9.83529367e-01 -1.69125521e-01 6.37694539e-02 4.28064898e+01] [ 1.68843431e-01 9.85593903e-01 9.82617404e-03 3.62844727e+00] [-6.45126418e-02 1.10272267e-03 9.97916281e-01 -3.28100709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.033201008 meters 0.06348863652097526 Centerline is valid? [True, True] Translation: X:42.86, Y:3.64, Z:-3.29 [[ 9.84385335e-01 -1.64487596e-01 6.26844643e-02 4.28637473e+01] [ 1.64204719e-01 9.86378850e-01 9.67335075e-03 3.64369979e+00] [-6.34217760e-02 7.70780217e-04 9.97986515e-01 -3.28789285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.093201008 meters 0.06326613330217003 Centerline is valid? [True, True] Translation: X:42.92, Y:3.65, Z:-3.29 [[ 9.84619125e-01 -1.63499130e-01 6.15890681e-02 4.29202894e+01] [ 1.63223150e-01 9.86543244e-01 9.51999570e-03 3.64975269e+00] [-6.23167901e-02 6.79191866e-04 9.98056189e-01 -3.29227049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.153201008 meters 0.06301439447089281 Centerline is valid? [True, True] Translation: X:42.98, Y:3.66, Z:-3.30 [[ 9.84540304e-01 -1.65148166e-01 5.83649916e-02 4.29785615e+01] [ 1.64902995e-01 9.86268492e-01 9.02575001e-03 3.65630799e+00] [-5.90541383e-02 7.38347262e-04 9.98254508e-01 -3.29642648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.213201008 meters 0.06318153193227567 Centerline is valid? [True, True] Translation: X:43.04, Y:3.66, Z:-3.30 [[ 9.84197169e-01 -1.67870909e-01 5.63497087e-02 4.30364980e+01] [ 1.67645960e-01 9.85808616e-01 8.72957921e-03 3.65996286e+00] [-5.70154707e-02 8.55173871e-04 9.98372929e-01 -3.30349189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.273201008 meters 0.06350827355460562 Centerline is valid? [True, True] Translation: X:43.09, Y:3.67, Z:-3.31 [[ 9.83851009e-01 -1.69699153e-01 5.69156383e-02 4.30930037e+01] [ 1.69472232e-01 9.85495444e-01 8.82561749e-03 3.66903072e+00] [-5.75878020e-02 9.62527589e-04 9.98339981e-01 -3.31019864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.333201008 meters 0.06288455736240456 Centerline is valid? [True, True] Translation: X:43.15, Y:3.68, Z:-3.31 [[ 9.84250497e-01 -1.67304532e-01 5.70977440e-02 4.31507288e+01] [ 1.67072006e-01 9.85904923e-01 8.85599434e-03 3.68155242e+00] [-5.77745949e-02 8.22917783e-04 9.98329314e-01 -3.31345729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.393201008 meters 0.061943114554471046 Centerline is valid? [True, True] Translation: X:43.21, Y:3.70, Z:-3.31 [[ 9.85016000e-01 -1.62293408e-01 5.83466284e-02 4.32078870e+01] [ 1.62040798e-01 9.86742406e-01 9.06666273e-03 3.69608075e+00] [-5.90445520e-02 5.23726366e-04 9.98255211e-01 -3.31412771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.453201008 meters 0.0617562070715888 Centerline is valid? [True, True] Translation: X:43.26, Y:3.71, Z:-3.32 [[ 9.85750825e-01 -1.57356673e-01 5.94490380e-02 4.32647165e+01] [ 1.57085350e-01 9.87541809e-01 9.23950459e-03 3.71368935e+00] [-6.01623083e-02 2.30723673e-04 9.98188581e-01 -3.31899365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.513201008 meters 0.06168165953285257 Centerline is valid? [True, True] Translation: X:43.32, Y:3.73, Z:-3.32 [[ 9.86682142e-01 -1.51059961e-01 6.03261031e-02 4.33214909e+01] [ 1.50767896e-01 9.88524587e-01 9.39054851e-03 3.73279124e+00] [-6.10523720e-02 -1.70246892e-04 9.98134549e-01 -3.32404731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.573201008 meters 0.06167745684229833 Centerline is valid? [True, True] Translation: X:43.38, Y:3.74, Z:-3.33 [[ 9.87041979e-01 -1.49209554e-01 5.90308431e-02 4.33777655e+01] [ 1.48925631e-01 9.88805553e-01 9.20511512e-03 3.74316779e+00] [-5.97435166e-02 -2.94629498e-04 9.98213717e-01 -3.33134134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.633201008 meters 0.0612365153564069 Centerline is valid? [True, True] Translation: X:43.44, Y:3.74, Z:-3.33 [[ 9.86773979e-01 -1.51469541e-01 5.77415962e-02 4.34371211e+01] [ 1.51201637e-01 9.88461913e-01 9.00617654e-03 3.74458250e+00] [-5.84395301e-02 -1.56436768e-04 9.98290938e-01 -3.33257466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.693201008 meters 0.06120362954294177 Centerline is valid? [True, True] Translation: X:43.50, Y:3.75, Z:-3.34 [[ 9.86572114e-01 -1.53223186e-01 5.65519099e-02 4.34958301e+01] [ 1.52968334e-01 9.88191606e-01 8.83390133e-03 3.75077263e+00] [-5.72376812e-02 -6.46292873e-05 9.98360578e-01 -3.33725234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.753201008 meters 0.0613080953058358 Centerline is valid? [True, True] Translation: X:43.55, Y:3.76, Z:-3.34 [[ 9.85938182e-01 -1.57036938e-01 5.71428105e-02 4.35527784e+01] [ 1.56782212e-01 9.87592720e-01 8.94194940e-03 3.75817694e+00] [-5.78380399e-02 1.42766863e-04 9.98325969e-01 -3.34396396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.813201008 meters 0.06108703269505266 Centerline is valid? [True, True] Translation: X:43.61, Y:3.76, Z:-3.35 [[ 9.85445001e-01 -1.59824823e-01 5.79152501e-02 4.36103780e+01] [ 1.59567666e-01 9.87145345e-01 9.06792570e-03 3.76439453e+00] [-5.86200491e-02 3.05459221e-04 9.98280320e-01 -3.34677229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.873201008 meters 0.06089917081748774 Centerline is valid? [True, True] Translation: X:43.67, Y:3.77, Z:-3.35 [[ 9.85185101e-01 -1.61385232e-01 5.80096901e-02 4.36679988e+01] [ 1.61129031e-01 9.86891412e-01 9.09811441e-03 3.77132566e+00] [-5.87175663e-02 3.83718396e-04 9.98274562e-01 -3.35022784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.933201008000005 meters 0.060628361935879345 Centerline is valid? [True, True] Translation: X:43.73, Y:3.78, Z:-3.36 [[ 9.85507323e-01 -1.60091353e-01 5.60898871e-02 4.37253350e+01] [ 1.59848915e-01 9.87102162e-01 8.81164690e-03 3.78197045e+00] [-5.67771174e-02 2.81965089e-04 9.98386839e-01 -3.35638429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.993201008 meters 0.06065522862839895 Centerline is valid? [True, True] Translation: X:43.78, Y:3.80, Z:-3.36 [[ 9.86077520e-01 -1.56790615e-01 5.53879645e-02 4.37811862e+01] [ 1.56548344e-01 9.87631863e-01 8.71315596e-03 3.79674911e+00] [-5.60690597e-02 7.90469189e-05 9.98426890e-01 -3.36280352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.053201008 meters 0.060282293641948974 Centerline is valid? [True, True] Translation: X:43.84, Y:3.80, Z:-3.37 [[ 9.86524139e-01 -1.54412385e-01 5.41011972e-02 4.38388270e+01] [ 1.54176766e-01 9.88006483e-01 8.52727213e-03 3.80380943e+00] [-5.47690500e-02 -7.12121531e-05 9.98499047e-01 -3.36578686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.113201008000004 meters 0.0600640943212993 Centerline is valid? [True, True] Translation: X:43.90, Y:3.81, Z:-3.37 [[ 9.86373280e-01 -1.55330121e-01 5.42245878e-02 4.38961798e+01] [ 1.55094607e-01 9.87862618e-01 8.55043597e-03 3.81031688e+00] [-5.48945835e-02 -2.39804328e-05 9.98492155e-01 -3.36991550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.173201008 meters 0.06020263704765129 Centerline is valid? [True, True] Translation: X:43.95, Y:3.83, Z:-3.37 [[ 9.86409785e-01 -1.54847504e-01 5.49362120e-02 4.39536757e+01] [ 1.54604197e-01 9.87938382e-01 8.67734230e-03 3.82517408e+00] [-5.56172572e-02 -6.60464284e-05 9.98452160e-01 -3.37379954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.233201008 meters 0.059921845932015695 Centerline is valid? [True, True] Translation: X:44.01, Y:3.83, Z:-3.38 [[ 9.86378764e-01 -1.54598979e-01 5.61790910e-02 4.40116126e+01] [ 1.54343334e-01 9.87977301e-01 8.88754835e-03 3.83411291e+00] [-5.68776726e-02 -9.56207406e-05 9.98381150e-01 -3.37605959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.293201008000004 meters 0.05993893839963009 Centerline is valid? [True, True] Translation: X:44.07, Y:3.84, Z:-3.38 [[ 9.86358031e-01 -1.55132362e-01 5.50616449e-02 4.40682065e+01] [ 1.54886742e-01 9.87893691e-01 8.72657761e-03 3.84279566e+00] [-5.57488262e-02 -7.92111184e-05 9.98444822e-01 -3.38186065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.353201008 meters 0.059924542354030136 Centerline is valid? [True, True] Translation: X:44.13, Y:3.85, Z:-3.39 [[ 9.86091012e-01 -1.57434564e-01 5.32810856e-02 4.41264041e+01] [ 1.57207881e-01 9.87529420e-01 8.44549429e-03 3.84880678e+00] [-5.39462523e-02 4.81805610e-05 9.98543840e-01 -3.38773450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.413201008 meters 0.05954260586241198 Centerline is valid? [True, True] Translation: X:44.19, Y:3.85, Z:-3.39 [[ 9.85064736e-01 -1.63536254e-01 5.38828324e-02 4.41865405e+01] [ 1.63312839e-01 9.86537254e-01 8.55353301e-03 3.84938430e+00] [-5.45562343e-02 3.73974581e-04 9.98510630e-01 -3.38872390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.473201008000004 meters 0.059568600683341834 Centerline is valid? [True, True] Translation: X:44.24, Y:3.86, Z:-3.39 [[ 9.84898435e-01 -1.64768058e-01 5.31653969e-02 4.42441998e+01] [ 1.64551693e-01 9.86332250e-01 8.45182316e-03 3.86009029e+00] [-5.38313360e-02 4.24268665e-04 9.98549952e-01 -3.39442843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.533201008 meters 0.059563792078712374 Centerline is valid? [True, True] Translation: X:44.30, Y:3.87, Z:-3.40 [[ 9.85396550e-01 -1.61998274e-01 5.24423345e-02 4.42997388e+01] [ 1.61783050e-01 9.86791008e-01 8.35167586e-03 3.87223476e+00] [-5.31025812e-02 2.54568252e-04 9.98589030e-01 -3.40082116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.593201008 meters 0.05993058826483539 Centerline is valid? [True, True] Translation: X:44.36, Y:3.88, Z:-3.41 [[ 9.85155663e-01 -1.63426245e-01 5.25374368e-02 4.43557846e+01] [ 1.63211920e-01 9.86555501e-01 8.37335009e-03 3.88271160e+00] [-5.31995225e-02 3.25682667e-04 9.98583850e-01 -3.40828568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.653201008 meters 0.05965556744519571 Centerline is valid? [True, True] Translation: X:44.41, Y:3.89, Z:-3.41 [[ 9.85461619e-01 -1.61926223e-01 5.14324385e-02 4.44140815e+01] [ 1.61718698e-01 9.86802838e-01 8.19883975e-03 3.89226539e+00] [-5.20812834e-02 2.37945079e-04 9.98642821e-01 -3.40861176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.713201008 meters 0.05935290110236685 Centerline is valid? [True, True] Translation: X:44.47, Y:3.90, Z:-3.41 [[ 9.85458161e-01 -1.62321548e-01 5.02387123e-02 4.44733115e+01] [ 1.62123486e-01 9.86737886e-01 8.01988891e-03 3.89659450e+00] [-5.08742416e-02 2.41610216e-04 9.98705038e-01 -3.40923593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.773201008 meters 0.0597958777133659 Centerline is valid? [True, True] Translation: X:44.53, Y:3.90, Z:-3.42 [[ 9.85100218e-01 -1.65108235e-01 4.81334830e-02 4.45304009e+01] [ 1.64929019e-01 9.86275390e-01 7.69893198e-03 3.90290162e+00] [-4.87440268e-02 3.54388535e-04 9.98811241e-01 -3.41963265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.833201008 meters 0.05998865623053176 Centerline is valid? [True, True] Translation: X:44.59, Y:3.92, Z:-3.43 [[ 9.85145069e-01 -1.64790206e-01 4.83050764e-02 4.45871431e+01] [ 1.64609353e-01 9.86328582e-01 7.72586173e-03 3.91677756e+00] [-4.89178238e-02 3.40372759e-04 9.98802749e-01 -3.42625224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.893201008 meters 0.06012586521249935 Centerline is valid? [True, True] Translation: X:44.64, Y:3.94, Z:-3.43 [[ 9.86061530e-01 -1.60026730e-01 4.55423346e-02 4.46437339e+01] [ 1.59860371e-01 9.87112678e-01 7.29545042e-03 3.93537339e+00] [-4.61228829e-02 8.66514794e-05 9.98935770e-01 -3.42925468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.953201008 meters 0.060338981170713644 Centerline is valid? [True, True] Translation: X:44.70, Y:3.95, Z:-3.44 [[ 9.86516297e-01 -1.57527796e-01 4.43913146e-02 4.47004581e+01] [ 1.57366753e-01 9.87514553e-01 7.12132614e-03 3.95014800e+00] [-4.49588760e-02 -3.95872594e-05 9.98988838e-01 -3.43606194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.013201008 meters 0.06040417437176362 Centerline is valid? [True, True] Translation: X:44.76, Y:3.96, Z:-3.44 [[ 9.86760215e-01 -1.55566775e-01 4.58612706e-02 4.47581430e+01] [ 1.55392228e-01 9.87825368e-01 7.36871092e-03 3.96383984e+00] [-4.64492531e-02 -1.44665769e-04 9.98920640e-01 -3.43997581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.073201008 meters 0.06023176465442136 Centerline is valid? [True, True] Translation: X:44.82, Y:3.97, Z:-3.44 [[ 9.86960221e-01 -1.53544336e-01 4.83079557e-02 4.48153163e+01] [ 1.53347463e-01 9.88141723e-01 7.77757426e-03 3.97265640e+00] [-4.89293090e-02 -2.68253968e-04 9.98802208e-01 -3.44096969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.133201008 meters 0.059725388504145105 Centerline is valid? [True, True] Translation: X:44.87, Y:3.98, Z:-3.44 [[ 9.86350712e-01 -1.56709842e-01 5.05400766e-02 4.48748826e+01] [ 1.56498289e-01 9.87644679e-01 8.14091495e-03 3.97633094e+00] [-5.11913992e-02 -1.20361746e-04 9.98688854e-01 -3.44209705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.193201008 meters 0.05972139256972422 Centerline is valid? [True, True] Translation: X:44.93, Y:3.98, Z:-3.45 [[ 9.85502632e-01 -1.62436868e-01 4.89778230e-02 4.49342510e+01] [ 1.62244723e-01 9.86718926e-01 7.90011382e-03 3.97851448e+00] [-4.96106146e-02 1.60810368e-04 9.98768622e-01 -3.44927798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.253201008 meters 0.06026437060190886 Centerline is valid? [True, True] Translation: X:44.99, Y:3.98, Z:-3.46 [[ 9.85090187e-01 -1.65606739e-01 4.66018376e-02 4.49924626e+01] [ 1.65435834e-01 9.86191828e-01 7.52750371e-03 3.98430323e+00] [-4.72049567e-02 2.94343834e-04 9.98885181e-01 -3.45646738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.313201008 meters 0.06044247242801816 Centerline is valid? [True, True] Translation: X:45.05, Y:3.99, Z:-3.46 [[ 9.84693383e-01 -1.68196123e-01 4.57056351e-02 4.50504855e+01] [ 1.68033819e-01 9.85753472e-01 7.39781485e-03 3.99064374e+00] [-4.62987723e-02 3.95513100e-04 9.98927559e-01 -3.45949844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.373201008 meters 0.06093591972058926 Centerline is valid? [True, True] Translation: X:45.11, Y:3.99, Z:-3.46 [[ 9.84411191e-01 -1.70006166e-01 4.50833804e-02 4.51081982e+01] [ 1.69849970e-01 9.85442887e-01 7.30102946e-03 3.99418987e+00] [-4.56683165e-02 4.70195718e-04 9.98956547e-01 -3.46436867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.433201008000005 meters 0.06093546993020317 Centerline is valid? [True, True] Translation: X:45.17, Y:4.01, Z:-3.47 [[ 9.84806978e-01 -1.68000341e-01 4.39442997e-02 4.51658312e+01] [ 1.67849989e-01 9.85786868e-01 7.11558848e-03 4.00745481e+00] [-4.45151349e-02 3.68569015e-04 9.99008642e-01 -3.47023169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.493201008 meters 0.06115557465942055 Centerline is valid? [True, True] Translation: X:45.22, Y:4.02, Z:-3.48 [[ 9.85281304e-01 -1.65082860e-01 4.43666722e-02 4.52228057e+01] [ 1.64926167e-01 9.86279675e-01 7.19461527e-03 4.02367830e+00] [-4.49456547e-02 2.28505258e-04 9.98989407e-01 -3.47743119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.553201008 meters 0.06117836307375059 Centerline is valid? [True, True] Translation: X:45.28, Y:4.03, Z:-3.48 [[ 9.85176250e-01 -1.65564877e-01 4.49002066e-02 4.52810935e+01] [ 1.65404394e-01 9.86198871e-01 7.29205272e-03 4.03265947e+00] [-4.54878408e-02 2.42734301e-04 9.98964863e-01 -3.47938472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.613201008000004 meters 0.06072425447584289 Centerline is valid? [True, True] Translation: X:45.34, Y:4.04, Z:-3.48 [[ 9.85367948e-01 -1.64485609e-01 4.46597267e-02 4.53386602e+01] [ 1.64325328e-01 9.86379466e-01 7.26192275e-03 4.04409077e+00] [-4.52459192e-02 1.83058339e-04 9.98975862e-01 -3.47837107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.673201008 meters 0.06097294924098657 Centerline is valid? [True, True] Translation: X:45.40, Y:4.06, Z:-3.48 [[ 9.85549702e-01 -1.63049067e-01 4.58997492e-02 4.53950730e+01] [ 1.62877273e-01 9.86617956e-01 7.48346987e-03 4.05571344e+00] [-4.65056896e-02 1.00694472e-04 9.98918020e-01 -3.48418395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.733201008 meters 0.061130745247514905 Centerline is valid? [True, True] Translation: X:45.45, Y:4.07, Z:-3.49 [[ 9.86207257e-01 -1.59101315e-01 4.56291346e-02 4.54508583e+01] [ 1.58927121e-01 9.87262257e-01 7.44355233e-03 4.07105218e+00] [-4.62322014e-02 -8.91783311e-05 9.98930716e-01 -3.49102777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.793201008000004 meters 0.061580176660109634 Centerline is valid? [True, True] Translation: X:45.51, Y:4.09, Z:-3.50 [[ 9.86622425e-01 -1.56824069e-01 4.45241816e-02 4.55080028e+01] [ 1.56655936e-01 9.87626536e-01 7.26240629e-03 4.08571724e+00] [-4.51121833e-02 -1.90275570e-04 9.98981909e-01 -3.49981062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.853201008 meters 0.06108055169804046 Centerline is valid? [True, True] Translation: X:45.57, Y:4.09, Z:-3.50 [[ 9.85565598e-01 -1.63096218e-01 4.53880600e-02 4.55678215e+01] [ 1.62927636e-01 9.86610164e-01 7.41415241e-03 4.08517341e+00] [-4.59895415e-02 8.78357622e-05 9.98941917e-01 -3.49986047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.913201008 meters 0.06205521018058114 Centerline is valid? [True, True] Translation: X:45.63, Y:4.09, Z:-3.51 [[ 9.84454181e-01 -1.71025269e-01 4.00040388e-02 4.56280292e+01] [ 1.70900255e-01 9.85266566e-01 6.54957440e-03 4.08822419e+00] [-4.05347847e-02 3.88944538e-04 9.99178052e-01 -3.50834495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.973201008000004 meters 0.06230983025365245 Centerline is valid? [True, True] Translation: X:45.68, Y:4.10, Z:-3.52 [[ 9.84790972e-01 -1.68899152e-01 4.07408613e-02 4.56843738e+01] [ 1.68767737e-01 9.85633289e-01 6.66855264e-03 4.10048635e+00] [-4.12818621e-02 3.08612542e-04 9.99147493e-01 -3.51786846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.033201008 meters 0.06230983025365245 Centerline is valid? [True, True] Translation: X:45.74, Y:4.11, Z:-3.52 [[ 9.84745705e-01 -1.69162880e-01 4.07408416e-02 4.57411380e+01] [ 1.69031686e-01 9.85588057e-01 6.66868072e-03 4.10998488e+00] [-4.12817801e-02 3.19538433e-04 9.99147493e-01 -3.52222748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.093201008 meters 0.06130201151224822 Centerline is valid? [True, True] Translation: X:45.80, Y:4.12, Z:-3.52 [[ 9.84803283e-01 -1.67866696e-01 4.45338661e-02 4.58010444e+01] [ 1.67707630e-01 9.85809667e-01 7.31100082e-03 4.11562764e+00] [-4.51291893e-02 2.68771536e-04 9.98981123e-01 -3.51811795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.153201008 meters 0.06113419118002519 Centerline is valid? [True, True] Translation: X:45.86, Y:4.13, Z:-3.52 [[ 9.84813469e-01 -1.67629062e-01 4.51987719e-02 4.58588357e+01] [ 1.67465169e-01 9.85850104e-01 7.41555291e-03 4.12702370e+00] [-4.58022761e-02 2.66283609e-04 9.98950490e-01 -3.52073919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.213201008 meters 0.061539371267473116 Centerline is valid? [True, True] Translation: X:45.92, Y:4.14, Z:-3.53 [[ 9.85092447e-01 -1.66423792e-01 4.35430048e-02 4.59167266e+01] [ 1.66270071e-01 9.86054301e-01 7.15394739e-03 4.13852250e+00] [-4.41263542e-02 1.92598980e-04 9.99025939e-01 -3.52779611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.273201008 meters 0.061934191922956155 Centerline is valid? [True, True] Translation: X:45.97, Y:4.15, Z:-3.53 [[ 9.85090247e-01 -1.67043832e-01 4.11529372e-02 4.59745328e+01] [ 1.66906708e-01 9.85949450e-01 6.76995543e-03 4.15099021e+00] [-4.17055951e-02 1.99684219e-04 9.99129923e-01 -3.53398822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.333201008 meters 0.06302048120155447 Centerline is valid? [True, True] Translation: X:46.03, Y:4.16, Z:-3.55 [[ 9.85431361e-01 -1.65696109e-01 3.83383985e-02 4.60312095e+01] [ 1.65575516e-01 9.86176853e-01 6.32162981e-03 4.16111685e+00] [-3.88559107e-02 1.18367876e-04 9.99244817e-01 -3.54592484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.393201008 meters 0.06264547855648137 Centerline is valid? [True, True] Translation: X:46.09, Y:4.17, Z:-3.55 [[ 9.85656801e-01 -1.64320952e-01 3.84616120e-02 4.60880280e+01] [ 1.64198711e-01 9.86406924e-01 6.33745451e-03 4.17337808e+00] [-3.89801769e-02 6.87919782e-05 9.99239982e-01 -3.54662977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.453201008 meters 0.062216415569454835 Centerline is valid? [True, True] Translation: X:46.15, Y:4.18, Z:-3.55 [[ 9.85806674e-01 -1.62830144e-01 4.08845504e-02 4.61464214e+01] [ 1.62689936e-01 9.86654116e-01 6.75578791e-03 4.18360476e+00] [-4.14389558e-02 -8.39591587e-06 9.99141038e-01 -3.54634912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.513201008 meters 0.06162634496855683 Centerline is valid? [True, True] Translation: X:46.21, Y:4.19, Z:-3.54 [[ 9.84905219e-01 -1.66594729e-01 4.69883671e-02 4.62063669e+01] [ 1.66413534e-01 9.86025440e-01 7.76963951e-03 4.19037490e+00] [-4.76261063e-02 1.67141741e-04 9.98865219e-01 -3.54422328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.573201008 meters 0.06176115979047065 Centerline is valid? [True, True] Translation: X:46.26, Y:4.20, Z:-3.55 [[ 9.84695869e-01 -1.67907654e-01 4.67018677e-02 4.62642980e+01] [ 1.67730397e-01 9.85802701e-01 7.71681792e-03 4.20058613e+00] [-4.73345401e-02 2.34604074e-04 9.98879065e-01 -3.54995690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.633201008 meters 0.062103754303396604 Centerline is valid? [True, True] Translation: X:46.32, Y:4.21, Z:-3.56 [[ 9.85345744e-01 -1.64161229e-01 4.63125877e-02 4.63210191e+01] [ 1.63982304e-01 9.86433520e-01 7.66259374e-03 4.21476242e+00] [-4.69421897e-02 4.41406926e-05 9.98897607e-01 -3.55683932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.693201008 meters 0.062178989633652905 Centerline is valid? [True, True] Translation: X:46.38, Y:4.22, Z:-3.56 [[ 9.85589072e-01 -1.62911586e-01 4.55411506e-02 4.63778622e+01] [ 1.62736432e-01 9.86640671e-01 7.55246012e-03 4.22291827e+00] [-4.61631347e-02 -3.24177887e-05 9.98933914e-01 -3.56025388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.753201008 meters 0.06230376894875782 Centerline is valid? [True, True] Translation: X:46.44, Y:4.23, Z:-3.56 [[ 9.85534321e-01 -1.63145824e-01 4.58861959e-02 4.64361382e+01] [ 1.62968275e-01 9.86601966e-01 7.60932753e-03 4.23177316e+00] [-4.65128411e-02 -2.12592583e-05 9.98917692e-01 -3.56476334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.813201008 meters 0.06244266704844642 Centerline is valid? [True, True] Translation: X:46.49, Y:4.24, Z:-3.57 [[ 9.85460375e-01 -1.63657154e-01 4.56528703e-02 4.64932498e+01] [ 1.63481525e-01 9.86517276e-01 7.57991385e-03 4.24244535e+00] [-4.62778524e-02 -6.30390052e-06 9.98928606e-01 -3.56939888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.873201008 meters 0.06251022837165038 Centerline is valid? [True, True] Translation: X:46.55, Y:4.25, Z:-3.57 [[ 9.85524816e-01 -1.63466311e-01 4.49399924e-02 4.65511147e+01] [ 1.63295342e-01 9.86548916e-01 7.47440696e-03 4.25144382e+00] [-4.55573146e-02 -2.77220894e-05 9.98961726e-01 -3.57301695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.933201008000005 meters 0.06257599919042911 Centerline is valid? [True, True] Translation: X:46.61, Y:4.26, Z:-3.58 [[ 9.85611627e-01 -1.62643540e-01 4.60087013e-02 4.66090419e+01] [ 1.62462901e-01 9.86684890e-01 7.66375345e-03 4.26314658e+00] [-4.66425504e-02 -7.87774468e-05 9.98911641e-01 -3.57820790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.993201008 meters 0.0627330289167028 Centerline is valid? [True, True] Translation: X:46.66, Y:4.27, Z:-3.59 [[ 9.85581717e-01 -1.62846935e-01 4.59298848e-02 4.66643832e+01] [ 1.62666462e-01 9.86651341e-01 7.66508098e-03 4.27423594e+00] [-4.65650174e-02 -8.33118296e-05 9.98915258e-01 -3.58584632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.053201008 meters 0.06234969858890563 Centerline is valid? [True, True] Translation: X:46.72, Y:4.29, Z:-3.59 [[ 9.85766641e-01 -1.60971406e-01 4.85008801e-02 4.67220404e+01] [ 1.60767727e-01 9.86959053e-01 8.09726584e-03 4.28552966e+00] [-4.91718109e-02 -1.84638302e-04 9.98790318e-01 -3.58682939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.113201008000004 meters 0.06185763260952665 Centerline is valid? [True, True] Translation: X:46.78, Y:4.29, Z:-3.59 [[ 9.85516980e-01 -1.62434304e-01 4.86968081e-02 4.67802703e+01] [ 1.62230233e-01 9.86719353e-01 8.14060298e-03 4.29126148e+00] [-4.93723962e-02 -1.22607911e-04 9.98780432e-01 -3.58786348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.173201008 meters 0.0616681908079588 Centerline is valid? [True, True] Translation: X:46.84, Y:4.30, Z:-3.59 [[ 9.85346978e-01 -1.63230861e-01 4.94673622e-02 4.68382674e+01] [ 1.63020534e-01 9.86587896e-01 8.28427374e-03 4.29818312e+00] [-5.01561500e-02 -9.86882959e-05 9.98741383e-01 -3.59312059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.233201008 meters 0.061424956301432625 Centerline is valid? [True, True] Translation: X:46.90, Y:4.31, Z:-3.60 [[ 9.85264986e-01 -1.63471715e-01 5.02981624e-02 4.68966722e+01] [ 1.63253951e-01 9.86548016e-01 8.43558170e-03 4.30691019e+00] [-5.10005313e-02 -9.99095356e-05 9.98698621e-01 -3.59666561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.293201008000004 meters 0.061352957126158354 Centerline is valid? [True, True] Translation: X:46.95, Y:4.32, Z:-3.60 [[ 9.85268236e-01 -1.63799131e-01 4.91563521e-02 4.69532162e+01] [ 1.63590791e-01 9.86493708e-01 8.25939039e-03 4.31630892e+00] [-4.98453130e-02 -9.61884621e-05 9.98756945e-01 -3.60346777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.353201008 meters 0.06148058752205017 Centerline is valid? [True, True] Translation: X:47.01, Y:4.32, Z:-3.61 [[ 9.85140327e-01 -1.65097286e-01 4.73436613e-02 4.70112595e+01] [ 1.64905549e-01 9.86277286e-01 7.95452503e-03 4.32355938e+00] [-4.80072483e-02 -2.90909365e-05 9.98846987e-01 -3.60951551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.413201008 meters 0.06124400062051519 Centerline is valid? [True, True] Translation: X:47.07, Y:4.33, Z:-3.62 [[ 9.85018554e-01 -1.65315316e-01 4.90845611e-02 4.70675685e+01] [ 1.65108689e-01 9.86240764e-01 8.26291208e-03 4.33471503e+00] [-4.97751810e-02 -3.48341685e-05 9.98760447e-01 -3.61637021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.473201008000004 meters 0.06118609023410824 Centerline is valid? [True, True] Translation: X:47.13, Y:4.34, Z:-3.62 [[ 9.85200658e-01 -1.64186425e-01 4.92187154e-02 4.71250439e+01] [ 1.63977278e-01 9.86429323e-01 8.28508702e-03 4.34472654e+00] [-4.99110829e-02 -9.17221873e-05 9.98753661e-01 -3.62017484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.533201008 meters 0.06089022368756989 Centerline is valid? [True, True] Translation: X:47.18, Y:4.35, Z:-3.62 [[ 9.84926204e-01 -1.65900743e-01 4.89623894e-02 4.71824905e+01] [ 1.65695280e-01 9.86142456e-01 8.25414906e-03 4.35208411e+00] [-4.96532603e-02 -1.68908921e-05 9.98766516e-01 -3.62247336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.593201008 meters 0.06047608901327684 Centerline is valid? [True, True] Translation: X:47.24, Y:4.35, Z:-3.62 [[ 9.83451841e-01 -1.73974901e-01 5.05490983e-02 4.72423074e+01] [ 1.73765769e-01 9.84750010e-01 8.53664899e-03 4.35329557e+00] [-5.12633877e-02 3.88319771e-04 9.98685093e-01 -3.62404285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.653201008 meters 0.06074721328702819 Centerline is valid? [True, True] Translation: X:47.30, Y:4.36, Z:-3.63 [[ 9.83225791e-01 -1.75467613e-01 4.97811249e-02 4.72992717e+01] [ 1.75265935e-01 9.84485104e-01 8.42214424e-03 4.36326091e+00] [-5.04865894e-02 4.44065953e-04 9.98724640e-01 -3.62976013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.713201008 meters 0.06113708030296768 Centerline is valid? [True, True] Translation: X:47.36, Y:4.37, Z:-3.64 [[ 9.83069172e-01 -1.76716997e-01 4.84366218e-02 4.73570911e+01] [ 1.76527584e-01 9.84261580e-01 8.19472305e-03 4.37463179e+00] [-4.91224527e-02 4.94420212e-04 9.98792641e-01 -3.63812557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.773201008 meters 0.06235739214991175 Centerline is valid? [True, True] Translation: X:47.41, Y:4.38, Z:-3.65 [[ 9.82753894e-01 -1.79299630e-01 4.52374423e-02 4.74139331e+01] [ 1.79136517e-01 9.83794348e-01 7.66739237e-03 4.38475443e+00] [-4.58791007e-02 5.68518145e-04 9.98946838e-01 -3.64969650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.833201008 meters 0.06244949032306234 Centerline is valid? [True, True] Translation: X:47.47, Y:4.39, Z:-3.65 [[ 9.82801969e-01 -1.79354919e-01 4.39556950e-02 4.74718404e+01] [ 1.79200932e-01 9.83784278e-01 7.45116246e-03 4.39214451e+00] [-4.45793243e-02 5.53884371e-04 9.99005694e-01 -3.65386394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.893201008 meters 0.06143209612112326 Centerline is valid? [True, True] Translation: X:47.53, Y:4.40, Z:-3.65 [[ 9.83344023e-01 -1.75382488e-01 4.77023540e-02 4.75304273e+01] [ 1.75196025e-01 9.84500292e-01 8.09490959e-03 4.40463165e+00] [-4.83826868e-02 3.97181840e-04 9.98828793e-01 -3.65317696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.953201008 meters 0.06109336962959022 Centerline is valid? [True, True] Translation: X:47.59, Y:4.42, Z:-3.66 [[ 9.83746940e-01 -1.72525454e-01 4.97687157e-02 4.75883134e+01] [ 1.72318946e-01 9.85005023e-01 8.44309466e-03 4.41893984e+00] [-5.04790837e-02 2.70224119e-04 9.98725082e-01 -3.65680351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.013201008 meters 0.06102453534626451 Centerline is valid? [True, True] Translation: X:47.65, Y:4.43, Z:-3.66 [[ 9.83626672e-01 -1.72757105e-01 5.13181535e-02 4.76462657e+01] [ 1.72537302e-01 9.84964418e-01 8.71638989e-03 4.42860993e+00] [-5.20523735e-02 2.80622169e-04 9.98644317e-01 -3.65856115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.073201008 meters 0.0607050445409629 Centerline is valid? [True, True] Translation: X:47.70, Y:4.44, Z:-3.66 [[ 9.83487319e-01 -1.73051364e-01 5.29709226e-02 4.77044672e+01] [ 1.72816957e-01 9.84912757e-01 9.00891285e-03 4.43872079e+00] [-5.37307421e-02 2.94122126e-04 9.98555417e-01 -3.65742116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.133201008 meters 0.061084229127803535 Centerline is valid? [True, True] Translation: X:47.76, Y:4.45, Z:-3.66 [[ 9.83427459e-01 -1.73642196e-01 5.21423221e-02 4.77610549e+01] [ 1.73415141e-01 9.84808760e-01 8.88229402e-03 4.44825669e+00] [-5.28925566e-02 3.07176334e-04 9.98600162e-01 -3.66218105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.193201008 meters 0.06114935410858509 Centerline is valid? [True, True] Translation: X:47.82, Y:4.46, Z:-3.67 [[ 9.83567457e-01 -1.73088385e-01 5.13368136e-02 4.78187125e+01] [ 1.72867349e-01 9.84906259e-01 8.74879625e-03 4.46044895e+00] [-5.20762640e-02 2.69427582e-04 9.98643074e-01 -3.66927800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.253201008 meters 0.0611396173905654 Centerline is valid? [True, True] Translation: X:47.88, Y:4.47, Z:-3.67 [[ 9.83789383e-01 -1.71738551e-01 5.16170427e-02 4.78759540e+01] [ 1.71512634e-01 9.85142545e-01 8.80804948e-03 4.47485884e+00] [-5.23628265e-02 1.87709354e-04 9.98628109e-01 -3.67146701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.313201008 meters 0.061315192161050094 Centerline is valid? [True, True] Translation: X:47.93, Y:4.49, Z:-3.68 [[ 9.83915673e-01 -1.70704461e-01 5.26301769e-02 4.79319781e+01] [ 1.70467281e-01 9.85322268e-01 8.99630178e-03 4.48754757e+00] [-5.33933941e-02 1.20120836e-04 9.98573548e-01 -3.67969241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.373201008 meters 0.061148760479890416 Centerline is valid? [True, True] Translation: X:47.99, Y:4.50, Z:-3.68 [[ 9.84373242e-01 -1.67824136e-01 5.33327293e-02 4.79894057e+01] [ 1.67576121e-01 9.85816949e-01 9.12063720e-03 4.50313237e+00] [-5.41069715e-02 -4.08193204e-05 9.98535144e-01 -3.67939807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.433201008 meters 0.06104898374651725 Centerline is valid? [True, True] Translation: X:48.05, Y:4.51, Z:-3.68 [[ 9.84515523e-01 -1.66492138e-01 5.48593909e-02 4.80473235e+01] [ 1.66226883e-01 9.86042773e-01 9.39534492e-03 4.51357756e+00] [-5.56579570e-02 -1.30757350e-04 9.98449886e-01 -3.68131708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.493201008 meters 0.061083390471963435 Centerline is valid? [True, True] Translation: X:48.11, Y:4.52, Z:-3.69 [[ 9.84209534e-01 -1.68589431e-01 5.39369709e-02 4.81057702e+01] [ 1.68335483e-01 9.85686361e-01 9.24997857e-03 4.52164632e+00] [-5.47243853e-02 -2.44110602e-05 9.98501498e-01 -3.68604785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.553201008 meters 0.06161843018337129 Centerline is valid? [True, True] Translation: X:48.16, Y:4.53, Z:-3.70 [[ 9.83970697e-01 -1.70491360e-01 5.22911421e-02 4.81618324e+01] [ 1.70254527e-01 9.85359169e-01 8.98353481e-03 4.53279378e+00] [-5.30571714e-02 6.32686617e-05 9.98591474e-01 -3.69594365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.613201008000004 meters 0.06189133008537201 Centerline is valid? [True, True] Translation: X:48.22, Y:4.54, Z:-3.70 [[ 9.84004189e-01 -1.70628073e-01 5.12036768e-02 4.82199959e+01] [ 1.70401142e-01 9.85335504e-01 8.79743813e-03 4.54249424e+00] [-5.19538907e-02 6.84490187e-05 9.98649482e-01 -3.70211035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.673201008 meters 0.06186562883190048 Centerline is valid? [True, True] Translation: X:48.28, Y:4.55, Z:-3.70 [[ 9.84227768e-01 -1.68662430e-01 5.33730792e-02 4.82777941e+01] [ 1.68412229e-01 9.85673872e-01 9.18362393e-03 4.55403433e+00] [-5.41573820e-02 -5.00984438e-05 9.98532411e-01 -3.70356388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.733201008 meters 0.06226418120671041 Centerline is valid? [True, True] Translation: X:48.33, Y:4.57, Z:-3.71 [[ 9.84822997e-01 -1.64204095e-01 5.62199186e-02 4.83337897e+01] [ 1.63918390e-01 9.86426332e-01 9.68772854e-03 4.57253241e+00] [-5.70475729e-02 -3.25219321e-04 9.98371408e-01 -3.70759596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.793201008000004 meters 0.06258263096772208 Centerline is valid? [True, True] Translation: X:48.39, Y:4.59, Z:-3.71 [[ 9.85326513e-01 -1.60794845e-01 5.72422997e-02 4.83910474e+01] [ 1.60492102e-01 9.86987700e-01 9.87750104e-03 4.58605379e+00] [-5.80856969e-02 -5.45626672e-04 9.98311451e-01 -3.70960708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.853201008 meters 0.06280189057136593 Centerline is valid? [True, True] Translation: X:48.45, Y:4.60, Z:-3.72 [[ 9.85323513e-01 -1.60989634e-01 5.67442660e-02 4.84478982e+01] [ 1.60691526e-01 9.86955946e-01 9.80783268e-03 4.59555095e+00] [-5.75830501e-02 -5.45565484e-04 9.98340570e-01 -3.71586902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.913201008 meters 0.06233065214556256 Centerline is valid? [True, True] Translation: X:48.51, Y:4.60, Z:-3.72 [[ 9.84553636e-01 -1.65992972e-01 5.56818680e-02 4.85070060e+01] [ 1.65713830e-01 9.86126904e-01 9.62577734e-03 4.60003334e+00] [-5.65071995e-02 -2.49838480e-04 9.98402160e-01 -3.71984775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.973201008000004 meters 0.0625391464113028 Centerline is valid? [True, True] Translation: X:48.57, Y:4.60, Z:-3.73 [[ 9.82900353e-01 -1.76221112e-01 5.34136381e-02 4.85659577e+01] [ 1.75978475e-01 9.84350560e-01 9.24942215e-03 4.59985976e+00] [-5.42076881e-02 3.08390270e-04 9.98529635e-01 -3.72572733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.033201008 meters 0.06286663521705484 Centerline is valid? [True, True] Translation: X:48.62, Y:4.61, Z:-3.73 [[ 9.82717239e-01 -1.77925532e-01 5.10816293e-02 4.86240115e+01] [ 1.77705902e-01 9.84043880e-01 8.84617916e-03 4.60918479e+00] [-5.18405258e-02 3.84214236e-04 9.98655302e-01 -3.73418070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.093201008 meters 0.06273404905101714 Centerline is valid? [True, True] Translation: X:48.68, Y:4.62, Z:-3.74 [[ 9.83114399e-01 -1.75316074e-01 5.24438084e-02 4.86819895e+01] [ 1.75080166e-01 9.84512172e-01 9.09499426e-03 4.62077672e+00] [-5.32260664e-02 2.40450871e-04 9.98582459e-01 -3.73657143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.153201008 meters 0.06251791085791006 Centerline is valid? [True, True] Translation: X:48.74, Y:4.63, Z:-3.74 [[ 9.83869548e-01 -1.70573955e-01 5.39002689e-02 4.87380535e+01] [ 1.70316723e-01 9.85344876e-01 9.36424324e-03 4.63437730e+00] [-5.47076498e-02 -3.30765912e-05 9.98502415e-01 -3.74108074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.213201008 meters 0.062158344988815624 Centerline is valid? [True, True] Translation: X:48.80, Y:4.64, Z:-3.74 [[ 9.83372044e-01 -1.72008814e-01 5.82442297e-02 4.87971070e+01] [ 1.71710520e-01 9.85095410e-01 1.01257749e-02 4.64458558e+00] [-5.91178458e-02 4.37430609e-05 9.98251010e-01 -3.73905453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.273201008 meters 0.06248088703085789 Centerline is valid? [True, True] Translation: X:48.85, Y:4.66, Z:-3.75 [[ 9.83930879e-01 -1.69343877e-01 5.65922012e-02 4.88528149e+01] [ 1.69057041e-01 9.85557018e-01 9.85300449e-03 4.66018752e+00] [-5.74433870e-02 -1.27365262e-04 9.98348757e-01 -3.74903885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.333201008 meters 0.062485977559327464 Centerline is valid? [True, True] Translation: X:48.91, Y:4.67, Z:-3.75 [[ 9.84312710e-01 -1.67195357e-01 5.63400597e-02 4.89104082e+01] [ 1.66907265e-01 9.85923753e-01 9.81418251e-03 4.67201814e+00] [-5.71878889e-02 -2.56659320e-04 9.98363401e-01 -3.75002304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.393201008 meters 0.06248063333994969 Centerline is valid? [True, True] Translation: X:48.97, Y:4.68, Z:-3.76 [[ 9.84226414e-01 -1.67940814e-01 5.56259692e-02 4.89686267e+01] [ 1.67660388e-01 9.85797055e-01 9.70368213e-03 4.68088314e+00] [-5.64655609e-02 -2.24348658e-04 9.98404522e-01 -3.75525553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.453201008 meters 0.06277394450692082 Centerline is valid? [True, True] Translation: X:49.03, Y:4.69, Z:-3.76 [[ 9.83959314e-01 -1.69949871e-01 5.42319907e-02 4.90252460e+01] [ 1.69685468e-01 9.85452701e-01 9.47710925e-03 4.68908430e+00] [-5.50536952e-02 -1.22709177e-04 9.98483388e-01 -3.76363834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.513201008 meters 0.06240572949947503 Centerline is valid? [True, True] Translation: X:49.08, Y:4.70, Z:-3.77 [[ 9.83221561e-01 -1.73009743e-01 5.78186062e-02 4.90845458e+01] [ 1.72714270e-01 9.84920112e-01 1.01071471e-02 4.69538642e+00] [-5.86953430e-02 4.85333847e-05 9.98275941e-01 -3.76553582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.573201008 meters 0.06243724782039762 Centerline is valid? [True, True] Translation: X:49.14, Y:4.71, Z:-3.77 [[ 9.83349846e-01 -1.71932695e-01 5.88407053e-02 4.91416094e+01] [ 1.71623945e-01 9.85108698e-01 1.02992222e-02 4.70766374e+00] [-5.97352636e-02 -2.92646056e-05 9.98214254e-01 -3.76996693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.633201008 meters 0.06284140878743354 Centerline is valid? [True, True] Translation: X:49.20, Y:4.73, Z:-3.78 [[ 9.84186155e-01 -1.67685017e-01 5.70906983e-02 4.91983622e+01] [ 1.67386472e-01 9.85840581e-01 1.00059468e-02 4.72533964e+00] [-5.79601745e-02 -2.91503803e-04 9.98318853e-01 -3.77708769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.693201008 meters 0.06414124415062557 Centerline is valid? [True, True] Translation: X:49.25, Y:4.75, Z:-3.78 [[ 9.86025286e-01 -1.57332432e-01 5.47781023e-02 4.92541108e+01] [ 1.57040709e-01 9.87545306e-01 9.61688268e-03 4.74874850e+00] [-5.56089053e-02 -8.80097484e-04 9.98452240e-01 -3.78413024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.753201008 meters 0.06488683956700228 Centerline is valid? [True, True] Translation: X:49.31, Y:4.76, Z:-3.79 [[ 9.86529016e-01 -1.54266918e-01 5.44262709e-02 4.93113076e+01] [ 1.53974320e-01 9.88028656e-01 9.55422480e-03 4.76415704e+00] [-5.52486161e-02 -1.04527192e-03 9.98472082e-01 -3.79018291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.813201008 meters 0.06416436878493813 Centerline is valid? [True, True] Translation: X:49.37, Y:4.77, Z:-3.80 [[ 9.86109954e-01 -1.56924689e-01 5.44224270e-02 4.93696977e+01] [ 1.56635470e-01 9.87610154e-01 9.56628413e-03 4.77179079e+00] [-5.52493276e-02 -9.08925563e-04 9.98472176e-01 -3.79538461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.873201008 meters 0.06344632631068702 Centerline is valid? [True, True] Translation: X:49.43, Y:4.78, Z:-3.80 [[ 9.85100112e-01 -1.62790759e-01 5.54701554e-02 4.94278980e+01] [ 1.62498580e-01 9.86660427e-01 9.76796699e-03 4.77516121e+00] [-5.63203419e-02 -6.08603883e-04 9.98412564e-01 -3.80099601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.933201008 meters 0.06318838714361331 Centerline is valid? [True, True] Translation: X:49.49, Y:4.78, Z:-3.80 [[ 9.84588296e-01 -1.65736807e-01 5.58318725e-02 4.94867724e+01] [ 1.65445490e-01 9.86169921e-01 9.83239150e-03 4.78039876e+00] [-5.66893025e-02 -4.43726069e-04 9.98391770e-01 -3.80472449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.993201008 meters 0.06310445185881045 Centerline is valid? [True, True] Translation: X:49.54, Y:4.79, Z:-3.81 [[ 9.84702077e-01 -1.65183046e-01 5.54651258e-02 4.95449058e+01] [ 1.64893924e-01 9.86262808e-01 9.78100329e-03 4.78712374e+00] [-5.63188466e-02 -4.85512010e-04 9.98412716e-01 -3.80829878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.053201008 meters 0.06302305769121742 Centerline is valid? [True, True] Translation: X:49.60, Y:4.79, Z:-3.81 [[ 9.84790703e-01 -1.64686264e-01 5.53688111e-02 4.96034040e+01] [ 1.64396620e-01 9.86345861e-01 9.77719125e-03 4.79463417e+00] [-5.62229668e-02 -5.26041646e-04 9.98418099e-01 -3.81271845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.113201008000004 meters 0.06296790719056193 Centerline is valid? [True, True] Translation: X:49.66, Y:4.80, Z:-3.82 [[ 9.84444892e-01 -1.66609650e-01 5.57627116e-02 4.96613162e+01] [ 1.66318171e-01 9.86022838e-01 9.86044626e-03 4.80244621e+00] [-5.66261527e-02 -4.32713721e-04 9.98395358e-01 -3.81766403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.173201008 meters 0.06281261794411327 Centerline is valid? [True, True] Translation: X:49.72, Y:4.81, Z:-3.82 [[ 9.84100381e-01 -1.68943020e-01 5.48151161e-02 4.97183012e+01] [ 1.68664324e-01 9.85625772e-01 9.70479997e-03 4.81052155e+00] [-5.56667493e-02 -3.05142861e-04 9.98449358e-01 -3.82321366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.233201008 meters 0.06253304976040253 Centerline is valid? [True, True] Translation: X:49.77, Y:4.82, Z:-3.83 [[ 9.83822836e-01 -1.70603550e-01 5.46539743e-02 4.97746997e+01] [ 1.70328016e-01 9.85339726e-01 9.69486487e-03 4.81698680e+00] [-5.55067104e-02 -2.28926417e-04 9.98458288e-01 -3.82816602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.293201008000004 meters 0.06244177820101147 Centerline is valid? [True, True] Translation: X:49.83, Y:4.83, Z:-3.83 [[ 9.83619689e-01 -1.71539429e-01 5.53762816e-02 4.98331888e+01] [ 1.71257763e-01 9.85177238e-01 9.82790819e-03 4.82672682e+00] [-5.62413259e-02 -1.83305877e-04 9.98417187e-01 -3.83272132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.353201008 meters 0.062090365430398496 Centerline is valid? [True, True] Translation: X:49.89, Y:4.83, Z:-3.84 [[ 9.82592556e-01 -1.76742933e-01 5.72171641e-02 4.98917661e+01] [ 1.76450260e-01 9.84257042e-01 1.01676405e-02 4.83333545e+00] [-5.81134552e-02 1.05335649e-04 9.98309980e-01 -3.83667143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.413201008 meters 0.06195433300224601 Centerline is valid? [True, True] Translation: X:49.95, Y:4.84, Z:-3.84 [[ 9.81927764e-01 -1.80661783e-01 5.63842797e-02 4.99512001e+01] [ 1.80383275e-01 9.83545229e-01 1.00327402e-02 4.83732343e+00] [-5.72690220e-02 3.19354890e-04 9.98358732e-01 -3.84046422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.473201008000004 meters 0.06199307415312495 Centerline is valid? [True, True] Translation: X:50.01, Y:4.84, Z:-3.84 [[ 9.81206069e-01 -1.84789509e-01 5.55651628e-02 5.00100439e+01] [ 1.84524923e-01 9.82777974e-01 9.89982571e-03 4.84209886e+00] [-5.64376021e-02 5.39388308e-04 9.98405983e-01 -3.84462586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.533201008 meters 0.062253071130201794 Centerline is valid? [True, True] Translation: X:50.07, Y:4.85, Z:-3.85 [[ 9.81062730e-01 -1.85922317e-01 5.43029715e-02 5.00671002e+01] [ 1.85670485e-01 9.82564278e-01 9.69070814e-03 4.85318332e+00] [-5.51578789e-02 5.75266489e-04 9.98477480e-01 -3.85118508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.593201008 meters 0.062224960637453655 Centerline is valid? [True, True] Translation: X:50.12, Y:4.86, Z:-3.86 [[ 9.81633383e-01 -1.83459829e-01 5.23296575e-02 5.01237209e+01] [ 1.83222245e-01 9.83027120e-01 9.34298502e-03 4.86235578e+00] [-5.31555349e-02 4.16571314e-04 9.98586158e-01 -3.85739766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.653201008 meters 0.061975093615306696 Centerline is valid? [True, True] Translation: X:50.18, Y:4.87, Z:-3.86 [[ 9.82048667e-01 -1.81361492e-01 5.18500183e-02 5.01810673e+01] [ 1.81125312e-01 9.83416453e-01 9.25754014e-03 4.87355208e+00] [-5.26691224e-02 2.99995815e-04 9.98611973e-01 -3.86165589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.713201008 meters 0.06208434887887488 Centerline is valid? [True, True] Translation: X:50.24, Y:4.89, Z:-3.87 [[ 9.83052010e-01 -1.76103712e-01 5.09531890e-02 5.02360333e+01] [ 1.75867858e-01 9.84371618e-01 9.11120105e-03 4.89269615e+00] [-5.17613894e-02 4.24370305e-06 9.98659481e-01 -3.86905522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.773201008 meters 0.06176050543190535 Centerline is valid? [True, True] Translation: X:50.29, Y:4.90, Z:-3.87 [[ 9.82871688e-01 -1.76977505e-01 5.14024104e-02 5.02944762e+01] [ 1.76737884e-01 9.84214896e-01 9.20645106e-03 4.89991926e+00] [-5.22203528e-02 3.59931749e-05 9.98635586e-01 -3.87056237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.833201008 meters 0.06161363167832319 Centerline is valid? [True, True] Translation: X:50.35, Y:4.91, Z:-3.88 [[ 9.82549822e-01 -1.78963956e-01 5.06729764e-02 5.03520372e+01] [ 1.78732934e-01 9.83855623e-01 9.09127476e-03 4.90621965e+00] [-5.14819033e-02 1.24299355e-04 9.98673920e-01 -3.87632326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.893201008 meters 0.062163688387415275 Centerline is valid? [True, True] Translation: X:50.41, Y:4.92, Z:-3.89 [[ 9.82342655e-01 -1.80546903e-01 4.90481840e-02 5.04089684e+01] [ 1.80332242e-01 9.83566356e-01 8.80371389e-03 4.91695805e+00] [-4.98316269e-02 1.96705294e-04 9.98757613e-01 -3.88579560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.953201008 meters 0.06247328113965788 Centerline is valid? [True, True] Translation: X:50.46, Y:4.93, Z:-3.89 [[ 9.82930919e-01 -1.78339754e-01 4.51856166e-02 5.04649086e+01] [ 1.78155085e-01 9.83968966e-01 8.11412373e-03 4.93252859e+00] [-4.59083153e-02 7.44242641e-05 9.98945655e-01 -3.89374816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.013201008 meters 0.06218256411563901 Centerline is valid? [True, True] Translation: X:50.52, Y:4.94, Z:-3.90 [[ 9.82644639e-01 -1.80119827e-01 4.43436809e-02 5.05229168e+01] [ 1.79943744e-01 9.83644664e-01 7.96396883e-03 4.93983555e+00] [-4.50528938e-02 1.53616699e-04 9.98984591e-01 -3.89586435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.073201008 meters 0.06176217622763634 Centerline is valid? [True, True] Translation: X:50.58, Y:4.94, Z:-3.90 [[ 9.81881070e-01 -1.84187432e-01 4.45483462e-02 5.05817836e+01] [ 1.84013806e-01 9.82891080e-01 8.00279203e-03 4.94477401e+00] [-4.52601858e-02 3.39720718e-04 9.98975175e-01 -3.89695894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.133201008 meters 0.06145378262304777 Centerline is valid? [True, True] Translation: X:50.64, Y:4.96, Z:-3.90 [[ 9.81519755e-01 -1.85651916e-01 4.63932927e-02 5.06389984e+01] [ 1.85464680e-01 9.82615487e-01 8.34604709e-03 4.95530105e+00] [-4.71362276e-02 4.12507099e-04 9.98888385e-01 -3.90333366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.193201008 meters 0.06113700198267779 Centerline is valid? [True, True] Translation: X:50.70, Y:4.97, Z:-3.91 [[ 9.81878768e-01 -1.83693566e-01 4.65913972e-02 5.06961206e+01] [ 1.83502001e-01 9.82983509e-01 8.39267967e-03 4.96893961e+00] [-4.73402564e-02 3.09020649e-04 9.98878774e-01 -3.90714070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.253201008 meters 0.0610178270323159 Centerline is valid? [True, True] Translation: X:50.75, Y:4.98, Z:-3.91 [[ 9.82179361e-01 -1.82506123e-01 4.48911711e-02 5.07530969e+01] [ 1.82326416e-01 9.83204690e-01 8.10033430e-03 4.98002733e+00] [-4.56155706e-02 2.28865150e-04 9.98959042e-01 -3.91306346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.313201008 meters 0.061018831683806674 Centerline is valid? [True, True] Translation: X:50.81, Y:4.99, Z:-3.92 [[ 9.82034729e-01 -1.83296494e-01 4.48350956e-02 5.08098158e+01] [ 1.83118139e-01 9.83057640e-01 8.08846282e-03 4.98991241e+00] [-4.55580702e-02 2.66967873e-04 9.98961656e-01 -3.91701722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.373201008 meters 0.06025705980622313 Centerline is valid? [True, True] Translation: X:50.87, Y:5.00, Z:-3.91 [[ 9.81911714e-01 -1.83962373e-01 4.48021307e-02 5.08671798e+01] [ 1.83784473e-01 9.82933244e-01 8.09348407e-03 4.99966190e+00] [-4.55264002e-02 2.86849149e-04 9.98963095e-01 -3.91400132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.433201008 meters 0.06055366469037957 Centerline is valid? [True, True] Translation: X:50.92, Y:5.01, Z:-3.92 [[ 9.82210169e-01 -1.82612208e-01 4.37717365e-02 5.09225345e+01] [ 1.82440280e-01 9.83184998e-01 7.92485529e-03 5.01401073e+00] [-4.44828900e-02 2.01854439e-04 9.99010126e-01 -3.92132167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.493201008 meters 0.060680095612063084 Centerline is valid? [True, True] Translation: X:50.98, Y:5.03, Z:-3.93 [[ 9.82932295e-01 -1.78730652e-01 4.35827648e-02 5.09774318e+01] [ 1.78556410e-01 9.83898040e-01 7.89017665e-03 5.03389935e+00] [-4.42912133e-02 2.64725931e-05 9.99018662e-01 -3.92873684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.553201008 meters 0.06048651605197471 Centerline is valid? [True, True] Translation: X:51.04, Y:5.04, Z:-3.93 [[ 9.83216208e-01 -1.77443401e-01 4.24231965e-02 5.10353801e+01] [ 1.77276610e-01 9.84131006e-01 7.69194286e-03 5.04434943e+00] [-4.31148676e-02 -4.22024253e-05 9.99070121e-01 -3.92985881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.613201008000004 meters 0.0600291682393842 Centerline is valid? [True, True] Translation: X:51.09, Y:5.05, Z:-3.93 [[ 9.82752436e-01 -1.79593004e-01 4.40908515e-02 5.10946489e+01] [ 1.79414466e-01 9.83740998e-01 8.00615278e-03 5.05019401e+00] [-4.48118273e-02 4.24704253e-05 9.98995445e-01 -3.93233053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.673201008 meters 0.060122675424546614 Centerline is valid? [True, True] Translation: X:51.15, Y:5.06, Z:-3.94 [[ 9.82119279e-01 -1.82563095e-01 4.59612761e-02 5.11517304e+01] [ 1.82371626e-01 9.83194125e-01 8.36079367e-03 5.05747623e+00] [-4.67152290e-02 1.70735995e-04 9.98908233e-01 -3.93795756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.733201008 meters 0.06012755570232111 Centerline is valid? [True, True] Translation: X:51.21, Y:5.07, Z:-3.94 [[ 9.81901328e-01 -1.83616502e-01 4.64194250e-02 5.12090230e+01] [ 1.83422431e-01 9.82997930e-01 8.44285317e-03 5.06775158e+00] [-4.71804458e-02 2.24315056e-04 9.98886358e-01 -3.94132616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.793201008000004 meters 0.05995920532384145 Centerline is valid? [True, True] Translation: X:51.27, Y:5.07, Z:-3.94 [[ 9.81673243e-01 -1.84841250e-01 4.63827042e-02 5.12676675e+01] [ 1.84648254e-01 9.82768355e-01 8.44887170e-03 5.07330341e+00] [-4.71451539e-02 2.70454046e-04 9.98888012e-01 -3.94025205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.853201008 meters 0.06019001993563429 Centerline is valid? [True, True] Translation: X:51.32, Y:5.08, Z:-3.95 [[ 9.81850353e-01 -1.84047683e-01 4.57857447e-02 5.13242609e+01] [ 1.83857975e-01 9.82917293e-01 8.35704124e-03 5.08380465e+00] [-4.65416943e-02 2.12710407e-04 9.98916326e-01 -3.94637897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.913201008 meters 0.060471871417564084 Centerline is valid? [True, True] Translation: X:51.38, Y:5.10, Z:-3.95 [[ 9.81774742e-01 -1.84621656e-01 4.50910158e-02 5.13806322e+01] [ 1.84438170e-01 9.82809641e-01 8.23237862e-03 5.10196736e+00] [-4.58357604e-02 2.34163028e-04 9.98948962e-01 -3.95353471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.973201008000004 meters 0.0609740121770636 Centerline is valid? [True, True] Translation: X:51.44, Y:5.11, Z:-3.96 [[ 9.81469189e-01 -1.86069517e-01 4.57860769e-02 5.14371645e+01] [ 1.85881141e-01 9.82536539e-01 8.37561697e-03 5.11195121e+00] [-4.65449406e-02 2.90358241e-04 9.98916155e-01 -3.96088871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.033201008 meters 0.06050715999327523 Centerline is valid? [True, True] Translation: X:51.50, Y:5.12, Z:-3.96 [[ 9.81367698e-01 -1.86418034e-01 4.65377074e-02 5.14954720e+01] [ 1.86223815e-01 9.82470467e-01 8.51303279e-03 5.12043788e+00] [-4.73089060e-02 3.12014010e-04 9.98880258e-01 -3.95976978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.093201008 meters 0.06033298779649339 Centerline is valid? [True, True] Translation: X:51.55, Y:5.13, Z:-3.96 [[ 9.81762486e-01 -1.84361625e-01 4.64027287e-02 5.15521603e+01] [ 1.84165777e-01 9.82858459e-01 8.49801733e-03 5.13458309e+00] [-4.71740227e-02 2.02759967e-04 9.98886665e-01 -3.96276516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.153201008 meters 0.06057867209308137 Centerline is valid? [True, True] Translation: X:51.61, Y:5.15, Z:-3.97 [[ 9.82053814e-01 -1.82389459e-01 4.80040781e-02 5.16085213e+01] [ 1.82176532e-01 9.83226361e-01 8.81102773e-03 5.14781789e+00] [-4.88059136e-02 9.23130955e-05 9.98808277e-01 -3.96809732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.213201008 meters 0.06052749479828156 Centerline is valid? [True, True] Translation: X:51.67, Y:5.16, Z:-3.97 [[ 9.82043065e-01 -1.82357694e-01 4.83434550e-02 5.16660788e+01] [ 1.82141738e-01 9.83232253e-01 8.87266860e-03 5.15742242e+00] [-4.91508435e-02 9.20182552e-05 9.98791363e-01 -3.97247951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.273201008 meters 0.06037002811685568 Centerline is valid? [True, True] Translation: X:51.72, Y:5.17, Z:-3.97 [[ 9.81787837e-01 -1.83273430e-01 5.00349134e-02 5.17246239e+01] [ 1.83042478e-01 9.83061968e-01 9.19877859e-03 5.16586911e+00] [-5.08733122e-02 1.27265617e-04 9.98705107e-01 -3.97456418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.333201008 meters 0.06059451441985166 Centerline is valid? [True, True] Translation: X:51.78, Y:5.18, Z:-3.98 [[ 9.81720505e-01 -1.83396567e-01 5.08974415e-02 5.17822976e+01] [ 1.83157069e-01 9.83039004e-01 9.37036902e-03 5.17933395e+00] [-5.17526637e-02 1.23142806e-04 9.98659925e-01 -3.98095362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.393201008 meters 0.06046695769785365 Centerline is valid? [True, True] Translation: X:51.84, Y:5.19, Z:-3.98 [[ 9.81495295e-01 -1.84333450e-01 5.18475156e-02 5.18409396e+01] [ 1.84085626e-01 9.82863751e-01 9.55668483e-03 5.18850443e+00] [-5.27206604e-02 1.64541174e-04 9.98609285e-01 -3.98340204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.453201008 meters 0.06036627041785999 Centerline is valid? [True, True] Translation: X:51.90, Y:5.20, Z:-3.98 [[ 9.81314241e-01 -1.84892991e-01 5.32629475e-02 5.18992817e+01] [ 1.84631553e-01 9.82758641e-01 9.83071179e-03 5.19831894e+00] [-5.41622517e-02 1.87003214e-04 9.98532130e-01 -3.98473239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.513201008 meters 0.06086553380690426 Centerline is valid? [True, True] Translation: X:51.96, Y:5.21, Z:-3.99 [[ 9.81338585e-01 -1.85292686e-01 5.13926197e-02 5.19555522e+01] [ 1.85049017e-01 9.82683360e-01 9.50134495e-03 5.21018469e+00] [-5.22632019e-02 1.86117318e-04 9.98633328e-01 -3.99426053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.573201008 meters 0.061118901108227756 Centerline is valid? [True, True] Translation: X:52.01, Y:5.22, Z:-4.00 [[ 9.81350951e-01 -1.85819748e-01 4.92070346e-02 5.20129429e+01] [ 1.85596834e-01 9.82583829e-01 9.10133803e-03 5.21864962e+00] [-5.00412448e-02 2.01063130e-04 9.98747132e-01 -4.00094988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.633201008 meters 0.061252502086516024 Centerline is valid? [True, True] Translation: X:52.07, Y:5.23, Z:-4.01 [[ 9.81313474e-01 -1.86307563e-01 4.80973698e-02 5.20708764e+01] [ 1.86095194e-01 9.82491447e-01 8.89582571e-03 5.22971089e+00] [-4.89126141e-02 2.21095724e-04 9.98803037e-01 -4.00558794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.693201008 meters 0.06120141448964197 Centerline is valid? [True, True] Translation: X:52.13, Y:5.24, Z:-4.01 [[ 9.81483934e-01 -1.85146767e-01 4.90913671e-02 5.21286524e+01] [ 1.84923429e-01 9.82710869e-01 9.09253782e-03 5.24368638e+00] [-4.99260740e-02 1.53964168e-04 9.98752904e-01 -4.00987726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.753201008 meters 0.06114867754092775 Centerline is valid? [True, True] Translation: X:52.18, Y:5.26, Z:-4.01 [[ 9.81785317e-01 -1.83278834e-01 5.00645609e-02 5.21843990e+01] [ 1.83043346e-01 9.83060968e-01 9.28797081e-03 5.25713978e+00] [-5.09188041e-02 4.51913559e-05 9.98702795e-01 -4.01478550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.813201008 meters 0.061003825683665365 Centerline is valid? [True, True] Translation: X:52.24, Y:5.27, Z:-4.02 [[ 9.81731587e-01 -1.83278495e-01 5.11085599e-02 5.22417981e+01] [ 1.83033022e-01 9.83061031e-01 9.48269939e-03 5.26840832e+00] [-5.19808085e-02 4.50886733e-05 9.98648083e-01 -4.01873009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.873201008 meters 0.06126517629834363 Centerline is valid? [True, True] Translation: X:52.30, Y:5.28, Z:-4.03 [[ 9.81596585e-01 -1.84040533e-01 5.09629912e-02 5.22977397e+01] [ 1.83796908e-01 9.82918652e-01 9.46679033e-03 5.28232877e+00] [-5.18347478e-02 7.42711391e-05 9.98655673e-01 -4.02620470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.933201008 meters 0.06138763358772619 Centerline is valid? [True, True] Translation: X:52.35, Y:5.29, Z:-4.03 [[ 9.81480241e-01 -1.84696529e-01 5.08303900e-02 5.23547896e+01] [ 1.84454321e-01 9.82795596e-01 9.45622926e-03 5.29222057e+00] [-5.17024161e-02 9.47829090e-05 9.98662531e-01 -4.03088063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.993201008 meters 0.06138753871435362 Centerline is valid? [True, True] Translation: X:52.41, Y:5.30, Z:-4.04 [[ 9.81490418e-01 -1.85012026e-01 4.94682757e-02 5.24122415e+01] [ 1.84782141e-01 9.82736253e-01 9.22053676e-03 5.30080800e+00] [-5.03201781e-02 9.09854219e-05 9.98733133e-01 -4.03625879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.053201008 meters 0.06144293322156351 Centerline is valid? [True, True] Translation: X:52.47, Y:5.31, Z:-4.04 [[ 9.81055573e-01 -1.87426545e-01 4.90025812e-02 5.24699172e+01] [ 1.87203780e-01 9.82278599e-01 9.13774771e-03 5.30960119e+00] [-4.98468433e-02 2.08830092e-04 9.98756852e-01 -4.03939566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.113201008000004 meters 0.06198393102947636 Centerline is valid? [True, True] Translation: X:52.53, Y:5.32, Z:-4.05 [[ 9.80808041e-01 -1.88864518e-01 4.84332586e-02 5.25264470e+01] [ 1.88648448e-01 9.82003115e-01 9.03574038e-03 5.32001238e+00] [-4.92681416e-02 2.74532270e-04 9.98785550e-01 -4.04897500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.173201008 meters 0.06171497187233841 Centerline is valid? [True, True] Translation: X:52.58, Y:5.33, Z:-4.05 [[ 9.80515468e-01 -1.90123923e-01 4.94197419e-02 5.25843441e+01] [ 1.89900532e-01 9.81760040e-01 9.22021986e-03 5.33224876e+00] [-5.02713122e-02 3.44267099e-04 9.98735539e-01 -4.05179403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.233201008 meters 0.061644978115405265 Centerline is valid? [True, True] Translation: X:52.64, Y:5.34, Z:-4.05 [[ 9.80325828e-01 -1.90766387e-01 5.06898072e-02 5.26422466e+01] [ 1.90531568e-01 9.81635393e-01 9.46976137e-03 5.34167804e+00] [-5.15654210e-02 3.74556807e-04 9.98669548e-01 -4.05326533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.293201008000004 meters 0.06133278112728074 Centerline is valid? [True, True] Translation: X:52.70, Y:5.35, Z:-4.05 [[ 9.80123164e-01 -1.91323607e-01 5.24772369e-02 5.27004931e+01] [ 1.91071817e-01 9.81526931e-01 9.82061840e-03 5.34796439e+00] [-5.33867374e-02 4.01505403e-04 9.98573831e-01 -4.05182704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.353201008 meters 0.06136609280753158 Centerline is valid? [True, True] Translation: X:52.76, Y:5.36, Z:-4.06 [[ 9.80345582e-01 -1.90286558e-01 5.20918939e-02 5.27569717e+01] [ 1.90036981e-01 9.81728531e-01 9.74870141e-03 5.36280521e+00] [-5.29951454e-02 3.42289871e-04 9.98594711e-01 -4.05756235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.413201008 meters 0.06188892325806028 Centerline is valid? [True, True] Translation: X:52.81, Y:5.38, Z:-4.07 [[ 9.80289196e-01 -1.91047506e-01 5.03382729e-02 5.28137429e+01] [ 1.90814742e-01 9.81580727e-01 9.43456320e-03 5.37559545e+00] [-5.12135283e-02 3.56684183e-04 9.98687663e-01 -4.06674385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.473201008000004 meters 0.06205760045425362 Centerline is valid? [True, True] Translation: X:52.87, Y:5.38, Z:-4.07 [[ 9.79851875e-01 -1.93703013e-01 4.86769548e-02 5.28724153e+01] [ 1.93488087e-01 9.81060102e-01 9.13437802e-03 5.38248084e+00] [-4.95243748e-02 4.68073422e-04 9.98772806e-01 -4.07107007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.533201008 meters 0.06253885745255447 Centerline is valid? [True, True] Translation: X:52.93, Y:5.39, Z:-4.07 [[ 9.79373286e-01 -1.96223816e-01 4.82097613e-02 5.29312859e+01] [ 1.96015474e-01 9.80558963e-01 9.05838374e-03 5.38958374e+00] [-4.90499841e-02 5.78320147e-04 9.98796158e-01 -4.07496619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.593201008 meters 0.06224655057046103 Centerline is valid? [True, True] Translation: X:52.99, Y:5.40, Z:-4.08 [[ 9.79506405e-01 -1.95221790e-01 4.95545733e-02 5.29896555e+01] [ 1.94999726e-01 9.80758977e-01 9.32391108e-03 5.40134412e+00] [-5.04213233e-02 5.30297615e-04 9.98727895e-01 -4.07739972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.653201008 meters 0.062047922896696805 Centerline is valid? [True, True] Translation: X:53.05, Y:5.41, Z:-4.08 [[ 9.79290274e-01 -1.95035352e-01 5.43301975e-02 5.30472022e+01] [ 1.94767167e-01 9.80796056e-01 1.02394607e-02 5.41338389e+00] [-5.52839003e-02 5.54334347e-04 9.98470522e-01 -4.07987010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.713201008 meters 0.06157588218160633 Centerline is valid? [True, True] Translation: X:53.10, Y:5.43, Z:-4.08 [[ 9.79276494e-01 -1.94838863e-01 5.52753636e-02 5.31044999e+01] [ 1.94561002e-01 9.80835109e-01 1.04165936e-02 5.42793325e+00] [-5.62455746e-02 5.53704844e-04 9.98416811e-01 -4.08116259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.773201008 meters 0.0618687335243237 Centerline is valid? [True, True] Translation: X:53.16, Y:5.44, Z:-4.09 [[ 9.80009282e-01 -1.92020162e-01 5.20582786e-02 5.31602312e+01] [ 1.91768917e-01 9.81390917e-01 9.82597757e-03 5.44168635e+00] [-5.29763076e-02 3.53610501e-04 9.98595707e-01 -4.09021763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.833201008 meters 0.06204960841586921 Centerline is valid? [True, True] Translation: X:53.22, Y:5.46, Z:-4.10 [[ 9.80584404e-01 -1.89634749e-01 4.99288352e-02 5.32169288e+01] [ 1.89400540e-01 9.81854681e-01 9.42443121e-03 5.45557686e+00] [-5.08100602e-02 2.15098081e-04 9.98708312e-01 -4.09805627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.893201008 meters 0.061786122124511136 Centerline is valid? [True, True] Translation: X:53.28, Y:5.46, Z:-4.10 [[ 9.79815265e-01 -1.93115362e-01 5.16575554e-02 5.32763652e+01] [ 1.92868777e-01 9.81175978e-01 9.76395502e-03 5.46238048e+00] [-5.25707222e-02 3.96257377e-04 9.98617125e-01 -4.09511489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.953201008 meters 0.06229944277241483 Centerline is valid? [True, True] Translation: X:53.33, Y:5.47, Z:-4.10 [[ 9.79406897e-01 -1.96044871e-01 4.82549237e-02 5.33343885e+01] [ 1.95832543e-01 9.80594797e-01 9.13559241e-03 5.47157104e+00] [-4.91095132e-02 5.02422212e-04 9.98793274e-01 -4.10376912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.013201008 meters 0.06351181492726264 Centerline is valid? [True, True] Translation: X:53.39, Y:5.49, Z:-4.12 [[ 9.79432756e-01 -1.96828088e-01 4.43867094e-02 5.33908956e+01] [ 1.96649078e-01 9.80437892e-01 8.40717079e-03 5.48983352e+00] [-4.51731792e-02 4.94347038e-04 9.98979049e-01 -4.11989766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.073201008 meters 0.06351967438002484 Centerline is valid? [True, True] Translation: X:53.45, Y:5.50, Z:-4.12 [[ 9.79237367e-01 -1.97309529e-01 4.65094437e-02 5.34490875e+01] [ 1.97113508e-01 9.80341092e-01 8.80954923e-03 5.49547443e+00] [-4.73333268e-02 5.40999784e-04 9.98879003e-01 -4.12181215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.133201008 meters 0.06273499146103387 Centerline is valid? [True, True] Translation: X:53.51, Y:5.50, Z:-4.12 [[ 9.79630072e-01 -1.95047846e-01 4.77625440e-02 5.35072608e+01] [ 1.94838216e-01 9.80793630e-01 9.05123123e-03 5.50272206e+00] [-4.86106220e-02 4.39110544e-04 9.98817708e-01 -4.11943516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.193201008 meters 0.062091193959414856 Centerline is valid? [True, True] Translation: X:53.56, Y:5.52, Z:-4.12 [[ 9.79946000e-01 -1.93088088e-01 4.92222316e-02 5.35643183e+01] [ 1.92862968e-01 9.81181363e-01 9.32788311e-03 5.52003694e+00] [-5.00970394e-02 3.52323932e-04 9.98744293e-01 -4.12022025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.253201008 meters 0.06255143879347749 Centerline is valid? [True, True] Translation: X:53.62, Y:5.54, Z:-4.13 [[ 9.80550288e-01 -1.90148520e-01 4.86279055e-02 5.36187410e+01] [ 1.89924442e-01 9.81755319e-01 9.23039247e-03 5.53502445e+00] [-4.94958503e-02 1.84763822e-04 9.98774312e-01 -4.13204314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.313201008 meters 0.06225952210618402 Centerline is valid? [True, True] Translation: X:53.68, Y:5.55, Z:-4.13 [[ 9.80972525e-01 -1.88066978e-01 4.82049469e-02 5.36752850e+01] [ 1.87844187e-01 9.82156202e-01 9.15181638e-03 5.54904306e+00] [-4.90659420e-02 7.73386396e-05 9.98795538e-01 -4.13145492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.373201008 meters 0.06222210703345354 Centerline is valid? [True, True] Translation: X:53.73, Y:5.57, Z:-4.14 [[ 9.81486661e-01 -1.84912437e-01 4.99131779e-02 5.37323471e+01] [ 1.84668669e-01 9.82754995e-01 9.49220176e-03 5.56561940e+00] [-5.08076511e-02 -9.90693011e-05 9.98708452e-01 -4.13689831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.433201008 meters 0.06253451256776 Centerline is valid? [True, True] Translation: X:53.79, Y:5.58, Z:-4.14 [[ 9.81960843e-01 -1.82420278e-01 4.97568489e-02 5.37880616e+01] [ 1.82174149e-01 9.83220618e-01 9.47604084e-03 5.58067406e+00] [-5.06505817e-02 -2.40689466e-04 9.98716407e-01 -4.14245917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.493201008 meters 0.0630290376908305 Centerline is valid? [True, True] Translation: X:53.84, Y:5.60, Z:-4.15 [[ 9.82796917e-01 -1.78132093e-01 4.87768140e-02 5.38440937e+01] [ 1.77889936e-01 9.84006477e-01 9.29646455e-03 5.59791133e+00] [-4.96526996e-02 -4.59632364e-04 9.98766438e-01 -4.14781919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.553201008 meters 0.06390968235377635 Centerline is valid? [True, True] Translation: X:53.90, Y:5.61, Z:-4.16 [[ 9.82968943e-01 -1.77748649e-01 4.66634303e-02 5.39003999e+01] [ 1.77526419e-01 9.84075812e-01 8.89753427e-03 5.61039716e+00] [-4.75018777e-02 -4.62008162e-04 9.98871042e-01 -4.15757981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.613201008 meters 0.06407188061053148 Centerline is valid? [True, True] Translation: X:53.96, Y:5.62, Z:-4.16 [[ 9.82944504e-01 -1.78335247e-01 4.49070318e-02 5.39588697e+01] [ 1.78130093e-01 9.83969698e-01 8.56175111e-03 5.61896249e+00] [-4.57140205e-02 -4.16432446e-04 9.98954481e-01 -4.16262175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.673201008 meters 0.06417121444773242 Centerline is valid? [True, True] Translation: X:54.02, Y:5.63, Z:-4.17 [[ 9.82754179e-01 -1.79578688e-01 4.41102952e-02 5.40175409e+01] [ 1.79381536e-01 9.83743546e-01 8.42027870e-03 5.62514150e+00] [-4.49053208e-02 -3.62491588e-04 9.98991182e-01 -4.16767657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.733201008 meters 0.06347679302923438 Centerline is valid? [True, True] Translation: X:54.08, Y:5.63, Z:-4.17 [[ 9.81945806e-01 -1.83113082e-01 4.74556011e-02 5.40784650e+01] [ 1.82888132e-01 9.83091829e-01 9.07670397e-03 5.62780885e+00] [-4.83152769e-02 -2.33765139e-04 9.98832108e-01 -4.16555843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.793201008000004 meters 0.06351153227798162 Centerline is valid? [True, True] Translation: X:54.14, Y:5.64, Z:-4.17 [[ 9.81861885e-01 -1.83007482e-01 4.95530147e-02 5.41357640e+01] [ 1.82762168e-01 9.83111489e-01 9.47573271e-03 5.64185427e+00] [-5.04502680e-02 -2.47444391e-04 9.98726544e-01 -4.17027458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.853201008 meters 0.06373272213895957 Centerline is valid? [True, True] Translation: X:54.19, Y:5.65, Z:-4.18 [[ 9.81902386e-01 -1.82846785e-01 4.93432596e-02 5.41927330e+01] [ 1.82602738e-01 9.83141385e-01 9.44764046e-03 5.65481673e+00] [-5.02388712e-02 -2.66446409e-04 9.98737195e-01 -4.17620046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.913201008 meters 0.06358329708075663 Centerline is valid? [True, True] Translation: X:54.25, Y:5.67, Z:-4.18 [[ 9.82050948e-01 -1.82164395e-01 4.89087758e-02 5.42511082e+01] [ 1.81923223e-01 9.83268039e-01 9.37570366e-03 5.66607521e+00] [-4.97983555e-02 -3.09776544e-04 9.98759244e-01 -4.17777588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.973201008000004 meters 0.06346784930057296 Centerline is valid? [True, True] Translation: X:54.31, Y:5.67, Z:-4.18 [[ 9.81760850e-01 -1.83875995e-01 4.83244515e-02 5.43086897e+01] [ 1.83641828e-01 9.82949420e-01 9.27989623e-03 5.67331164e+00] [-4.92068418e-02 -2.36248217e-04 9.98788582e-01 -4.18215343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.033201008 meters 0.06382730525537185 Centerline is valid? [True, True] Translation: X:54.37, Y:5.68, Z:-4.19 [[ 9.81555077e-01 -1.85938734e-01 4.44569140e-02 5.43667366e+01] [ 1.85742478e-01 9.82561332e-01 8.54169908e-03 5.68196993e+00] [-4.52698773e-02 -1.26610720e-04 9.98974786e-01 -4.19139247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.093201008 meters 0.06401157527465848 Centerline is valid? [True, True] Translation: X:54.42, Y:5.69, Z:-4.20 [[ 9.81498256e-01 -1.86482573e-01 4.34214551e-02 5.44246797e+01] [ 1.86296052e-01 9.82458264e-01 8.33906751e-03 5.69133071e+00] [-4.42148582e-02 -9.55345541e-05 9.99022040e-01 -4.19831745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.153201008 meters 0.06369689201495025 Centerline is valid? [True, True] Translation: X:54.48, Y:5.70, Z:-4.20 [[ 9.81116723e-01 -1.88262478e-01 4.43533070e-02 5.44833162e+01] [ 1.88069176e-01 9.82118750e-01 8.52914866e-03 5.69935026e+00] [-4.51659331e-02 -2.66004925e-05 9.98979498e-01 -4.20083143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.213201008 meters 0.06383327863983629 Centerline is valid? [True, True] Translation: X:54.54, Y:5.71, Z:-4.21 [[ 9.80759678e-01 -1.90076371e-01 4.45132179e-02 5.45397116e+01] [ 1.89882825e-01 9.81769307e-01 8.57562673e-03 5.70856056e+00] [-4.53317351e-02 4.16666314e-05 9.98971988e-01 -4.20857903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.273201008 meters 0.06381889090988446 Centerline is valid? [True, True] Translation: X:54.60, Y:5.72, Z:-4.21 [[ 9.80793734e-01 -1.89860802e-01 4.46825247e-02 5.45956912e+01] [ 1.89665376e-01 9.81811018e-01 8.61221555e-03 5.72074610e+00] [-4.55049172e-02 2.79207857e-05 9.98964114e-01 -4.21396185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.333201008 meters 0.06400909114543518 Centerline is valid? [True, True] Translation: X:54.65, Y:5.73, Z:-4.22 [[ 9.80963220e-01 -1.89033655e-01 4.44683939e-02 5.46529261e+01] [ 1.88839326e-01 9.81970609e-01 8.56923034e-03 5.73258655e+00] [-4.52865288e-02 -8.71824727e-06 9.98974039e-01 -4.21875816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.393201008 meters 0.0637203110129635 Centerline is valid? [True, True] Translation: X:54.71, Y:5.74, Z:-4.22 [[ 9.81023971e-01 -1.88804139e-01 4.41017685e-02 5.47107605e+01] [ 1.88612226e-01 9.82014764e-01 8.51069647e-03 5.74404319e+00] [-4.49154425e-02 -3.10645087e-05 9.98990792e-01 -4.22098583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.453201008 meters 0.06428862204241026 Centerline is valid? [True, True] Translation: X:54.77, Y:5.76, Z:-4.23 [[ 9.80936729e-01 -1.89592431e-01 4.26361839e-02 5.47673230e+01] [ 1.89413385e-01 9.81862877e-01 8.23768281e-03 5.75942071e+00] [-4.34246886e-02 -4.78170664e-06 9.99056703e-01 -4.23221924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.513201008 meters 0.06453413278830587 Centerline is valid? [True, True] Translation: X:54.83, Y:5.77, Z:-4.24 [[ 9.80971919e-01 -1.89902681e-01 4.03864544e-02 5.48256548e+01] [ 1.89741676e-01 9.81802919e-01 7.81822113e-03 5.76787219e+00] [-4.11362400e-02 -6.46183765e-06 9.99153547e-01 -4.23815118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.573201008 meters 0.0638952070144064 Centerline is valid? [True, True] Translation: X:54.88, Y:5.77, Z:-4.24 [[ 9.80721625e-01 -1.90819446e-01 4.21074111e-02 5.48847728e+01] [ 1.90645429e-01 9.81625151e-01 8.14756385e-03 5.77492655e+00] [-4.28884074e-02 3.70933807e-05 9.99079868e-01 -4.23687615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.633201008 meters 0.0634969473950899 Centerline is valid? [True, True] Translation: X:54.94, Y:5.79, Z:-4.24 [[ 9.80694213e-01 -1.90168482e-01 4.55500659e-02 5.49429464e+01] [ 1.89963527e-01 9.81751470e-01 8.82665650e-03 5.78802446e+00] [-4.63973960e-02 -3.39976612e-06 9.98923061e-01 -4.23762956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.693201008 meters 0.06347596684750444 Centerline is valid? [True, True] Translation: X:55.00, Y:5.80, Z:-4.24 [[ 9.80709185e-01 -1.89751156e-01 4.69467173e-02 5.50000846e+01] [ 1.89532450e-01 9.81832215e-01 9.10783935e-03 5.80294745e+00] [-4.78220225e-02 -3.42153684e-05 9.98855872e-01 -4.24322338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.753201008 meters 0.06388053671311465 Centerline is valid? [True, True] Translation: X:55.06, Y:5.82, Z:-4.25 [[ 9.81367232e-01 -1.86601092e-01 4.58081628e-02 5.50558943e+01] [ 1.86388938e-01 9.82435746e-01 8.89770569e-03 5.82131968e+00] [-4.66638982e-02 -1.93782017e-04 9.98910628e-01 -4.25103467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.813201008 meters 0.06372649234058204 Centerline is valid? [True, True] Translation: X:55.12, Y:5.83, Z:-4.26 [[ 9.80551355e-01 -1.91648424e-01 4.23074772e-02 5.51151609e+01] [ 1.91471519e-01 9.81463642e-01 8.23264813e-03 5.82541576e+00] [-4.31010247e-02 2.81426604e-05 9.99070719e-01 -4.25567841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.873201008 meters 0.06416356965592634 Centerline is valid? [True, True] Translation: X:55.18, Y:5.83, Z:-4.26 [[ 9.78548129e-01 -2.01998291e-01 4.04999984e-02 5.51753402e+01] [ 2.01844922e-01 9.79385766e-01 7.88345011e-03 5.82768595e+00] [-4.12575654e-02 4.60383664e-04 9.99148438e-01 -4.26355714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.933201008 meters 0.0651225852667678 Centerline is valid? [True, True] Translation: X:55.23, Y:5.84, Z:-4.27 [[ 9.77907391e-01 -2.05649026e-01 3.74915012e-02 5.52332963e+01] [ 2.05520254e-01 9.78625646e-01 7.29860250e-03 5.83737062e+00] [-3.81910951e-02 5.67905511e-04 9.99270293e-01 -4.27432416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.993201008 meters 0.06493930209161643 Centerline is valid? [True, True] Translation: X:55.29, Y:5.85, Z:-4.28 [[ 9.78417431e-01 -2.02933570e-01 3.89524860e-02 5.52907466e+01] [ 2.02792398e-01 9.79192390e-01 7.58336266e-03 5.84576354e+00] [-3.96808967e-02 4.79573799e-04 9.99212288e-01 -4.27830537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.053201008 meters 0.06347270111901021 Centerline is valid? [True, True] Translation: X:55.35, Y:5.86, Z:-4.27 [[ 9.78774417e-01 -2.00395706e-01 4.29208721e-02 5.53503144e+01] [ 2.00221622e-01 9.79714955e-01 8.36115416e-03 5.85508524e+00] [-4.37257597e-02 4.10002860e-04 9.99043487e-01 -4.26993335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.113201008 meters 0.06306738173457022 Centerline is valid? [True, True] Translation: X:55.41, Y:5.87, Z:-4.27 [[ 9.78690371e-01 -2.00636964e-01 4.37031681e-02 5.54079489e+01] [ 2.00456882e-01 9.79665566e-01 8.50980532e-03 5.87040027e+00] [-4.45218705e-02 4.32136287e-04 9.99008316e-01 -4.27223993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.173201008 meters 0.06401847042765707 Centerline is valid? [True, True] Translation: X:55.46, Y:5.88, Z:-4.28 [[ 9.78629098e-01 -2.01068706e-01 4.30867011e-02 5.54633074e+01] [ 2.00893472e-01 9.79577046e-01 8.40379505e-03 5.88265444e+00] [-4.38964836e-02 4.31638603e-04 9.99035992e-01 -4.28354158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.233201008 meters 0.06369482938948938 Centerline is valid? [True, True] Translation: X:55.52, Y:5.89, Z:-4.28 [[ 9.78459893e-01 -2.01672290e-01 4.40967739e-02 5.55209596e+01] [ 2.01489308e-01 9.79452943e-01 8.60179591e-03 5.89439646e+00] [-4.49254589e-02 4.68516130e-04 9.98990232e-01 -4.28374830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.293201008000004 meters 0.06327269090892575 Centerline is valid? [True, True] Translation: X:55.58, Y:5.91, Z:-4.28 [[ 9.78190347e-01 -2.02338877e-01 4.69321232e-02 5.55784454e+01] [ 2.02131546e-01 9.79315431e-01 9.17192019e-03 5.90724999e+00] [-4.78171885e-02 5.14578834e-04 9.98855971e-01 -4.28437639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.353201008 meters 0.06340661411821363 Centerline is valid? [True, True] Translation: X:55.63, Y:5.92, Z:-4.29 [[ 9.78366491e-01 -2.01482045e-01 4.69467290e-02 5.56349745e+01] [ 2.01273461e-01 9.79492095e-01 9.17764087e-03 5.91837322e+00] [-4.78330798e-02 4.70034338e-04 9.98855233e-01 -4.28970154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.413201008 meters 0.06319596212486425 Centerline is valid? [True, True] Translation: X:55.69, Y:5.93, Z:-4.29 [[ 9.78345499e-01 -2.01562582e-01 4.70383813e-02 5.56918862e+01] [ 2.01353324e-01 9.79475522e-01 9.19455873e-03 5.92998397e+00] [-4.79262221e-02 4.75879259e-04 9.98850765e-01 -4.29153052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.473201008000004 meters 0.06338397117377566 Centerline is valid? [True, True] Translation: X:55.75, Y:5.94, Z:-4.30 [[ 9.78227151e-01 -2.02310890e-01 4.62811585e-02 5.57488442e+01] [ 2.02108321e-01 9.79321228e-01 9.06419835e-03 5.94205367e+00] [-4.71579070e-02 4.86962346e-04 9.98887328e-01 -4.29685144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.533201008 meters 0.06451577600892187 Centerline is valid? [True, True] Translation: X:55.81, Y:5.95, Z:-4.31 [[ 9.78114982e-01 -2.03633997e-01 4.27115527e-02 5.58064992e+01] [ 2.03462556e-01 9.79046956e-01 8.36940925e-03 5.95010206e+00] [-4.35209119e-02 5.03957090e-04 9.99052389e-01 -4.30804242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.593201008 meters 0.06440161611020695 Centerline is valid? [True, True] Translation: X:55.86, Y:5.96, Z:-4.31 [[ 9.78057193e-01 -2.03918827e-01 4.26759852e-02 5.58639411e+01] [ 2.03748151e-01 9.78987661e-01 8.35765989e-03 5.96014023e+00] [-4.34835472e-02 5.20883697e-04 9.99054007e-01 -4.31041440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.653201008 meters 0.06417946424228103 Centerline is valid? [True, True] Translation: X:55.92, Y:5.98, Z:-4.32 [[ 9.79107583e-01 -1.98936518e-01 4.21022913e-02 5.59206058e+01] [ 1.98765264e-01 9.80012338e-01 8.25760405e-03 5.97734488e+00] [-4.29035039e-02 2.83390322e-04 9.99079181e-01 -4.31629949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.713201008 meters 0.0637342103029708 Centerline is valid? [True, True] Translation: X:55.98, Y:5.99, Z:-4.32 [[ 9.79552383e-01 -1.96339385e-01 4.39087047e-02 5.59784948e+01] [ 1.96150000e-01 9.80535985e-01 8.62318243e-03 5.98945079e+00] [-4.47471354e-02 1.65833515e-04 9.98998332e-01 -4.31546802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.773201008 meters 0.06348092203407894 Centerline is valid? [True, True] Translation: X:56.04, Y:6.00, Z:-4.32 [[ 9.79294446e-01 -1.97334300e-01 4.51836456e-02 5.60367551e+01] [ 1.97134298e-01 9.80336234e-01 8.88465462e-03 5.99786501e+00] [-4.60484120e-02 2.06553331e-04 9.98939188e-01 -4.31862231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.833201008 meters 0.06385392083930201 Centerline is valid? [True, True] Translation: X:56.09, Y:6.01, Z:-4.33 [[ 9.78954279e-01 -1.99125573e-01 4.46936806e-02 5.60934509e+01] [ 1.98931113e-01 9.79973944e-01 8.80232950e-03 6.00957776e+00] [-4.55514113e-02 2.73885513e-04 9.98961958e-01 -4.32752587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.893201008 meters 0.06406731735359518 Centerline is valid? [True, True] Translation: X:56.15, Y:6.03, Z:-4.34 [[ 9.79246245e-01 -1.98023746e-01 4.31669832e-02 5.61501419e+01] [ 1.97841206e-01 9.80197200e-01 8.50333889e-03 6.02535180e+00] [-4.39960190e-02 2.13345332e-04 9.99031684e-01 -4.33548903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.953201008 meters 0.06401514632859324 Centerline is valid? [True, True] Translation: X:56.21, Y:6.04, Z:-4.34 [[ 9.79989337e-01 -1.94532690e-01 4.21655382e-02 5.62056482e+01] [ 1.94354677e-01 9.80896035e-01 8.32038871e-03 6.03991585e+00] [-4.29785968e-02 4.11773386e-05 9.99075992e-01 -4.33905208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.013201008 meters 0.0638753593340258 Centerline is valid? [True, True] Translation: X:56.26, Y:6.05, Z:-4.34 [[ 9.80296633e-01 -1.92995186e-01 4.20876286e-02 5.62627984e+01] [ 1.92816463e-01 9.81199703e-01 8.30385581e-03 6.05205654e+00] [-4.28989729e-02 -2.50541872e-05 9.99079415e-01 -4.34174084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.073201008 meters 0.06349015353198847 Centerline is valid? [True, True] Translation: X:56.32, Y:6.06, Z:-4.34 [[ 9.80209306e-01 -1.93089258e-01 4.36606838e-02 5.63206151e+01] [ 1.92896415e-01 9.81181195e-01 8.62762443e-03 6.06384810e+00] [-4.45049435e-02 -3.48883573e-05 9.99009164e-01 -4.34354245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.133201008 meters 0.06350476736362377 Centerline is valid? [True, True] Translation: X:56.38, Y:6.08, Z:-4.35 [[ 9.80161289e-01 -1.93060021e-01 4.48517030e-02 5.63776749e+01] [ 1.92855943e-01 9.81186948e-01 8.87465006e-03 6.07708835e+00] [-4.57212457e-02 -4.86709840e-05 9.98954236e-01 -4.34869161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.193201008 meters 0.06374615401922651 Centerline is valid? [True, True] Translation: X:56.43, Y:6.09, Z:-4.36 [[ 9.80247706e-01 -1.92686824e-01 4.45670510e-02 5.64340727e+01] [ 1.92484236e-01 9.81260303e-01 8.83388214e-03 6.08991701e+00] [-4.54340506e-02 -8.09379344e-05 9.98967337e-01 -4.35543025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.253201008 meters 0.06380369866800405 Centerline is valid? [True, True] Translation: X:56.49, Y:6.10, Z:-4.36 [[ 9.80831699e-01 -1.90225301e-01 4.22316516e-02 5.64917630e+01] [ 1.90040954e-01 9.81740444e-01 8.37474229e-03 6.10266088e+00] [-4.30536083e-02 -1.88469334e-04 9.99072746e-01 -4.35834717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.313201008 meters 0.06397731352401362 Centerline is valid? [True, True] Translation: X:56.55, Y:6.12, Z:-4.36 [[ 9.81222935e-01 -1.88081141e-01 4.27438335e-02 5.65476095e+01] [ 1.87890404e-01 9.82153453e-01 8.47299922e-03 6.11839236e+00] [-4.35746150e-02 -2.82745032e-04 9.99050135e-01 -4.36363284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.373201008 meters 0.06395458875307367 Centerline is valid? [True, True] Translation: X:56.61, Y:6.13, Z:-4.37 [[ 9.80567293e-01 -1.91127436e-01 4.42502733e-02 5.66051103e+01] [ 1.90925472e-01 9.81565217e-01 8.78572210e-03 6.12714919e+00] [-4.51137217e-02 -1.66487429e-04 9.98981844e-01 -4.37070666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.433201008 meters 0.06344654279910072 Centerline is valid? [True, True] Translation: X:56.66, Y:6.13, Z:-4.37 [[ 9.80085809e-01 -1.93579645e-01 4.42575100e-02 5.66631328e+01] [ 1.93379695e-01 9.81084562e-01 8.79638330e-03 6.13464316e+00] [-4.51231606e-02 -6.27066558e-05 9.98981429e-01 -4.37055932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.493201008 meters 0.06313341327341464 Centerline is valid? [True, True] Translation: X:56.72, Y:6.14, Z:-4.37 [[ 9.79595648e-01 -1.95083266e-01 4.83206532e-02 5.67211782e+01] [ 1.94845662e-01 9.80786684e-01 9.62542375e-03 6.14476053e+00] [-4.92700123e-02 -1.39535275e-05 9.98785495e-01 -4.37274578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.553201008 meters 0.06265197043611617 Centerline is valid? [True, True] Translation: X:56.78, Y:6.15, Z:-4.37 [[ 9.79030578e-01 -1.97670516e-01 4.92493034e-02 5.67800668e+01] [ 1.97427070e-01 9.80268510e-01 9.80812997e-03 6.15280065e+00] [-5.02163194e-02 1.20686517e-04 9.98738357e-01 -4.37319832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.613201008 meters 0.06273696121405951 Centerline is valid? [True, True] Translation: X:56.84, Y:6.17, Z:-4.38 [[ 9.79137498e-01 -1.96901168e-01 5.01965107e-02 5.68364454e+01] [ 1.96646394e-01 9.80423340e-01 1.00135015e-02 6.16531852e+00] [-5.11855009e-02 6.63679944e-05 9.98689161e-01 -4.37979456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.673201008 meters 0.06277154079955742 Centerline is valid? [True, True] Translation: X:56.89, Y:6.18, Z:-4.38 [[ 9.79113532e-01 -1.97024005e-01 5.01819902e-02 5.68928376e+01] [ 1.96769443e-01 9.80398662e-01 1.00125018e-02 6.17604422e+00] [-5.11710593e-02 7.09062495e-05 9.98689901e-01 -4.38468622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.733201008 meters 0.06294753601266301 Centerline is valid? [True, True] Translation: X:56.95, Y:6.19, Z:-4.39 [[ 9.79039321e-01 -1.97330511e-01 5.04249750e-02 5.69491421e+01] [ 1.97073486e-01 9.80337015e-01 1.00686621e-02 6.18859535e+00] [-5.14203237e-02 7.98095267e-05 9.98677097e-01 -4.39053192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.793201008000004 meters 0.06361774045212693 Centerline is valid? [True, True] Translation: X:57.01, Y:6.20, Z:-4.40 [[ 9.79371060e-01 -1.96537996e-01 4.69589460e-02 5.70077609e+01] [ 1.96313346e-01 9.80496209e-01 9.39438526e-03 6.19987218e+00] [-4.78894222e-02 1.80787392e-05 9.98852643e-01 -4.39697175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.853201008 meters 0.06402378817405496 Centerline is valid? [True, True] Translation: X:57.06, Y:6.21, Z:-4.40 [[ 9.79463152e-01 -1.96450239e-01 4.53788134e-02 5.70641219e+01] [ 1.96240366e-01 9.80513796e-01 9.07829662e-03 6.21062156e+00] [-4.62779861e-02 1.32979215e-05 9.98928600e-01 -4.40303906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.913201008 meters 0.0634731562380436 Centerline is valid? [True, True] Translation: X:57.12, Y:6.22, Z:-4.40 [[ 9.78644812e-01 -1.99953346e-01 4.76759075e-02 5.71236855e+01] [ 1.99725675e-01 9.79805402e-01 9.54093963e-03 6.21812119e+00] [-4.86208545e-02 1.84911711e-04 9.98817290e-01 -4.40011119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.973201008000004 meters 0.06429570137488871 Centerline is valid? [True, True] Translation: X:57.18, Y:6.23, Z:-4.41 [[ 9.79200303e-01 -1.97449070e-01 4.66972410e-02 5.71780901e+01] [ 1.97227482e-01 9.80313145e-01 9.35191345e-03 6.23467633e+00] [-4.76244458e-02 5.25827749e-05 9.98865311e-01 -4.41357900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.033201008 meters 0.06396156425983603 Centerline is valid? [True, True] Translation: X:57.24, Y:6.25, Z:-4.41 [[ 9.79663175e-01 -1.94992804e-01 4.73061254e-02 5.72351321e+01] [ 1.94762533e-01 9.80804671e-01 9.47385410e-03 6.24915873e+00] [-4.82454021e-02 -6.77251934e-05 9.98835510e-01 -4.41377212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.093201008 meters 0.06391380820777348 Centerline is valid? [True, True] Translation: X:57.29, Y:6.26, Z:-4.42 [[ 9.79970656e-01 -1.93257341e-01 4.80532432e-02 5.72923262e+01] [ 1.93017061e-01 9.81148089e-01 9.63545615e-03 6.26173772e+00] [-4.90094704e-02 -1.67368481e-04 9.98798300e-01 -4.41730340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.153201008 meters 0.06394545242404377 Centerline is valid? [True, True] Translation: X:57.35, Y:6.27, Z:-4.42 [[ 9.79874602e-01 -1.93877508e-01 4.75108017e-02 5.73503926e+01] [ 1.93642801e-01 9.81025734e-01 9.53809024e-03 6.27276438e+00] [-4.84585403e-02 -1.46007661e-04 9.98825184e-01 -4.42195729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.213201008 meters 0.06427343091360892 Centerline is valid? [True, True] Translation: X:57.41, Y:6.29, Z:-4.43 [[ 9.79591311e-01 -1.95690051e-01 4.58940922e-02 5.74069694e+01] [ 1.95472550e-01 9.80665794e-01 9.22402364e-03 6.28597147e+00] [-4.68118160e-02 -6.47381811e-05 9.98903724e-01 -4.43158430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.273201008 meters 0.06487670741153478 Centerline is valid? [True, True] Translation: X:57.47, Y:6.30, Z:-4.44 [[ 9.79427982e-01 -1.97116366e-01 4.31968361e-02 5.74651489e+01] [ 1.96924425e-01 9.80380099e-01 8.69669357e-03 6.29636850e+00] [-4.40635790e-02 -1.12729130e-05 9.99028729e-01 -4.43930885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.333201008 meters 0.06477896499213935 Centerline is valid? [True, True] Translation: X:57.52, Y:6.31, Z:-4.44 [[ 9.79572714e-01 -1.96584036e-01 4.23321872e-02 5.75236858e+01] [ 1.96399347e-01 9.80486979e-01 8.51942041e-03 6.30653444e+00] [-4.31809404e-02 -3.13778346e-05 9.99067268e-01 -4.44106943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.393201008 meters 0.06429296715544619 Centerline is valid? [True, True] Translation: X:57.58, Y:6.32, Z:-4.44 [[ 9.79303467e-01 -1.97383465e-01 4.47714985e-02 5.75819581e+01] [ 1.97176926e-01 9.80326358e-01 9.02729905e-03 6.31518297e+00] [-4.56725196e-02 -1.25588159e-05 9.98956466e-01 -4.43997612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.453201008 meters 0.06445764479725703 Centerline is valid? [True, True] Translation: X:57.64, Y:6.33, Z:-4.45 [[ 9.79472435e-01 -1.96360871e-01 4.55648705e-02 5.76377389e+01] [ 1.96145913e-01 9.80531695e-01 9.18565861e-03 6.33373167e+00] [-4.64815037e-02 -5.97362859e-05 9.98919149e-01 -4.44917507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.513201008 meters 0.06493604658874953 Centerline is valid? [True, True] Translation: X:57.69, Y:6.35, Z:-4.46 [[ 9.79895473e-01 -1.94519537e-01 4.43510119e-02 5.76939787e+01] [ 1.94313389e-01 9.80898631e-01 8.95443043e-03 6.34866757e+00] [-4.52456586e-02 -1.56410430e-04 9.98975879e-01 -4.45535137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.573201008 meters 0.06479227211305548 Centerline is valid? [True, True] Translation: X:57.75, Y:6.36, Z:-4.46 [[ 9.80169300e-01 -1.92954749e-01 4.51287942e-02 5.77521385e+01] [ 1.92739517e-01 9.81207628e-01 9.11424448e-03 6.35995008e+00] [-4.60393539e-02 -2.35400661e-04 9.98939599e-01 -4.45651421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.633201008 meters 0.06448855085178633 Centerline is valid? [True, True] Translation: X:57.81, Y:6.37, Z:-4.46 [[ 9.79929501e-01 -1.94182824e-01 4.50688872e-02 5.78098084e+01] [ 1.93969025e-01 9.80965339e-01 9.11160370e-03 6.36955292e+00] [-4.59803331e-02 -1.86761171e-04 9.98942328e-01 -4.45849098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.693201008 meters 0.06440936080494263 Centerline is valid? [True, True] Translation: X:57.87, Y:6.38, Z:-4.46 [[ 9.79312732e-01 -1.97081463e-01 4.58853990e-02 5.78675813e+01] [ 1.96862369e-01 9.80387114e-01 9.29058636e-03 6.38052866e+00] [-4.68164563e-02 -6.52811788e-05 9.98903506e-01 -4.46396342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.753201008 meters 0.06440735059865148 Centerline is valid? [True, True] Translation: X:57.93, Y:6.39, Z:-4.47 [[ 9.79040677e-01 -1.98088114e-01 4.73334136e-02 5.79252428e+01] [ 1.97855343e-01 9.80184216e-01 9.60028000e-03 6.38867318e+00] [-4.82971662e-02 -3.38958618e-05 9.98833010e-01 -4.46744609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.813201008 meters 0.06355334135003356 Centerline is valid? [True, True] Translation: X:57.98, Y:6.40, Z:-4.46 [[ 9.79262190e-01 -1.96273233e-01 5.02233219e-02 5.79838318e+01] [ 1.96008502e-01 9.80549234e-01 1.01915490e-02 6.39823380e+00] [-5.12467680e-02 -1.36000575e-04 9.98686012e-01 -4.46469732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.873201008 meters 0.06329355267202116 Centerline is valid? [True, True] Translation: X:58.04, Y:6.41, Z:-4.47 [[ 9.79019207e-01 -1.96842965e-01 5.26710453e-02 5.80415346e+01] [ 1.96552593e-01 9.80435023e-01 1.06884685e-02 6.41142752e+00] [-5.37444874e-02 -1.11585472e-04 9.98554714e-01 -4.46883775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.933201008 meters 0.06306994588119572 Centerline is valid? [True, True] Translation: X:58.10, Y:6.42, Z:-4.47 [[ 9.78492933e-01 -1.98836137e-01 5.49160274e-02 5.80994365e+01] [ 1.98522805e-01 9.80032750e-01 1.11582089e-02 6.42253244e+00] [-5.60381604e-02 -1.61447703e-05 9.98428628e-01 -4.47258731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.993201008 meters 0.0630482797103574 Centerline is valid? [True, True] Translation: X:58.16, Y:6.44, Z:-4.48 [[ 9.78344892e-01 -1.99624134e-01 5.46943962e-02 5.81558821e+01] [ 1.99313883e-01 9.79872545e-01 1.11252517e-02 6.43545504e+00] [-5.58144060e-02 1.70192820e-05 9.98441161e-01 -4.47643605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.053201008 meters 0.06341649858850289 Centerline is valid? [True, True] Translation: X:58.21, Y:6.45, Z:-4.48 [[ 9.78655410e-01 -1.98585200e-01 5.28914686e-02 5.82115276e+01] [ 1.98292584e-01 9.80083626e-01 1.07766566e-02 6.44758409e+00] [-5.39781468e-02 -5.86473536e-05 9.98542115e-01 -4.48452986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.113201008 meters 0.06336495158445865 Centerline is valid? [True, True] Translation: X:58.27, Y:6.46, Z:-4.49 [[ 9.78603739e-01 -1.98900599e-01 5.26618715e-02 5.82680691e+01] [ 1.98610891e-01 9.80019668e-01 1.07314639e-02 6.45921902e+00] [-5.37441644e-02 -4.26294867e-05 9.98554737e-01 -4.48850700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.173201008 meters 0.06355891225395681 Centerline is valid? [True, True] Translation: X:58.32, Y:6.47, Z:-4.50 [[ 9.78723077e-01 -1.98743044e-01 5.10131455e-02 5.83244825e+01] [ 1.98470022e-01 9.80051630e-01 1.04140592e-02 6.46949215e+00] [-5.20652382e-02 -6.78999226e-05 9.98643683e-01 -4.49526070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.233201008 meters 0.06346497680787043 Centerline is valid? [True, True] Translation: X:58.38, Y:6.48, Z:-4.50 [[ 9.78579673e-01 -1.99410011e-01 5.11612231e-02 5.83811032e+01] [ 1.99136110e-01 9.79916142e-01 1.04481308e-02 6.47793065e+00] [-5.22171703e-02 -3.62815129e-05 9.98635752e-01 -4.49906106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.293201008000004 meters 0.06387975521500967 Centerline is valid? [True, True] Translation: X:58.44, Y:6.49, Z:-4.51 [[ 9.78663339e-01 -1.99353531e-01 4.97618138e-02 5.84376531e+01] [ 1.99094211e-01 9.79927634e-01 1.01649888e-02 6.49381900e+00] [-5.07894028e-02 -4.08128513e-05 9.98709385e-01 -4.50751122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.353201008 meters 0.06426934683230917 Centerline is valid? [True, True] Translation: X:58.49, Y:6.51, Z:-4.52 [[ 9.79226274e-01 -1.97096264e-01 4.76336744e-02 5.84941485e+01] [ 1.96855467e-01 9.80384127e-01 9.74108905e-03 6.51103641e+00] [-4.86192305e-02 -1.61781135e-04 9.98817373e-01 -4.51648682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.413201008 meters 0.06399498347655425 Centerline is valid? [True, True] Translation: X:58.55, Y:6.52, Z:-4.51 [[ 9.80049520e-01 -1.92957350e-01 4.76487011e-02 5.85515686e+01] [ 1.92710757e-01 9.81207070e-01 9.75958019e-03 6.52318857e+00] [-4.86364252e-02 -3.82454627e-04 9.98816476e-01 -4.51478280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.473201008000004 meters 0.06363603651500906 Centerline is valid? [True, True] Translation: X:58.61, Y:6.53, Z:-4.52 [[ 9.78906313e-01 -1.98659367e-01 4.77167178e-02 5.86088757e+01] [ 1.98418626e-01 9.80068592e-01 9.77771761e-03 6.53219042e+00] [-4.87080916e-02 -1.03583911e-04 9.98813051e-01 -4.52135911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.533201008 meters 0.06373649332782452 Centerline is valid? [True, True] Translation: X:58.67, Y:6.54, Z:-4.52 [[ 9.77188884e-01 -2.06921335e-01 4.78063295e-02 5.86677840e+01] [ 2.06689550e-01 9.78357535e-01 9.79613191e-03 6.53778003e+00] [-4.87987114e-02 3.08397511e-04 9.98808586e-01 -4.52482448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.593201008 meters 0.06371316319653585 Centerline is valid? [True, True] Translation: X:58.73, Y:6.55, Z:-4.53 [[ 9.76746801e-01 -2.09037191e-01 4.76354881e-02 5.87251787e+01] [ 2.08809018e-01 9.77907609e-01 9.77252876e-03 6.54991293e+00] [-4.86259283e-02 4.01433286e-04 9.98816979e-01 -4.52852022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.653201008 meters 0.06412908523971592 Centerline is valid? [True, True] Translation: X:58.78, Y:6.57, Z:-4.54 [[ 9.78128667e-01 -2.03372132e-01 4.36358292e-02 5.87814966e+01] [ 2.03174358e-01 9.79101510e-01 8.96735007e-03 6.57105119e+00] [-4.45476154e-02 9.44594152e-05 9.99007258e-01 -4.53877551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.713201008 meters 0.06413631272889073 Centerline is valid? [True, True] Translation: X:58.84, Y:6.59, Z:-4.54 [[ 9.79017483e-01 -1.98715914e-01 4.51304145e-02 5.88377235e+01] [ 1.98499599e-01 9.80057127e-01 9.27026129e-03 6.58999312e+00] [-4.60725328e-02 -1.17378696e-04 9.98938090e-01 -4.54253855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.773201008 meters 0.06329500910925434 Centerline is valid? [True, True] Translation: X:58.90, Y:6.60, Z:-4.54 [[ 9.79460171e-01 -1.95173724e-01 5.06457370e-02 5.88965981e+01] [ 1.94895556e-01 9.80768629e-01 1.04220210e-02 6.60312620e+00] [-5.17058547e-02 -3.37325447e-04 9.98662301e-01 -4.53549079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.833201008 meters 0.06356073956535031 Centerline is valid? [True, True] Translation: X:58.95, Y:6.62, Z:-4.54 [[ 9.79898716e-01 -1.92544008e-01 5.22045191e-02 5.89528106e+01] [ 1.92244854e-01 9.81288218e-01 1.07400882e-02 6.62120722e+00] [-5.32956192e-02 -4.88148509e-04 9.98578659e-01 -4.54139239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.893201008 meters 0.06422983991686475 Centerline is valid? [True, True] Translation: X:59.01, Y:6.64, Z:-4.55 [[ 9.80360337e-01 -1.90332705e-01 5.16436968e-02 5.90091709e+01] [ 1.90036215e-01 9.81719453e-01 1.06373215e-02 6.63807825e+00] [-5.27242519e-02 -6.14235453e-04 9.98608920e-01 -4.54850465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.953201008 meters 0.06466303543782215 Centerline is valid? [True, True] Translation: X:59.07, Y:6.65, Z:-4.55 [[ 9.81018864e-01 -1.87293449e-01 5.02309934e-02 5.90664773e+01] [ 1.87008189e-01 9.82303705e-01 1.03618943e-02 6.64937829e+00] [-5.12828058e-02 -7.71606715e-04 9.98683873e-01 -4.55018171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.013201008 meters 0.06416706623300679 Centerline is valid? [True, True] Translation: X:59.12, Y:6.66, Z:-4.55 [[ 9.80663177e-01 -1.88501083e-01 5.26029935e-02 5.91247950e+01] [ 1.88189880e-01 9.82072700e-01 1.08526559e-02 6.65736452e+00] [-5.37057013e-02 -7.43448988e-04 9.98556531e-01 -4.55162635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.073201008 meters 0.06405840847944202 Centerline is valid? [True, True] Translation: X:59.18, Y:6.67, Z:-4.56 [[ 9.80200538e-01 -1.91176909e-01 5.15586461e-02 5.91818250e+01] [ 1.90881056e-01 9.81555416e-01 1.06483887e-02 6.66818153e+00] [-5.26433943e-02 -5.95987523e-04 9.98613197e-01 -4.55917213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.133201008 meters 0.06359964346568031 Centerline is valid? [True, True] Translation: X:59.24, Y:6.68, Z:-4.56 [[ 9.79615238e-01 -1.93388747e-01 5.43578743e-02 5.92395018e+01] [ 1.93062153e-01 9.81122071e-01 1.12465932e-02 6.67625795e+00] [-5.55066748e-02 -5.22885821e-04 9.98458179e-01 -4.55996376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.193201008 meters 0.06382342811095734 Centerline is valid? [True, True] Translation: X:59.30, Y:6.69, Z:-4.57 [[ 9.79705942e-01 -1.93084003e-01 5.38036641e-02 5.92970704e+01] [ 1.92763349e-01 9.81182082e-01 1.11361437e-02 6.68813370e+00] [-5.49414023e-02 -5.38771684e-04 9.98489435e-01 -4.56608898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.253201008 meters 0.06378713415420921 Centerline is valid? [True, True] Translation: X:59.35, Y:6.70, Z:-4.57 [[ 9.79739299e-01 -1.93193835e-01 5.27924959e-02 5.93544790e+01] [ 1.92884633e-01 9.81160464e-01 1.09390023e-02 6.70090886e+00] [-5.39112576e-02 -5.34509260e-04 9.98545588e-01 -4.57360894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.313201008 meters 0.06387888486944465 Centerline is valid? [True, True] Translation: X:59.41, Y:6.71, Z:-4.58 [[ 9.79846836e-01 -1.93808373e-01 4.83579706e-02 5.94120260e+01] [ 1.93548958e-01 9.81039291e-01 1.00354674e-02 6.71177201e+00] [-4.93860268e-02 -4.73586183e-04 9.98779653e-01 -4.58098621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.373201008 meters 0.06470204814571627 Centerline is valid? [True, True] Translation: X:59.47, Y:6.72, Z:-4.59 [[ 9.80266682e-01 -1.92958347e-01 4.29454077e-02 5.94695737e+01] [ 1.92752865e-01 9.81206841e-01 8.91453996e-03 6.72400141e+00] [-4.38584627e-02 -4.60776147e-04 9.99037648e-01 -4.59190632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.433201008 meters 0.06462621535887124 Centerline is valid? [True, True] Translation: X:59.53, Y:6.73, Z:-4.60 [[ 9.79405433e-01 -1.97612772e-01 4.14027924e-02 5.95278227e+01] [ 1.97426171e-01 9.80280131e-01 8.58902873e-03 6.73097135e+00] [-4.22836365e-02 -2.38146642e-04 9.99105619e-01 -4.59974753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.493201008 meters 0.06418572887391862 Centerline is valid? [True, True] Translation: X:59.59, Y:6.74, Z:-4.60 [[ 9.78926591e-01 -1.99738588e-01 4.25114761e-02 5.95862863e+01] [ 1.99543403e-01 9.79849208e-01 8.82947845e-03 6.74041339e+00] [-4.34184238e-02 -1.60526626e-04 9.99056963e-01 -4.60323130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.553201008 meters 0.06435219784983293 Centerline is valid? [True, True] Translation: X:59.64, Y:6.75, Z:-4.61 [[ 9.78979220e-01 -1.99412504e-01 4.28291882e-02 5.96429825e+01] [ 1.99213399e-01 9.79915617e-01 8.91094858e-03 6.75232565e+00] [-4.37459450e-02 -1.91485317e-04 9.99042670e-01 -4.60830781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.613201008 meters 0.06321847359218269 Centerline is valid? [True, True] Translation: X:59.70, Y:6.76, Z:-4.60 [[ 9.78618904e-01 -2.00496244e-01 4.58944077e-02 5.97021091e+01] [ 2.00268567e-01 9.79694458e-01 9.55352247e-03 6.75878459e+00] [-4.68779422e-02 -1.58050432e-04 9.98900612e-01 -4.60215933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.673201008 meters 0.06309488306215282 Centerline is valid? [True, True] Translation: X:59.76, Y:6.77, Z:-4.61 [[ 9.78557010e-01 -2.00508613e-01 4.71431158e-02 5.97583032e+01] [ 2.00268240e-01 9.79691926e-01 9.81645897e-03 6.77151133e+00] [-4.81540144e-02 -1.64695903e-04 9.98839909e-01 -4.60679225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.733201008 meters 0.06376402300635134 Centerline is valid? [True, True] Translation: X:59.81, Y:6.79, Z:-4.62 [[ 9.78680997e-01 -2.00207144e-01 4.58323609e-02 5.98134593e+01] [ 1.99979448e-01 9.79753575e-01 9.54738333e-03 6.78794905e+00] [-4.68158738e-02 -1.78312407e-04 9.98903520e-01 -4.61876608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.793201008000004 meters 0.06370051996486555 Centerline is valid? [True, True] Translation: X:59.87, Y:6.80, Z:-4.62 [[ 9.78701436e-01 -2.00064634e-01 4.60178474e-02 5.98695771e+01] [ 1.99835000e-01 9.79782684e-01 9.58459733e-03 6.80181874e+00] [-4.70050290e-02 -1.84482650e-04 9.98894636e-01 -4.62191489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.853201008 meters 0.06354817018284414 Centerline is valid? [True, True] Translation: X:59.93, Y:6.81, Z:-4.62 [[ 9.78891688e-01 -1.98978627e-01 4.66751343e-02 5.99274806e+01] [ 1.98740484e-01 9.80003797e-01 9.73542919e-03 6.81470950e+00] [-4.76789512e-02 -2.53691944e-04 9.98862680e-01 -4.62309163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.913201008 meters 0.06355679470057952 Centerline is valid? [True, True] Translation: X:59.98, Y:6.83, Z:-4.63 [[ 9.79033588e-01 -1.97850052e-01 4.84622579e-02 5.99843542e+01] [ 1.97591090e-01 9.80232239e-01 1.01251237e-02 6.82706634e+00] [-4.95075239e-02 -3.37125848e-04 9.98773694e-01 -4.62652294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.973201008000004 meters 0.06341983516072022 Centerline is valid? [True, True] Translation: X:60.04, Y:6.84, Z:-4.63 [[ 9.79253896e-01 -1.96708273e-01 4.86586344e-02 6.00408344e+01] [ 1.96445834e-01 9.80461982e-01 1.01654085e-02 6.84017824e+00] [-4.97075611e-02 -3.95729853e-04 9.98763737e-01 -4.62861001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03320100799999 meters 0.06345104264575469 Centerline is valid? [True, True] Translation: X:60.10, Y:6.85, Z:-4.64 [[ 9.78887152e-01 -1.97854247e-01 5.13190157e-02 6.00964481e+01] [ 1.97562815e-01 9.80231379e-01 1.07414391e-02 6.85354613e+00] [-5.24297489e-02 -3.75927520e-04 9.98624544e-01 -4.63604091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.093201008 meters 0.06341057419548662 Centerline is valid? [True, True] Translation: X:60.15, Y:6.86, Z:-4.64 [[ 9.78662390e-01 -1.99195048e-01 5.04109064e-02 6.01543964e+01] [ 1.98915590e-01 9.79959817e-01 1.05520048e-02 6.86289481e+00] [-5.15025698e-02 -2.99335064e-04 9.98672817e-01 -4.64155877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.153201008 meters 0.06340142274557328 Centerline is valid? [True, True] Translation: X:60.21, Y:6.87, Z:-4.65 [[ 9.78703126e-01 -1.99584744e-01 4.80220985e-02 6.02125645e+01] [ 1.99331105e-01 9.79880530e-01 1.00626310e-02 6.87258772e+00] [-4.90642670e-02 -2.76030445e-04 9.98795585e-01 -4.64640861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.213201008 meters 0.06332599841072675 Centerline is valid? [True, True] Translation: X:60.27, Y:6.88, Z:-4.65 [[ 9.78169278e-01 -2.02158665e-01 4.81325107e-02 6.02711048e+01] [ 2.01906384e-01 9.79352770e-01 1.00976774e-02 6.88070281e+00] [-4.91800406e-02 -1.58976564e-04 9.98789917e-01 -4.64990406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27320100799999 meters 0.06324343660321623 Centerline is valid? [True, True] Translation: X:60.33, Y:6.88, Z:-4.66 [[ 9.76463816e-01 -2.09999208e-01 4.91807686e-02 6.03290085e+01] [ 2.09744901e-01 9.77701530e-01 1.03341339e-02 6.88451415e+00] [-5.02542727e-02 2.24507584e-04 9.98736431e-01 -4.65623891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33320100799999 meters 0.06304940803585123 Centerline is valid? [True, True] Translation: X:60.39, Y:6.89, Z:-4.66 [[ 9.75948949e-01 -2.11876340e-01 5.13036549e-02 6.03873264e+01] [ 2.11602112e-01 9.77296426e-01 1.07815172e-02 6.89351519e+00] [-5.24232270e-02 3.33751312e-04 9.98624901e-01 -4.65743354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39320100799999 meters 0.06294311430537067 Centerline is valid? [True, True] Translation: X:60.44, Y:6.91, Z:-4.66 [[ 9.77053694e-01 -2.06465635e-01 5.23260923e-02 6.04429968e+01] [ 2.06171903e-01 9.78453852e-01 1.10093681e-02 6.91387632e+00] [-5.34717227e-02 3.14261826e-05 9.98569364e-01 -4.66135017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.453201008 meters 0.06331973949805576 Centerline is valid? [True, True] Translation: X:60.50, Y:6.93, Z:-4.67 [[ 9.77535384e-01 -2.04592064e-01 5.06622177e-02 6.04990513e+01] [ 2.04313426e-01 9.78847322e-01 1.06744267e-02 6.92843443e+00] [-5.17744791e-02 -8.36585727e-05 9.98658799e-01 -4.66840379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.513201008 meters 0.06384725818973253 Centerline is valid? [True, True] Translation: X:60.55, Y:6.95, Z:-4.68 [[ 9.78339885e-01 -2.01291032e-01 4.83010248e-02 6.05545808e+01] [ 2.01033772e-01 9.79531449e-01 1.01765794e-02 6.94831560e+00] [-4.93608270e-02 -2.46016345e-04 9.98780981e-01 -4.67635356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.573201008 meters 0.06418879651668581 Centerline is valid? [True, True] Translation: X:60.61, Y:6.96, Z:-4.68 [[ 9.78670818e-01 -1.99721764e-01 4.81107723e-02 6.06110157e+01] [ 1.99464059e-01 9.79852593e-01 1.01481362e-02 6.96374835e+00] [-4.91682687e-02 -3.35314858e-04 9.98790453e-01 -4.68063835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.633201008 meters 0.06433343610504226 Centerline is valid? [True, True] Translation: X:60.67, Y:6.98, Z:-4.68 [[ 9.78853720e-01 -1.98899648e-01 4.77946077e-02 6.06683383e+01] [ 1.98643782e-01 9.80019786e-01 1.00929010e-02 6.97760971e+00] [-4.88471357e-02 -3.85372094e-04 9.98806192e-01 -4.68499616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69320100799999 meters 0.06411261724053666 Centerline is valid? [True, True] Translation: X:60.73, Y:6.99, Z:-4.69 [[ 9.78722047e-01 -1.99236029e-01 4.90730015e-02 6.07261033e+01] [ 1.98966073e-01 9.79951454e-01 1.03754393e-02 6.98800513e+00] [-5.01563205e-02 -3.90808783e-04 9.98741303e-01 -4.68841533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75320100799999 meters 0.06375999742737105 Centerline is valid? [True, True] Translation: X:60.78, Y:7.00, Z:-4.69 [[ 9.78216419e-01 -2.01287619e-01 5.07536453e-02 6.07844266e+01] [ 2.01000931e-01 9.79532133e-01 1.07436675e-02 6.99642798e+00] [-5.18773937e-02 -3.08101950e-04 9.98653414e-01 -4.69002935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.813201008 meters 0.06396437389759367 Centerline is valid? [True, True] Translation: X:60.84, Y:7.01, Z:-4.69 [[ 9.78237009e-01 -2.01214740e-01 5.06456666e-02 6.08408257e+01] [ 2.00928577e-01 9.79547102e-01 1.07323248e-02 7.00849416e+00] [-5.17693179e-02 -3.22595631e-04 9.98659018e-01 -4.69454300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.873201008 meters 0.06409733255268849 Centerline is valid? [True, True] Translation: X:60.90, Y:7.02, Z:-4.70 [[ 9.78659285e-01 -1.99536295e-01 4.91046990e-02 6.08985075e+01] [ 1.99264498e-01 9.79890349e-01 1.04193537e-02 7.02085922e+00] [-5.01962599e-02 -4.12174011e-04 9.98739288e-01 -4.69751843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.933201008 meters 0.06437254050041105 Centerline is valid? [True, True] Translation: X:60.95, Y:7.03, Z:-4.70 [[ 9.78924488e-01 -1.98428095e-01 4.83025651e-02 6.09549604e+01] [ 1.98162975e-01 9.80115332e-01 1.02650878e-02 7.03452173e+00] [-4.93789664e-02 -4.76965827e-04 9.98780001e-01 -4.70364005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.993201008 meters 0.06469777626136443 Centerline is valid? [True, True] Translation: X:61.01, Y:7.05, Z:-4.71 [[ 9.78758530e-01 -1.99634509e-01 4.66669358e-02 6.10110566e+01] [ 1.99388232e-01 9.79870348e-01 9.92145085e-03 7.04772098e+00] [-4.77082106e-02 -4.05866840e-04 9.98861233e-01 -4.71369316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05320100799999 meters 0.06425816938763175 Centerline is valid? [True, True] Translation: X:61.07, Y:7.06, Z:-4.71 [[ 9.78410435e-01 -2.01202549e-01 4.72287598e-02 6.10696725e+01] [ 2.00952128e-01 9.79549602e-01 1.00408787e-02 7.05579137e+00] [-4.82831633e-02 -3.33380738e-04 9.98833632e-01 -4.71365330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11320100799999 meters 0.06426435015379305 Centerline is valid? [True, True] Translation: X:61.13, Y:7.07, Z:-4.72 [[ 9.78385979e-01 -2.00871604e-01 4.91067728e-02 6.11266113e+01] [ 2.00599800e-01 9.79617506e-01 1.04528881e-02 7.07054170e+00] [-5.02055426e-02 -3.76150328e-04 9.98738836e-01 -4.71695920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17320100799999 meters 0.06388412684915647 Centerline is valid? [True, True] Translation: X:61.19, Y:7.08, Z:-4.72 [[ 9.77720405e-01 -2.04045240e-01 4.92782780e-02 6.11852392e+01] [ 2.03774947e-01 9.78961434e-01 1.05015187e-02 7.07856795e+00] [-5.03843186e-02 -2.25870580e-04 9.98729878e-01 -4.72186502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.233201008 meters 0.06394645755023885 Centerline is valid? [True, True] Translation: X:61.24, Y:7.09, Z:-4.73 [[ 9.77861442e-01 -2.03936140e-01 4.68727135e-02 6.12433014e+01] [ 2.03690992e-01 9.78984166e-01 9.99910772e-03 7.08966042e+00] [-4.79268238e-02 -2.30192400e-04 9.98850823e-01 -4.72782101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.293201008 meters 0.0639835180438612 Centerline is valid? [True, True] Translation: X:61.30, Y:7.10, Z:-4.73 [[ 9.77819063e-01 -2.04057957e-01 4.72253180e-02 6.13000185e+01] [ 2.03808528e-01 9.78958780e-01 1.00891807e-02 7.10171482e+00] [-4.82904173e-02 -2.40470689e-04 9.98833308e-01 -4.73394814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.353201008 meters 0.06415441881004195 Centerline is valid? [True, True] Translation: X:61.36, Y:7.12, Z:-4.74 [[ 9.78129211e-01 -2.02743377e-01 4.64582678e-02 6.13564565e+01] [ 2.02500170e-01 9.79231856e-01 9.93238783e-03 7.11622620e+00] [-4.75071417e-02 -3.07351507e-04 9.98870851e-01 -4.73802233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41320100799999 meters 0.06411862305293684 Centerline is valid? [True, True] Translation: X:61.41, Y:7.13, Z:-4.74 [[ 9.78097360e-01 -2.02561124e-01 4.79014112e-02 6.14125432e+01] [ 2.02302133e-01 9.79269566e-01 1.02452482e-02 7.12940946e+00] [-4.89836831e-02 -3.30292585e-04 9.98799524e-01 -4.74180003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47320100799999 meters 0.06361584239669328 Centerline is valid? [True, True] Translation: X:61.47, Y:7.14, Z:-4.74 [[ 9.77726817e-01 -2.03852445e-01 4.99444942e-02 6.14698784e+01] [ 2.03572523e-01 9.79001585e-01 1.06828945e-02 7.14155445e+00] [-5.10734732e-02 -2.77625687e-04 9.98694860e-01 -4.74382660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53320100799999 meters 0.06307305615329332 Centerline is valid? [True, True] Translation: X:61.53, Y:7.15, Z:-4.74 [[ 9.77185988e-01 -2.05638570e-01 5.31067067e-02 6.15288141e+01] [ 2.05323725e-01 9.78627985e-01 1.13769628e-02 7.14897185e+00] [-5.43112517e-02 -2.13341860e-04 9.98524032e-01 -4.74275212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.593201008 meters 0.0626879118933135 Centerline is valid? [True, True] Translation: X:61.59, Y:7.16, Z:-4.74 [[ 9.76815181e-01 -2.07153154e-01 5.40339941e-02 6.15879175e+01] [ 2.06829503e-01 9.78308517e-01 1.15759778e-02 7.15698121e+00] [-5.52599169e-02 -1.31766681e-04 9.98471995e-01 -4.74259087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.653201008 meters 0.06293147524737779 Centerline is valid? [True, True] Translation: X:61.64, Y:7.17, Z:-4.75 [[ 9.76675718e-01 -2.08189261e-01 5.25525751e-02 6.16438439e+01] [ 2.07883776e-01 9.78088556e-01 1.12743649e-02 7.17118443e+00] [-5.37482740e-02 -8.65706674e-05 9.98554513e-01 -4.75313544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.713201008 meters 0.06315904178020855 Centerline is valid? [True, True] Translation: X:61.70, Y:7.18, Z:-4.76 [[ 9.76683318e-01 -2.08638478e-01 5.05932945e-02 6.17012853e+01] [ 2.08355945e-01 9.77992833e-01 1.08544074e-02 7.18400910e+00] [-5.17445265e-02 -5.99049708e-05 9.98660353e-01 -4.75879429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77320100799999 meters 0.0632216027945272 Centerline is valid? [True, True] Translation: X:61.76, Y:7.19, Z:-4.77 [[ 9.76580249e-01 -2.09763795e-01 4.78557031e-02 6.17592477e+01] [ 2.09511846e-01 9.77752090e-01 1.02779417e-02 7.19425933e+00] [-4.89469538e-02 -1.08981905e-05 9.98801379e-01 -4.76507184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83320100799999 meters 0.06352844924005852 Centerline is valid? [True, True] Translation: X:61.82, Y:7.20, Z:-4.77 [[ 9.75572451e-01 -2.15105302e-01 4.45881260e-02 6.18184424e+01] [ 2.14891451e-01 9.76590835e-01 9.59193872e-03 7.20077527e+00] [-4.56076320e-02 2.23975938e-04 9.98959405e-01 -4.77231774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89320100799999 meters 0.06349094056654807 Centerline is valid? [True, True] Translation: X:61.88, Y:7.21, Z:-4.78 [[ 9.75172741e-01 -2.17024694e-01 4.40273517e-02 6.18762595e+01] [ 2.16818359e-01 9.76166063e-01 9.46656304e-03 7.21225830e+00] [-4.50324846e-02 3.14403933e-04 9.98985474e-01 -4.77613484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.953201008 meters 0.06297600920547651 Centerline is valid? [True, True] Translation: X:61.93, Y:7.23, Z:-4.78 [[ 9.75827467e-01 -2.13418758e-01 4.70445362e-02 6.19331461e+01] [ 2.13178130e-01 9.76960805e-01 1.01326752e-02 7.22779808e+00] [-4.81231709e-02 1.41123437e-04 9.98841399e-01 -4.77656373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.013201008 meters 0.06263033250346475 Centerline is valid? [True, True] Translation: X:61.99, Y:7.25, Z:-4.78 [[ 9.76373782e-01 -2.09937636e-01 5.11901050e-02 6.19900115e+01] [ 2.09647688e-01 9.77714778e-01 1.10299300e-02 7.24522992e+00] [-5.23649196e-02 -3.74473198e-05 9.98628016e-01 -4.77719191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.073201008 meters 0.06230683476256856 Centerline is valid? [True, True] Translation: X:62.05, Y:7.26, Z:-4.78 [[ 9.76599525e-01 -2.08348800e-01 5.33305330e-02 6.20471237e+01] [ 2.08031784e-01 9.78054580e-01 1.14897892e-02 7.26027799e+00] [-5.45540559e-02 -1.26476703e-04 9.98510811e-01 -4.77744263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.133201008 meters 0.06240856370261593 Centerline is valid? [True, True] Translation: X:62.10, Y:7.27, Z:-4.78 [[ 9.75726242e-01 -2.12725007e-01 5.20227928e-02 6.21045072e+01] [ 2.12428713e-01 9.77112103e-01 1.12241136e-02 7.26583060e+00] [-5.32197501e-02 9.94727001e-05 9.98582820e-01 -4.78298037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19320100799999 meters 0.06289971026138597 Centerline is valid? [True, True] Translation: X:62.16, Y:7.27, Z:-4.79 [[ 9.74953483e-01 -2.16772549e-01 4.97530674e-02 6.21619669e+01] [ 2.16506612e-01 9.76222091e-01 1.07385414e-02 7.27249453e+00] [-5.08978644e-02 3.02289659e-04 9.98703818e-01 -4.79363039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25320100799999 meters 0.06312942711086429 Centerline is valid? [True, True] Translation: X:62.22, Y:7.28, Z:-4.80 [[ 9.74688969e-01 -2.18453884e-01 4.75322374e-02 6.22194530e+01] [ 2.18213187e-01 9.75847202e-01 1.02588327e-02 7.28411599e+00] [-4.86252827e-02 3.72989979e-04 9.98817022e-01 -4.80012213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.313201008 meters 0.06355608694237076 Centerline is valid? [True, True] Translation: X:62.28, Y:7.30, Z:-4.81 [[ 9.75006292e-01 -2.17500953e-01 4.53438557e-02 6.22766987e+01] [ 2.17280416e-01 9.76060062e-01 9.79672977e-03 7.29716062e+00] [-4.63891247e-02 3.00458655e-04 9.98923400e-01 -4.80712747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.373201008 meters 0.06315416825897338 Centerline is valid? [True, True] Translation: X:62.33, Y:7.31, Z:-4.81 [[ 9.75217356e-01 -2.16272325e-01 4.66625067e-02 6.23343452e+01] [ 2.16036781e-01 9.76333050e-01 1.00937770e-02 7.30941641e+00] [-4.77411522e-02 2.37191244e-04 9.98859713e-01 -4.80721959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.433201008 meters 0.06277410667867594 Centerline is valid? [True, True] Translation: X:62.39, Y:7.32, Z:-4.81 [[ 9.75209305e-01 -2.15926713e-01 4.83990239e-02 6.23919164e+01] [ 2.15672260e-01 9.76409549e-01 1.04818121e-02 7.32354207e+00] [-4.95205724e-02 2.16366215e-04 9.98773080e-01 -4.80931104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.493201008 meters 0.06322894511342114 Centerline is valid? [True, True] Translation: X:62.45, Y:7.33, Z:-4.82 [[ 9.73963616e-01 -2.20874845e-01 5.10801049e-02 6.24483273e+01] [ 2.20597275e-01 9.75302043e-01 1.10800109e-02 7.33376918e+00] [-5.22658263e-02 4.76604493e-04 9.98633094e-01 -4.81614770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55320100799999 meters 0.06325311880387316 Centerline is valid? [True, True] Translation: X:62.50, Y:7.35, Z:-4.82 [[ 9.74226553e-01 -2.20053409e-01 4.95895210e-02 6.25047455e+01] [ 2.19790532e-01 9.75487737e-01 1.07609384e-02 7.34721137e+00] [-5.07419508e-02 4.15715289e-04 9.98711711e-01 -4.82269369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61320100799999 meters 0.06282255431164828 Centerline is valid? [True, True] Translation: X:62.56, Y:7.36, Z:-4.83 [[ 9.75158295e-01 -2.16432458e-01 4.71517801e-02 6.25614587e+01] [ 2.16190607e-01 9.76297569e-01 1.02312025e-02 7.36328740e+00] [-4.82485326e-02 2.16729973e-04 9.98835338e-01 -4.82681431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67320100799999 meters 0.06278221868563565 Centerline is valid? [True, True] Translation: X:62.62, Y:7.37, Z:-4.83 [[ 9.75000779e-01 -2.17014775e-01 4.77291093e-02 6.26176851e+01] [ 2.16766901e-01 9.76168291e-01 1.03719565e-02 7.37431229e+00] [-4.88425109e-02 2.33425485e-04 9.98806465e-01 -4.83210935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.733201008 meters 0.06261538522651111 Centerline is valid? [True, True] Translation: X:62.68, Y:7.39, Z:-4.84 [[ 9.74674158e-01 -2.18119321e-01 4.93380952e-02 6.26757355e+01] [ 2.17855627e-01 9.75922064e-01 1.07261651e-02 7.38675477e+00] [-5.04897196e-02 2.94065721e-04 9.98724537e-01 -4.83538366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.793201008 meters 0.06293376572574645 Centerline is valid? [True, True] Translation: X:62.73, Y:7.40, Z:-4.84 [[ 9.74348037e-01 -2.19201430e-01 5.09571883e-02 6.27322695e+01] [ 2.18920850e-01 9.75679564e-01 1.10927416e-02 7.39841791e+00] [-5.21494321e-02 3.47399988e-04 9.98639232e-01 -4.84272092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.853201008 meters 0.06246943939438297 Centerline is valid? [True, True] Translation: X:62.79, Y:7.41, Z:-4.84 [[ 9.74333792e-01 -2.19217890e-01 5.11583730e-02 6.27893075e+01] [ 2.18934945e-01 9.75675867e-01 1.11397129e-02 7.41108593e+00] [-5.23560143e-02 3.46556932e-04 9.98628423e-01 -4.84265141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91320100799999 meters 0.0622032437260114 Centerline is valid? [True, True] Translation: X:62.85, Y:7.42, Z:-4.84 [[ 9.74595726e-01 -2.17929801e-01 5.16698500e-02 6.28472280e+01] [ 2.17638548e-01 9.75964411e-01 1.12663649e-02 7.42446007e+00] [-5.28832114e-02 2.65200063e-04 9.98600669e-01 -4.84425058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97320100799999 meters 0.06227424163848333 Centerline is valid? [True, True] Translation: X:62.90, Y:7.44, Z:-4.85 [[ 9.74803375e-01 -2.17397050e-01 4.99690178e-02 6.29029834e+01] [ 2.17123211e-01 9.76083233e-01 1.09102870e-02 7.43684473e+00] [-5.11457846e-02 2.14049069e-04 9.98691175e-01 -4.85244353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03320100799999 meters 0.06253614367595692 Centerline is valid? [True, True] Translation: X:62.96, Y:7.45, Z:-4.86 [[ 9.74383686e-01 -2.19594967e-01 4.85230186e-02 6.29607646e+01] [ 2.19339317e-01 9.75591077e-01 1.05978226e-02 7.44821447e+00] [-4.96658525e-02 3.16660326e-04 9.98765840e-01 -4.85774285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.093201008 meters 0.06311282346303627 Centerline is valid? [True, True] Translation: X:63.02, Y:7.46, Z:-4.86 [[ 9.73699567e-01 -2.22687603e-01 4.81599831e-02 6.30184533e+01] [ 2.22438965e-01 9.74889748e-01 1.05302668e-02 7.46003962e+00] [-4.92956336e-02 4.59340554e-04 9.98784126e-01 -4.86448612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.153201008 meters 0.06327092483317827 Centerline is valid? [True, True] Translation: X:63.08, Y:7.47, Z:-4.87 [[ 9.73408346e-01 -2.24462474e-01 4.57470117e-02 6.30771906e+01] [ 2.24239524e-01 9.74482600e-01 1.00148717e-02 7.47049853e+00] [-4.68276298e-02 5.09728428e-04 9.98902855e-01 -4.86893700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.213201008 meters 0.06302498818775923 Centerline is valid? [True, True] Translation: X:63.13, Y:7.48, Z:-4.87 [[ 9.73646355e-01 -2.23425724e-01 4.57571938e-02 6.31346846e+01] [ 2.23201221e-01 9.74720853e-01 1.00237098e-02 7.48219932e+00] [-4.68400456e-02 4.53513010e-04 9.98902300e-01 -4.87147243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27320100799999 meters 0.06303791448302584 Centerline is valid? [True, True] Translation: X:63.19, Y:7.50, Z:-4.88 [[ 9.73898545e-01 -2.22323779e-01 4.57576291e-02 6.31899025e+01] [ 2.22097317e-01 9.74972814e-01 1.00395665e-02 7.49710792e+00] [-4.68444788e-02 3.85127487e-04 9.98902121e-01 -4.87848956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33320100799999 meters 0.06317376998874599 Centerline is valid? [True, True] Translation: X:63.25, Y:7.51, Z:-4.89 [[ 9.73862661e-01 -2.22244053e-01 4.68945389e-02 6.32451667e+01] [ 2.22005894e-01 9.74990990e-01 1.02932711e-02 7.51167576e+00] [-4.80093712e-02 3.86631691e-04 9.98846810e-01 -4.88668133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39320100799999 meters 0.06292216126167188 Centerline is valid? [True, True] Translation: X:63.30, Y:7.53, Z:-4.89 [[ 9.74020043e-01 -2.21589870e-01 4.67213504e-02 6.33005889e+01] [ 2.21352782e-01 9.75139889e-01 1.02538784e-02 7.52958471e+00] [-4.78320081e-02 3.54417758e-04 9.98855332e-01 -4.88789021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.453201008 meters 0.06261725396998394 Centerline is valid? [True, True] Translation: X:63.36, Y:7.54, Z:-4.89 [[ 9.74056741e-01 -2.21061208e-01 4.84294064e-02 6.33585077e+01] [ 2.20804906e-01 9.75259882e-01 1.06468633e-02 7.54286215e+00] [-4.95848656e-02 3.22801557e-04 9.98769862e-01 -4.88888341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.513201008 meters 0.06274122400160573 Centerline is valid? [True, True] Translation: X:63.42, Y:7.56, Z:-4.89 [[ 9.74402154e-01 -2.19904024e-01 4.67189636e-02 6.34159754e+01] [ 2.19664072e-01 9.75521479e-01 1.02732301e-02 7.55655263e+00] [-4.78344771e-02 2.52220224e-04 9.98855244e-01 -4.89266968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.573201008 meters 0.0630299099580643 Centerline is valid? [True, True] Translation: X:63.47, Y:7.57, Z:-4.90 [[ 9.74450236e-01 -2.19710933e-01 4.66244961e-02 6.34707679e+01] [ 2.19471024e-01 9.75564992e-01 1.02671989e-02 7.57161103e+00] [-4.77410420e-02 2.27851501e-04 9.98859720e-01 -4.90059067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.633201008 meters 0.06321904441796462 Centerline is valid? [True, True] Translation: X:63.53, Y:7.58, Z:-4.91 [[ 9.74368254e-01 -2.20272396e-01 4.56790598e-02 6.35280617e+01] [ 2.20042648e-01 9.75438368e-01 1.00609756e-02 7.58451279e+00] [-4.67732628e-02 2.48246095e-04 9.98905501e-01 -4.90644735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69320100799999 meters 0.06351410369740122 Centerline is valid? [True, True] Translation: X:63.59, Y:7.59, Z:-4.91 [[ 9.73858008e-01 -2.22804435e-01 4.42579344e-02 6.35856129e+01] [ 2.22590714e-01 9.74863101e-01 9.76261411e-03 7.59229790e+00] [-4.53205809e-02 3.44005298e-04 9.98972435e-01 -4.91264957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75320100799999 meters 0.06299555498778803 Centerline is valid? [True, True] Translation: X:63.64, Y:7.60, Z:-4.91 [[ 9.73664548e-01 -2.23433103e-01 4.53320724e-02 6.36436571e+01] [ 2.23209586e-01 9.74719191e-01 9.99894460e-03 7.60383700e+00] [-4.64201362e-02 3.82935237e-04 9.98921931e-01 -4.91199328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.813201008 meters 0.0626461180199453 Centerline is valid? [True, True] Translation: X:63.70, Y:7.62, Z:-4.92 [[ 9.74118867e-01 -2.21231517e-01 4.63578240e-02 6.37000077e+01] [ 2.20994509e-01 9.75221279e-01 1.02412507e-02 7.61804695e+00] [-4.74748238e-02 2.68628991e-04 9.98872399e-01 -4.91511613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.873201008 meters 0.06260536424599253 Centerline is valid? [True, True] Translation: X:63.75, Y:7.65, Z:-4.92 [[ 9.75528820e-01 -2.14573839e-01 4.79748711e-02 6.37541494e+01] [ 2.14311924e-01 9.76707768e-01 1.05988326e-02 7.64567748e+00] [-4.91316615e-02 -5.78797631e-05 9.98792309e-01 -4.92244780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.933201008 meters 0.06344113362615181 Centerline is valid? [True, True] Translation: X:63.81, Y:7.67, Z:-4.93 [[ 9.76856605e-01 -2.08647841e-01 4.70877068e-02 6.38090411e+01] [ 2.08388111e-01 9.77990771e-01 1.04137589e-02 7.66817503e+00] [-4.82241510e-02 -3.60230926e-04 9.98836474e-01 -4.93031853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.993201008 meters 0.06377139862045697 Centerline is valid? [True, True] Translation: X:63.87, Y:7.68, Z:-4.93 [[ 9.77697039e-01 -2.05234396e-01 4.45796207e-02 6.38670798e+01] [ 2.04997367e-01 9.78712714e-01 9.87433736e-03 7.67898484e+00] [-4.56571953e-02 -5.15405518e-04 9.98957034e-01 -4.93315523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05320100799999 meters 0.06253118173268246 Centerline is valid? [True, True] Translation: X:63.93, Y:7.68, Z:-4.94 [[ 9.75772633e-01 -2.13817952e-01 4.63643390e-02 6.39279315e+01] [ 2.13571326e-01 9.76873518e-01 1.02673814e-02 7.67909424e+00] [-4.74874454e-02 -1.16536420e-04 9.98871828e-01 -4.93502871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11320100799999 meters 0.06264448904934453 Centerline is valid? [True, True] Translation: X:63.98, Y:7.69, Z:-4.94 [[ 9.75550358e-01 -2.15008233e-01 4.55297621e-02 6.39846436e+01] [ 2.14771260e-01 9.76612234e-01 1.00921134e-02 7.69450792e+00] [-4.66348102e-02 -6.68804398e-05 9.98912003e-01 -4.94337956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17320100799999 meters 0.06256141600307473 Centerline is valid? [True, True] Translation: X:64.04, Y:7.71, Z:-4.95 [[ 9.75675012e-01 -2.14023133e-01 4.74591423e-02 6.40416687e+01] [ 2.13763877e-01 9.76828583e-01 1.05320315e-02 7.70919348e+00] [-4.86135451e-02 -1.30789736e-04 9.98817654e-01 -4.94601814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.233201008 meters 0.062248667240084765 Centerline is valid? [True, True] Translation: X:64.10, Y:7.72, Z:-4.95 [[ 9.75812862e-01 -2.13404947e-01 4.74087168e-02 6.40992383e+01] [ 2.13145013e-01 9.76963817e-01 1.05311037e-02 7.72028614e+00] [-4.85639905e-02 -1.71454939e-04 9.98820059e-01 -4.94602380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.293201008 meters 0.06215031292547128 Centerline is valid? [True, True] Translation: X:64.16, Y:7.73, Z:-4.95 [[ 9.75750009e-01 -2.13521100e-01 4.81732186e-02 6.41559698e+01] [ 2.13251905e-01 9.76938434e-01 1.07200959e-02 7.72960151e+00] [-4.93512354e-02 -1.87103017e-04 9.98781468e-01 -4.94869862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.353201008 meters 0.06240833193871388 Centerline is valid? [True, True] Translation: X:64.21, Y:7.75, Z:-4.96 [[ 9.76111415e-01 -2.11706869e-01 4.88539379e-02 6.42116871e+01] [ 2.11427753e-01 9.77333168e-01 1.08712212e-02 7.74682168e+00] [-5.00480861e-02 -2.82444827e-04 9.98746769e-01 -4.95619026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41320100799999 meters 0.06248069162045019 Centerline is valid? [True, True] Translation: X:64.27, Y:7.76, Z:-4.96 [[ 9.75663020e-01 -2.13568109e-01 4.97024598e-02 6.42697139e+01] [ 2.13280859e-01 9.76928155e-01 1.10749423e-02 7.75646371e+00] [-5.09209869e-02 -2.04828345e-04 9.98702664e-01 -4.96191182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47320100799999 meters 0.06237189411433754 Centerline is valid? [True, True] Translation: X:64.33, Y:7.77, Z:-4.97 [[ 9.75366097e-01 -2.14925882e-01 4.96773815e-02 6.43259717e+01] [ 2.14639915e-01 9.76630351e-01 1.10843973e-02 7.76567557e+00] [-5.08987624e-02 -1.48596439e-04 9.98703807e-01 -4.96688111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53320100799999 meters 0.06250880476165407 Centerline is valid? [True, True] Translation: X:64.38, Y:7.78, Z:-4.97 [[ 9.75810109e-01 -2.13284058e-01 4.80056387e-02 6.43830366e+01] [ 2.13014918e-01 9.76990204e-01 1.07138322e-02 7.77921326e+00] [-4.91861284e-02 -2.28748575e-04 9.98789604e-01 -4.97303319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.593201008 meters 0.06239197345281571 Centerline is valid? [True, True] Translation: X:64.44, Y:7.79, Z:-4.97 [[ 9.76188117e-01 -2.11424851e-01 4.85416650e-02 6.44393036e+01] [ 2.11146840e-01 9.77394199e-01 1.08440136e-02 7.79397608e+00] [-4.97370357e-02 -3.36378035e-04 9.98762291e-01 -4.97490781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.653201008 meters 0.0630758176459571 Centerline is valid? [True, True] Translation: X:64.49, Y:7.81, Z:-4.99 [[ 9.76640399e-01 -2.09594466e-01 4.73676237e-02 6.44940436e+01] [ 2.09326728e-01 9.77788305e-01 1.05996051e-02 7.81202885e+00] [-4.85371271e-02 -4.36692859e-04 9.98821284e-01 -4.98508971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.713201008 meters 0.06199084205579292 Centerline is valid? [True, True] Translation: X:64.56, Y:7.81, Z:-4.98 [[ 9.74101032e-01 -2.21241491e-01 4.66838619e-02 6.45563226e+01] [ 2.20994769e-01 9.75219044e-01 1.04464864e-02 7.80531478e+00] [-4.78381873e-02 1.40956106e-04 9.98855089e-01 -4.98466104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77320100799999 meters 0.06240485859950247 Centerline is valid? [True, True] Translation: X:64.62, Y:7.81, Z:-4.99 [[ 9.72415066e-01 -2.28367132e-01 4.75120214e-02 6.46156927e+01] [ 2.28119506e-01 9.73574966e-01 1.06431775e-02 7.81130231e+00] [-4.86870666e-02 4.88832661e-04 9.98813962e-01 -4.98851748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83320100799999 meters 0.06263614478396119 Centerline is valid? [True, True] Translation: X:64.67, Y:7.83, Z:-4.99 [[ 9.72845527e-01 -2.26881653e-01 4.57853145e-02 6.46721405e+01] [ 2.26649587e-01 9.73922258e-01 1.02665004e-02 7.82944077e+00] [-4.69206175e-02 3.89503638e-04 9.98898545e-01 -4.99437810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89320100799999 meters 0.062450428464827165 Centerline is valid? [True, True] Translation: X:64.73, Y:7.85, Z:-5.00 [[ 9.73296451e-01 -2.24809306e-01 4.64197612e-02 6.47288261e+01] [ 2.24567854e-01 9.74402738e-01 1.04203045e-02 7.84597529e+00] [-4.75741239e-02 2.82340752e-04 9.98867670e-01 -4.99817678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.953201008 meters 0.062406694694014206 Centerline is valid? [True, True] Translation: X:64.79, Y:7.86, Z:-5.00 [[ 9.73309594e-01 -2.24709314e-01 4.66278723e-02 6.47854457e+01] [ 2.24465063e-01 9.74425806e-01 1.04777638e-02 7.85769879e+00] [-4.77898532e-02 2.68220256e-04 9.98857376e-01 -5.00116290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.013201008 meters 0.06263000149065981 Centerline is valid? [True, True] Translation: X:64.84, Y:7.87, Z:-5.01 [[ 9.73181558e-01 -2.25687336e-01 4.45295674e-02 6.48434226e+01] [ 2.25465033e-01 9.74199745e-01 1.00187960e-02 7.86812455e+00] [-4.56418085e-02 2.89752890e-04 9.98957828e-01 -5.00516837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.073201008 meters 0.06332913074217762 Centerline is valid? [True, True] Translation: X:64.90, Y:7.88, Z:-5.01 [[ 9.72785595e-01 -2.27448878e-01 4.42175694e-02 6.49001040e+01] [ 2.27231011e-01 9.73789956e-01 9.95936051e-03 7.88149010e+00] [-4.53238704e-02 3.59280579e-04 9.98972281e-01 -5.01244976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.133201008 meters 0.0638479697887513 Centerline is valid? [True, True] Translation: X:64.96, Y:7.90, Z:-5.02 [[ 9.72753243e-01 -2.27861294e-01 4.27826959e-02 6.49552809e+01] [ 2.27657123e-01 9.73693538e-01 9.65027486e-03 7.89588511e+00] [-4.38561587e-02 3.52449320e-04 9.99037794e-01 -5.01941628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19320100799999 meters 0.06398099353963177 Centerline is valid? [True, True] Translation: X:65.01, Y:7.91, Z:-5.02 [[ 9.72996337e-01 -2.27186387e-01 4.07979598e-02 6.50118899e+01] [ 2.27000165e-01 9.73851247e-01 9.20186205e-03 7.91048584e+00] [-4.18216818e-02 3.07765522e-04 9.99125043e-01 -5.02460342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25320100799999 meters 0.06384675284753116 Centerline is valid? [True, True] Translation: X:65.07, Y:7.92, Z:-5.03 [[ 9.73148675e-01 -2.26319288e-01 4.19670945e-02 6.50681248e+01] [ 2.26120760e-01 9.74053135e-01 9.48110912e-03 7.92344637e+00] [-4.30239378e-02 2.63102508e-04 9.99074007e-01 -5.02797452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.313201008 meters 0.06369922455877793 Centerline is valid? [True, True] Translation: X:65.12, Y:7.94, Z:-5.03 [[ 9.73374870e-01 -2.24683908e-01 4.53707365e-02 6.51245904e+01] [ 2.24449828e-01 9.74431681e-01 1.02554280e-02 7.94283713e+00] [-4.65149127e-02 2.01078063e-04 9.98917575e-01 -5.03101562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.373201008 meters 0.0637801447444365 Centerline is valid? [True, True] Translation: X:65.18, Y:7.96, Z:-5.03 [[ 9.74072181e-01 -2.21159927e-01 4.76620590e-02 6.51801914e+01] [ 2.20897271e-01 9.75237553e-01 1.07754386e-02 7.96163197e+00] [-4.88649250e-02 3.23637667e-05 9.98805395e-01 -5.03462369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.433201008 meters 0.06452032363757484 Centerline is valid? [True, True] Translation: X:65.23, Y:7.99, Z:-5.04 [[ 9.75765443e-01 -2.13817017e-01 4.65197081e-02 6.52349565e+01] [ 2.13558538e-01 9.76873675e-01 1.05154177e-02 7.98616988e+00] [-4.76922534e-02 -3.25900428e-04 9.98862024e-01 -5.03787776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.493201008 meters 0.06515998972176991 Centerline is valid? [True, True] Translation: X:65.29, Y:8.00, Z:-5.04 [[ 9.76533547e-01 -2.10153756e-01 4.70917179e-02 6.52917506e+01] [ 2.09884067e-01 9.77668209e-01 1.06560810e-02 8.00294223e+00] [-4.82794909e-02 -5.22219295e-04 9.98833729e-01 -5.03987529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55320100799999 meters 0.06531788908372582 Centerline is valid? [True, True] Translation: X:65.35, Y:8.02, Z:-5.04 [[ 9.76435213e-01 -2.10554073e-01 4.73419092e-02 6.53486445e+01] [ 2.10281451e-01 9.77582077e-01 1.07235722e-02 8.01533747e+00] [-4.85384937e-02 -5.15748182e-04 9.98821180e-01 -5.04419675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61320100799999 meters 0.06567614847346138 Centerline is valid? [True, True] Translation: X:65.41, Y:8.03, Z:-5.05 [[ 9.76031162e-01 -2.12631718e-01 4.63780470e-02 6.54071434e+01] [ 2.12371796e-01 9.77132324e-01 1.05186529e-02 8.02509942e+00] [-4.75540880e-02 -4.17143904e-04 9.98868577e-01 -5.04952002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67320100799999 meters 0.06594115622196191 Centerline is valid? [True, True] Translation: X:65.47, Y:8.03, Z:-5.05 [[ 9.75265657e-01 -2.15487845e-01 4.92126593e-02 6.54650326e+01] [ 2.15197897e-01 9.76506473e-01 1.11791893e-02 8.03281752e+00] [-5.04654598e-02 -3.12218583e-04 9.98725758e-01 -5.05272174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.733201008 meters 0.06608195310000374 Centerline is valid? [True, True] Translation: X:65.52, Y:8.05, Z:-5.06 [[ 9.75294434e-01 -2.15247217e-01 4.96930781e-02 6.55219108e+01] [ 2.14951338e-01 9.76559537e-01 1.12868553e-02 8.04513978e+00] [-5.09577136e-02 -3.26413522e-04 9.98700758e-01 -5.05631862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.793201008 meters 0.0666975966728471 Centerline is valid? [True, True] Translation: X:65.58, Y:8.06, Z:-5.06 [[ 9.75248306e-01 -2.15804771e-01 4.81564462e-02 6.55795017e+01] [ 2.15526925e-01 9.76436485e-01 1.09514746e-02 8.05660931e+00] [-4.93850915e-02 -3.01396249e-04 9.98779766e-01 -5.06220759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.853201008 meters 0.06683228301497207 Centerline is valid? [True, True] Translation: X:65.64, Y:8.07, Z:-5.07 [[ 9.75035285e-01 -2.16860036e-01 4.77275284e-02 6.56365825e+01] [ 2.16587871e-01 9.76202673e-01 1.08643971e-02 8.06751142e+00] [-4.89477943e-02 -2.55966766e-04 9.98801306e-01 -5.06660769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91320100799999 meters 0.06671131219123065 Centerline is valid? [True, True] Translation: X:65.70, Y:8.08, Z:-5.07 [[ 9.74699763e-01 -2.18134775e-01 4.87605502e-02 6.56951299e+01] [ 2.17851536e-01 9.75918632e-01 1.11145387e-02 8.07879873e+00] [-5.00107968e-02 -2.10777464e-04 9.98748655e-01 -5.06786333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97320100799999 meters 0.06699817232039988 Centerline is valid? [True, True] Translation: X:65.75, Y:8.09, Z:-5.07 [[ 9.74244384e-01 -2.19658076e-01 5.09726275e-02 6.57525949e+01] [ 2.19349963e-01 9.75576910e-01 1.16312998e-02 8.09297015e+00] [-5.22826273e-02 -1.50884598e-04 9.98632317e-01 -5.07247143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03320100799999 meters 0.06702418355592817 Centerline is valid? [True, True] Translation: X:65.81, Y:8.10, Z:-5.08 [[ 9.73666758e-01 -2.21835383e-01 5.25557531e-02 6.58102086e+01] [ 2.21510333e-01 9.75084130e-01 1.20046441e-02 8.10303761e+00] [-5.39093356e-02 -4.68804895e-05 9.98545833e-01 -5.07619011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.093201008 meters 0.06698984795087545 Centerline is valid? [True, True] Translation: X:65.87, Y:8.11, Z:-5.08 [[ 9.73040718e-01 -2.24214671e-01 5.40327958e-02 6.58681463e+01] [ 2.23873995e-01 9.74539776e-01 1.23555018e-02 8.11289614e+00] [-5.54273935e-02 7.41315622e-05 9.98462718e-01 -5.07895111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.153201008 meters 0.06765145564946913 Centerline is valid? [True, True] Translation: X:65.92, Y:8.13, Z:-5.09 [[ 9.72757410e-01 -2.25898611e-01 5.20849155e-02 6.59231695e+01] [ 2.25583695e-01 9.74150807e-01 1.19248193e-02 8.12658322e+00] [-5.34323626e-02 1.49551336e-04 9.98571460e-01 -5.09061849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.213201008 meters 0.0682331016695604 Centerline is valid? [True, True] Translation: X:65.98, Y:8.14, Z:-5.10 [[ 9.72619155e-01 -2.27191274e-01 4.89500214e-02 6.59805425e+01] [ 2.26914737e-01 9.73850133e-01 1.12080158e-02 8.13916452e+00] [-5.02163482e-02 2.06350381e-04 9.98738342e-01 -5.09815102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27320100799999 meters 0.06854306237276019 Centerline is valid? [True, True] Translation: X:66.04, Y:8.15, Z:-5.11 [[ 9.72804568e-01 -2.27163636e-01 4.52543367e-02 6.60391756e+01] [ 2.26926565e-01 9.73856587e-01 1.03769972e-02 8.14946623e+00] [-4.64285103e-02 1.74620903e-04 9.98921600e-01 -5.10545461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33320100799999 meters 0.0688024509294553 Centerline is valid? [True, True] Translation: X:66.10, Y:8.16, Z:-5.11 [[ 9.72708316e-01 -2.27711645e-01 4.45638830e-02 6.60956949e+01] [ 2.27482297e-01 9.73728591e-01 1.02194225e-02 8.16165023e+00] [-4.57202085e-02 1.96977241e-04 9.98954265e-01 -5.11321060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39320100799999 meters 0.06847740325684386 Centerline is valid? [True, True] Translation: X:66.15, Y:8.18, Z:-5.11 [[ 9.72676129e-01 -2.27410605e-01 4.67500266e-02 6.61527147e+01] [ 2.27157847e-01 9.73798942e-01 1.07206609e-02 8.17559671e+00] [-4.79631184e-02 1.91904496e-04 9.98849089e-01 -5.11464209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.453201008 meters 0.06810234103778069 Centerline is valid? [True, True] Translation: X:66.21, Y:8.19, Z:-5.12 [[ 9.72700677e-01 -2.26704341e-01 4.95836231e-02 6.62092453e+01] [ 2.26418186e-01 9.73963613e-01 1.13879439e-02 8.18960146e+00] [-5.08743410e-02 1.49573328e-04 9.98705051e-01 -5.11758018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.513201008 meters 0.06781456650613948 Centerline is valid? [True, True] Translation: X:66.27, Y:8.20, Z:-5.12 [[ 9.72894307e-01 -2.25172506e-01 5.26688777e-02 6.62667338e+01] [ 2.24847152e-01 9.74318910e-01 1.21004406e-02 8.20352296e+00] [-5.40409700e-02 6.99974065e-05 9.98538717e-01 -5.11890965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.573201008 meters 0.06762735343073199 Centerline is valid? [True, True] Translation: X:66.32, Y:8.21, Z:-5.12 [[ 9.72551473e-01 -2.26391836e-01 5.37621545e-02 6.63249307e+01] [ 2.26054667e-01 9.74036302e-01 1.23519519e-02 8.21478103e+00] [-5.51626712e-02 1.40276912e-04 9.98477371e-01 -5.12270868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63320100799999 meters 0.06736815464257719 Centerline is valid? [True, True] Translation: X:66.38, Y:8.23, Z:-5.13 [[ 9.72085185e-01 -2.27590306e-01 5.70354767e-02 6.63819421e+01] [ 2.27211798e-01 9.73756957e-01 1.31220156e-02 8.22570711e+00] [-5.85251357e-02 2.03416274e-04 9.98285915e-01 -5.12619491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69320100799999 meters 0.06741217300728768 Centerline is valid? [True, True] Translation: X:66.44, Y:8.24, Z:-5.13 [[ 9.72021532e-01 -2.27620488e-01 5.79918591e-02 6.64388029e+01] [ 2.27229060e-01 9.73749902e-01 1.33447803e-02 8.23907858e+00] [-5.95071124e-02 2.06021850e-04 9.98227860e-01 -5.13195859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75320100799999 meters 0.06754041786985147 Centerline is valid? [True, True] Translation: X:66.50, Y:8.26, Z:-5.14 [[ 9.72559052e-01 -2.25793849e-01 5.60894583e-02 6.64953654e+01] [ 2.25423911e-01 9.74175103e-01 1.29201030e-02 8.25542020e+00] [-5.75582336e-02 7.83418874e-05 9.98342148e-01 -5.13978162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.813201008 meters 0.06733834290457034 Centerline is valid? [True, True] Translation: X:66.55, Y:8.27, Z:-5.14 [[ 9.72894480e-01 -2.24590607e-01 5.50943764e-02 6.65531423e+01] [ 2.24231028e-01 9.74453210e-01 1.27038096e-02 8.26775868e+00] [-5.65400483e-02 -5.59759143e-06 9.98400332e-01 -5.14303804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.873201008 meters 0.06742367684881444 Centerline is valid? [True, True] Translation: X:66.61, Y:8.28, Z:-5.15 [[ 9.72231152e-01 -2.27074251e-01 5.66027528e-02 6.66102490e+01] [ 2.26698052e-01 9.73877440e-01 1.30661853e-02 8.28066619e+00] [-5.80911383e-02 1.28381414e-04 9.98311276e-01 -5.15062331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.933201008 meters 0.06761760216345845 Centerline is valid? [True, True] Translation: X:66.67, Y:8.30, Z:-5.16 [[ 9.72191977e-01 -2.27364112e-01 5.61099010e-02 6.66665190e+01] [ 2.26994131e-01 9.73809809e-01 1.29661520e-02 8.29608061e+00] [-5.75884096e-02 1.31029297e-04 9.98340402e-01 -5.15772236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.993201008 meters 0.06753914529116717 Centerline is valid? [True, True] Translation: X:66.72, Y:8.31, Z:-5.16 [[ 9.72768208e-01 -2.25407100e-01 5.39782648e-02 6.67229347e+01] [ 2.25060835e-01 9.74264666e-01 1.24892442e-02 8.30895462e+00] [-5.54042804e-02 -7.46326941e-07 9.98464003e-01 -5.16221855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05320100799999 meters 0.06719987224955179 Centerline is valid? [True, True] Translation: X:66.78, Y:8.32, Z:-5.17 [[ 9.72653229e-01 -2.25684137e-01 5.48850337e-02 6.67806101e+01] [ 2.25326461e-01 9.74200529e-01 1.27010124e-02 8.32243304e+00] [-5.63354459e-02 1.33697226e-05 9.98411898e-01 -5.16686771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11320100799999 meters 0.06711825771387711 Centerline is valid? [True, True] Translation: X:66.84, Y:8.34, Z:-5.17 [[ 9.72679732e-01 -2.25265912e-01 5.61195876e-02 6.68371784e+01] [ 2.24890476e-01 9.74297320e-01 1.30002028e-02 8.33834954e+00] [-5.76056664e-02 -2.42729964e-05 9.98339415e-01 -5.17007365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17320100799999 meters 0.06687262772880294 Centerline is valid? [True, True] Translation: X:66.89, Y:8.34, Z:-5.17 [[ 9.71610651e-01 -2.29631116e-01 5.69411347e-02 6.68949583e+01] [ 2.29251073e-01 9.73277710e-01 1.32077282e-02 8.34368165e+00] [-5.84524426e-02 2.21046808e-04 9.98290170e-01 -5.17220018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.233201008 meters 0.06677673040527017 Centerline is valid? [True, True] Translation: X:66.95, Y:8.36, Z:-5.18 [[ 9.71622382e-01 -2.29693302e-01 5.64883534e-02 6.69520055e+01] [ 2.29319254e-01 9.73263037e-01 1.31050249e-02 8.35744165e+00] [-5.79881628e-02 2.20731498e-04 9.98317246e-01 -5.17930630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.293201008 meters 0.06694462618835387 Centerline is valid? [True, True] Translation: X:67.01, Y:8.37, Z:-5.18 [[ 9.72450865e-01 -2.26689147e-01 5.43262797e-02 6.70082985e+01] [ 2.26337834e-01 9.73967160e-01 1.26156806e-02 8.37396607e+00] [-5.57718502e-02 2.79629644e-05 9.98443539e-01 -5.18416074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.353201008 meters 0.06691458297581086 Centerline is valid? [True, True] Translation: X:67.06, Y:8.39, Z:-5.19 [[ 9.72605806e-01 -2.26094189e-01 5.40311325e-02 6.70647667e+01] [ 2.25744901e-01 9.74105445e-01 1.25627450e-02 8.38626075e+00] [-5.54723840e-02 -2.13460470e-05 9.98460222e-01 -5.18898350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41320100799999 meters 0.06685721845916859 Centerline is valid? [True, True] Translation: X:67.12, Y:8.40, Z:-5.19 [[ 9.72565457e-01 -2.26393385e-01 5.35020223e-02 6.71221584e+01] [ 2.26051102e-01 9.74035952e-01 1.24444335e-02 8.39900298e+00] [-5.49302306e-02 -8.83502017e-06 9.98490195e-01 -5.19309105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47320100799999 meters 0.06673041911822995 Centerline is valid? [True, True] Translation: X:67.18, Y:8.41, Z:-5.20 [[ 9.72680546e-01 -2.25777449e-01 5.40101753e-02 6.71787413e+01] [ 2.25426976e-01 9.74178906e-01 1.25753096e-02 8.41313254e+00] [-5.54547948e-02 -5.64085697e-05 9.98461197e-01 -5.19722565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53320100799999 meters 0.06671217182922892 Centerline is valid? [True, True] Translation: X:67.24, Y:8.42, Z:-5.20 [[ 9.71220933e-01 -2.31358810e-01 5.65950602e-02 6.72360450e+01] [ 2.30982243e-01 9.72868458e-01 1.31972546e-02 8.42256312e+00] [-5.81128500e-02 2.55004010e-04 9.98309988e-01 -5.20189687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.593201008 meters 0.06677327877564114 Centerline is valid? [True, True] Translation: X:67.29, Y:8.43, Z:-5.21 [[ 9.70192642e-01 -2.35801877e-01 5.58901758e-02 6.72944332e+01] [ 2.35441878e-01 9.71801015e-01 1.30349505e-02 8.43086592e+00] [-5.73877954e-02 5.12474851e-04 9.98351831e-01 -5.20617724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.653201008 meters 0.06641709774619234 Centerline is valid? [True, True] Translation: X:67.35, Y:8.44, Z:-5.21 [[ 9.70292653e-01 -2.35102223e-01 5.70886368e-02 6.73503882e+01] [ 2.34724427e-01 9.71970539e-01 1.33309726e-02 8.44381683e+00] [-5.86226144e-02 4.65152752e-04 9.98280107e-01 -5.21028065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.713201008 meters 0.06596894256735882 Centerline is valid? [True, True] Translation: X:67.41, Y:8.47, Z:-5.21 [[ 9.71291971e-01 -2.30951618e-01 5.70373323e-02 6.74058732e+01] [ 2.30567216e-01 9.72965213e-01 1.33211944e-02 8.46518488e+00] [-5.85718916e-02 2.12169742e-04 9.98283170e-01 -5.21414202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77320100799999 meters 0.06582931214464857 Centerline is valid? [True, True] Translation: X:67.46, Y:8.48, Z:-5.22 [[ 9.72020457e-01 -2.27867417e-01 5.70322043e-02 6.74606747e+01] [ 2.27477019e-01 9.73692169e-01 1.33328765e-02 8.48483772e+00] [-5.85699389e-02 1.36871034e-05 9.98283308e-01 -5.22028650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83320100799999 meters 0.0656153359141059 Centerline is valid? [True, True] Translation: X:67.52, Y:8.50, Z:-5.23 [[ 9.72355974e-01 -2.26852948e-01 5.53317176e-02 6.75180430e+01] [ 2.26483012e-01 9.73929020e-01 1.29502541e-02 8.49788760e+00] [-5.68269688e-02 -6.05628709e-05 9.98384040e-01 -5.22584144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89320100799999 meters 0.06544237627977663 Centerline is valid? [True, True] Translation: X:67.58, Y:8.51, Z:-5.23 [[ 9.72164800e-01 -2.28198445e-01 5.31137641e-02 6.75761723e+01] [ 2.27858984e-01 9.73614641e-01 1.24424187e-02 8.50760592e+00] [-5.45516789e-02 6.36681479e-06 9.98510949e-01 -5.22809864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.953201008 meters 0.06539406303297503 Centerline is valid? [True, True] Translation: X:67.63, Y:8.52, Z:-5.24 [[ 9.71667513e-01 -2.30581901e-01 5.19059877e-02 6.76330793e+01] [ 2.30260447e-01 9.73052913e-01 1.21719165e-02 8.51989045e+00] [-5.33138962e-02 1.24840044e-04 9.98577795e-01 -5.23609549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.013201008 meters 0.06493143292137721 Centerline is valid? [True, True] Translation: X:67.69, Y:8.53, Z:-5.24 [[ 9.71020649e-01 -2.32933664e-01 5.34865160e-02 6.76913649e+01] [ 2.32595127e-01 9.72492595e-01 1.25562783e-02 8.53115371e+00] [-5.49400206e-02 2.48297503e-04 9.98489626e-01 -5.23904046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.073201008 meters 0.0641363717970237 Centerline is valid? [True, True] Translation: X:67.75, Y:8.55, Z:-5.24 [[ 9.71793838e-01 -2.29648516e-01 5.36497519e-02 6.77479064e+01] [ 2.29302008e-01 9.73273629e-01 1.26108048e-02 8.54512989e+00] [-5.51119413e-02 4.68934143e-05 9.98480181e-01 -5.24046940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13320100799999 meters 0.06410612197316454 Centerline is valid? [True, True] Translation: X:67.80, Y:8.57, Z:-5.24 [[ 9.73300903e-01 -2.23429282e-01 5.25804902e-02 6.78029430e+01] [ 2.23087326e-01 9.74720096e-01 1.23603873e-02 8.56801177e+00] [-5.40129329e-02 -3.00335204e-04 9.98540191e-01 -5.24471989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19320100799999 meters 0.06447240444965228 Centerline is valid? [True, True] Translation: X:67.86, Y:8.59, Z:-5.25 [[ 9.73395269e-01 -2.23240121e-01 5.16284753e-02 6.78588572e+01] [ 2.22909515e-01 9.74763432e-01 1.21490886e-02 8.58661959e+00] [-5.30377137e-02 -3.17387027e-04 9.98592460e-01 -5.25392094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25320100799999 meters 0.06401572957876947 Centerline is valid? [True, True] Translation: X:67.92, Y:8.60, Z:-5.26 [[ 9.72536815e-01 -2.26531938e-01 5.34361732e-02 6.79163880e+01] [ 2.26181951e-01 9.74003725e-01 1.25884246e-02 8.59884243e+00] [-5.48987120e-02 -1.56408442e-04 9.98491916e-01 -5.25728077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.313201008 meters 0.06339844027632405 Centerline is valid? [True, True] Translation: X:67.97, Y:8.61, Z:-5.26 [[ 9.72092990e-01 -2.28668342e-01 5.24023669e-02 6.79745164e+01] [ 2.28334195e-01 9.73504385e-01 1.23575189e-02 8.60783508e+00] [-5.38397074e-02 -4.74052391e-05 9.98549590e-01 -5.25981280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.373201008 meters 0.06252319086773468 Centerline is valid? [True, True] Translation: X:68.03, Y:8.62, Z:-5.26 [[ 9.71562131e-01 -2.30739188e-01 5.31643865e-02 6.80316305e+01] [ 2.30397443e-01 9.73015634e-01 1.25536321e-02 8.61563190e+00] [-5.46263941e-02 5.23051099e-05 9.98506862e-01 -5.26325187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.433201008 meters 0.06250376583776679 Centerline is valid? [True, True] Translation: X:68.09, Y:8.63, Z:-5.27 [[ 9.71425685e-01 -2.31174864e-01 5.37617013e-02 6.80885733e+01] [ 2.30825967e-01 9.72912214e-01 1.26963210e-02 8.62929353e+00] [-5.52404861e-02 7.60643203e-05 9.98473076e-01 -5.26965463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.493201008 meters 0.06256335794513083 Centerline is valid? [True, True] Translation: X:68.15, Y:8.64, Z:-5.28 [[ 9.70542354e-01 -2.35282939e-01 5.18601841e-02 6.81463737e+01] [ 2.34963532e-01 9.71926878e-01 1.22589724e-02 8.63945466e+00] [-5.32886339e-02 2.87400090e-04 9.98579110e-01 -5.27637922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55320100799999 meters 0.06299555486870256 Centerline is valid? [True, True] Translation: X:68.20, Y:8.65, Z:-5.29 [[ 9.70253587e-01 -2.37305822e-01 4.78949170e-02 6.82032390e+01] [ 2.37035154e-01 9.71434929e-01 1.13364002e-02 8.65194960e+00] [-4.92169890e-02 3.53596087e-04 9.98788047e-01 -5.28560583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61320100799999 meters 0.06267229100988997 Centerline is valid? [True, True] Translation: X:68.26, Y:8.67, Z:-5.29 [[ 9.70407738e-01 -2.37027390e-01 4.61176490e-02 6.82596634e+01] [ 2.36776080e-01 9.71502913e-01 1.09168565e-02 8.66698105e+00] [-4.73910244e-02 3.25754091e-04 9.98876361e-01 -5.28706534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67320100799999 meters 0.06275557803065746 Centerline is valid? [True, True] Translation: X:68.32, Y:8.68, Z:-5.29 [[ 9.70371869e-01 -2.37247567e-01 4.57386904e-02 6.83168403e+01] [ 2.37000635e-01 9.71449165e-01 1.08267643e-02 8.68088054e+00] [-4.70014361e-02 3.34111158e-04 9.98894766e-01 -5.29209193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.733201008 meters 0.062330756586397015 Centerline is valid? [True, True] Translation: X:68.38, Y:8.69, Z:-5.29 [[ 9.69607269e-01 -2.39872860e-01 4.81949644e-02 6.83753234e+01] [ 2.39601269e-01 9.70804196e-01 1.14212652e-02 8.69214754e+00] [-4.95275252e-02 4.73432874e-04 9.98772647e-01 -5.29312267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.793201008 meters 0.06219621619386351 Centerline is valid? [True, True] Translation: X:68.43, Y:8.70, Z:-5.30 [[ 9.69016557e-01 -2.41975970e-01 4.95433457e-02 6.84334135e+01] [ 2.41691129e-01 9.70282065e-01 1.17521054e-02 8.70372806e+00] [-5.09147469e-02 5.86202404e-04 9.98702831e-01 -5.29519161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.853201008 meters 0.06213094917537771 Centerline is valid? [True, True] Translation: X:68.49, Y:8.72, Z:-5.30 [[ 9.69304796e-01 -2.40969789e-01 4.88034216e-02 6.84892754e+01] [ 2.40691314e-01 9.70532483e-01 1.15926930e-02 8.71866782e+00] [-5.01587948e-02 5.09706771e-04 9.98741125e-01 -5.29970345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91320100799999 meters 0.062225313183815606 Centerline is valid? [True, True] Translation: X:68.54, Y:8.74, Z:-5.31 [[ 9.70134645e-01 -2.38081776e-01 4.64309961e-02 6.85447502e+01] [ 2.37826442e-01 9.71245051e-01 1.10287636e-02 8.73734655e+00] [-4.77216228e-02 3.43132886e-04 9.98860615e-01 -5.30593336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97320100799999 meters 0.06207765203210343 Centerline is valid? [True, True] Translation: X:68.60, Y:8.76, Z:-5.31 [[ 9.71464742e-01 -2.32807757e-01 4.53520006e-02 6.85985845e+01] [ 2.32557704e-01 9.72522773e-01 1.07875232e-02 8.76158474e+00] [-4.66172725e-02 6.72587021e-05 9.98912822e-01 -5.31056205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03320100799999 meters 0.0621173640753385 Centerline is valid? [True, True] Translation: X:68.65, Y:8.79, Z:-5.31 [[ 9.72702782e-01 -2.27490017e-01 4.57994462e-02 6.86528320e+01] [ 2.27229176e-01 9.73780394e-01 1.08924223e-02 8.78642625e+00] [-4.70765201e-02 -1.88119027e-04 9.98891268e-01 -5.31432918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.093201008 meters 0.06220766814675615 Centerline is valid? [True, True] Translation: X:68.71, Y:8.80, Z:-5.32 [[ 9.73195557e-01 -2.25295206e-01 4.61787658e-02 6.87072698e+01] [ 2.25026713e-01 9.74290496e-01 1.10003146e-02 8.80289481e+00] [-4.74698508e-02 -3.14001383e-04 9.98872622e-01 -5.31663782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.153201008 meters 0.06141293938680194 Centerline is valid? [True, True] Translation: X:68.77, Y:8.81, Z:-5.32 [[ 9.72952722e-01 -2.25906588e-01 4.82619230e-02 6.87655265e+01] [ 2.25613903e-01 9.74148923e-01 1.14997100e-02 8.81376452e+00] [-4.96121605e-02 -3.00113323e-04 9.98768513e-01 -5.31524863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.213201008 meters 0.061173944445755864 Centerline is valid? [True, True] Translation: X:68.82, Y:8.82, Z:-5.32 [[ 9.72114689e-01 -2.29245168e-01 4.93931662e-02 6.88234067e+01] [ 2.28942250e-01 9.73368703e-01 1.17819403e-02 8.82472566e+00] [-5.07787150e-02 -1.45214628e-04 9.98709918e-01 -5.31984872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27320100799999 meters 0.06123891798960182 Centerline is valid? [True, True] Translation: X:68.88, Y:8.83, Z:-5.32 [[ 9.70928705e-01 -2.34511238e-01 4.79784307e-02 6.88818683e+01] [ 2.34231312e-01 9.72113402e-01 1.14554151e-02 8.83255841e+00] [-4.93268991e-02 1.15659472e-04 9.98782681e-01 -5.32350621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33320100799999 meters 0.061543909557372406 Centerline is valid? [True, True] Translation: X:68.94, Y:8.84, Z:-5.33 [[ 9.70080390e-01 -2.38302992e-01 4.64297402e-02 6.89388915e+01] [ 2.38044442e-01 9.71190817e-01 1.11013417e-02 8.84015021e+00] [-4.77376203e-02 2.83147730e-04 9.98859870e-01 -5.32972846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39320100799999 meters 0.06134549843975352 Centerline is valid? [True, True] Translation: X:69.00, Y:8.85, Z:-5.33 [[ 9.69632862e-01 -2.39968868e-01 4.71916883e-02 6.89964174e+01] [ 2.39703722e-01 9.70780513e-01 1.12836659e-02 8.85180626e+00] [-4.85205000e-02 3.71010032e-04 9.98822118e-01 -5.33047132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.453201008 meters 0.061251884128970764 Centerline is valid? [True, True] Translation: X:69.05, Y:8.87, Z:-5.33 [[ 9.69248146e-01 -2.41309544e-01 4.82466022e-02 6.90533050e+01] [ 2.41033457e-01 9.70448099e-01 1.15481130e-02 8.86539077e+00] [-4.96074933e-02 4.36058178e-04 9.98768695e-01 -5.33456541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.513201008 meters 0.06178029045387824 Centerline is valid? [True, True] Translation: X:69.11, Y:8.88, Z:-5.34 [[ 9.68039553e-01 -2.46202379e-01 4.77892492e-02 6.91107036e+01] [ 2.45936880e-01 9.69218211e-01 1.14503294e-02 8.87830591e+00] [-4.91373090e-02 6.68767107e-04 9.98791809e-01 -5.33977869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.573201008 meters 0.06261329764304573 Centerline is valid? [True, True] Translation: X:69.17, Y:8.89, Z:-5.34 [[ 9.66672101e-01 -2.51740823e-01 4.66005010e-02 6.91699009e+01] [ 2.51494032e-01 9.67794259e-01 1.11814064e-02 8.88709718e+00] [-4.79145138e-02 9.10994279e-04 9.98851025e-01 -5.34346848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63320100799999 meters 0.06325608228814758 Centerline is valid? [True, True] Translation: X:69.23, Y:8.90, Z:-5.35 [[ 9.65976432e-01 -2.54726801e-01 4.47637024e-02 6.92286037e+01] [ 2.54502142e-01 9.67012527e-01 1.07439132e-02 8.89815844e+00] [-4.60238236e-02 1.01409116e-03 9.98939828e-01 -5.34728766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69320100799999 meters 0.06509925000053879 Centerline is valid? [True, True] Translation: X:69.29, Y:8.91, Z:-5.36 [[ 9.65084301e-01 -2.58595637e-01 4.17203631e-02 6.92851912e+01] [ 2.58403996e-01 9.65985018e-01 1.00160012e-02 8.91175275e+00] [-4.28913400e-02 1.11442299e-03 9.99079121e-01 -5.35602093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75320100799999 meters 0.0650384588402973 Centerline is valid? [True, True] Translation: X:69.34, Y:8.93, Z:-5.36 [[ 9.63677143e-01 -2.63830215e-01 4.14726630e-02 6.93431889e+01] [ 2.63645637e-01 9.64568207e-01 9.95748939e-03 8.92670787e+00] [-4.26302988e-02 1.33828173e-03 9.99090019e-01 -5.35641903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.813201008 meters 0.0670266651961767 Centerline is valid? [True, True] Translation: X:69.40, Y:8.94, Z:-5.36 [[ 9.61739835e-01 -2.70469010e-01 4.36234364e-02 6.94010023e+01] [ 2.70271329e-01 9.62727160e-01 1.04796454e-02 8.93543332e+00] [-4.48318864e-02 1.71147171e-03 9.98993079e-01 -5.35799076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.873201008 meters 0.06802585269031859 Centerline is valid? [True, True] Translation: X:69.46, Y:8.95, Z:-5.36 [[ 9.61298845e-01 -2.71765464e-01 4.52555416e-02 6.94572957e+01] [ 2.71554050e-01 9.62361762e-01 1.08737176e-02 8.94689246e+00] [-4.65073037e-02 1.83643345e-03 9.98916262e-01 -5.35967750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.933201008 meters 0.06369445517817973 Centerline is valid? [True, True] Translation: X:69.51, Y:8.98, Z:-5.36 [[ 9.62946734e-01 -2.65806912e-01 4.56100082e-02 6.95113440e+01] [ 2.65585373e-01 9.64025030e-01 1.09613850e-02 8.97920268e+00] [-4.68828014e-02 1.55812114e-03 9.98899182e-01 -5.35717576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.993201008 meters 0.06378048189771383 Centerline is valid? [True, True] Translation: X:69.57, Y:9.00, Z:-5.37 [[ 9.64556553e-01 -2.59666426e-01 4.69468075e-02 6.95663013e+01] [ 2.59423715e-01 9.65697522e-01 1.12974638e-02 8.99854322e+00] [-4.82699877e-02 1.28207249e-03 9.98833502e-01 -5.36572709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05320100799999 meters 0.06223439415332766 Centerline is valid? [True, True] Translation: X:69.62, Y:9.03, Z:-5.37 [[ 9.66251298e-01 -2.53746483e-01 4.43976520e-02 6.96206906e+01] [ 2.53523294e-01 9.67270308e-01 1.06813514e-02 9.02601383e+00] [-4.56548859e-02 9.34969314e-04 9.98956835e-01 -5.36962654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11320100799999 meters 0.06206866873992972 Centerline is valid? [True, True] Translation: X:69.68, Y:9.04, Z:-5.37 [[ 9.66931020e-01 -2.51501070e-01 4.23274736e-02 6.96769278e+01] [ 2.51295712e-01 9.67856704e-01 1.01914336e-02 9.04480787e+00] [-4.35300856e-02 7.82299329e-04 9.99051810e-01 -5.37493895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17320100799999 meters 0.06205790183947249 Centerline is valid? [True, True] Translation: X:69.73, Y:9.06, Z:-5.38 [[ 9.67483364e-01 -2.49828234e-01 3.95195396e-02 6.97332192e+01] [ 2.49647504e-01 9.68289950e-01 9.52341276e-03 9.06331466e+00] [-4.06455905e-02 6.52211033e-04 9.99173414e-01 -5.37893546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.233201008 meters 0.062245663240658625 Centerline is valid? [True, True] Translation: X:69.79, Y:9.08, Z:-5.39 [[ 9.67689590e-01 -2.49134792e-01 3.88421522e-02 6.97881209e+01] [ 2.48959074e-01 9.68468635e-01 9.37455017e-03 9.07890511e+00] [-3.99529328e-02 5.98451636e-04 9.99201384e-01 -5.38638379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.293201008 meters 0.061875721673741155 Centerline is valid? [True, True] Translation: X:69.84, Y:9.10, Z:-5.39 [[ 9.68271422e-01 -2.46701021e-01 3.98630029e-02 6.98444773e+01] [ 2.46513712e-01 9.69091507e-01 9.62500663e-03 9.09527879e+00] [-4.10053966e-02 5.07157955e-04 9.99158796e-01 -5.38986727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.353201008 meters 0.06153966214485635 Centerline is valid? [True, True] Translation: X:69.90, Y:9.11, Z:-5.39 [[ 9.68645329e-01 -2.44947665e-01 4.15556132e-02 6.99018495e+01] [ 2.44742570e-01 9.69536196e-01 1.00318465e-02 9.11045697e+00] [-4.27469485e-02 4.53126334e-04 9.99085829e-01 -5.39223168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41320100799999 meters 0.06125122977686296 Centerline is valid? [True, True] Translation: X:69.96, Y:9.12, Z:-5.39 [[ 9.68880171e-01 -2.43722313e-01 4.32509993e-02 6.99587943e+01] [ 2.43498286e-01 9.69844974e-01 1.04552277e-02 9.12194839e+00] [-4.44949366e-02 4.01681422e-04 9.99009529e-01 -5.39450173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47320100799999 meters 0.06089758453509747 Centerline is valid? [True, True] Translation: X:70.02, Y:9.14, Z:-5.40 [[ 9.68914065e-01 -2.43426350e-01 4.41491376e-02 7.00162183e+01] [ 2.43192647e-01 9.69919303e-01 1.06715535e-02 9.13543384e+00] [-4.54188381e-02 3.96927364e-04 9.98967953e-01 -5.39622303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53320100799999 meters 0.06100563333796237 Centerline is valid? [True, True] Translation: X:70.07, Y:9.15, Z:-5.40 [[ 9.68916078e-01 -2.43695546e-01 4.25924206e-02 7.00733074e+01] [ 2.43477893e-01 9.69851706e-01 1.03045460e-02 9.14834619e+00] [-4.38195037e-02 3.86072572e-04 9.99039390e-01 -5.40145637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.593201008 meters 0.06120823780188534 Centerline is valid? [True, True] Translation: X:70.13, Y:9.16, Z:-5.41 [[ 9.69564721e-01 -2.41597404e-01 3.96856009e-02 7.01298545e+01] [ 2.41406093e-01 9.70376539e-01 9.61614103e-03 9.16486432e+00] [-4.08332108e-02 2.56874750e-04 9.99165944e-01 -5.40908258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.653201008 meters 0.06172155331728514 Centerline is valid? [True, True] Translation: X:70.19, Y:9.18, Z:-5.42 [[ 9.69623303e-01 -2.41406815e-01 3.94132032e-02 7.01863937e+01] [ 2.41217927e-01 9.70423974e-01 9.55105542e-03 9.17702664e+00] [-4.05532072e-02 2.46245295e-04 9.99177350e-01 -5.41774115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.713201008 meters 0.06148683919832173 Centerline is valid? [True, True] Translation: X:70.25, Y:9.18, Z:-5.42 [[ 9.68710155e-01 -2.45274111e-01 3.79637442e-02 7.02464769e+01] [ 2.45101875e-01 9.69453689e-01 9.19869397e-03 9.18420412e+00] [-3.90602933e-02 3.94116595e-04 9.99236778e-01 -5.41691451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77320100799999 meters 0.061995357338717444 Centerline is valid? [True, True] Translation: X:70.30, Y:9.19, Z:-5.42 [[ 9.67814726e-01 -2.48683175e-01 3.86178077e-02 7.03032576e+01] [ 2.48507236e-01 9.68584739e-01 9.36784678e-03 9.19373359e+00] [-3.97342450e-02 5.30464563e-04 9.99210142e-01 -5.42241541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83320100799999 meters 0.06290288961742377 Centerline is valid? [True, True] Translation: X:70.36, Y:9.20, Z:-5.43 [[ 9.66453369e-01 -2.53854718e-01 3.90597990e-02 7.03622716e+01] [ 2.53678742e-01 9.67242071e-01 9.48003599e-03 9.19969291e+00] [-4.01868328e-02 7.46627967e-04 9.99191904e-01 -5.42726656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89320100799999 meters 0.06333987336240099 Centerline is valid? [True, True] Translation: X:70.42, Y:9.21, Z:-5.43 [[ 9.65870409e-01 -2.56271885e-01 3.76705877e-02 7.04212147e+01] [ 2.56109739e-01 9.66604400e-01 9.15073853e-03 9.20847009e+00] [-3.87576328e-02 8.09376812e-04 9.99248313e-01 -5.43098556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.953201008 meters 0.06366532288440471 Centerline is valid? [True, True] Translation: X:70.48, Y:9.22, Z:-5.43 [[ 9.64673833e-01 -2.60642377e-01 3.83399041e-02 7.04799968e+01] [ 2.60478054e-01 9.65434895e-01 9.30840006e-03 9.21694757e+00] [-3.94408448e-02 1.00713364e-03 9.99221400e-01 -5.43229609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.013201008 meters 0.06386711589351933 Centerline is valid? [True, True] Translation: X:70.54, Y:9.23, Z:-5.43 [[ 9.63673365e-01 -2.64007776e-01 4.04170668e-02 7.05384788e+01] [ 2.63827674e-01 9.64519809e-01 9.82324071e-03 9.22702930e+00] [-4.15764735e-02 1.19674529e-03 9.99134608e-01 -5.43320677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.073201008 meters 0.06419040349805175 Centerline is valid? [True, True] Translation: X:70.60, Y:9.24, Z:-5.44 [[ 9.63099670e-01 -2.65974317e-01 4.11908863e-02 7.05951907e+01] [ 2.65788619e-01 9.63979244e-01 1.00213805e-02 9.24178056e+00] [-4.23725893e-02 1.29648054e-03 9.99101037e-01 -5.43623191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13320100799999 meters 0.06493977137355443 Centerline is valid? [True, True] Translation: X:70.65, Y:9.25, Z:-5.44 [[ 9.63357312e-01 -2.65084720e-01 4.08996346e-02 7.06517778e+01] [ 2.64900219e-01 9.64224335e-01 9.96525357e-03 9.25459663e+00] [-4.20780594e-02 1.23422225e-03 9.99113564e-01 -5.44247899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19320100799999 meters 0.06303773519275817 Centerline is valid? [True, True] Translation: X:70.71, Y:9.28, Z:-5.44 [[ 9.64896271e-01 -2.59394027e-01 4.11087011e-02 7.07075977e+01] [ 2.59202309e-01 9.65771072e-01 1.00199219e-02 9.27852800e+00] [-4.23007022e-02 9.87284952e-04 9.99104437e-01 -5.44319306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25320100799999 meters 0.06260465517867053 Centerline is valid? [True, True] Translation: X:70.76, Y:9.30, Z:-5.45 [[ 9.65573712e-01 -2.56829517e-01 4.13038158e-02 7.07637264e+01] [ 2.56633708e-01 9.66456323e-01 1.00656171e-02 9.29883341e+00] [-4.25034815e-02 8.80856128e-04 9.99095930e-01 -5.44811929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.313201008 meters 0.06238750757230714 Centerline is valid? [True, True] Translation: X:70.82, Y:9.33, Z:-5.46 [[ 9.68335810e-01 -2.46621873e-01 3.87738317e-02 7.08164550e+01] [ 2.46440823e-01 9.69111703e-01 9.45662453e-03 9.32725302e+00] [-3.99083845e-02 3.98266804e-04 9.99203264e-01 -5.45927260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.373201008 meters 0.06257584270947032 Centerline is valid? [True, True] Translation: X:70.87, Y:9.34, Z:-5.47 [[ 9.69858345e-01 -2.40549439e-01 3.88684805e-02 7.08714829e+01] [ 2.40362017e-01 9.70636878e-01 9.49481450e-03 9.34468015e+00] [-4.00111528e-02 1.33881278e-04 9.99199224e-01 -5.46590464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.433201008 meters 0.0625322443857322 Centerline is valid? [True, True] Translation: X:70.93, Y:9.36, Z:-5.47 [[ 9.71344121e-01 -2.34293956e-01 3.99617462e-02 7.09281982e+01] [ 2.34090574e-01 9.72165792e-01 9.76098606e-03 9.36329442e+00] [-4.11363826e-02 -1.26608334e-04 9.99153533e-01 -5.46817644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.493201008 meters 0.06269709406007869 Centerline is valid? [True, True] Translation: X:70.98, Y:9.38, Z:-5.47 [[ 9.71584449e-01 -2.32750260e-01 4.30229564e-02 7.09835658e+01] [ 2.32512319e-01 9.72536512e-01 1.05239851e-02 9.37868730e+00] [-4.42908562e-02 -2.21572964e-04 9.99018654e-01 -5.47360079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55320100799999 meters 0.06248261500622105 Centerline is valid? [True, True] Translation: X:71.04, Y:9.39, Z:-5.48 [[ 9.71074487e-01 -2.34583810e-01 4.45508336e-02 7.10429760e+01] [ 2.34330610e-01 9.72095888e-01 1.08972191e-02 9.38524447e+00] [-4.58639933e-02 -1.42387466e-04 9.98947683e-01 -5.47596137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61320100799999 meters 0.062364724924626844 Centerline is valid? [True, True] Translation: X:71.10, Y:9.39, Z:-5.48 [[ 9.70751560e-01 -2.35739416e-01 4.54789717e-02 7.11013622e+01] [ 2.35476280e-01 9.71816298e-01 1.11357167e-02 9.39495208e+00] [-4.68223333e-02 -1.00795314e-04 9.98903228e-01 -5.47971085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67320100799999 meters 0.06268825529603468 Centerline is valid? [True, True] Translation: X:71.16, Y:9.41, Z:-5.49 [[ 9.71031367e-01 -2.34706138e-01 4.48454268e-02 7.11592286e+01] [ 2.34448687e-01 9.72066357e-01 1.09913576e-02 9.40564877e+00] [-4.61724698e-02 -1.59001560e-04 9.98933470e-01 -5.48541107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.733201008 meters 0.06289778801637765 Centerline is valid? [True, True] Translation: X:71.22, Y:9.42, Z:-5.49 [[ 9.71187947e-01 -2.34170210e-01 4.42525021e-02 7.12174637e+01] [ 2.33918493e-01 9.72195595e-01 1.08564807e-02 9.41674225e+00] [-4.55643520e-02 -1.92204643e-04 9.98961387e-01 -5.48994958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.793201008 meters 0.06316983570168858 Centerline is valid? [True, True] Translation: X:71.28, Y:9.43, Z:-5.50 [[ 9.70888754e-01 -2.35011170e-01 4.63117409e-02 7.12750650e+01] [ 2.34735839e-01 9.71992655e-01 1.13738881e-02 9.42879834e+00] [-4.76876627e-02 -1.71754637e-04 9.98862281e-01 -5.49682059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.853201008 meters 0.06301027164526915 Centerline is valid? [True, True] Translation: X:71.33, Y:9.44, Z:-5.50 [[ 9.70103754e-01 -2.38058424e-01 4.71899627e-02 7.13336786e+01] [ 2.37775588e-01 9.71250836e-01 1.16010427e-02 9.43823511e+00] [-4.85950167e-02 -3.35939396e-05 9.98818564e-01 -5.49963335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91320100799999 meters 0.06287564828170286 Centerline is valid? [True, True] Translation: X:71.39, Y:9.44, Z:-5.50 [[ 9.69240172e-01 -2.41493072e-01 4.74824793e-02 7.13920636e+01] [ 2.41210281e-01 9.70402535e-01 1.16842041e-02 9.44288271e+00] [-4.88987726e-02 1.28462121e-04 9.98803731e-01 -5.50140987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97320100799999 meters 0.06295495405339013 Centerline is valid? [True, True] Translation: X:71.45, Y:9.45, Z:-5.50 [[ 9.68169698e-01 -2.45528208e-01 4.86141399e-02 7.14505431e+01] [ 2.45235931e-01 9.69389393e-01 1.19809487e-02 9.44608042e+00] [-5.00676924e-02 3.22342400e-04 9.98745775e-01 -5.50482267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03320100799999 meters 0.06326370863707131 Centerline is valid? [True, True] Translation: X:71.51, Y:9.46, Z:-5.51 [[ 9.67751224e-01 -2.47165817e-01 4.86479884e-02 7.15075469e+01] [ 2.46875014e-01 9.68973114e-01 1.19929719e-02 9.45836997e+00] [-5.01028455e-02 4.03759553e-04 9.98743982e-01 -5.51050816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.093201008 meters 0.06366936484837173 Centerline is valid? [True, True] Translation: X:71.56, Y:9.48, Z:-5.52 [[ 9.68056882e-01 -2.46281237e-01 4.70257886e-02 7.15635476e+01] [ 2.46007941e-01 9.69198349e-01 1.16040193e-02 9.47709002e+00] [-4.84351689e-02 3.35366662e-04 9.98826272e-01 -5.51947322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.153201008 meters 0.0638701013903034 Centerline is valid? [True, True] Translation: X:71.62, Y:9.49, Z:-5.52 [[ 9.67682852e-01 -2.47922303e-01 4.60915461e-02 7.16207769e+01] [ 2.47661116e-01 9.68779837e-01 1.13841563e-02 9.49125669e+00] [-4.74749468e-02 3.98830924e-04 9.98872349e-01 -5.52395127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.213201008 meters 0.06384523882792946 Centerline is valid? [True, True] Translation: X:71.68, Y:9.51, Z:-5.53 [[ 9.68303612e-01 -2.45744391e-01 4.46968651e-02 7.16772682e+01] [ 2.45495989e-01 9.69334627e-01 1.10498879e-02 9.50947425e+00] [-4.60416671e-02 2.73254741e-04 9.98939483e-01 -5.52914623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27320100799999 meters 0.06339652510134886 Centerline is valid? [True, True] Translation: X:71.73, Y:9.52, Z:-5.53 [[ 9.68590980e-01 -2.44061381e-01 4.75978492e-02 7.17342099e+01] [ 2.43776779e-01 9.69759768e-01 1.17845320e-02 9.52404872e+00] [-4.90346283e-02 1.88858950e-04 9.98797061e-01 -5.53005998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33320100799999 meters 0.06354873371350069 Centerline is valid? [True, True] Translation: X:71.79, Y:9.54, Z:-5.53 [[ 9.68349987e-01 -2.44799726e-01 4.86969853e-02 7.17898238e+01] [ 2.44502596e-01 9.69573639e-01 1.20597987e-02 9.53774906e+00] [-5.01675487e-02 2.28433435e-04 9.98740790e-01 -5.53474689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39320100799999 meters 0.06369969988271068 Centerline is valid? [True, True] Translation: X:71.85, Y:9.56, Z:-5.54 [[ 9.68338341e-01 -2.44735292e-01 4.92493085e-02 7.18460738e+01] [ 2.44431268e-01 9.69589906e-01 1.21971151e-02 9.55516729e+00] [-5.07366969e-02 2.27136783e-04 9.98712039e-01 -5.54128571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.453201008 meters 0.06366128440195866 Centerline is valid? [True, True] Translation: X:71.90, Y:9.57, Z:-5.54 [[ 9.68717631e-01 -2.43071814e-01 5.00224353e-02 7.19036101e+01] [ 2.42755273e-01 9.70008287e-01 1.24016531e-02 9.56983821e+00] [-5.15366691e-02 1.29509898e-04 9.98671094e-01 -5.54468221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.513201008 meters 0.06369908165741202 Centerline is valid? [True, True] Translation: X:71.96, Y:9.59, Z:-5.55 [[ 9.69423560e-01 -2.40483604e-01 4.88425865e-02 7.19588001e+01] [ 2.40177829e-01 9.70653201e-01 1.21232998e-02 9.58556494e+00] [-5.03246677e-02 -2.17060495e-05 9.98732911e-01 -5.54983732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.573201008 meters 0.06407633868089399 Centerline is valid? [True, True] Translation: X:72.01, Y:9.60, Z:-5.56 [[ 9.69564744e-01 -2.40291694e-01 4.69479511e-02 7.20145230e+01] [ 2.40008988e-01 9.70700727e-01 1.16526676e-02 9.60271265e+00] [-4.83724495e-02 -3.00854017e-05 9.98829367e-01 -5.55774956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63320100799999 meters 0.06450862123504665 Centerline is valid? [True, True] Translation: X:72.07, Y:9.62, Z:-5.57 [[ 9.69259509e-01 -2.41373662e-01 4.76944343e-02 7.20701703e+01] [ 2.41082412e-01 9.70432252e-01 1.18539208e-02 9.61595037e+00] [-4.91454415e-02 8.76382393e-06 9.98791633e-01 -5.56526609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69320100799999 meters 0.06419795162348119 Centerline is valid? [True, True] Translation: X:72.13, Y:9.63, Z:-5.57 [[ 9.68823297e-01 -2.42641401e-01 5.00656561e-02 7.21286770e+01] [ 2.42322085e-01 9.70116047e-01 1.24443610e-02 9.62562847e+00] [-5.15890135e-02 7.56273061e-05 9.98668397e-01 -5.56676041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75320100799999 meters 0.06434165467421402 Centerline is valid? [True, True] Translation: X:72.19, Y:9.64, Z:-5.57 [[ 9.68644172e-01 -2.43573532e-01 4.89939022e-02 7.21858623e+01] [ 2.43268378e-01 9.69882427e-01 1.21891016e-02 9.63789278e+00] [-5.04872673e-02 1.11764854e-04 9.98724698e-01 -5.57270949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.813201008 meters 0.06466771022627021 Centerline is valid? [True, True] Translation: X:72.24, Y:9.65, Z:-5.58 [[ 9.68758521e-01 -2.43355139e-01 4.78038116e-02 7.22416661e+01] [ 2.43063850e-01 9.69937250e-01 1.19036148e-02 9.65455959e+00] [-4.92635034e-02 8.76502203e-05 9.98785813e-01 -5.57997655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.873201008 meters 0.06439315741010357 Centerline is valid? [True, True] Translation: X:72.30, Y:9.67, Z:-5.58 [[ 9.68646152e-01 -2.43776263e-01 4.79350243e-02 7.22987827e+01] [ 2.43483349e-01 9.69831493e-01 1.19471607e-02 9.66503286e+00] [-4.94013304e-02 9.88090774e-05 9.98779004e-01 -5.58187851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.933201008 meters 0.06436011413837764 Centerline is valid? [True, True] Translation: X:72.36, Y:9.68, Z:-5.59 [[ 9.68045794e-01 -2.45867412e-01 4.93614811e-02 7.23562594e+01] [ 2.45558728e-01 9.69303449e-01 1.23180410e-02 9.67565143e+00] [-5.08748587e-02 1.96714775e-04 9.98705017e-01 -5.58672211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.993201008 meters 0.06449639024455862 Centerline is valid? [True, True] Translation: X:72.41, Y:9.69, Z:-5.59 [[ 9.67364117e-01 -2.48477683e-01 4.96538617e-02 7.24130463e+01] [ 2.48168182e-01 9.68637567e-01 1.24023351e-02 9.68734750e+00] [-5.11782993e-02 3.24934623e-04 9.98689479e-01 -5.59085785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05320100799999 meters 0.06455978568505853 Centerline is valid? [True, True] Translation: X:72.47, Y:9.70, Z:-5.60 [[ 9.66904038e-01 -2.50194889e-01 4.99909770e-02 7.24700450e+01] [ 2.49882752e-01 9.68195411e-01 1.25002879e-02 9.69927704e+00] [-5.15285427e-02 4.05304094e-04 9.98671440e-01 -5.59513036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11320100799999 meters 0.06419985556679147 Centerline is valid? [True, True] Translation: X:72.53, Y:9.71, Z:-5.59 [[ 9.65751617e-01 -2.54070608e-01 5.26492206e-02 7.25286864e+01] [ 2.53729262e-01 9.67185468e-01 1.31807270e-02 9.70794721e+00] [-5.42703964e-02 6.29339455e-04 9.98526078e-01 -5.59204553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17320100799999 meters 0.06424045916962305 Centerline is valid? [True, True] Translation: X:72.59, Y:9.72, Z:-5.60 [[ 9.65347262e-01 -2.55425351e-01 5.35028419e-02 7.25856058e+01] [ 2.55074203e-01 9.66828523e-01 1.34073551e-02 9.72107278e+00] [-5.51526520e-02 7.04441262e-04 9.98477686e-01 -5.59586616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.233201008 meters 0.06441605025053766 Centerline is valid? [True, True] Translation: X:72.64, Y:9.73, Z:-5.60 [[ 9.64804790e-01 -2.57200340e-01 5.47695369e-02 7.26411622e+01] [ 2.56834138e-01 9.66357767e-01 1.37437591e-02 9.73302933e+00] [-5.64618669e-02 8.06642188e-04 9.98404431e-01 -5.60157030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.293201008 meters 0.06435434951749422 Centerline is valid? [True, True] Translation: X:72.70, Y:9.75, Z:-5.61 [[ 9.64463224e-01 -2.58648145e-01 5.39613395e-02 7.26977398e+01] [ 2.58294724e-01 9.65971207e-01 1.35448595e-02 9.75052084e+00] [-5.56284531e-02 8.74410403e-04 9.98451156e-01 -5.60616317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.353201008 meters 0.06438337039595907 Centerline is valid? [True, True] Translation: X:72.75, Y:9.77, Z:-5.61 [[ 9.64575858e-01 -2.58315047e-01 5.35420511e-02 7.27532740e+01] [ 2.57965886e-01 9.66060369e-01 1.34523114e-02 9.76663320e+00] [-5.51997882e-02 8.36247827e-04 9.98474979e-01 -5.61303670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41320100799999 meters 0.06403391920356868 Centerline is valid? [True, True] Translation: X:72.81, Y:9.78, Z:-5.61 [[ 9.64692147e-01 -2.57712251e-01 5.43457192e-02 7.28102145e+01] [ 2.57350648e-01 9.66221382e-01 1.36706079e-02 9.78174034e+00] [-5.60330791e-02 7.97977970e-04 9.98428594e-01 -5.61421894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47320100799999 meters 0.06365779841826483 Centerline is valid? [True, True] Translation: X:72.87, Y:9.80, Z:-5.62 [[ 9.65181122e-01 -2.56185233e-01 5.28633001e-02 7.28654631e+01] [ 2.55840178e-01 9.66627470e-01 1.33093127e-02 9.80031889e+00] [-5.45087674e-02 6.78658695e-04 9.98513061e-01 -5.61961759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53320100799999 meters 0.06385180730432302 Centerline is valid? [True, True] Translation: X:72.92, Y:9.82, Z:-5.63 [[ 9.66067459e-01 -2.52881725e-01 5.25784870e-02 7.29190044e+01] [ 2.52534462e-01 9.67497086e-01 1.32564937e-02 9.82350713e+00] [-5.42218580e-02 4.71212746e-04 9.98528802e-01 -5.62809090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.593201008 meters 0.06309810062969465 Centerline is valid? [True, True] Translation: X:72.98, Y:9.84, Z:-5.63 [[ 9.66903746e-01 -2.49339004e-01 5.41036666e-02 7.29757107e+01] [ 2.48965615e-01 9.68416224e-01 1.36432774e-02 9.84234630e+00] [-5.57966698e-02 2.78216630e-04 9.98442114e-01 -5.62977300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.653201008 meters 0.06263902396511704 Centerline is valid? [True, True] Translation: X:73.03, Y:9.86, Z:-5.63 [[ 9.67390886e-01 -2.47190878e-01 5.52407791e-02 7.30322058e+01] [ 2.46797407e-01 9.68966794e-01 1.39424160e-02 9.85864273e+00] [-5.69729187e-02 1.45514876e-04 9.98375714e-01 -5.62985797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.713201008 meters 0.062482006802631544 Centerline is valid? [True, True] Translation: X:73.09, Y:9.88, Z:-5.63 [[ 9.68041025e-01 -2.44211196e-01 5.70742161e-02 7.30879491e+01] [ 2.43785101e-01 9.69722068e-01 1.44199393e-02 9.87941377e+00] [-5.88676375e-02 -4.52492436e-05 9.98265796e-01 -5.63464935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77320100799999 meters 0.06251440148017481 Centerline is valid? [True, True] Translation: X:73.14, Y:9.90, Z:-5.64 [[ 9.68560869e-01 -2.42058602e-01 5.74236550e-02 7.31431076e+01] [ 2.41622651e-01 9.70261612e-01 1.45223211e-02 9.89634147e+00] [-5.92312209e-02 -1.90896212e-04 9.98244272e-01 -5.64005225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83320100799999 meters 0.06248791776789332 Centerline is valid? [True, True] Translation: X:73.20, Y:9.91, Z:-5.64 [[ 9.69348039e-01 -2.38976883e-01 5.70476038e-02 7.31997387e+01] [ 2.38540152e-01 9.71025176e-01 1.44465560e-02 9.91036823e+00] [-5.88470525e-02 -3.95596663e-04 9.98266932e-01 -5.64219321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89320100799999 meters 0.06286372976937535 Centerline is valid? [True, True] Translation: X:73.26, Y:9.93, Z:-5.65 [[ 9.70093976e-01 -2.36542441e-01 5.44550442e-02 7.32557341e+01] [ 2.36140498e-01 9.71621017e-01 1.37936390e-02 9.92560051e+00] [-5.61724465e-02 -5.22084840e-04 9.98420945e-01 -5.64943033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.953201008 meters 0.06373016947623335 Centerline is valid? [True, True] Translation: X:73.31, Y:9.94, Z:-5.66 [[ 9.70872690e-01 -2.34246313e-01 5.03476386e-02 7.33104057e+01] [ 2.33899285e-01 9.72177087e-01 1.27606988e-02 9.94370736e+00] [-5.19359673e-02 -6.12737360e-04 9.98650229e-01 -5.66247447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.013201008 meters 0.06394936058102443 Centerline is valid? [True, True] Translation: X:73.37, Y:9.96, Z:-5.67 [[ 9.71066152e-01 -2.33280745e-01 5.10942530e-02 7.33660289e+01] [ 2.32921871e-01 9.72409192e-01 1.29524540e-02 9.95639570e+00] [-5.27060794e-02 -6.76720617e-04 9.98609839e-01 -5.66641361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.073201008 meters 0.06171833143649517 Centerline is valid? [True, True] Translation: X:73.43, Y:9.96, Z:-5.66 [[ 9.68464550e-01 -2.42863515e-01 5.56213015e-02 7.34284223e+01] [ 2.42453576e-01 9.70060453e-01 1.41060684e-02 9.95521140e+00] [-5.73818743e-02 -1.75643723e-04 9.98352287e-01 -5.66042919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13320100799999 meters 0.06162877708701288 Centerline is valid? [True, True] Translation: X:73.49, Y:9.96, Z:-5.67 [[ 9.67236074e-01 -2.48243286e-01 5.31944376e-02 7.34864532e+01] [ 2.47875957e-01 9.68697711e-01 1.35001955e-02 9.96392033e+00] [-5.48806628e-02 1.27746079e-04 9.98492913e-01 -5.66693694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19320100799999 meters 0.06303869142397106 Centerline is valid? [True, True] Translation: X:73.54, Y:9.97, Z:-5.68 [[ 9.65790352e-01 -2.54862939e-01 4.78944418e-02 7.35443859e+01] [ 2.54572574e-01 9.66977089e-01 1.21702458e-02 9.97108946e+00] [-4.94145725e-02 4.38705301e-04 9.98778257e-01 -5.68260205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25320100799999 meters 0.06276197991584055 Centerline is valid? [True, True] Translation: X:73.60, Y:9.98, Z:-5.68 [[ 9.64728669e-01 -2.58811499e-01 4.81165653e-02 7.36030880e+01] [ 2.58523476e-01 9.65927632e-01 1.22238351e-02 9.97921447e+00] [-4.96407891e-02 6.46577564e-04 9.98766927e-01 -5.68196458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.313201008 meters 0.062845739137535 Centerline is valid? [True, True] Translation: X:73.66, Y:9.99, Z:-5.68 [[ 9.63630311e-01 -2.62961352e-01 4.76230040e-02 7.36624601e+01] [ 2.62683697e-01 9.64806002e-01 1.21100672e-02 9.98547517e+00] [-4.91314398e-02 8.40158909e-04 9.98791968e-01 -5.68332056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.373201008 meters 0.0624657890853294 Centerline is valid? [True, True] Translation: X:73.72, Y:10.00, Z:-5.69 [[ 9.64141777e-01 -2.61080164e-01 4.76212284e-02 7.37193231e+01] [ 2.60799644e-01 9.65316845e-01 1.21216403e-02 1.00021221e+01] [-4.91342938e-02 7.32619646e-04 9.98791912e-01 -5.68724393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.433201008 meters 0.0625740053281411 Centerline is valid? [True, True] Translation: X:73.77, Y:10.02, Z:-5.70 [[ 9.65053457e-01 -2.57669197e-01 4.77326975e-02 7.37732746e+01] [ 2.57382453e-01 9.66233040e-01 1.21649500e-02 1.00229815e+01] [-4.92554423e-02 5.45731708e-04 9.98786065e-01 -5.69747851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.493201008 meters 0.061735422621821766 Centerline is valid? [True, True] Translation: X:73.83, Y:10.05, Z:-5.70 [[ 9.66018620e-01 -2.54136326e-01 4.71460904e-02 7.38286465e+01] [ 2.53852256e-01 9.67168341e-01 1.20180417e-02 1.00455398e+01] [-4.86524270e-02 3.58489300e-04 9.98815705e-01 -5.69690811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55320100799999 meters 0.061642034996151826 Centerline is valid? [True, True] Translation: X:73.88, Y:10.06, Z:-5.70 [[ 9.66864843e-01 -2.50676425e-01 4.83084329e-02 7.38833565e+01] [ 2.50372994e-01 9.68070917e-01 1.23314149e-02 1.00634309e+01] [-4.98571840e-02 1.72315490e-04 9.98756342e-01 -5.70420380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61320100799999 meters 0.06099096536940994 Centerline is valid? [True, True] Translation: X:73.94, Y:10.09, Z:-5.70 [[ 9.68628221e-01 -2.43121738e-01 5.14897009e-02 7.39388486e+01] [ 2.42766019e-01 9.69995755e-01 1.31489682e-02 1.00856238e+01] [-5.31415913e-02 -2.36511949e-04 9.98586959e-01 -5.70271159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67320100799999 meters 0.0607144352051303 Centerline is valid? [True, True] Translation: X:74.00, Y:10.10, Z:-5.71 [[ 9.68599349e-01 -2.42924267e-01 5.29443238e-02 7.39951190e+01] [ 2.42547657e-01 9.70045223e-01 1.35240516e-02 1.00996703e+01] [-5.46437087e-02 -2.57865826e-04 9.98505883e-01 -5.70524486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.733201008 meters 0.060385030497276476 Centerline is valid? [True, True] Translation: X:74.05, Y:10.11, Z:-5.71 [[ 9.67813416e-01 -2.46004678e-01 5.30932153e-02 7.40531279e+01] [ 2.45630490e-01 9.69268637e-01 1.35636027e-02 1.01112214e+01] [-5.47982982e-02 -8.57241954e-05 9.98497441e-01 -5.71179143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.793201008 meters 0.06062399085345763 Centerline is valid? [True, True] Translation: X:74.11, Y:10.12, Z:-5.72 [[ 9.67822371e-01 -2.46409886e-01 5.10100633e-02 7.41098110e+01] [ 2.46064252e-01 9.69165704e-01 1.30468857e-02 1.01243412e+01] [-5.26520856e-02 -7.53148137e-05 9.98612914e-01 -5.71785140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.853201008 meters 0.060545580394601575 Centerline is valid? [True, True] Translation: X:74.17, Y:10.13, Z:-5.72 [[ 9.67558974e-01 -2.47929045e-01 4.85882846e-02 7.41685891e+01] [ 2.47617378e-01 9.68778194e-01 1.24276041e-02 1.01332038e+01] [-5.01524347e-02 6.86376129e-06 9.98741575e-01 -5.72213535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91320100799999 meters 0.060887956070283446 Centerline is valid? [True, True] Translation: X:74.22, Y:10.14, Z:-5.73 [[ 9.67035554e-01 -2.50180476e-01 4.74548843e-02 7.42244751e+01] [ 2.49885151e-01 9.68199214e-01 1.21529000e-02 1.01443216e+01] [-4.89862000e-02 1.05984524e-04 9.98799450e-01 -5.73087483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97320100799999 meters 0.06116395003688615 Centerline is valid? [True, True] Translation: X:74.28, Y:10.16, Z:-5.74 [[ 9.66711451e-01 -2.51760245e-01 4.56700003e-02 7.42806681e+01] [ 2.51488462e-01 9.67789619e-01 1.16964150e-02 1.01604300e+01] [-4.71436445e-02 1.78419856e-04 9.98888104e-01 -5.73585574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03320100799999 meters 0.06116178121670073 Centerline is valid? [True, True] Translation: X:74.34, Y:10.17, Z:-5.74 [[ 9.66699557e-01 -2.51830604e-01 4.55336547e-02 7.43372183e+01] [ 2.51560037e-01 9.67771315e-01 1.16717557e-02 1.01736653e+01] [-4.70054701e-02 1.71366791e-04 9.98894617e-01 -5.73727189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.093201008 meters 0.0610679149933334 Centerline is valid? [True, True] Translation: X:74.39, Y:10.19, Z:-5.74 [[ 9.66611142e-01 -2.52062377e-01 4.61243682e-02 7.43932355e+01] [ 2.51784116e-01 9.67710974e-01 1.18418235e-02 1.01879479e+01] [-4.76199355e-02 1.66944773e-04 9.98865513e-01 -5.74238333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.153201008 meters 0.0609912467876233 Centerline is valid? [True, True] Translation: X:74.45, Y:10.20, Z:-5.74 [[ 9.65869458e-01 -2.54915089e-01 4.59835608e-02 7.44500566e+01] [ 2.54641568e-01 9.66963394e-01 1.18095834e-02 1.02014256e+01] [-4.74748611e-02 3.02810170e-04 9.98872387e-01 -5.74466072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.213201008 meters 0.06145953626152287 Centerline is valid? [True, True] Translation: X:74.51, Y:10.21, Z:-5.75 [[ 9.65065381e-01 -2.58088323e-01 4.51578158e-02 7.45067963e+01] [ 2.57827826e-01 9.66121223e-01 1.16014663e-02 1.02133043e+01] [-4.66221272e-02 4.46768018e-04 9.98912497e-01 -5.75124007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27320100799999 meters 0.062034191163311075 Centerline is valid? [True, True] Translation: X:74.57, Y:10.22, Z:-5.76 [[ 9.63764267e-01 -2.63155082e-01 4.36788418e-02 7.45652810e+01] [ 2.62916358e-01 9.64753316e-01 1.12261953e-02 1.02237471e+01] [-4.50935378e-02 6.64476106e-04 9.98982548e-01 -5.75557697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33320100799999 meters 0.061416071297978235 Centerline is valid? [True, True] Translation: X:74.62, Y:10.24, Z:-5.75 [[ 9.63502609e-01 -2.64426133e-01 4.17318021e-02 7.46219285e+01] [ 2.64209336e-01 9.64405695e-01 1.07276410e-02 1.02417494e+01] [-4.30830563e-02 6.89821647e-04 9.99071256e-01 -5.75447576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39320100799999 meters 0.061452658587535756 Centerline is valid? [True, True] Translation: X:74.68, Y:10.26, Z:-5.76 [[ 9.63517346e-01 -2.64163106e-01 4.30369357e-02 7.46776198e+01] [ 2.63932261e-01 9.64477768e-01 1.10632992e-02 1.02573598e+01] [-4.44306831e-02 6.99155108e-04 9.99012225e-01 -5.75828922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.453201008 meters 0.061087790452037015 Centerline is valid? [True, True] Translation: X:74.73, Y:10.28, Z:-5.76 [[ 9.64812092e-01 -2.59481534e-01 4.25083509e-02 7.47317502e+01] [ 2.59251482e-01 9.65747955e-01 1.09342299e-02 1.02780423e+01] [-4.38895837e-02 4.70875755e-04 9.99036277e-01 -5.76244678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.513201008 meters 0.06085907631080038 Centerline is valid? [True, True] Translation: X:74.79, Y:10.30, Z:-5.77 [[ 9.66082533e-01 -2.54733796e-01 4.23701816e-02 7.47861140e+01] [ 2.54500558e-01 9.67011184e-01 1.09012106e-02 1.02988958e+01] [-4.37493462e-02 2.51765657e-04 9.99042507e-01 -5.76892832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.573201008 meters 0.06092467563257648 Centerline is valid? [True, True] Translation: X:74.84, Y:10.32, Z:-5.77 [[ 9.67298924e-01 -2.50139045e-01 4.19910763e-02 7.48398837e+01] [ 2.49905392e-01 9.68209924e-01 1.08091757e-02 1.03181076e+01] [-4.33599737e-02 3.80923572e-05 9.99059513e-01 -5.77464202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63320100799999 meters 0.06035993360778542 Centerline is valid? [True, True] Translation: X:74.90, Y:10.33, Z:-5.77 [[ 9.67254595e-01 -2.50276798e-01 4.21909024e-02 7.48973159e+01] [ 2.50041059e-01 9.68174324e-01 1.08603185e-02 1.03316084e+01] [-4.35662342e-02 4.47649564e-05 9.99050540e-01 -5.77228460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69320100799999 meters 0.06042800704283576 Centerline is valid? [True, True] Translation: X:74.95, Y:10.34, Z:-5.78 [[ 9.66895017e-01 -2.51666335e-01 4.21673188e-02 7.49534732e+01] [ 2.51431645e-01 9.67814056e-01 1.08665125e-02 1.03437952e+01] [-4.35448592e-02 9.54215799e-05 9.99051468e-01 -5.77839031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75320100799999 meters 0.060642171835033204 Centerline is valid? [True, True] Translation: X:75.01, Y:10.36, Z:-5.78 [[ 9.66876293e-01 -2.51830411e-01 4.16134443e-02 7.50098948e+01] [ 2.51601224e-01 9.67771376e-01 1.07418491e-02 1.03567788e+01] [-4.29774245e-02 8.39542287e-05 9.99076040e-01 -5.78495346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.813201008 meters 0.06054624336640199 Centerline is valid? [True, True] Translation: X:75.07, Y:10.37, Z:-5.79 [[ 9.67146882e-01 -2.50798030e-01 4.15602731e-02 7.50664090e+01] [ 2.50568579e-01 9.68039434e-01 1.07256965e-02 1.03706314e+01] [-4.29219668e-02 4.03746495e-05 9.99078427e-01 -5.78727672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.873201008 meters 0.06047246499632204 Centerline is valid? [True, True] Translation: X:75.12, Y:10.38, Z:-5.79 [[ 9.67123619e-01 -2.51035848e-01 4.06559770e-02 7.51235156e+01] [ 2.50815989e-01 9.67977790e-01 1.05041866e-02 1.03842644e+01] [-4.19910102e-02 3.83220811e-05 9.99117988e-01 -5.79147702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.933201008 meters 0.06086862830594345 Centerline is valid? [True, True] Translation: X:75.18, Y:10.39, Z:-5.80 [[ 9.66284662e-01 -2.54244835e-01 4.06634354e-02 7.51799013e+01] [ 2.54027135e-01 9.67139874e-01 1.05203518e-02 1.03949612e+01] [-4.20019750e-02 1.63961416e-04 9.99117514e-01 -5.79868351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.993201008 meters 0.060759388154115926 Centerline is valid? [True, True] Translation: X:75.24, Y:10.40, Z:-5.80 [[ 9.64797638e-01 -2.59737968e-01 4.12517460e-02 7.52392290e+01] [ 2.59518842e-01 9.65679048e-01 1.06746331e-02 1.04022241e+01] [-4.26085543e-02 4.06744554e-04 9.99091760e-01 -5.79973477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05320100799999 meters 0.06099722131168346 Centerline is valid? [True, True] Translation: X:75.30, Y:10.42, Z:-5.81 [[ 9.64567133e-01 -2.60803001e-01 3.99003791e-02 7.52960366e+01] [ 2.60598523e-01 9.65391946e-01 1.03344156e-02 1.04175753e+01] [-4.12147512e-02 4.29742187e-04 9.99150219e-01 -5.80532376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11320100799999 meters 0.06118003728155465 Centerline is valid? [True, True] Translation: X:75.35, Y:10.43, Z:-5.81 [[ 9.64933412e-01 -2.59606709e-01 3.88312665e-02 7.53510801e+01] [ 2.59411487e-01 9.65714363e-01 1.00722031e-02 1.04332330e+01] [-4.01147233e-02 3.54271301e-04 9.99195018e-01 -5.81175766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17320100799999 meters 0.06108034946180594 Centerline is valid? [True, True] Translation: X:75.41, Y:10.45, Z:-5.82 [[ 9.64768129e-01 -2.60311330e-01 3.82160716e-02 7.54070625e+01] [ 2.60122893e-01 9.65524659e-01 9.91026454e-03 1.04506610e+01] [-3.94783136e-02 3.79767713e-04 9.99220355e-01 -5.81670240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.233201008 meters 0.06132592613929581 Centerline is valid? [True, True] Translation: X:75.46, Y:10.47, Z:-5.82 [[ 9.64639057e-01 -2.60885673e-01 3.75520317e-02 7.54633311e+01] [ 2.60703817e-01 9.65369626e-01 9.74703173e-03 1.04673092e+01] [-3.87944517e-02 3.87590492e-04 9.99247137e-01 -5.82136710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.293201008 meters 0.06113528988684764 Centerline is valid? [True, True] Translation: X:75.52, Y:10.48, Z:-5.82 [[ 9.65012544e-01 -2.59532971e-01 3.73286291e-02 7.55188855e+01] [ 2.59351954e-01 9.65734193e-01 9.69700784e-03 1.04845888e+01] [-3.85662267e-02 3.23518682e-04 9.99255994e-01 -5.82241861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.353201008 meters 0.06104183212531947 Centerline is valid? [True, True] Translation: X:75.57, Y:10.50, Z:-5.83 [[ 9.65618657e-01 -2.57098840e-01 3.84811186e-02 7.55744711e+01] [ 2.56904030e-01 9.66385088e-01 1.00090939e-02 1.05036630e+01] [-3.97609056e-02 2.20986661e-04 9.99209198e-01 -5.82573221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41320100799999 meters 0.060550939674115095 Centerline is valid? [True, True] Translation: X:75.63, Y:10.53, Z:-5.83 [[ 9.67071432e-01 -2.51464605e-01 3.92224097e-02 7.56291375e+01] [ 2.51257184e-01 9.67866495e-01 1.02115325e-02 1.05282356e+01] [-4.05298952e-02 -2.03691331e-05 9.99178326e-01 -5.82593349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47320100799999 meters 0.06073508594239246 Centerline is valid? [True, True] Translation: X:75.68, Y:10.55, Z:-5.83 [[ 9.67751988e-01 -2.48906434e-01 3.87514739e-02 7.56846004e+01] [ 2.48701538e-01 9.68527526e-01 1.00983419e-02 1.05480176e+01] [-4.00454114e-02 -1.35139281e-04 9.99197852e-01 -5.83164691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53320100799999 meters 0.060881750881861534 Centerline is valid? [True, True] Translation: X:75.74, Y:10.56, Z:-5.84 [[ 9.67510646e-01 -2.50043338e-01 3.74363377e-02 7.57417258e+01] [ 2.49852633e-01 9.68234641e-01 9.76431272e-03 1.05618178e+01] [-3.86886604e-02 -9.35089642e-05 9.99251309e-01 -5.83606488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.593201008 meters 0.060599832787531636 Centerline is valid? [True, True] Translation: X:75.80, Y:10.57, Z:-5.84 [[ 9.66787182e-01 -2.52693439e-01 3.83219457e-02 7.57989321e+01] [ 2.52495291e-01 9.67546395e-01 1.00051027e-02 1.05746270e+01] [-3.96064842e-02 3.30578147e-06 9.99215355e-01 -5.83994464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.653201008 meters 0.06097851142584937 Centerline is valid? [True, True] Translation: X:75.86, Y:10.58, Z:-5.84 [[ 9.64551185e-01 -2.61190148e-01 3.76924173e-02 7.58569706e+01] [ 2.61004391e-01 9.65287313e-01 9.85456227e-03 1.05787886e+01] [-3.89579268e-02 3.32656696e-04 9.99240796e-01 -5.84498375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.713201008 meters 0.06094839487695833 Centerline is valid? [True, True] Translation: X:75.92, Y:10.59, Z:-5.85 [[ 9.63015778e-01 -2.66810820e-01 3.75845491e-02 7.59150773e+01] [ 2.66630230e-01 9.63748764e-01 9.83062868e-03 1.05886116e+01] [-3.88449808e-02 5.54126440e-04 9.99245095e-01 -5.84504932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77320100799999 meters 0.06053981527896983 Centerline is valid? [True, True] Translation: X:75.97, Y:10.60, Z:-5.85 [[ 9.62547924e-01 -2.68552400e-01 3.71631955e-02 7.59733212e+01] [ 2.68377244e-01 9.63264877e-01 9.71758159e-03 1.06000998e+01] [-3.84076808e-02 6.20118003e-04 9.99261960e-01 -5.84514522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83320100799999 meters 0.06012322518105891 Centerline is valid? [True, True] Translation: X:76.03, Y:10.62, Z:-5.85 [[ 9.63164241e-01 -2.66140535e-01 3.85209045e-02 7.60290587e+01] [ 2.65949732e-01 9.63934094e-01 1.00896831e-02 1.06187823e+01] [-3.98168868e-02 5.26602249e-04 9.99206855e-01 -5.84996632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89320100799999 meters 0.05991049371879633 Centerline is valid? [True, True] Translation: X:76.08, Y:10.64, Z:-5.86 [[ 9.64675601e-01 -2.60214117e-01 4.11047259e-02 7.60833086e+01] [ 2.59991299e-01 9.65550892e-01 1.07703092e-02 1.06399564e+01] [-4.24912912e-02 2.97016573e-04 9.99096793e-01 -5.85851448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.953201008 meters 0.05960204220133081 Centerline is valid? [True, True] Translation: X:76.14, Y:10.66, Z:-5.86 [[ 9.65104305e-01 -2.58576401e-01 4.13754297e-02 7.61396449e+01] [ 2.58349285e-01 9.65990783e-01 1.08376703e-02 1.06576621e+01] [-4.27706495e-02 2.29830356e-04 9.99084891e-01 -5.86126239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.013201008 meters 0.05966581193789858 Centerline is valid? [True, True] Translation: X:76.19, Y:10.68, Z:-5.86 [[ 9.66409583e-01 -2.53728357e-01 4.09199043e-02 7.61944689e+01] [ 2.53501489e-01 9.67275514e-01 1.07272813e-02 1.06758123e+01] [-4.23026369e-02 6.30923992e-06 9.99104843e-01 -5.86470739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.073201008 meters 0.05996063637212604 Centerline is valid? [True, True] Translation: X:76.25, Y:10.69, Z:-5.87 [[ 9.66746875e-01 -2.52725914e-01 3.91163916e-02 7.62504796e+01] [ 2.52517105e-01 9.67537911e-01 1.02714207e-02 1.06896904e+01] [-4.04424460e-02 -5.23058674e-05 9.99181868e-01 -5.87143400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13320100799999 meters 0.06010612608682799 Centerline is valid? [True, True] Translation: X:76.31, Y:10.70, Z:-5.88 [[ 9.65283980e-01 -2.58404653e-01 3.81296917e-02 7.63094193e+01] [ 2.58210774e-01 9.66036750e-01 1.00097343e-02 1.06981049e+01] [-3.94212453e-02 1.83260978e-04 9.99222664e-01 -5.87626905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19320100799999 meters 0.06078439057755631 Centerline is valid? [True, True] Translation: X:76.37, Y:10.71, Z:-5.88 [[ 9.64234550e-01 -2.62453836e-01 3.70096853e-02 7.63674990e+01] [ 2.62273819e-01 9.64944493e-01 9.72466316e-03 1.07071560e+01] [-3.82645672e-02 3.29815277e-04 9.99267589e-01 -5.88333168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25320100799999 meters 0.061212198125930664 Centerline is valid? [True, True] Translation: X:76.43, Y:10.71, Z:-5.89 [[ 9.63784429e-01 -2.64347044e-01 3.52166987e-02 7.64277075e+01] [ 2.64184974e-01 9.64427550e-01 9.26286856e-03 1.07138268e+01] [-3.64125664e-02 3.76314156e-04 9.99336772e-01 -5.88758163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.313201008 meters 0.06137085562793844 Centerline is valid? [True, True] Translation: X:76.48, Y:10.73, Z:-5.89 [[ 9.64231691e-01 -2.62395723e-01 3.74930768e-02 7.64834792e+01] [ 2.62209994e-01 9.64960305e-01 9.87569733e-03 1.07303635e+01] [-3.87706716e-02 3.08599122e-04 9.99248087e-01 -5.89385962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.373201008 meters 0.06070465269425684 Centerline is valid? [True, True] Translation: X:76.54, Y:10.75, Z:-5.90 [[ 9.64329159e-01 -2.61807720e-01 3.90639397e-02 7.65386697e+01] [ 2.61605751e-01 9.65120007e-01 1.02860905e-02 1.07515387e+01] [-4.03943676e-02 3.00174302e-04 9.99183769e-01 -5.89533564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.433201008 meters 0.06036921639143489 Centerline is valid? [True, True] Translation: X:76.59, Y:10.77, Z:-5.90 [[ 9.65003945e-01 -2.59039640e-01 4.08148334e-02 7.65946336e+01] [ 2.58815966e-01 9.65866675e-01 1.07639197e-02 1.07690667e+01] [-4.22099693e-02 1.76305566e-04 9.99108747e-01 -5.89711595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.493201008 meters 0.06023550532627867 Centerline is valid? [True, True] Translation: X:76.65, Y:10.79, Z:-5.90 [[ 9.65473429e-01 -2.57215947e-01 4.12433567e-02 7.66507348e+01] [ 2.56985979e-01 9.66353945e-01 1.08747462e-02 1.07888802e+01] [-4.26528385e-02 9.96859151e-05 9.99089949e-01 -5.90168411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55320100799999 meters 0.06032214486363515 Centerline is valid? [True, True] Translation: X:76.71, Y:10.81, Z:-5.91 [[ 9.65531822e-01 -2.56721998e-01 4.29198818e-02 7.67067096e+01] [ 2.56472003e-01 9.66485287e-01 1.13270053e-02 1.08076161e+01] [-4.43893257e-02 7.11640348e-05 9.99014306e-01 -5.90787684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61320100799999 meters 0.06001545788406211 Centerline is valid? [True, True] Translation: X:76.76, Y:10.82, Z:-5.91 [[ 9.65296200e-01 -2.57304142e-01 4.46970355e-02 7.67637765e+01] [ 2.57032931e-01 9.66330467e-01 1.18110700e-02 1.08242136e+01] [-4.62311444e-02 8.74289902e-05 9.98930765e-01 -5.90958628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67320100799999 meters 0.05995244990020658 Centerline is valid? [True, True] Translation: X:76.82, Y:10.83, Z:-5.91 [[ 9.64201784e-01 -2.60785203e-01 4.80208135e-02 7.68209266e+01] [ 2.60476034e-01 9.65396813e-01 1.26975575e-02 1.08338054e+01] [-4.96704755e-02 2.65263521e-04 9.98765625e-01 -5.91222946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.733201008 meters 0.059988814263486685 Centerline is valid? [True, True] Translation: X:76.88, Y:10.84, Z:-5.91 [[ 9.62330519e-01 -2.67395889e-01 4.91874978e-02 7.68794400e+01] [ 2.67080081e-01 9.63586557e-01 1.30067860e-02 1.08445123e+01] [-5.08743728e-02 6.20173827e-04 9.98704868e-01 -5.91324550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.793201008 meters 0.06144071009134615 Centerline is valid? [True, True] Translation: X:76.93, Y:10.86, Z:-5.93 [[ 9.62062944e-01 -2.69089208e-01 4.50098788e-02 7.69329854e+01] [ 2.68825945e-01 9.63115048e-01 1.19170610e-02 1.08648540e+01] [-4.65564440e-02 6.34860394e-04 9.98915459e-01 -5.93219033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.853201008 meters 0.06108496515150836 Centerline is valid? [True, True] Translation: X:76.99, Y:10.88, Z:-5.93 [[ 9.62002155e-01 -2.69316667e-01 4.49487127e-02 7.69888141e+01] [ 2.69054517e-01 9.63051459e-01 1.18976587e-02 1.08795227e+01] [-4.64921611e-02 6.48080890e-04 9.98918445e-01 -5.93427326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91320100799999 meters 0.06125443926478356 Centerline is valid? [True, True] Translation: X:77.05, Y:10.89, Z:-5.94 [[ 9.62027781e-01 -2.69014268e-01 4.61938454e-02 7.70458182e+01] [ 2.68736084e-01 9.63135984e-01 1.22471615e-02 1.08884253e+01] [-4.77856160e-02 6.31843509e-04 9.98857415e-01 -5.93751635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97320100799999 meters 0.06084851755176965 Centerline is valid? [True, True] Translation: X:77.10, Y:10.91, Z:-5.94 [[ 9.62367095e-01 -2.67176411e-01 4.96622672e-02 7.71026060e+01] [ 2.66852143e-01 9.63647463e-01 1.31719588e-02 1.09057263e+01] [-5.13761545e-02 5.76222730e-04 9.98679207e-01 -5.94143525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03320100799999 meters 0.060083218408733256 Centerline is valid? [True, True] Translation: X:77.16, Y:10.92, Z:-5.94 [[ 9.62725860e-01 -2.65007806e-01 5.41274523e-02 7.71597984e+01] [ 2.64618997e-01 9.64246137e-01 1.43587319e-02 1.09243281e+01] [-5.59973628e-02 4.99629621e-04 9.98430792e-01 -5.94085049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.093201008 meters 0.059851002079130015 Centerline is valid? [True, True] Translation: X:77.22, Y:10.94, Z:-5.95 [[ 9.62581769e-01 -2.65092021e-01 5.62366345e-02 7.72168674e+01] [ 2.64671717e-01 9.64222982e-01 1.49306424e-02 1.09388038e+01] [-5.81826496e-02 5.12282467e-04 9.98305823e-01 -5.94501718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.153201008 meters 0.059952087964172895 Centerline is valid? [True, True] Translation: X:77.27, Y:10.95, Z:-5.95 [[ 9.62336387e-01 -2.65823008e-01 5.69807563e-02 7.72725133e+01] [ 2.65391973e-01 9.64021693e-01 1.51418547e-02 1.09546286e+01] [-5.89557385e-02 5.50677629e-04 9.98260446e-01 -5.95134711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.213201008 meters 0.05969360509085812 Centerline is valid? [True, True] Translation: X:77.33, Y:10.97, Z:-5.95 [[ 9.62496777e-01 -2.64922276e-01 5.84477652e-02 7.73289656e+01] [ 2.64466018e-01 9.64269644e-01 1.55492373e-02 1.09709709e+01] [-6.04787450e-02 4.91356958e-04 9.98169364e-01 -5.95483638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27320100799999 meters 0.0597188888597193 Centerline is valid? [True, True] Translation: X:77.39, Y:10.99, Z:-5.96 [[ 9.62661557e-01 -2.64124580e-01 5.93374554e-02 7.73852949e+01] [ 2.63651868e-01 9.64488475e-01 1.58010765e-02 1.09892505e+01] [-6.14037445e-02 4.33342007e-04 9.98112916e-01 -5.96138299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33320100799999 meters 0.059668262059260915 Centerline is valid? [True, True] Translation: X:77.44, Y:11.01, Z:-5.97 [[ 9.63193400e-01 -2.62061499e-01 5.98518592e-02 7.74405824e+01] [ 2.61575639e-01 9.65051132e-01 1.59530058e-02 1.10068371e+01] [-6.19407731e-02 2.89958358e-04 9.98079785e-01 -5.96760085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39320100799999 meters 0.05973663906186588 Centerline is valid? [True, True] Translation: X:77.50, Y:11.02, Z:-5.98 [[ 9.63619905e-01 -2.61144161e-01 5.69245564e-02 7.74962479e+01] [ 2.60702804e-01 9.65299788e-01 1.51778476e-02 1.10236882e+01] [-5.89128685e-02 2.14715390e-04 9.98263106e-01 -5.97606941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.453201008 meters 0.059661866737663806 Centerline is valid? [True, True] Translation: X:77.55, Y:11.04, Z:-5.98 [[ 9.63078400e-01 -2.62730891e-01 5.87577594e-02 7.75528150e+01] [ 2.62262703e-01 9.64869102e-01 1.56809130e-02 1.10389453e+01] [-6.08134068e-02 3.08020159e-04 9.98149104e-01 -5.98114352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.513201008 meters 0.05972881454270639 Centerline is valid? [True, True] Translation: X:77.61, Y:11.05, Z:-5.98 [[ 9.62344667e-01 -2.64925460e-01 6.08871298e-02 7.76108372e+01] [ 2.64426091e-01 9.64268790e-01 1.62647590e-02 1.10498372e+01] [-6.30205077e-02 4.47841633e-04 9.98012132e-01 -5.98306701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.573201008 meters 0.0600828201356098 Centerline is valid? [True, True] Translation: X:77.67, Y:11.05, Z:-5.99 [[ 9.60416643e-01 -2.71282914e-01 6.32886515e-02 7.76693971e+01] [ 2.70755958e-01 9.62499248e-01 1.69236039e-02 1.10547977e+01] [-6.55063640e-02 8.82068620e-04 9.97851762e-01 -5.98696060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63320100799999 meters 0.06048749155665783 Centerline is valid? [True, True] Translation: X:77.73, Y:11.07, Z:-5.99 [[ 9.59501001e-01 -2.74475790e-01 6.34103293e-02 7.77270063e+01] [ 2.73953507e-01 9.61593383e-01 1.69600100e-02 1.10660095e+01] [-6.56300652e-02 1.09833548e-03 9.97843419e-01 -5.99210409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69320100799999 meters 0.05999706729417298 Centerline is valid? [True, True] Translation: X:77.78, Y:11.09, Z:-6.00 [[ 9.59674262e-01 -2.74035002e-01 6.26907351e-02 7.77820617e+01] [ 2.73522663e-01 9.61719154e-01 1.67815837e-02 1.10854018e+01] [-6.48896221e-02 1.04248288e-03 9.97891903e-01 -5.99652397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75320100799999 meters 0.060212989046640526 Centerline is valid? [True, True] Translation: X:77.84, Y:11.11, Z:-6.01 [[ 9.60217171e-01 -2.72712573e-01 6.00902416e-02 7.78369228e+01] [ 2.72238234e-01 9.62095135e-01 1.61026576e-02 1.11067791e+01] [-6.22039263e-02 8.96812900e-04 9.98063058e-01 -6.00603261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.813201008 meters 0.060405658922487115 Centerline is valid? [True, True] Translation: X:77.89, Y:11.12, Z:-6.01 [[ 9.60311821e-01 -2.72499609e-01 5.95413222e-02 7.78929908e+01] [ 2.72032404e-01 9.62155511e-01 1.59732242e-02 1.11213605e+01] [-6.16407086e-02 8.57892982e-04 9.98098035e-01 -6.01210380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.873201008 meters 0.060339152845643854 Centerline is valid? [True, True] Translation: X:77.95, Y:11.14, Z:-6.02 [[ 9.59974247e-01 -2.73205207e-01 6.17119039e-02 7.79492386e+01] [ 2.72704478e-01 9.61955324e-01 1.65596582e-02 1.11369545e+01] [-6.38882794e-02 9.32267132e-04 9.97956622e-01 -6.01601728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.933201008 meters 0.06034894334564579 Centerline is valid? [True, True] Translation: X:78.01, Y:11.15, Z:-6.02 [[ 9.60251672e-01 -2.72264622e-01 6.15524308e-02 7.80052602e+01] [ 2.71763574e-01 9.62222037e-01 1.65321324e-02 1.11545080e+01] [-6.37282202e-02 8.52700771e-04 9.97966927e-01 -6.02084169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.993201008 meters 0.06003496934118626 Centerline is valid? [True, True] Translation: X:78.06, Y:11.17, Z:-6.03 [[ 9.61235650e-01 -2.68898380e-01 6.09892301e-02 7.80608323e+01] [ 2.68398747e-01 9.63168360e-01 1.63958075e-02 1.11748184e+01] [-6.31517028e-02 6.09198229e-04 9.98003753e-01 -6.02514859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05320100799999 meters 0.059941042247819314 Centerline is valid? [True, True] Translation: X:78.11, Y:11.20, Z:-6.03 [[ 9.63952184e-01 -2.59437038e-01 5.90644624e-02 7.81147851e+01] [ 2.58949819e-01 9.65760023e-01 1.58924037e-02 1.11993931e+01] [-6.11651747e-02 -2.47854276e-05 9.98127658e-01 -6.03065454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11320100799999 meters 0.06082613869485034 Centerline is valid? [True, True] Translation: X:78.17, Y:11.22, Z:-6.04 [[ 9.65777022e-01 -2.52810252e-01 5.79803356e-02 7.81691535e+01] [ 2.52327974e-01 9.67515774e-01 1.56147307e-02 1.12227282e+01] [-6.00444533e-02 -4.50287450e-04 9.98195603e-01 -6.03863676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17320100799999 meters 0.06036084775369248 Centerline is valid? [True, True] Translation: X:78.23, Y:11.23, Z:-6.04 [[ 9.63930833e-01 -2.59403855e-01 5.95566129e-02 7.82287352e+01] [ 2.58906580e-01 9.65768936e-01 1.60544745e-02 1.12292722e+01] [-6.16825192e-02 -5.58040253e-05 9.98095819e-01 -6.04135553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.233201008 meters 0.06062335573851345 Centerline is valid? [True, True] Translation: X:78.29, Y:11.24, Z:-6.05 [[ 9.62912017e-01 -2.63634706e-01 5.74211568e-02 7.82859596e+01] [ 2.63179075e-01 9.64622571e-01 1.54941899e-02 1.12381739e+01] [-5.94745501e-02 1.92505293e-04 9.98229804e-01 -6.04945381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.293201008 meters 0.060903718722300014 Centerline is valid? [True, True] Translation: X:78.34, Y:11.25, Z:-6.06 [[ 9.62722607e-01 -2.64510076e-01 5.65650123e-02 7.83432299e+01] [ 2.64069137e-01 9.64382892e-01 1.52685250e-02 1.12510358e+01] [-5.85890089e-02 2.37719736e-04 9.98282160e-01 -6.05611363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.353201008 meters 0.06100256500456711 Centerline is valid? [True, True] Translation: X:78.40, Y:11.26, Z:-6.06 [[ 9.62011163e-01 -2.67138169e-01 5.63180331e-02 7.84006381e+01] [ 2.66704640e-01 9.63658162e-01 1.52177975e-02 1.12622003e+01] [-5.83365869e-02 3.80589705e-04 9.98296899e-01 -6.05898654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41320100799999 meters 0.060757931048774236 Centerline is valid? [True, True] Translation: X:78.46, Y:11.28, Z:-6.06 [[ 9.62189860e-01 -2.66419444e-01 5.66688055e-02 7.84570642e+01] [ 2.65979108e-01 9.63857130e-01 1.53149592e-02 1.12784876e+01] [-5.87008351e-02 3.36819828e-04 9.98275562e-01 -6.05990678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47320100799999 meters 0.06071919638745727 Centerline is valid? [True, True] Translation: X:78.51, Y:11.30, Z:-6.06 [[ 9.62271661e-01 -2.65971696e-01 5.73786368e-02 7.85131164e+01] [ 2.65518566e-01 9.63980792e-01 1.55217259e-02 1.12967774e+01] [-5.94402436e-02 2.98976349e-04 9.98231821e-01 -6.06405859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53320100799999 meters 0.061019224208580296 Centerline is valid? [True, True] Translation: X:78.57, Y:11.31, Z:-6.07 [[ 9.62320073e-01 -2.66472108e-01 5.41543338e-02 7.85677141e+01] [ 2.66068421e-01 9.63842585e-01 1.46651818e-02 1.13145633e+01] [-5.61041150e-02 2.96159232e-04 9.98424880e-01 -6.07280064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.593201008 meters 0.06115012674193217 Centerline is valid? [True, True] Translation: X:78.62, Y:11.33, Z:-6.08 [[ 9.61882366e-01 -2.68235293e-01 5.32178706e-02 7.86249964e+01] [ 2.67848081e-01 9.63353349e-01 1.44128594e-02 1.13287675e+01] [-5.51336515e-02 3.90829232e-04 9.98478907e-01 -6.07522029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.653201008 meters 0.061134834434732194 Centerline is valid? [True, True] Translation: X:78.68, Y:11.34, Z:-6.07 [[ 9.60138857e-01 -2.74075095e-01 5.49201073e-02 7.86844664e+01] [ 2.73671395e-01 9.61708013e-01 1.48884542e-02 1.13369744e+01] [-5.68976617e-02 7.35078962e-04 9.98379745e-01 -6.07468353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.713201008 meters 0.061511457761115766 Centerline is valid? [True, True] Translation: X:78.74, Y:11.35, Z:-6.08 [[ 9.58508270e-01 -2.79312496e-01 5.69774219e-02 7.87425595e+01] [ 2.78886284e-01 9.60199658e-01 1.54614651e-02 1.13472787e+01] [-5.90282815e-02 1.07027926e-03 9.98255737e-01 -6.07669606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77320100799999 meters 0.06219959593320284 Centerline is valid? [True, True] Translation: X:78.80, Y:11.36, Z:-6.08 [[ 9.57235433e-01 -2.83816926e-01 5.61095269e-02 7.87999637e+01] [ 2.83410314e-01 9.58877591e-01 1.52433180e-02 1.13602300e+01] [-5.81284796e-02 1.31057459e-03 9.98308250e-01 -6.08353908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83320100799999 meters 0.06237739837172987 Centerline is valid? [True, True] Translation: X:78.86, Y:11.37, Z:-6.09 [[ 9.57578727e-01 -2.83121650e-01 5.37132442e-02 7.88561154e+01] [ 2.82747841e-01 9.59083240e-01 1.45943950e-02 1.13737495e+01] [-5.56474616e-02 1.21202162e-03 9.98449744e-01 -6.09051439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89320100799999 meters 0.06174281227959316 Centerline is valid? [True, True] Translation: X:78.91, Y:11.39, Z:-6.09 [[ 9.59276958e-01 -2.77920147e-01 5.04788143e-02 7.89121596e+01] [ 2.77582785e-01 9.60603801e-01 1.37162543e-02 1.13933311e+01] [-5.23021642e-02 8.54363138e-04 9.98630940e-01 -6.09467052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.953201008 meters 0.06140081583945161 Centerline is valid? [True, True] Translation: X:78.97, Y:11.42, Z:-6.10 [[ 9.60475835e-01 -2.74125032e-01 4.83904662e-02 7.89661258e+01] [ 2.73809703e-01 9.61693867e-01 1.31587596e-02 1.14165128e+01] [-5.01439600e-02 6.11108526e-04 9.98741813e-01 -6.10187223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.013201008 meters 0.06156160382819426 Centerline is valid? [True, True] Translation: X:79.02, Y:11.44, Z:-6.11 [[ 9.61020396e-01 -2.72335844e-01 4.76758545e-02 7.90198687e+01] [ 2.72026902e-01 9.62202131e-01 1.29778129e-02 1.14374136e+01] [-4.94081325e-02 4.97172084e-04 9.98778549e-01 -6.10978409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.073201008 meters 0.06159499038144999 Centerline is valid? [True, True] Translation: X:79.08, Y:11.45, Z:-6.11 [[ 9.59736060e-01 -2.76417164e-01 5.00024611e-02 7.90788362e+01] [ 2.76082005e-01 9.61037473e-01 1.36272811e-02 1.14470397e+01] [-5.18210533e-02 7.26186638e-04 9.98656123e-01 -6.10939732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13320100799999 meters 0.061913209512234994 Centerline is valid? [True, True] Translation: X:79.13, Y:11.46, Z:-6.11 [[ 9.59103584e-01 -2.78393544e-01 5.11600472e-02 7.91344772e+01] [ 2.78044653e-01 9.60466727e-01 1.39584077e-02 1.14587876e+01] [-5.30234537e-02 8.37218766e-04 9.98592916e-01 -6.11345658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19320100799999 meters 0.06120798090521549 Centerline is valid? [True, True] Translation: X:79.19, Y:11.48, Z:-6.12 [[ 9.59525475e-01 -2.77150358e-01 4.99854095e-02 7.91885028e+01] [ 2.76815536e-01 9.60826268e-01 1.36396923e-02 1.14830801e+01] [-5.18075401e-02 7.49105685e-04 9.98656807e-01 -6.11513876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25320100799999 meters 0.06136486649594808 Centerline is valid? [True, True] Translation: X:79.24, Y:11.50, Z:-6.12 [[ 9.60256129e-01 -2.74807730e-01 4.88761613e-02 7.92422564e+01] [ 2.74483859e-01 9.61499016e-01 1.33511585e-02 1.15041502e+01] [-5.06633825e-02 5.95185572e-04 9.98715609e-01 -6.12390237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.313201008 meters 0.06186080266327601 Centerline is valid? [True, True] Translation: X:79.30, Y:11.52, Z:-6.13 [[ 9.60505116e-01 -2.74183375e-01 4.74699782e-02 7.92984124e+01] [ 2.73876274e-01 9.61677283e-01 1.29842337e-02 1.15166079e+01] [-4.92108606e-02 5.29477811e-04 9.98788271e-01 -6.13444083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.373201008 meters 0.06177244199154256 Centerline is valid? [True, True] Translation: X:79.36, Y:11.53, Z:-6.14 [[ 9.60388889e-01 -2.75004612e-01 4.50071659e-02 7.93555017e+01] [ 2.74729138e-01 9.61442758e-01 1.23176241e-02 1.15324486e+01] [-4.66592172e-02 5.35070607e-04 9.98910722e-01 -6.13850476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.433201008 meters 0.061736438664378585 Centerline is valid? [True, True] Translation: X:79.41, Y:11.55, Z:-6.14 [[ 9.60157192e-01 -2.76160823e-01 4.28178251e-02 7.94125992e+01] [ 2.75912485e-01 9.61111278e-01 1.17223226e-02 1.15470839e+01] [-4.43899408e-02 5.58700185e-04 9.99014125e-01 -6.14271176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49320100799999 meters 0.06212571651759817 Centerline is valid? [True, True] Translation: X:79.47, Y:11.56, Z:-6.15 [[ 9.59712408e-01 -2.77708371e-01 4.27803153e-02 7.94693015e+01] [ 2.77462160e-01 9.60665217e-01 1.17085444e-02 1.15609066e+01] [-4.43491217e-02 6.33083299e-04 9.99015893e-01 -6.14958615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55320100799999 meters 0.06184211134811839 Centerline is valid? [True, True] Translation: X:79.53, Y:11.58, Z:-6.15 [[ 9.59554777e-01 -2.77913848e-01 4.49279717e-02 7.95265151e+01] [ 2.77641952e-01 9.60605774e-01 1.23082759e-02 1.15762143e+01] [-4.65787093e-02 6.63424777e-04 9.98914403e-01 -6.15171773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61320100799999 meters 0.061576862597571 Centerline is valid? [True, True] Translation: X:79.58, Y:11.59, Z:-6.15 [[ 9.59627622e-01 -2.77859271e-01 4.36927010e-02 7.95837796e+01] [ 2.77601398e-01 9.60621586e-01 1.19846910e-02 1.15884051e+01] [-4.53022092e-02 6.28314330e-04 9.98973130e-01 -6.15334597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67320100799999 meters 0.061621096036307034 Centerline is valid? [True, True] Translation: X:79.64, Y:11.60, Z:-6.16 [[ 9.59401055e-01 -2.78730220e-01 4.31170494e-02 7.96395358e+01] [ 2.78479812e-01 9.60369217e-01 1.18305209e-02 1.16026735e+01] [-4.47058106e-02 6.57013563e-04 9.98999979e-01 -6.15851182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.733201008 meters 0.061715210204322066 Centerline is valid? [True, True] Translation: X:79.70, Y:11.61, Z:-6.16 [[ 9.57279433e-01 -2.85566001e-01 4.54768879e-02 7.96982045e+01] [ 2.85295124e-01 9.58358492e-01 1.24777063e-02 1.16138342e+01] [-4.71463704e-02 1.02968274e-03 9.98887461e-01 -6.15811371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.793201008 meters 0.06256876319820705 Centerline is valid? [True, True] Translation: X:79.75, Y:11.63, Z:-6.17 [[ 9.56696972e-01 -2.87393837e-01 4.62134918e-02 7.97546386e+01] [ 2.87115452e-01 9.57811841e-01 1.26962347e-02 1.16254608e+01] [-4.79126493e-02 1.12215827e-03 9.98850899e-01 -6.16504884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.853201008 meters 0.06188734608770529 Centerline is valid? [True, True] Translation: X:79.81, Y:11.64, Z:-6.17 [[ 9.56462651e-01 -2.88225941e-01 4.58803238e-02 7.98114374e+01] [ 2.87952532e-01 9.57561732e-01 1.26042911e-02 1.16431755e+01] [-4.75661260e-02 1.15582173e-03 9.98867422e-01 -6.16657946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91320100799999 meters 0.06093066246651271 Centerline is valid? [True, True] Translation: X:79.87, Y:11.66, Z:-6.16 [[ 9.56053102e-01 -2.89121016e-01 4.86980861e-02 7.98681260e+01] [ 2.88813458e-01 9.57291725e-01 1.33917855e-02 1.16596263e+01] [-5.04901215e-02 1.26140457e-03 9.98723764e-01 -6.16435007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97320100799999 meters 0.0610721730329232 Centerline is valid? [True, True] Translation: X:79.92, Y:11.68, Z:-6.17 [[ 9.56136844e-01 -2.89314846e-01 4.58176392e-02 7.99245600e+01] [ 2.89042320e-01 9.57233260e-01 1.26104668e-02 1.16769136e+01] [-4.75065634e-02 1.18590483e-03 9.98870222e-01 -6.16979870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03320100799999 meters 0.06232278583350647 Centerline is valid? [True, True] Translation: X:79.98, Y:11.69, Z:-6.18 [[ 9.56421104e-01 -2.88604426e-01 4.43413829e-02 7.99791578e+01] [ 2.88347712e-01 9.57447794e-01 1.22195957e-02 1.16923454e+01] [-4.59811886e-02 1.09865714e-03 9.98941702e-01 -6.18259516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.093201008 meters 0.06167182629856 Centerline is valid? [True, True] Translation: X:80.03, Y:11.71, Z:-6.18 [[ 9.56499766e-01 -2.88404063e-01 4.39464885e-02 8.00335462e+01] [ 2.88151765e-01 9.57508187e-01 1.21091796e-02 1.17139460e+01] [-4.55714591e-02 1.08083070e-03 9.98960497e-01 -6.18425217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.153201008 meters 0.06118576092995667 Centerline is valid? [True, True] Translation: X:80.09, Y:11.74, Z:-6.19 [[ 9.57366868e-01 -2.85785976e-01 4.21314055e-02 8.00882136e+01] [ 2.85551082e-01 9.58293042e-01 1.16200023e-02 1.17351463e+01] [-4.36950664e-02 9.06063261e-04 9.99044504e-01 -6.18684133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.213201008 meters 0.05995561949688984 Centerline is valid? [True, True] Translation: X:80.14, Y:11.76, Z:-6.19 [[ 9.58290124e-01 -2.82560872e-01 4.28881416e-02 8.01428920e+01] [ 2.82313412e-01 9.59249073e-01 1.18470897e-02 1.17584024e+01] [-4.44879340e-02 7.54948503e-04 9.99009636e-01 -6.18657036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27320100799999 meters 0.05946424489027965 Centerline is valid? [True, True] Translation: X:80.20, Y:11.78, Z:-6.19 [[ 9.60196320e-01 -2.76120134e-01 4.21983214e-02 8.01965576e+01] [ 2.75874456e-01 9.61123024e-01 1.16540437e-02 1.17822695e+01] [-4.37756944e-02 4.51269095e-04 9.99041283e-01 -6.19252162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33320100799999 meters 0.05901444863236893 Centerline is valid? [True, True] Translation: X:80.25, Y:11.81, Z:-6.20 [[ 9.61510663e-01 -2.71316191e-01 4.34139276e-02 8.02507019e+01] [ 2.71050486e-01 9.62490247e-01 1.20066331e-02 1.18071110e+01] [-4.50430759e-02 2.22860410e-04 9.98985021e-01 -6.19602727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39320100799999 meters 0.05879447746525365 Centerline is valid? [True, True] Translation: X:80.31, Y:11.83, Z:-6.20 [[ 9.62565159e-01 -2.67655973e-01 4.27620826e-02 8.03067928e+01] [ 2.67394687e-01 9.63514544e-01 1.18238816e-02 1.18257802e+01] [-4.43666210e-02 5.30971567e-05 9.99015315e-01 -6.19684237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.453201008 meters 0.05863345707648612 Centerline is valid? [True, True] Translation: X:80.36, Y:11.84, Z:-6.20 [[ 9.63029039e-01 -2.65693391e-01 4.45206940e-02 8.03628338e+01] [ 2.65407513e-01 9.64057581e-01 1.23220330e-02 1.18440260e+01] [-4.61943953e-02 -5.03488783e-05 9.98932468e-01 -6.20099896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.513201008 meters 0.058888545116079855 Centerline is valid? [True, True] Translation: X:80.42, Y:11.86, Z:-6.21 [[ 9.63058643e-01 -2.66023000e-01 4.18307718e-02 8.04200702e+01] [ 2.65770269e-01 9.63966681e-01 1.15932214e-02 1.18571574e+01] [-4.34075338e-02 -4.75766083e-05 9.99057448e-01 -6.20831937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.573201008 meters 0.05883897756536098 Centerline is valid? [True, True] Translation: X:80.48, Y:11.87, Z:-6.21 [[ 9.62986785e-01 -2.66627878e-01 3.95730502e-02 8.04774566e+01] [ 2.66402414e-01 9.63799551e-01 1.09626509e-02 1.18719038e+01] [-4.10634363e-02 -1.45318412e-05 9.99156541e-01 -6.21085822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63320100799999 meters 0.05926612683732642 Centerline is valid? [True, True] Translation: X:80.54, Y:11.88, Z:-6.21 [[ 9.63661043e-01 -2.64744506e-01 3.56053405e-02 8.05356832e+01] [ 2.64560164e-01 9.64318587e-01 9.87842177e-03 1.18843943e+01] [-3.69501496e-02 -9.96954975e-05 9.99317105e-01 -6.21472554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69320100799999 meters 0.06031439644028024 Centerline is valid? [True, True] Translation: X:80.59, Y:11.91, Z:-6.22 [[ 9.65398092e-01 -2.58684951e-01 3.29942419e-02 8.05889448e+01] [ 2.58523096e-01 9.65961698e-01 9.15466212e-03 1.19087224e+01] [-3.42393472e-02 -3.08119784e-04 9.99413614e-01 -6.22141751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75320100799999 meters 0.06162063965931613 Centerline is valid? [True, True] Translation: X:80.64, Y:11.94, Z:-6.23 [[ 9.66727543e-01 -2.53775292e-01 3.21863002e-02 8.06421077e+01] [ 2.53618446e-01 9.67263086e-01 8.93343829e-03 1.19360275e+01] [-3.33997059e-02 -4.73161408e-04 9.99441962e-01 -6.23140556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.813201008 meters 0.06182081611347893 Centerline is valid? [True, True] Translation: X:80.70, Y:11.95, Z:-6.24 [[ 9.66749339e-01 -2.53822125e-01 3.11455404e-02 8.06989410e+01] [ 2.53675498e-01 9.67250809e-01 8.63801405e-03 1.19513384e+01] [-3.23180682e-02 -4.49933925e-04 9.99477534e-01 -6.23594313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.873201008 meters 0.06074922411514662 Centerline is valid? [True, True] Translation: X:80.76, Y:11.96, Z:-6.23 [[ 9.65861420e-01 -2.57260399e-01 3.04762924e-02 8.07590516e+01] [ 2.57121504e-01 9.66342059e-01 8.45913345e-03 1.19580534e+01] [-3.16267232e-02 -3.34240530e-04 9.99499694e-01 -6.23319544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.933201008 meters 0.060478753249864084 Centerline is valid? [True, True] Translation: X:80.82, Y:11.97, Z:-6.24 [[ 9.64139263e-01 -2.63493786e-01 3.17254835e-02 8.08168773e+01] [ 2.63346094e-01 9.64661081e-01 8.82231150e-03 1.19664023e+01] [-3.29289634e-02 -1.51154765e-04 9.99457683e-01 -6.23994794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99320100799999 meters 0.06016357329248088 Centerline is valid? [True, True] Translation: X:80.87, Y:11.98, Z:-6.24 [[ 9.64008533e-01 -2.63992347e-01 3.15529585e-02 8.08729371e+01] [ 2.63846753e-01 9.64524766e-01 8.76734799e-03 1.19819996e+01] [-3.27481227e-02 -1.26652621e-04 9.99463628e-01 -6.24243069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05320100799999 meters 0.05978903986252766 Centerline is valid? [True, True] Translation: X:80.93, Y:11.99, Z:-6.24 [[ 9.63199977e-01 -2.66676852e-01 3.36044677e-02 8.09305691e+01] [ 2.66512637e-01 9.63786000e-01 9.35738021e-03 1.19930105e+01] [-3.48829122e-02 -5.70130830e-05 9.99391404e-01 -6.24400136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11320100799999 meters 0.06008990857537365 Centerline is valid? [True, True] Translation: X:80.99, Y:12.00, Z:-6.25 [[ 9.61080947e-01 -2.74237406e-01 3.34254163e-02 8.09895010e+01] [ 2.74079439e-01 9.61661998e-01 9.30926091e-03 1.19976989e+01] [-3.46969002e-02 2.14266044e-04 9.99397858e-01 -6.24883882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17320100799999 meters 0.06097499480849778 Centerline is valid? [True, True] Translation: X:81.05, Y:12.00, Z:-6.25 [[ 9.58779437e-01 -2.82302537e-01 3.23615212e-02 8.10498306e+01] [ 2.82159096e-01 9.59325303e-01 9.01156357e-03 1.20040517e+01] [-3.35892134e-02 4.90995716e-04 9.99435603e-01 -6.25433859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.233201008 meters 0.06169348669042506 Centerline is valid? [True, True] Translation: X:81.11, Y:12.01, Z:-6.26 [[ 9.57056190e-01 -2.88135065e-01 3.19630025e-02 8.11089128e+01] [ 2.87998183e-01 9.57589537e-01 8.90653670e-03 1.20136961e+01] [-3.31737223e-02 6.81230562e-04 9.99449368e-01 -6.25840076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.293201008 meters 0.06286245190038128 Centerline is valid? [True, True] Translation: X:81.17, Y:12.02, Z:-6.26 [[ 9.55620375e-01 -2.92562764e-01 3.45937482e-02 8.11662744e+01] [ 2.92404903e-01 9.56245906e-01 9.65092586e-03 1.20219622e+01] [-3.59036316e-02 8.92760199e-04 9.99354858e-01 -6.26183351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.353201008 meters 0.06153944066728323 Centerline is valid? [True, True] Translation: X:81.22, Y:12.04, Z:-6.26 [[ 9.55478610e-01 -2.92886347e-01 3.57521068e-02 8.12227789e+01] [ 2.92718070e-01 9.56146802e-01 9.97113660e-03 1.20409462e+01] [-3.71046724e-02 9.38079989e-04 9.99310944e-01 -6.25933896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41320100799999 meters 0.06093677104287547 Centerline is valid? [True, True] Translation: X:81.28, Y:12.06, Z:-6.26 [[ 9.56473391e-01 -2.89421814e-01 3.73318390e-02 8.12784168e+01] [ 2.89235036e-01 9.57201304e-01 1.04286940e-02 1.20601927e+01] [-3.87523765e-02 8.22907471e-04 9.99248506e-01 -6.26152629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47320100799999 meters 0.06064103206151798 Centerline is valid? [True, True] Translation: X:81.33, Y:12.08, Z:-6.27 [[ 9.57593733e-01 -2.85807115e-01 3.64490680e-02 8.13328360e+01] [ 2.85626614e-01 9.58286936e-01 1.01777316e-02 1.20822105e+01] [-3.78375338e-02 6.64691907e-04 9.99283683e-01 -6.26806819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53320100799999 meters 0.06081818849910145 Centerline is valid? [True, True] Translation: X:81.39, Y:12.10, Z:-6.27 [[ 9.58016304e-01 -2.84626372e-01 3.45338865e-02 8.13891752e+01] [ 2.84463309e-01 9.58638354e-01 9.65048771e-03 1.20997727e+01] [-3.58522914e-02 5.78299041e-04 9.99356933e-01 -6.27375138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.593201008 meters 0.060972858451320555 Centerline is valid? [True, True] Translation: X:81.44, Y:12.12, Z:-6.28 [[ 9.58494539e-01 -2.83216731e-01 3.28100906e-02 8.14447282e+01] [ 2.83068481e-01 9.59055807e-01 9.17574988e-03 1.21191002e+01] [-3.40654338e-02 4.92596370e-04 9.99419483e-01 -6.27951216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.653201008 meters 0.06055035684496055 Centerline is valid? [True, True] Translation: X:81.50, Y:12.14, Z:-6.28 [[ 9.59208350e-01 -2.80848894e-01 3.22992237e-02 8.15010647e+01] [ 2.80703627e-01 9.59751917e-01 9.04051113e-03 1.21383960e+01] [-3.35382594e-02 3.94775465e-04 9.99437356e-01 -6.28185917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.713201008 meters 0.06091000981654064 Centerline is valid? [True, True] Translation: X:81.56, Y:12.15, Z:-6.29 [[ 9.59563732e-01 -2.79629739e-01 3.23211097e-02 8.15564943e+01] [ 2.79483080e-01 9.60107856e-01 9.06163736e-03 1.21546418e+01] [-3.35656546e-02 3.37984714e-04 9.99436458e-01 -6.28915097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77320100799999 meters 0.060966127810411344 Centerline is valid? [True, True] Translation: X:81.61, Y:12.17, Z:-6.29 [[ 9.60503223e-01 -2.76355796e-01 3.25735077e-02 8.16126104e+01] [ 2.76205041e-01 9.61055369e-01 9.12979602e-03 1.21739573e+01] [-3.38280165e-02 2.27768523e-04 9.99427643e-01 -6.29499316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83320100799999 meters 0.06020955986848354 Centerline is valid? [True, True] Translation: X:81.67, Y:12.19, Z:-6.30 [[ 9.61557213e-01 -2.72099522e-01 3.70077768e-02 8.16690627e+01] [ 2.71901339e-01 9.62269112e-01 1.03835308e-02 1.21947899e+01] [-3.84367942e-02 7.81051085e-05 9.99261030e-01 -6.29577923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89320100799999 meters 0.059958393481048686 Centerline is valid? [True, True] Translation: X:81.73, Y:12.21, Z:-6.30 [[ 9.62283762e-01 -2.69255353e-01 3.88782368e-02 8.17251743e+01] [ 2.69033947e-01 9.63068820e-01 1.09170746e-02 1.22129119e+01] [-4.03818985e-02 -4.57581325e-05 9.99184317e-01 -6.29758561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.953201008 meters 0.05992025832207026 Centerline is valid? [True, True] Translation: X:81.78, Y:12.23, Z:-6.30 [[ 9.62692070e-01 -2.67348205e-01 4.18200402e-02 8.17812993e+01] [ 2.67089472e-01 9.63599976e-01 1.17600907e-02 1.22280967e+01] [-4.34418289e-02 -1.51653560e-04 9.99055947e-01 -6.29964361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.013201008 meters 0.05993387439751851 Centerline is valid? [True, True] Translation: X:81.84, Y:12.24, Z:-6.30 [[ 9.62313928e-01 -2.68968069e-01 4.01008959e-02 8.18390411e+01] [ 2.68731676e-01 9.63149092e-01 1.12744664e-02 1.22409376e+01] [-4.16556129e-02 -7.31950437e-05 9.99132026e-01 -6.30407598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.073201008 meters 0.06064638421852111 Centerline is valid? [True, True] Translation: X:81.90, Y:12.25, Z:-6.31 [[ 9.61255659e-01 -2.72948004e-01 3.85609191e-02 8.18961141e+01] [ 2.72732253e-01 9.62028783e-01 1.08507379e-02 1.22535570e+01] [-4.00584013e-02 8.64731046e-05 9.99197336e-01 -6.31449464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13320100799999 meters 0.061904450168820124 Centerline is valid? [True, True] Translation: X:81.96, Y:12.26, Z:-6.32 [[ 9.59065332e-01 -2.81008176e-01 3.50441684e-02 8.19552466e+01] [ 2.80834855e-01 9.59705302e-01 9.87506178e-03 1.22585298e+01] [-3.64070474e-02 3.70794546e-04 9.99336975e-01 -6.32333245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19320100799999 meters 0.06257741368307665 Centerline is valid? [True, True] Translation: X:82.01, Y:12.26, Z:-6.32 [[ 9.57027415e-01 -2.87623422e-01 3.70310002e-02 8.20147049e+01] [ 2.87434935e-01 9.57743354e-01 1.04320233e-02 1.22647739e+01] [-3.84666886e-02 6.60270795e-04 9.99259665e-01 -6.32461475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25320100799999 meters 0.06312562952686758 Centerline is valid? [True, True] Translation: X:82.07, Y:12.27, Z:-6.32 [[ 9.54816930e-01 -2.94054145e-01 4.30904932e-02 8.20740122e+01] [ 2.93804589e-01 9.55788184e-01 1.21577269e-02 1.22727243e+01] [-4.47604143e-02 1.05178116e-03 9.98997197e-01 -6.32491191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.313201008 meters 0.0633641078240948 Centerline is valid? [True, True] Translation: X:82.13, Y:12.29, Z:-6.33 [[ 9.55366689e-01 -2.92070145e-01 4.43792685e-02 8.21290178e+01] [ 2.91803163e-01 9.56396393e-01 1.25241113e-02 1.22902604e+01] [-4.61020913e-02 9.84892209e-04 9.98936248e-01 -6.33088093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.373201008 meters 0.062152550095647824 Centerline is valid? [True, True] Translation: X:82.18, Y:12.32, Z:-6.34 [[ 9.58107479e-01 -2.82612646e-01 4.64774354e-02 8.21826847e+01] [ 2.82308618e-01 9.59233958e-01 1.31170947e-02 1.23175123e+01] [-4.82897912e-02 5.53394012e-04 9.98833214e-01 -6.33667374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.433201008 meters 0.061749154274540155 Centerline is valid? [True, True] Translation: X:82.24, Y:12.35, Z:-6.34 [[ 9.60842544e-01 -2.73156768e-01 4.65509001e-02 8.22358799e+01] [ 2.72840214e-01 9.61969529e-01 1.31469361e-02 1.23452383e+01] [-4.83717221e-02 6.88220022e-05 9.98829401e-01 -6.34259548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49320100799999 meters 0.0615697564927399 Centerline is valid? [True, True] Translation: X:82.29, Y:12.37, Z:-6.34 [[ 9.61984511e-01 -2.68651386e-01 4.91144898e-02 8.22916313e+01] [ 2.68292472e-01 9.63237458e-01 1.38833951e-02 1.23655280e+01] [-5.10387097e-02 -1.78563230e-04 9.98696660e-01 -6.34193974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55320100799999 meters 0.061540478393770665 Centerline is valid? [True, True] Translation: X:82.35, Y:12.38, Z:-6.34 [[ 9.62035932e-01 -2.67850554e-01 5.23731415e-02 8.23479406e+01] [ 2.67440227e-01 9.63460439e-01 1.48225663e-02 1.23833684e+01] [-5.44296825e-02 -2.53156521e-04 9.98517574e-01 -6.34424765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61320100799999 meters 0.06136305469572969 Centerline is valid? [True, True] Translation: X:82.40, Y:12.40, Z:-6.35 [[ 9.61739260e-01 -2.68273574e-01 5.55597483e-02 8.24039528e+01] [ 2.67812391e-01 9.63342737e-01 1.57255731e-02 1.24007886e+01] [-5.77418357e-02 -2.44312043e-04 9.98331518e-01 -6.34646762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67320100799999 meters 0.06138368088455943 Centerline is valid? [True, True] Translation: X:82.46, Y:12.42, Z:-6.35 [[ 9.61394866e-01 -2.68906117e-01 5.83901667e-02 8.24609126e+01] [ 2.68396884e-01 9.63166365e-01 1.65428749e-02 1.24174944e+01] [-6.06879249e-02 -2.32496225e-04 9.98156762e-01 -6.34935544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.733201008 meters 0.061466027404936154 Centerline is valid? [True, True] Translation: X:82.52, Y:12.43, Z:-6.36 [[ 9.60741452e-01 -2.71287451e-01 5.81290107e-02 8.25167816e+01] [ 2.70786328e-01 9.62498369e-01 1.64819391e-02 1.24308558e+01] [-6.04204212e-02 -9.43407492e-05 9.98173013e-01 -6.35566518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.793201008 meters 0.061799341746323316 Centerline is valid? [True, True] Translation: X:82.57, Y:12.44, Z:-6.36 [[ 9.60180658e-01 -2.73469221e-01 5.71637134e-02 8.25734915e+01] [ 2.72987354e-01 9.61880754e-01 1.62271384e-02 1.24418933e+01] [-5.94222987e-02 2.39864391e-05 9.98232934e-01 -6.36176956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.853201008 meters 0.06232660142986383 Centerline is valid? [True, True] Translation: X:82.63, Y:12.46, Z:-6.37 [[ 9.60419994e-01 -2.73423161e-01 5.32279098e-02 8.26286491e+01] [ 2.73004934e-01 9.61893848e-01 1.51172521e-02 1.24585176e+01] [-5.53330059e-02 1.25708446e-05 9.98467956e-01 -6.37282183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91320100799999 meters 0.06229286475644632 Centerline is valid? [True, True] Translation: X:82.69, Y:12.47, Z:-6.38 [[ 9.59875717e-01 -2.74788832e-01 5.59437831e-02 8.26857904e+01] [ 2.74328960e-01 9.61504597e-01 1.58912694e-02 1.24735907e+01] [-5.81569480e-02 9.33562435e-05 9.98307448e-01 -6.37673625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97320100799999 meters 0.06250760247038142 Centerline is valid? [True, True] Translation: X:82.74, Y:12.49, Z:-6.38 [[ 9.59967234e-01 -2.74517580e-01 5.57046398e-02 8.27408413e+01] [ 2.74060317e-01 9.61582079e-01 1.58381925e-02 1.24901668e+01] [-5.79124456e-02 6.22854563e-05 9.98321664e-01 -6.38075979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03320100799999 meters 0.06249381371244793 Centerline is valid? [True, True] Translation: X:82.80, Y:12.51, Z:-6.38 [[ 9.60383892e-01 -2.72542042e-01 5.81688495e-02 8.27967833e+01] [ 2.72039080e-01 9.62143872e-01 1.65501709e-02 1.25096902e+01] [-6.04774195e-02 -7.03172391e-05 9.98169563e-01 -6.38257736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.093201008 meters 0.06292331043790168 Centerline is valid? [True, True] Translation: X:82.85, Y:12.53, Z:-6.38 [[ 9.61847178e-01 -2.67066736e-01 5.93747838e-02 8.28500079e+01] [ 2.66531170e-01 9.63677936e-01 1.69106700e-02 1.25330798e+01] [-6.17344466e-02 -4.40249631e-04 9.98092513e-01 -6.38394996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.153201008 meters 0.06352970756300902 Centerline is valid? [True, True] Translation: X:82.90, Y:12.56, Z:-6.39 [[ 9.63193092e-01 -2.62126419e-01 5.95718705e-02 8.29036493e+01] [ 2.61577509e-01 9.65033241e-01 1.69720567e-02 1.25571264e+01] [-6.19376597e-02 -7.64706256e-04 9.98079727e-01 -6.38850878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.213201008 meters 0.06401614777930979 Centerline is valid? [True, True] Translation: X:82.96, Y:12.58, Z:-6.40 [[ 9.63648802e-01 -2.60475858e-01 5.94416799e-02 8.29571598e+01] [ 2.59926017e-01 9.65479967e-01 1.69380769e-02 1.25827414e+01] [-6.18017113e-02 -8.71918368e-04 9.98088066e-01 -6.39624964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27320100799999 meters 0.06496037521836091 Centerline is valid? [True, True] Translation: X:83.01, Y:12.60, Z:-6.40 [[ 9.64854596e-01 -2.56876954e-01 5.54061258e-02 8.30115910e+01] [ 2.56392419e-01 9.66443553e-01 1.58046182e-02 1.26040248e+01] [-5.76067353e-02 -1.04344790e-03 9.98338808e-01 -6.40392500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33320100799999 meters 0.06557851079986458 Centerline is valid? [True, True] Translation: X:83.07, Y:12.62, Z:-6.41 [[ 9.65592296e-01 -2.53846677e-01 5.65100162e-02 8.30673762e+01] [ 2.53337439e-01 9.67243664e-01 1.61194538e-02 1.26241508e+01] [-5.87508249e-02 -1.24871768e-03 9.98271897e-01 -6.40831955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39320100799999 meters 0.06616493028756472 Centerline is valid? [True, True] Translation: X:83.12, Y:12.64, Z:-6.41 [[ 9.66195850e-01 -2.50981990e-01 5.89374332e-02 8.31235315e+01] [ 2.50421736e-01 9.67990595e-01 1.68273978e-02 1.26434381e+01] [-6.12742549e-02 -1.49934757e-03 9.98119841e-01 -6.41074928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.453201008 meters 0.06699060632932212 Centerline is valid? [True, True] Translation: X:83.18, Y:12.66, Z:-6.41 [[ 9.66429655e-01 -2.49246885e-01 6.23675524e-02 8.31793989e+01] [ 2.48614633e-01 9.68438448e-01 1.78251849e-02 1.26595784e+01] [-6.48420074e-02 -1.72130114e-03 9.97894058e-01 -6.41462992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.513201008 meters 0.06687756899173004 Centerline is valid? [True, True] Translation: X:83.24, Y:12.67, Z:-6.42 [[ 9.66448452e-01 -2.48863427e-01 6.35954789e-02 8.32363769e+01] [ 2.48204908e-01 9.68536941e-01 1.81801120e-02 1.26719104e+01] [-6.61189356e-02 -1.78543112e-03 9.97810152e-01 -6.41598082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.573201008 meters 0.06666642425877899 Centerline is valid? [True, True] Translation: X:83.29, Y:12.68, Z:-6.42 [[ 9.66260311e-01 -2.49650749e-01 6.33680874e-02 8.32940283e+01] [ 2.48997417e-01 9.68334377e-01 1.81334429e-02 1.26837152e+01] [-6.58885251e-02 -1.74313615e-03 9.97825468e-01 -6.42123840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63320100799999 meters 0.0663578357959392 Centerline is valid? [True, True] Translation: X:83.35, Y:12.70, Z:-6.43 [[ 9.65947061e-01 -2.51462274e-01 6.09343876e-02 8.33512527e+01] [ 2.50860888e-01 9.67865825e-01 1.74516190e-02 1.26952372e+01] [-6.33647351e-02 -1.57128555e-03 9.97989199e-01 -6.42894405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69320100799999 meters 0.06522585757062606 Centerline is valid? [True, True] Translation: X:83.41, Y:12.70, Z:-6.44 [[ 9.64519317e-01 -2.57714355e-01 5.73218866e-02 8.34104064e+01] [ 2.57192275e-01 9.66220516e-01 1.64331589e-02 1.27011876e+01] [-5.96206438e-02 -1.10735281e-03 9.98220493e-01 -6.43948551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75320100799999 meters 0.06555669427592455 Centerline is valid? [True, True] Translation: X:83.47, Y:12.72, Z:-6.44 [[ 9.64734347e-01 -2.57015595e-01 5.68385765e-02 8.34663633e+01] [ 2.56501007e-01 9.66406581e-01 1.62958239e-02 1.27182208e+01] [-5.91174553e-02 -1.14198895e-03 9.98250381e-01 -6.44489724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.813201008 meters 0.06348850880990649 Centerline is valid? [True, True] Translation: X:83.53, Y:12.72, Z:-6.44 [[ 9.62092271e-01 -2.65969417e-01 6.03218968e-02 8.35274270e+01] [ 2.65406257e-01 9.63981252e-01 1.73108378e-02 1.27223741e+01] [-6.27533310e-02 -6.44814457e-04 9.98028859e-01 -6.44342035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.873201008 meters 0.06304193818437255 Centerline is valid? [True, True] Translation: X:83.59, Y:12.74, Z:-6.45 [[ 9.60744987e-01 -2.70331465e-01 6.23696120e-02 8.35853176e+01] [ 2.69737607e-01 9.62767235e-01 1.79129558e-02 1.27354418e+01] [-6.48898545e-02 -3.86352611e-04 9.97892358e-01 -6.44637960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.933201008 meters 0.06322333615732402 Centerline is valid? [True, True] Translation: X:83.64, Y:12.75, Z:-6.45 [[ 9.61393249e-01 -2.67869452e-01 6.29998284e-02 8.36411683e+01] [ 2.67257167e-01 9.63455047e-01 1.81102008e-02 1.27544325e+01] [-6.55486722e-02 -5.73869085e-04 9.97849208e-01 -6.45042736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99320100799999 meters 0.06389836753379018 Centerline is valid? [True, True] Translation: X:83.69, Y:12.78, Z:-6.46 [[ 9.62420290e-01 -2.64650087e-01 6.08893783e-02 8.36943754e+01] [ 2.64070681e-01 9.64344191e-01 1.75201793e-02 1.27756526e+01] [-6.33550352e-02 -7.82676440e-04 9.97990745e-01 -6.46022180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05320100799999 meters 0.06436546205866732 Centerline is valid? [True, True] Translation: X:83.75, Y:12.79, Z:-6.47 [[ 9.62924486e-01 -2.63522376e-01 5.77268711e-02 8.37502699e+01] [ 2.62999486e-01 9.64652940e-01 1.66125308e-02 1.27929161e+01] [-6.00641695e-02 -8.14475279e-04 9.98194186e-01 -6.46795153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11320100799999 meters 0.06445863389513727 Centerline is valid? [True, True] Translation: X:83.81, Y:12.81, Z:-6.48 [[ 9.62928571e-01 -2.64182060e-01 5.45564565e-02 8.38069611e+01] [ 2.63715409e-01 9.64472543e-01 1.57129314e-02 1.28076647e+01] [-5.67692789e-02 -7.43052371e-04 9.98387048e-01 -6.47616252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17320100799999 meters 0.06393092206593702 Centerline is valid? [True, True] Translation: X:83.86, Y:12.82, Z:-6.48 [[ 9.62396277e-01 -2.65518716e-01 5.73865651e-02 8.38649703e+01] [ 2.65003774e-01 9.64105441e-01 1.65438163e-02 1.28221236e+01] [-5.97193925e-02 -7.14050814e-04 9.98214949e-01 -6.47543081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.233201008 meters 0.0636502158436815 Centerline is valid? [True, True] Translation: X:83.92, Y:12.84, Z:-6.48 [[ 9.61883755e-01 -2.66896131e-01 5.95491243e-02 8.39217875e+01] [ 2.66343357e-01 9.63725071e-01 1.71815223e-02 1.28383578e+01] [-6.19746658e-02 -6.66113495e-04 9.98077501e-01 -6.47927212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.293201008 meters 0.06349284413035522 Centerline is valid? [True, True] Translation: X:83.98, Y:12.86, Z:-6.48 [[ 9.61738989e-01 -2.67318721e-01 5.99901498e-02 8.39773336e+01] [ 2.66757636e-01 9.63607943e-01 1.73232551e-02 1.28550060e+01] [-6.24378153e-02 -6.57619310e-04 9.98048639e-01 -6.48334080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.353201008 meters 0.06326656495214304 Centerline is valid? [True, True] Translation: X:84.03, Y:12.87, Z:-6.49 [[ 9.61530602e-01 -2.67684141e-01 6.16774061e-02 8.40326237e+01] [ 2.67090416e-01 9.63506486e-01 1.78314453e-02 1.28706494e+01] [-6.41997759e-02 -6.72036304e-04 9.97936840e-01 -6.48548465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41320100799999 meters 0.06303654322998598 Centerline is valid? [True, True] Translation: X:84.09, Y:12.89, Z:-6.49 [[ 9.61155635e-01 -2.68717087e-01 6.30156502e-02 8.40902080e+01] [ 2.68099212e-01 9.63218948e-01 1.82227907e-02 1.28855630e+01] [-6.55946435e-02 -6.20491769e-04 9.97846159e-01 -6.48822512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47320100799999 meters 0.06302414890683182 Centerline is valid? [True, True] Translation: X:84.15, Y:12.90, Z:-6.49 [[ 9.61187269e-01 -2.68844765e-01 6.19800442e-02 8.41455287e+01] [ 2.68246328e-01 9.63183322e-01 1.79386472e-02 1.29013957e+01] [-6.45208563e-02 -6.16479991e-04 9.97916168e-01 -6.49302338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53320100799999 meters 0.06311806265767804 Centerline is valid? [True, True] Translation: X:84.20, Y:12.92, Z:-6.50 [[ 9.61198149e-01 -2.69397581e-01 5.93553781e-02 8.42011166e+01] [ 2.68849488e-01 9.63028883e-01 1.71849958e-02 1.29185296e+01] [-6.17905397e-02 -5.60523223e-04 9.98088982e-01 -6.50238494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.593201008 meters 0.06294274038537764 Centerline is valid? [True, True] Translation: X:84.26, Y:12.93, Z:-6.51 [[ 9.61041610e-01 -2.70362152e-01 5.74746126e-02 8.42563774e+01] [ 2.69849064e-01 9.62758567e-01 1.66560418e-02 1.29328425e+01] [-5.98373390e-02 -4.97678835e-04 9.98208017e-01 -6.50863709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.653201008 meters 0.06284661909106433 Centerline is valid? [True, True] Translation: X:84.31, Y:12.95, Z:-6.52 [[ 9.60800589e-01 -2.71415734e-01 5.65307600e-02 8.43120251e+01] [ 2.70920844e-01 9.62462110e-01 1.63884991e-02 1.29475390e+01] [-5.88568111e-02 -4.30718393e-04 9.98266342e-01 -6.51539016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.713201008 meters 0.06259975486467889 Centerline is valid? [True, True] Translation: X:84.37, Y:12.96, Z:-6.52 [[ 9.60454741e-01 -2.72761968e-01 5.59249348e-02 8.43685745e+01] [ 2.72279840e-01 9.62081488e-01 1.62141793e-02 1.29602554e+01] [-5.82269559e-02 -3.45753109e-04 9.98303312e-01 -6.51804849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77320100799999 meters 0.062428076691765554 Centerline is valid? [True, True] Translation: X:84.42, Y:12.98, Z:-6.52 [[ 9.60443009e-01 -2.72663554e-01 5.66022332e-02 8.44249298e+01] [ 2.72168540e-01 9.62109374e-01 1.64267350e-02 1.29765551e+01] [-5.89365111e-02 -3.71595550e-04 9.98261664e-01 -6.51989544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83320100799999 meters 0.06274097278285652 Centerline is valid? [True, True] Translation: X:84.48, Y:13.00, Z:-6.52 [[ 9.61131468e-01 -2.70118186e-01 5.71180069e-02 8.44798235e+01] [ 2.69608573e-01 9.62827017e-01 1.65937769e-02 1.29982729e+01] [-5.94770411e-02 -5.49296813e-04 9.98229523e-01 -6.52498846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89320100799999 meters 0.06313645365585001 Centerline is valid? [True, True] Translation: X:84.53, Y:13.02, Z:-6.53 [[ 9.61637682e-01 -2.68276903e-01 5.72754058e-02 8.45346155e+01] [ 2.67760183e-01 9.63341600e-01 1.66566896e-02 1.30170275e+01] [-5.96443862e-02 -6.81627261e-04 9.98219456e-01 -6.52942118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.953201008 meters 0.06306717937502772 Centerline is valid? [True, True] Translation: X:84.59, Y:13.03, Z:-6.53 [[ 9.61369457e-01 -2.69468382e-01 5.61743512e-02 8.45914943e+01] [ 2.68973254e-01 9.63009052e-01 1.63387639e-02 1.30320398e+01] [-5.84991889e-02 -5.98190528e-04 9.98287277e-01 -6.53432755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.013201008 meters 0.06367982295844359 Centerline is valid? [True, True] Translation: X:84.65, Y:13.05, Z:-6.55 [[ 9.61539184e-01 -2.69619022e-01 5.24211758e-02 8.46466965e+01] [ 2.69187478e-01 9.62966909e-01 1.52588870e-02 1.30516726e+01] [-5.45939438e-02 -5.60893685e-04 9.98508481e-01 -6.54767012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.073201008 meters 0.06368389419321961 Centerline is valid? [True, True] Translation: X:84.70, Y:13.06, Z:-6.55 [[ 9.61101098e-01 -2.71295104e-01 5.18039086e-02 8.47016352e+01] [ 2.70875257e-01 9.62496099e-01 1.50948444e-02 1.30645522e+01] [-5.39562173e-02 -4.75274476e-04 9.98543189e-01 -6.55358368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13320100799999 meters 0.0632900160823063 Centerline is valid? [True, True] Translation: X:84.76, Y:13.07, Z:-6.56 [[ 9.60147307e-01 -2.74522134e-01 5.24856811e-02 8.47602573e+01] [ 2.74095739e-01 9.61580733e-01 1.52976804e-02 1.30740290e+01] [-5.46687716e-02 -3.01925050e-04 9.98504499e-01 -6.55520639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19320100799999 meters 0.06325676042571866 Centerline is valid? [True, True] Translation: X:84.82, Y:13.09, Z:-6.56 [[ 9.59162800e-01 -2.77901398e-01 5.27023395e-02 8.48180769e+01] [ 2.77475840e-01 9.60609597e-01 1.53740004e-02 1.30854937e+01] [-5.48988293e-02 -1.22543352e-04 9.98491915e-01 -6.55990152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25320100799999 meters 0.06365214587426071 Centerline is valid? [True, True] Translation: X:84.87, Y:13.10, Z:-6.57 [[ 9.58890397e-01 -2.78553242e-01 5.41968384e-02 8.48736404e+01] [ 2.78103416e-01 9.60420783e-01 1.58243188e-02 1.31038969e+01] [-5.64596853e-02 -1.01461480e-04 9.98404875e-01 -6.56669551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.313201008 meters 0.06378683022047497 Centerline is valid? [True, True] Translation: X:84.93, Y:13.11, Z:-6.57 [[ 9.58408411e-01 -2.80491274e-01 5.27063856e-02 8.49303153e+01] [ 2.80067902e-01 9.59856575e-01 1.54053558e-02 1.31149189e+01] [-5.49116387e-02 -3.25574387e-06 9.98491218e-01 -6.57103739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.373201008 meters 0.0639184234757237 Centerline is valid? [True, True] Translation: X:84.99, Y:13.13, Z:-6.58 [[ 9.57758940e-01 -2.82951133e-01 5.13465629e-02 8.49877347e+01] [ 2.82552814e-01 9.59134317e-01 1.50089566e-02 1.31273451e+01] [-5.34950518e-02 1.33153538e-04 9.98568106e-01 -6.57589896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.433201008 meters 0.06443054087540914 Centerline is valid? [True, True] Translation: X:85.04, Y:13.14, Z:-6.58 [[ 9.55651407e-01 -2.89300203e-01 5.50979181e-02 8.50448585e+01] [ 2.88851004e-01 9.57238286e-01 1.61233342e-02 1.31373861e+01] [-5.74063206e-02 5.06801934e-04 9.98350769e-01 -6.57940522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49320100799999 meters 0.06464217329144482 Centerline is valid? [True, True] Translation: X:85.10, Y:13.15, Z:-6.58 [[ 9.54883057e-01 -2.91706889e-01 5.57264502e-02 8.51021064e+01] [ 2.91251329e-01 9.56507532e-01 1.63096283e-02 1.31512620e+01] [-5.80604003e-02 6.56614906e-04 9.98312856e-01 -6.58374230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55320100799999 meters 0.06595043647342931 Centerline is valid? [True, True] Translation: X:85.16, Y:13.16, Z:-6.59 [[ 9.53082614e-01 -2.97490944e-01 5.59702532e-02 8.51598718e+01] [ 2.97040358e-01 9.54724119e-01 1.63976209e-02 1.31634685e+01] [-5.83142944e-02 9.97136681e-04 9.98297776e-01 -6.58986765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61320100799999 meters 0.06724040651981489 Centerline is valid? [True, True] Translation: X:85.22, Y:13.18, Z:-6.60 [[ 9.51870888e-01 -3.01945494e-01 5.26377400e-02 8.52174022e+01] [ 3.01553784e-01 9.53324443e-01 1.54214720e-02 1.31751777e+01] [-5.48372881e-02 1.19385939e-03 9.98494590e-01 -6.59609879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67320100799999 meters 0.06870332784931235 Centerline is valid? [True, True] Translation: X:85.27, Y:13.19, Z:-6.60 [[ 9.50404741e-01 -3.06500958e-01 5.28014294e-02 8.52743161e+01] [ 3.06113246e-01 9.51869244e-01 1.54797806e-02 1.31873439e+01] [-5.50046243e-02 1.45116004e-03 9.98485045e-01 -6.60052024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.733201008 meters 0.06941111129389861 Centerline is valid? [True, True] Translation: X:85.33, Y:13.21, Z:-6.61 [[ 9.48902769e-01 -3.10977072e-01 5.36357605e-02 8.53307630e+01] [ 3.10583974e-01 9.50415831e-01 1.57271762e-02 1.32074073e+01] [-5.58670671e-02 1.73484664e-03 9.98436709e-01 -6.60605248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.793201008 meters 0.06868018243576149 Centerline is valid? [True, True] Translation: X:85.39, Y:13.23, Z:-6.61 [[ 9.48382881e-01 -3.12806842e-01 5.21707901e-02 8.53852510e+01] [ 3.12437165e-01 9.49815088e-01 1.53073990e-02 1.32338441e+01] [-5.43408627e-02 1.78281858e-03 9.98520852e-01 -6.60935281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.853201008 meters 0.07016303332868379 Centerline is valid? [True, True] Translation: X:85.44, Y:13.25, Z:-6.62 [[ 9.49711240e-01 -3.09186070e-01 4.95230651e-02 8.54406476e+01] [ 3.08847376e-01 9.51000408e-01 1.45438099e-02 1.32478126e+01] [-5.15931985e-02 1.48264897e-03 9.98667083e-01 -6.61939915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91320100799999 meters 0.06714044078153107 Centerline is valid? [True, True] Translation: X:85.49, Y:13.28, Z:-6.62 [[ 9.52064755e-01 -3.01822898e-01 4.97558133e-02 8.54929772e+01] [ 3.01470871e-01 9.53363392e-01 1.46135979e-02 1.32827018e+01] [-5.18460894e-02 1.08683685e-03 9.98654496e-01 -6.61779989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97320100799999 meters 0.06732846235259611 Centerline is valid? [True, True] Translation: X:85.55, Y:13.31, Z:-6.63 [[ 9.53112684e-01 -2.98375287e-01 5.04816678e-02 8.55458818e+01] [ 2.98007277e-01 9.54448208e-01 1.48418688e-02 1.33081477e+01] [-5.26105842e-02 8.97930957e-04 9.98614701e-01 -6.62744387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03320100799999 meters 0.0670526697057379 Centerline is valid? [True, True] Translation: X:85.60, Y:13.34, Z:-6.63 [[ 9.54747554e-01 -2.93325521e-01 4.91655073e-02 8.55983764e+01] [ 2.92969797e-01 9.56012434e-01 1.44542159e-02 1.33375567e+01] [-5.12426267e-02 6.03881463e-04 9.98686051e-01 -6.63296667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.093201008 meters 0.0663015072395015 Centerline is valid? [True, True] Translation: X:85.65, Y:13.36, Z:-6.63 [[ 9.56053193e-01 -2.88550396e-01 5.19707790e-02 8.56514998e+01] [ 2.88144886e-01 9.57464645e-01 1.52963513e-02 1.33638946e+01] [-5.41739516e-02 3.50988728e-04 9.98531452e-01 -6.63446692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.153201008 meters 0.06612527616152013 Centerline is valid? [True, True] Translation: X:85.71, Y:13.39, Z:-6.64 [[ 9.56207593e-01 -2.87772529e-01 5.34229388e-02 8.57067402e+01] [ 2.87342808e-01 9.57698738e-01 1.57238211e-02 1.33865567e+01] [-5.56879648e-02 3.15460114e-04 9.98448171e-01 -6.63719816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.213201008 meters 0.06637957714652956 Centerline is valid? [True, True] Translation: X:85.76, Y:13.40, Z:-6.64 [[ 9.55966047e-01 -2.88470263e-01 5.39798535e-02 8.57620551e+01] [ 2.88031759e-01 9.57488793e-01 1.59033823e-02 1.34034219e+01] [-5.62727577e-02 3.44818613e-04 9.98415373e-01 -6.64259476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27320100799999 meters 0.06637488121106291 Centerline is valid? [True, True] Translation: X:85.82, Y:13.42, Z:-6.65 [[ 9.55685071e-01 -2.89563021e-01 5.30970930e-02 8.58176001e+01] [ 2.89140342e-01 9.57158867e-01 1.56450045e-02 1.34222024e+01] [-5.53525681e-02 4.00814413e-04 9.98466791e-01 -6.64691517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33320100799999 meters 0.06656774273347496 Centerline is valid? [True, True] Translation: X:85.87, Y:13.44, Z:-6.66 [[ 9.55815070e-01 -2.89477013e-01 5.11918950e-02 8.58721916e+01] [ 2.89083219e-01 9.57184895e-01 1.50986289e-02 1.34390107e+01] [-5.33708146e-02 3.67220735e-04 9.98574695e-01 -6.65563903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39320100799999 meters 0.06726930364915687 Centerline is valid? [True, True] Translation: X:85.93, Y:13.45, Z:-6.66 [[ 9.55355536e-01 -2.91233032e-01 4.97907722e-02 8.59281312e+01] [ 2.90862687e-01 9.56652037e-01 1.46893727e-02 1.34548671e+01] [-5.19104742e-02 4.48704264e-04 9.98651642e-01 -6.66240267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.453201008 meters 0.0672937312074113 Centerline is valid? [True, True] Translation: X:85.98, Y:13.47, Z:-6.67 [[ 9.55187140e-01 -2.91793307e-01 4.97412734e-02 8.59833571e+01] [ 2.91424352e-01 9.56481280e-01 1.46767881e-02 1.34694495e+01] [-5.18591854e-02 4.76739076e-04 9.98654293e-01 -6.66739027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.513201008 meters 0.06702094288612213 Centerline is valid? [True, True] Translation: X:86.04, Y:13.48, Z:-6.67 [[ 9.54952875e-01 -2.92419784e-01 5.05536883e-02 8.60401854e+01] [ 2.92039087e-01 9.56289919e-01 1.49252417e-02 1.34847564e+01] [-5.27084184e-02 5.10750483e-04 9.98609815e-01 -6.66765507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.573201008 meters 0.06666598578318751 Centerline is valid? [True, True] Translation: X:86.10, Y:13.50, Z:-6.67 [[ 9.54992716e-01 -2.92035146e-01 5.20037120e-02 8.60964253e+01] [ 2.91630990e-01 9.56407461e-01 1.53666279e-02 1.35016867e+01] [-5.42243336e-02 4.90876293e-04 9.98528658e-01 -6.66927459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63320100799999 meters 0.06637929949048142 Centerline is valid? [True, True] Translation: X:86.15, Y:13.52, Z:-6.67 [[ 9.54609274e-01 -2.92922962e-01 5.40117781e-02 8.61530452e+01] [ 2.92487601e-01 9.56135888e-01 1.59739264e-02 1.35180024e+01] [-5.63217293e-02 5.48917036e-04 9.98412521e-01 -6.67456678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69320100799999 meters 0.06692574570157561 Centerline is valid? [True, True] Translation: X:86.21, Y:13.53, Z:-6.68 [[ 9.54403035e-01 -2.93760280e-01 5.31012661e-02 8.62078173e+01] [ 2.93339937e-01 9.55878951e-01 1.57198237e-02 1.35342957e+01] [-5.53762424e-02 5.73674605e-04 9.98465394e-01 -6.68445267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75320100799999 meters 0.06696735290165781 Centerline is valid? [True, True] Translation: X:86.26, Y:13.55, Z:-6.69 [[ 9.54864495e-01 -2.92605118e-01 5.11472461e-02 8.62638278e+01] [ 2.92213119e-01 9.56233242e-01 1.51485952e-02 1.35500688e+01] [-5.33412535e-02 4.81040597e-04 9.98576226e-01 -6.68922825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.813201008 meters 0.06650216866010979 Centerline is valid? [True, True] Translation: X:86.32, Y:13.56, Z:-6.69 [[ 9.54814119e-01 -2.92757986e-01 5.12128886e-02 8.63207452e+01] [ 2.92365182e-01 9.56186447e-01 1.51683411e-02 1.35640748e+01] [-5.34097230e-02 4.89919288e-04 9.98572562e-01 -6.68976939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.873201008 meters 0.06611133747548731 Centerline is valid? [True, True] Translation: X:86.38, Y:13.58, Z:-6.69 [[ 9.53414194e-01 -2.96922202e-01 5.32783339e-02 8.63775091e+01] [ 2.96502660e-01 9.54901389e-01 1.57958785e-02 1.35771220e+01] [-5.55657021e-02 7.37152956e-04 9.98454761e-01 -6.69206371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.933201008 meters 0.06620312510220837 Centerline is valid? [True, True] Translation: X:86.43, Y:13.59, Z:-6.70 [[ 9.52466585e-01 -2.99653711e-01 5.49095363e-02 8.64332239e+01] [ 2.99211664e-01 9.54047603e-01 1.62957520e-02 1.35940567e+01] [-5.72693940e-02 9.08414441e-04 9.98358348e-01 -6.69737098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99320100799999 meters 0.06625228455560843 Centerline is valid? [True, True] Translation: X:86.49, Y:13.61, Z:-6.70 [[ 9.51365780e-01 -3.03245546e-01 5.42705499e-02 8.64910466e+01] [ 3.02818667e-01 9.52911820e-01 1.61219599e-02 1.36058569e+01] [-5.66039610e-02 1.09625460e-03 9.98396109e-01 -6.69891112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05320100799999 meters 0.06589491036831704 Centerline is valid? [True, True] Translation: X:86.55, Y:13.62, Z:-6.70 [[ 9.51212185e-01 -3.03904936e-01 5.32650905e-02 8.65473431e+01] [ 3.03494053e-01 9.52701724e-01 1.58361863e-02 1.36229610e+01] [-5.55584387e-02 1.10206480e-03 9.98454829e-01 -6.70281855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11320100799999 meters 0.06531171202170184 Centerline is valid? [True, True] Translation: X:86.60, Y:13.65, Z:-6.71 [[ 9.51416068e-01 -3.03343317e-01 5.28232620e-02 8.66015683e+01] [ 3.02937711e-01 9.52880754e-01 1.57166229e-02 1.36450097e+01] [-5.51018022e-02 1.04911044e-03 9.98480190e-01 -6.70656677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17320100799999 meters 0.06532047857173208 Centerline is valid? [True, True] Translation: X:86.66, Y:13.66, Z:-6.71 [[ 9.51669565e-01 -3.02387120e-01 5.37314516e-02 8.66556180e+01] [ 3.01964859e-01 9.53184685e-01 1.60056281e-02 1.36647477e+01] [-5.60558925e-02 9.92941119e-04 9.98427139e-01 -6.71270048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.233201008 meters 0.06497532790803318 Centerline is valid? [True, True] Translation: X:86.71, Y:13.68, Z:-6.71 [[ 9.51591606e-01 -3.02368201e-01 5.51986109e-02 8.67124746e+01] [ 3.01922199e-01 9.53190665e-01 1.64481831e-02 1.36800821e+01] [-5.75882081e-02 1.01373295e-03 9.98339907e-01 -6.71384477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.293201008 meters 0.06415593865447014 Centerline is valid? [True, True] Translation: X:86.77, Y:13.70, Z:-6.72 [[ 9.51813148e-01 -3.01556035e-01 5.58183536e-02 8.67687272e+01] [ 3.01097764e-01 9.53447970e-01 1.66464848e-02 1.36972797e+01] [-5.82397439e-02 9.62438375e-04 9.98302162e-01 -6.71542406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.353201008 meters 0.06347022341300376 Centerline is valid? [True, True] Translation: X:86.82, Y:13.72, Z:-6.72 [[ 9.52810205e-01 -2.98139561e-01 5.71446828e-02 8.68235041e+01] [ 2.97652051e-01 9.54521992e-01 1.70594260e-02 1.37197696e+01] [-5.96319462e-02 7.54836814e-04 9.98220147e-01 -6.71878798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41320100799999 meters 0.0633743946441376 Centerline is valid? [True, True] Translation: X:86.88, Y:13.74, Z:-6.73 [[ 9.54122680e-01 -2.94184570e-01 5.57256625e-02 8.68772762e+01] [ 2.93714031e-01 9.55748501e-01 1.66394282e-02 1.37389359e+01] [-5.81547814e-02 4.91353139e-04 9.98307458e-01 -6.72680393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47320100799999 meters 0.06324693306431664 Centerline is valid? [True, True] Translation: X:86.93, Y:13.76, Z:-6.73 [[ 9.55776126e-01 -2.89406272e-01 5.23068588e-02 8.69315075e+01] [ 2.88984337e-01 9.57206339e-01 1.56229538e-02 1.37602445e+01] [-5.45898377e-02 1.83816667e-04 9.98508846e-01 -6.73298365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53320100799999 meters 0.06356296436905631 Centerline is valid? [True, True] Translation: X:86.99, Y:13.78, Z:-6.74 [[ 9.57343179e-01 -2.84574815e-01 5.01119914e-02 8.69862452e+01] [ 2.84180924e-01 9.58653831e-01 1.49678147e-02 1.37820388e+01] [-5.22995156e-02 -8.84633164e-05 9.98631440e-01 -6.73820491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.593201008 meters 0.06416639578963937 Centerline is valid? [True, True] Translation: X:87.04, Y:13.80, Z:-6.75 [[ 9.58892681e-01 -2.79796730e-01 4.73140124e-02 8.70408390e+01] [ 2.79439058e-01 9.60059202e-01 1.41471306e-02 1.38013156e+01] [-4.93825739e-02 -3.44196951e-04 9.98779877e-01 -6.74724712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.653201008 meters 0.06412514668101073 Centerline is valid? [True, True] Translation: X:87.10, Y:13.82, Z:-6.75 [[ 9.59215908e-01 -2.78745169e-01 4.69677865e-02 8.70969929e+01] [ 2.78391472e-01 9.60365022e-01 1.40432649e-02 1.38189359e+01] [-4.90207116e-02 -3.95091861e-04 9.98797684e-01 -6.75165522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.713201008 meters 0.0632978447798592 Centerline is valid? [True, True] Translation: X:87.15, Y:13.83, Z:-6.75 [[ 9.58602880e-01 -2.79848201e-01 5.25880483e-02 8.71540657e+01] [ 2.79405353e-01 9.60044179e-01 1.57423758e-02 1.38322844e+01] [-5.48923252e-02 -3.97304606e-04 9.98492201e-01 -6.75208664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77320100799999 meters 0.062401634108711586 Centerline is valid? [True, True] Translation: X:87.21, Y:13.84, Z:-6.75 [[ 9.58015327e-01 -2.81338482e-01 5.52746935e-02 8.72126806e+01] [ 2.80851647e-01 9.59608540e-01 1.65469516e-02 1.38442053e+01] [-5.76973622e-02 -3.28244534e-04 9.98334066e-01 -6.74830717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83320100799999 meters 0.06234688039805445 Centerline is valid? [True, True] Translation: X:87.27, Y:13.86, Z:-6.75 [[ 9.58044357e-01 -2.81011639e-01 5.64222342e-02 8.72694090e+01] [ 2.80502892e-01 9.59704289e-01 1.69057837e-02 1.38579248e+01] [-5.88993821e-02 -3.69890865e-04 9.98263856e-01 -6.75291045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89320100799999 meters 0.06263574262225696 Centerline is valid? [True, True] Translation: X:87.32, Y:13.87, Z:-6.76 [[ 9.58369703e-01 -2.80147941e-01 5.51782918e-02 8.73242791e+01] [ 2.79659002e-01 9.59956742e-01 1.65498174e-02 1.38738733e+01] [-5.76051705e-02 -4.29737629e-04 9.98339351e-01 -6.76005695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.953201008 meters 0.0633646747855728 Centerline is valid? [True, True] Translation: X:87.38, Y:13.89, Z:-6.77 [[ 9.58963566e-01 -2.79034686e-01 5.02844240e-02 8.73817698e+01] [ 2.78627067e-01 9.60280916e-01 1.50837641e-02 1.38888740e+01] [-5.24960661e-02 -4.54178687e-04 9.98621028e-01 -6.77049445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.013201008 meters 0.0637587406316944 Centerline is valid? [True, True] Translation: X:87.44, Y:13.90, Z:-6.78 [[ 9.59199562e-01 -2.78808367e-01 4.69264826e-02 8.74390258e+01] [ 2.78452776e-01 9.60346655e-01 1.40837849e-02 1.39049985e+01] [-4.89923677e-02 -4.42350943e-04 9.98799055e-01 -6.78015225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.073201008 meters 0.06410574989078653 Centerline is valid? [True, True] Translation: X:87.50, Y:13.92, Z:-6.79 [[ 9.59142627e-01 -2.79311083e-01 4.50637419e-02 8.74961750e+01] [ 2.78983350e-01 9.60200579e-01 1.35328330e-02 1.39191335e+01] [-4.70501013e-02 -4.07883242e-04 9.98892447e-01 -6.78692469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13320100799999 meters 0.06375043085579177 Centerline is valid? [True, True] Translation: X:87.56, Y:13.93, Z:-6.79 [[ 9.58682165e-01 -2.80837404e-01 4.53746550e-02 8.75551283e+01] [ 2.80506297e-01 9.59755298e-01 1.36376134e-02 1.39280343e+01] [-4.73785175e-02 -3.46260288e-04 9.98876947e-01 -6.79122126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19320100799999 meters 0.06303377108343916 Centerline is valid? [True, True] Translation: X:87.61, Y:13.94, Z:-6.79 [[ 9.58317307e-01 -2.81652602e-01 4.79557095e-02 8.76130720e+01] [ 2.81282900e-01 9.59516387e-01 1.44303082e-02 1.39395600e+01] [-5.00786230e-02 -3.39693018e-04 9.98745221e-01 -6.79117513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25320100799999 meters 0.06337011740992061 Centerline is valid? [True, True] Translation: X:87.67, Y:13.96, Z:-6.80 [[ 9.58073414e-01 -2.82208239e-01 4.95362751e-02 8.76687023e+01] [ 2.81814507e-01 9.59353119e-01 1.49055893e-02 1.39562061e+01] [-5.17292602e-02 -3.20607869e-04 9.98661094e-01 -6.79801821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.313201008 meters 0.063096030473779 Centerline is valid? [True, True] Translation: X:87.73, Y:13.97, Z:-6.80 [[ 9.57541195e-01 -2.83959336e-01 4.98192189e-02 8.77251196e+01] [ 2.83562607e-01 9.58836293e-01 1.50070508e-02 1.39679388e+01] [-5.20298673e-02 -2.43001824e-04 9.98645500e-01 -6.80147090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.373201008 meters 0.0627683400027741 Centerline is valid? [True, True] Translation: X:87.78, Y:13.98, Z:-6.80 [[ 9.56940037e-01 -2.86123337e-01 4.89816474e-02 8.77819103e+01] [ 2.85742678e-01 9.58192789e-01 1.47546957e-02 1.39828339e+01] [-5.11555241e-02 -1.23211921e-04 9.98690691e-01 -6.80297115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.433201008 meters 0.06250388023651121 Centerline is valid? [True, True] Translation: X:87.84, Y:13.99, Z:-6.80 [[ 9.55871835e-01 -2.89742715e-01 4.85612388e-02 8.78391777e+01] [ 2.89372654e-01 9.57104569e-01 1.46393812e-02 1.39937056e+01] [-5.07198376e-02 5.89223757e-05 9.98712919e-01 -6.80488579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49320100799999 meters 0.06279567846270655 Centerline is valid? [True, True] Translation: X:87.89, Y:14.01, Z:-6.81 [[ 9.55025324e-01 -2.92426213e-01 4.91277903e-02 8.78947081e+01] [ 2.92049972e-01 9.56288072e-01 1.48303210e-02 1.40072847e+01] [-5.13170945e-02 1.84437638e-04 9.98682393e-01 -6.81184123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55320100799999 meters 0.06312419233423494 Centerline is valid? [True, True] Translation: X:87.95, Y:14.02, Z:-6.82 [[ 9.54114198e-01 -2.95618833e-01 4.77032830e-02 8.79520824e+01] [ 2.95268076e-01 9.55305912e-01 1.44005994e-02 1.40205124e+01] [-4.98283167e-02 3.45440250e-04 9.98757738e-01 -6.81670703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61320100799999 meters 0.06318152913899075 Centerline is valid? [True, True] Translation: X:88.01, Y:14.04, Z:-6.82 [[ 9.54356127e-01 -2.94894574e-01 4.73452569e-02 8.80065225e+01] [ 2.94547636e-01 9.55529750e-01 1.43033942e-02 1.40393849e+01] [-4.94577949e-02 2.94901654e-04 9.98776171e-01 -6.82097385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67320100799999 meters 0.06332965852514405 Centerline is valid? [True, True] Translation: X:88.06, Y:14.06, Z:-6.83 [[ 9.56144447e-01 -2.89531097e-01 4.42666981e-02 8.80620511e+01] [ 2.89221504e-01 9.57168608e-01 1.33857282e-02 1.40600980e+01] [-4.62462783e-02 4.19130416e-06 9.98930068e-01 -6.82568352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.733201008 meters 0.063689190269439 Centerline is valid? [True, True] Translation: X:88.12, Y:14.08, Z:-6.83 [[ 9.57283875e-01 -2.85938971e-01 4.29707668e-02 8.81153488e+01] [ 2.85642942e-01 9.58247814e-01 1.30091161e-02 1.40833583e+01] [-4.48964566e-02 -1.79120850e-04 9.98991630e-01 -6.83429909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.793201008 meters 0.06418085288940321 Centerline is valid? [True, True] Translation: X:88.17, Y:14.11, Z:-6.84 [[ 9.58071659e-01 -2.82918396e-01 4.53417836e-02 8.81703145e+01] [ 2.82585372e-01 9.59143924e-01 1.37273938e-02 1.41063070e+01] [-4.73730285e-02 -3.38902159e-04 9.98877210e-01 -6.83857909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.853201008 meters 0.0640366877460841 Centerline is valid? [True, True] Translation: X:88.23, Y:14.12, Z:-6.84 [[ 9.58029635e-01 -2.82945559e-01 4.60546286e-02 8.82273512e+01] [ 2.82601493e-01 9.59135906e-01 1.39538590e-02 1.41215541e+01] [-4.81208303e-02 -3.53103593e-04 9.98841459e-01 -6.83898699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91320100799999 meters 0.06362072868946116 Centerline is valid? [True, True] Translation: X:88.28, Y:14.14, Z:-6.84 [[ 9.57497917e-01 -2.84405893e-01 4.80731424e-02 8.82848739e+01] [ 2.84032150e-01 9.58703914e-01 1.45788404e-02 1.41365297e+01] [-5.02342179e-02 -3.04891266e-04 9.98737418e-01 -6.83902883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97320100799999 meters 0.0632810453433241 Centerline is valid? [True, True] Translation: X:88.34, Y:14.15, Z:-6.84 [[ 9.56402719e-01 -2.87839585e-01 4.94187417e-02 8.83417422e+01] [ 2.87448500e-01 9.57678627e-01 1.50002041e-02 1.41510492e+01] [-5.16449252e-02 -1.40892818e-04 9.98665500e-01 -6.84251249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03320100799999 meters 0.0631608753064723 Centerline is valid? [True, True] Translation: X:88.40, Y:14.16, Z:-6.85 [[ 9.54353791e-01 -2.94529304e-01 4.96117980e-02 8.84001991e+01] [ 2.94143559e-01 9.55642425e-01 1.50705529e-02 1.41594014e+01] [-5.18498584e-02 2.10351495e-04 9.98654869e-01 -6.84518357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.093201008 meters 0.06378514823462109 Centerline is valid? [True, True] Translation: X:88.46, Y:14.17, Z:-6.85 [[ 9.52608622e-01 -3.00317810e-01 4.84357955e-02 8.84568571e+01] [ 2.99956664e-01 9.53839068e-01 1.47319834e-02 1.41719943e+01] [-5.06242310e-02 4.94825212e-04 9.98717649e-01 -6.85336568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.153201008 meters 0.06488937900079035 Centerline is valid? [True, True] Translation: X:88.51, Y:14.19, Z:-6.86 [[ 9.51480283e-01 -3.04374575e-01 4.51817316e-02 8.85133518e+01] [ 3.04064713e-01 9.52552195e-01 1.37464763e-02 1.41856949e+01] [-4.72220355e-02 6.58669106e-04 9.98884200e-01 -6.86175224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.213201008 meters 0.06480734751173167 Centerline is valid? [True, True] Translation: X:88.57, Y:14.20, Z:-6.86 [[ 9.51656913e-01 -3.04090075e-01 4.33398952e-02 8.85696588e+01] [ 3.03804787e-01 9.52643082e-01 1.31836936e-02 1.42040950e+01] [-4.52964817e-02 6.20514493e-04 9.98973395e-01 -6.86326031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27320100799999 meters 0.06492923039196703 Centerline is valid? [True, True] Translation: X:88.63, Y:14.22, Z:-6.87 [[ 9.50931638e-01 -3.06109855e-01 4.50086238e-02 8.86254918e+01] [ 3.05803845e-01 9.51995914e-01 1.37035862e-02 1.42233585e+01] [-4.70428287e-02 7.32636494e-04 9.98892605e-01 -6.86721148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33320100799999 meters 0.06509769540906703 Centerline is valid? [True, True] Translation: X:88.68, Y:14.24, Z:-6.87 [[ 9.50544673e-01 -3.07288186e-01 4.51530147e-02 8.86812223e+01] [ 3.06980991e-01 9.51616182e-01 1.37591007e-02 1.42412425e+01] [-4.71963486e-02 7.82477367e-04 9.98885325e-01 -6.87196308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39320100799999 meters 0.0642390622318454 Centerline is valid? [True, True] Translation: X:88.74, Y:14.27, Z:-6.87 [[ 9.49941413e-01 -3.08565746e-01 4.89743973e-02 8.87357484e+01] [ 3.08205110e-01 9.51202591e-01 1.49412683e-02 1.42655304e+01] [-5.11949372e-02 9.00829940e-04 9.98688273e-01 -6.86979354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.453201008 meters 0.06397696391229926 Centerline is valid? [True, True] Translation: X:88.79, Y:14.28, Z:-6.87 [[ 9.49995255e-01 -3.08164850e-01 5.04325307e-02 8.87913576e+01] [ 3.07781845e-01 9.51332542e-01 1.53860671e-02 1.42843420e+01] [-5.27195527e-02 9.05526562e-04 9.98608947e-01 -6.87087205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.513201008 meters 0.06338045970628227 Centerline is valid? [True, True] Translation: X:88.85, Y:14.31, Z:-6.87 [[ 9.50721360e-01 -3.05666606e-01 5.19309372e-02 8.88457015e+01] [ 3.05255797e-01 9.52138293e-01 1.58609529e-02 1.43077208e+01] [-5.42935975e-02 7.72872938e-04 9.98524716e-01 -6.87149057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.573201008 meters 0.06329882698658548 Centerline is valid? [True, True] Translation: X:88.90, Y:14.33, Z:-6.88 [[ 9.51232792e-01 -3.04100767e-01 5.17580816e-02 8.89006128e+01] [ 3.03690372e-01 9.52639627e-01 1.58081655e-02 1.43300395e+01] [-5.41140748e-02 6.81185701e-04 9.98534528e-01 -6.87846715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63320100799999 meters 0.06351310835276612 Centerline is valid? [True, True] Translation: X:88.96, Y:14.35, Z:-6.89 [[ 9.52280202e-01 -3.01214939e-01 4.93150903e-02 8.89550488e+01] [ 3.00837906e-01 9.53556149e-01 1.50739944e-02 1.43533371e+01] [-5.15652199e-02 4.81182080e-04 9.98669513e-01 -6.88739740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69320100799999 meters 0.06357185550150161 Centerline is valid? [True, True] Translation: X:89.01, Y:14.37, Z:-6.89 [[ 9.53321103e-01 -2.98212766e-01 4.74133062e-02 8.90093943e+01] [ 2.97859780e-01 9.54499377e-01 1.45082833e-02 1.43735446e+01] [-4.95825265e-02 2.91464316e-04 9.98769988e-01 -6.89269376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75320100799999 meters 0.06358363837379728 Centerline is valid? [True, True] Translation: X:89.06, Y:14.40, Z:-6.90 [[ 9.55574829e-01 -2.91107422e-01 4.61867475e-02 8.90623320e+01] [ 2.90764167e-01 9.56690370e-01 1.41327960e-02 1.43999290e+01] [-4.83005783e-02 -7.54929725e-05 9.98832843e-01 -6.89774872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.813201008 meters 0.06389324520629029 Centerline is valid? [True, True] Translation: X:89.12, Y:14.42, Z:-6.90 [[ 9.56834360e-01 -2.87069709e-01 4.53760943e-02 8.91165530e+01] [ 2.86733339e-01 9.57909652e-01 1.38957472e-02 1.44230629e+01] [-4.74552468e-02 -2.85089418e-04 9.98873324e-01 -6.90240767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.873201008 meters 0.0640899026565974 Centerline is valid? [True, True] Translation: X:89.17, Y:14.44, Z:-6.91 [[ 9.57405719e-01 -2.85034795e-01 4.61460206e-02 8.91704752e+01] [ 2.84684012e-01 9.58517086e-01 1.41424981e-02 1.44449527e+01] [-4.82628532e-02 -4.03074276e-04 9.98834588e-01 -6.90794013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.933201008 meters 0.06386312956296836 Centerline is valid? [True, True] Translation: X:89.23, Y:14.46, Z:-6.91 [[ 9.57602525e-01 -2.84043624e-01 4.81313159e-02 8.92260466e+01] [ 2.83659966e-01 9.58811234e-01 1.47662154e-02 1.44636252e+01] [-5.03430958e-02 -4.87237668e-04 9.98731864e-01 -6.91039549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99320100799999 meters 0.0639774331659502 Centerline is valid? [True, True] Translation: X:89.28, Y:14.48, Z:-6.92 [[ 9.57531504e-01 -2.84221247e-01 4.84943370e-02 8.92811022e+01] [ 2.83831228e-01 9.58758591e-01 1.48928705e-02 1.44802851e+01] [-5.07272325e-02 -4.96185501e-04 9.98712422e-01 -6.91595294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05320100799999 meters 0.0632407880055581 Centerline is valid? [True, True] Translation: X:89.34, Y:14.49, Z:-6.92 [[ 9.56723755e-01 -2.86646852e-01 5.01322108e-02 8.93393927e+01] [ 2.86233098e-01 9.58036238e-01 1.54006262e-02 1.44940427e+01] [-5.24430157e-02 -3.84646916e-04 9.98623844e-01 -6.91565506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11320100799999 meters 0.06329233759321608 Centerline is valid? [True, True] Translation: X:89.39, Y:14.51, Z:-6.92 [[ 9.55623804e-01 -2.90431923e-01 4.93198081e-02 8.93943887e+01] [ 2.90035789e-01 9.56895638e-01 1.51650287e-02 1.45064461e+01] [-5.15983177e-02 -1.87552935e-04 9.98667902e-01 -6.92418509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17320100799999 meters 0.06298121886032412 Centerline is valid? [True, True] Translation: X:89.45, Y:14.51, Z:-6.93 [[ 9.53450894e-01 -2.97611962e-01 4.85645199e-02 8.94540852e+01] [ 2.97237013e-01 9.54686903e-01 1.49357197e-02 1.45135323e+01] [-5.08089599e-02 1.94697491e-04 9.98708372e-01 -6.92613594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.233201008 meters 0.06334643847023977 Centerline is valid? [True, True] Translation: X:89.51, Y:14.52, Z:-6.93 [[ 9.51730807e-01 -3.03239027e-01 4.74822370e-02 8.95116645e+01] [ 3.02886819e-01 9.52914410e-01 1.46185576e-02 1.45211125e+01] [-4.96794250e-02 4.68812081e-04 9.98765105e-01 -6.93304409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.293201008 meters 0.06358576277923761 Centerline is valid? [True, True] Translation: X:89.57, Y:14.53, Z:-6.94 [[ 9.51486164e-01 -3.04205846e-01 4.61831544e-02 8.95673275e+01] [ 3.03873622e-01 9.52606189e-01 1.42221595e-02 1.45344715e+01] [-4.83208228e-02 5.01654430e-04 9.98831741e-01 -6.93846981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.353201008 meters 0.0631199456969999 Centerline is valid? [True, True] Translation: X:89.62, Y:14.55, Z:-6.94 [[ 9.52303170e-01 -3.01759067e-01 4.53887357e-02 8.96215549e+01] [ 3.01435419e-01 9.53384145e-01 1.39771570e-02 1.45549073e+01] [-4.74906348e-02 3.71281631e-04 9.98871614e-01 -6.94178463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41320100799999 meters 0.06324064194501758 Centerline is valid? [True, True] Translation: X:89.68, Y:14.58, Z:-6.95 [[ 9.53278351e-01 -2.98705197e-01 4.51175162e-02 8.96759775e+01] [ 2.98381339e-01 9.54345411e-01 1.39073191e-02 1.45758595e+01] [-4.72118830e-02 2.04678646e-04 9.98884876e-01 -6.94908897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47320100799999 meters 0.06263763978477178 Centerline is valid? [True, True] Translation: X:89.73, Y:14.60, Z:-6.95 [[ 9.54246068e-01 -2.95271947e-01 4.72114248e-02 8.97315322e+01] [ 2.94912512e-01 9.55413249e-01 1.45648122e-02 1.45960307e+01] [-4.94070012e-02 2.48251055e-05 9.98778728e-01 -6.94672919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53320100799999 meters 0.0624065142109098 Centerline is valid? [True, True] Translation: X:89.79, Y:14.61, Z:-6.95 [[ 9.54452189e-01 -2.94138770e-01 5.00340211e-02 8.97875898e+01] [ 2.93732718e-01 9.55762722e-01 1.54502174e-02 1.46123519e+01] [-5.23651602e-02 -4.98648432e-05 9.98628003e-01 -6.94843310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.593201008 meters 0.06242112658964337 Centerline is valid? [True, True] Translation: X:89.84, Y:14.63, Z:-6.95 [[ 9.54443029e-01 -2.94171064e-01 5.00188972e-02 8.98426160e+01] [ 2.93764696e-01 9.55752783e-01 1.54571094e-02 1.46302027e+01] [-5.23527345e-02 -5.91441552e-05 9.98628654e-01 -6.95434165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.653201008 meters 0.06278412732139736 Centerline is valid? [True, True] Translation: X:89.90, Y:14.65, Z:-6.96 [[ 9.54261829e-01 -2.94996899e-01 4.85920974e-02 8.98974547e+01] [ 2.94613540e-01 9.55498210e-01 1.50343997e-02 1.46468072e+01] [-5.08647634e-02 -3.08639318e-05 9.98705550e-01 -6.96190744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.713201008 meters 0.06296248182593606 Centerline is valid? [True, True] Translation: X:89.95, Y:14.67, Z:-6.97 [[ 9.54354900e-01 -2.94772157e-01 4.81258698e-02 8.99527256e+01] [ 2.94395820e-01 9.55567566e-01 1.48905219e-02 1.46660178e+01] [-5.03768316e-02 -4.27876045e-05 9.98730280e-01 -6.96855477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77320100799999 meters 0.06296958647523263 Centerline is valid? [True, True] Translation: X:90.01, Y:14.68, Z:-6.97 [[ 9.54668526e-01 -2.94019684e-01 4.64804358e-02 9.00089258e+01] [ 2.93667233e-01 9.55799360e-01 1.43923349e-02 1.46830822e+01] [-4.86576005e-02 -9.01282204e-05 9.98815513e-01 -6.97251383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83320100799999 meters 0.06336095548383325 Centerline is valid? [True, True] Translation: X:90.07, Y:14.70, Z:-6.98 [[ 9.54064892e-01 -2.96194574e-01 4.50439404e-02 9.00654519e+01] [ 2.95865491e-01 9.55127622e-01 1.39583951e-02 1.46993705e+01] [-4.71571126e-02 9.73283905e-06 9.98887484e-01 -6.98089925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89320100799999 meters 0.06346046186352114 Centerline is valid? [True, True] Translation: X:90.12, Y:14.71, Z:-6.98 [[ 9.53708636e-01 -2.97394085e-01 4.46832774e-02 9.01226055e+01] [ 2.97071062e-01 9.54754814e-01 1.38574662e-02 1.47149495e+01] [-4.67827027e-02 5.81234153e-05 9.98905088e-01 -6.98345444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.953201008 meters 0.06338867228506326 Centerline is valid? [True, True] Translation: X:90.18, Y:14.73, Z:-6.99 [[ 9.54133883e-01 -2.95857937e-01 4.57888083e-02 9.01785418e+01] [ 2.95516384e-01 9.55231951e-01 1.42121960e-02 1.47331268e+01] [-4.79437237e-02 -2.89947375e-05 9.98850038e-01 -6.98576775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.013201008 meters 0.0638319239055384 Centerline is valid? [True, True] Translation: X:90.23, Y:14.75, Z:-6.99 [[ 9.54763071e-01 -2.93788137e-01 4.60000848e-02 9.02324206e+01] [ 2.93440386e-01 9.55870550e-01 1.42909326e-02 1.47523789e+01] [-4.81686329e-02 -1.46172096e-04 9.98839207e-01 -6.99326049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.073201008 meters 0.06371022614732942 Centerline is valid? [True, True] Translation: X:90.29, Y:14.77, Z:-7.00 [[ 9.55305794e-01 -2.92006989e-01 4.60734060e-02 9.02875139e+01] [ 2.91655736e-01 9.56416154e-01 1.43203402e-02 1.47715190e+01] [-4.82469892e-02 -2.42730840e-04 9.98835406e-01 -6.99527371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13320100799999 meters 0.06392448401389601 Centerline is valid? [True, True] Translation: X:90.34, Y:14.79, Z:-7.00 [[ 9.55571768e-01 -2.91028229e-01 4.67457624e-02 9.03437045e+01] [ 2.90664732e-01 9.56714416e-01 1.45444244e-02 1.47906193e+01] [-4.89551828e-02 -3.10896823e-04 9.98800928e-01 -6.99907663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19320100799999 meters 0.06402076793396491 Centerline is valid? [True, True] Translation: X:90.40, Y:14.81, Z:-7.00 [[ 9.55388092e-01 -2.91703297e-01 4.62901786e-02 9.03996956e+01] [ 2.91347155e-01 9.56508812e-01 1.44128064e-02 1.48071029e+01] [-4.84812268e-02 -2.83311780e-04 9.98824054e-01 -7.00450890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25320100799999 meters 0.06490468443650417 Centerline is valid? [True, True] Translation: X:90.45, Y:14.83, Z:-7.01 [[ 9.55358602e-01 -2.92375642e-01 4.25020647e-02 9.04547945e+01] [ 2.92075434e-01 9.56303521e-01 1.32482521e-02 1.48258106e+01] [-4.45183403e-02 -2.43022597e-04 9.99008538e-01 -7.01466438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.313201008 meters 0.06496954645460937 Centerline is valid? [True, True] Translation: X:90.51, Y:14.84, Z:-7.02 [[ 9.54934275e-01 -2.93673672e-01 4.30848489e-02 9.05116313e+01] [ 2.93366645e-01 9.55905718e-01 1.34264821e-02 1.48420744e+01] [-4.51280577e-02 -1.81750390e-04 9.98981194e-01 -7.01826735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.373201008 meters 0.06464849087678007 Centerline is valid? [True, True] Translation: X:90.57, Y:14.86, Z:-7.02 [[ 9.53949309e-01 -2.96732669e-01 4.39367718e-02 9.05691374e+01] [ 2.96416107e-01 9.54960586e-01 1.37029476e-02 1.48560416e+01] [-4.60239976e-02 -4.83505004e-05 9.98940333e-01 -7.01907576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.433201008 meters 0.06480344810172481 Centerline is valid? [True, True] Translation: X:90.63, Y:14.87, Z:-7.03 [[ 9.52790992e-01 -3.00324842e-01 4.46577521e-02 9.06250212e+01] [ 3.00000957e-01 9.53836976e-01 1.39444935e-02 1.48690057e+01] [-4.67840931e-02 1.11180564e-04 9.98905019e-01 -7.02536635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49320100799999 meters 0.06512817183219506 Centerline is valid? [True, True] Translation: X:90.68, Y:14.88, Z:-7.03 [[ 9.51744280e-01 -3.03736793e-01 4.38951767e-02 9.06832974e+01] [ 3.03427532e-01 9.52755942e-01 1.37057485e-02 1.48793479e+01] [-4.59843305e-02 2.74637385e-04 9.98942123e-01 -7.02818302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55320100799999 meters 0.06561288657385882 Centerline is valid? [True, True] Translation: X:90.74, Y:14.90, Z:-7.04 [[ 9.51386723e-01 -3.04934972e-01 4.33354946e-02 9.07394856e+01] [ 3.04634301e-01 9.52373121e-01 1.35418285e-02 1.48956144e+01] [-4.54009373e-02 3.17962280e-04 9.98968795e-01 -7.03603591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61320100799999 meters 0.06656607807364111 Centerline is valid? [True, True] Translation: X:90.79, Y:14.91, Z:-7.04 [[ 9.51344192e-01 -3.05261017e-01 4.19516464e-02 9.07946015e+01] [ 3.04978998e-01 9.52268667e-01 1.31223373e-02 1.49103141e+01] [-4.39549764e-02 3.10511677e-04 9.99033465e-01 -7.04486374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67320100799999 meters 0.06650561484817925 Centerline is valid? [True, True] Translation: X:90.85, Y:14.92, Z:-7.05 [[ 9.51378901e-01 -3.04924552e-01 4.35798585e-02 9.08521921e+01] [ 3.04619644e-01 9.52376463e-01 1.36361945e-02 1.49224557e+01] [-4.56624420e-02 3.02093297e-04 9.98956881e-01 -7.04706338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.733201008 meters 0.06659425534461112 Centerline is valid? [True, True] Translation: X:90.91, Y:14.94, Z:-7.05 [[ 9.51067821e-01 -3.05654348e-01 4.52263250e-02 9.09090403e+01] [ 3.05326219e-01 9.52142481e-01 1.41631558e-02 1.49384555e+01] [-4.73909355e-02 3.38661039e-04 9.98876361e-01 -7.05020683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.793201008 meters 0.06680742455224654 Centerline is valid? [True, True] Translation: X:90.97, Y:14.95, Z:-7.05 [[ 9.50086211e-01 -3.08413828e-01 4.70861139e-02 9.09658067e+01] [ 3.08060915e-01 9.51252162e-01 1.47579396e-02 1.49542601e+01] [-4.93423203e-02 4.84076365e-04 9.98781809e-01 -7.05242917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.853201008 meters 0.0676275769125074 Centerline is valid? [True, True] Translation: X:91.02, Y:14.97, Z:-7.06 [[ 9.50086116e-01 -3.08440380e-01 4.69138014e-02 9.10207061e+01] [ 3.08089537e-01 9.51243559e-01 1.47149265e-02 1.49722711e+01] [-4.91651290e-02 4.73204061e-04 9.98790552e-01 -7.05784303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91320100799999 meters 0.06814159202854539 Centerline is valid? [True, True] Translation: X:91.08, Y:14.99, Z:-7.06 [[ 9.49738113e-01 -3.09434709e-01 4.74096710e-02 9.10758993e+01] [ 3.09076937e-01 9.50920551e-01 1.48846644e-02 1.49902931e+01] [-4.96886623e-02 5.16702853e-04 9.98764622e-01 -7.06348145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97320100799999 meters 0.06864117742686789 Centerline is valid? [True, True] Translation: X:91.13, Y:15.01, Z:-7.07 [[ 9.50005484e-01 -3.08521889e-01 4.79981633e-02 9.11302670e+01] [ 3.08153058e-01 9.51217134e-01 1.50883075e-02 1.50097189e+01] [-5.03117485e-02 4.56805954e-04 9.98733458e-01 -7.06856691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03320100799999 meters 0.06871844643813205 Centerline is valid? [True, True] Translation: X:91.19, Y:15.03, Z:-7.07 [[ 9.50076846e-01 -3.08213443e-01 4.85639829e-02 9.11859822e+01] [ 3.07835423e-01 9.51317127e-01 1.52668533e-02 1.50290785e+01] [-5.09051981e-02 4.45030411e-04 9.98703391e-01 -7.07188618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.093201008 meters 0.06927081375097109 Centerline is valid? [True, True] Translation: X:91.24, Y:15.05, Z:-7.07 [[ 9.49420224e-01 -3.10095159e-01 4.94189293e-02 9.12396939e+01] [ 3.09705667e-01 9.50705367e-01 1.55468538e-02 1.50510088e+01] [-5.18038455e-02 5.44825053e-04 9.98657131e-01 -7.07432391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.153201008 meters 0.06971544477253516 Centerline is valid? [True, True] Translation: X:91.30, Y:15.07, Z:-7.08 [[ 9.48723653e-01 -3.12231150e-01 4.93471274e-02 9.12961056e+01] [ 3.11844884e-01 9.50005943e-01 1.55395168e-02 1.50685184e+01] [-5.17319855e-02 6.45942045e-04 9.98660795e-01 -7.07798393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.213201008 meters 0.07021674124057747 Centerline is valid? [True, True] Translation: X:91.35, Y:15.09, Z:-7.08 [[ 9.48081153e-01 -3.14237297e-01 4.89596537e-02 9.13523717e+01] [ 3.13859099e-01 9.49344183e-01 1.54301337e-02 1.50854957e+01] [-5.13282859e-02 7.37413823e-04 9.98681563e-01 -7.08237382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27320100799999 meters 0.07043717194585898 Centerline is valid? [True, True] Translation: X:91.41, Y:15.10, Z:-7.09 [[ 9.47570022e-01 -3.15982147e-01 4.76060536e-02 9.14085246e+01] [ 3.15626195e-01 9.48764801e-01 1.50152771e-02 1.51018389e+01] [-4.99115075e-02 7.97691047e-04 9.98753325e-01 -7.08700809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33320100799999 meters 0.07054882319582319 Centerline is valid? [True, True] Translation: X:91.46, Y:15.12, Z:-7.09 [[ 9.46864577e-01 -3.18087429e-01 4.76220676e-02 9.14648590e+01] [ 3.17733287e-01 9.48060959e-01 1.50324961e-02 1.51183464e+01] [-4.99302712e-02 8.97378034e-04 9.98752303e-01 -7.09334826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39320100799999 meters 0.07125660532139164 Centerline is valid? [True, True] Translation: X:91.52, Y:15.14, Z:-7.10 [[ 9.46131466e-01 -3.20249935e-01 4.76993581e-02 9.15191476e+01] [ 3.19896667e-01 9.47332561e-01 1.50712285e-02 1.51359466e+01] [-5.00137150e-02 9.99502188e-04 9.98748031e-01 -7.10121323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.453201008 meters 0.070983396754817 Centerline is valid? [True, True] Translation: X:91.57, Y:15.15, Z:-7.10 [[ 9.46538636e-01 -3.19163555e-01 4.68960184e-02 9.15737385e+01] [ 3.18820577e-01 9.47699200e-01 1.48211184e-02 1.51549917e+01] [-4.91736800e-02 9.22654516e-04 9.98789817e-01 -7.10406318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.513201008 meters 0.07076490017725455 Centerline is valid? [True, True] Translation: X:91.63, Y:15.18, Z:-7.11 [[ 9.48134055e-01 -3.14529867e-01 4.59649483e-02 9.16274029e+01] [ 3.14194067e-01 9.49247354e-01 1.45447548e-02 1.51764567e+01] [-4.82068654e-02 6.51536690e-04 9.98837161e-01 -7.10983516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.573201008 meters 0.07079931075237951 Centerline is valid? [True, True] Translation: X:91.68, Y:15.20, Z:-7.12 [[ 9.49485068e-01 -3.10606516e-01 4.47403392e-02 9.16817137e+01] [ 3.10284051e-01 9.50538478e-01 1.41566021e-02 1.52002762e+01] [-4.69245468e-02 4.40731419e-04 9.98898340e-01 -7.11720608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63320100799999 meters 0.0710137409545178 Centerline is valid? [True, True] Translation: X:91.73, Y:15.23, Z:-7.12 [[ 9.52018035e-01 -3.02936934e-01 4.34841868e-02 9.17340453e+01] [ 3.02623912e-01 9.53010604e-01 1.37679442e-02 1.52278663e+01] [-4.56117099e-02 5.20234939e-05 9.98959243e-01 -7.12216567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69320100799999 meters 0.07115991707487837 Centerline is valid? [True, True] Translation: X:91.79, Y:15.25, Z:-7.13 [[ 9.52906986e-01 -2.99831844e-01 4.54878252e-02 9.17883229e+01] [ 2.99484790e-01 9.53992060e-01 1.44225488e-02 1.52479684e+01] [-4.77193634e-02 -1.20435727e-04 9.98860775e-01 -7.12927197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75320100799999 meters 0.0712216071266889 Centerline is valid? [True, True] Translation: X:91.84, Y:15.27, Z:-7.13 [[ 9.53224228e-01 -2.98641985e-01 4.66533517e-02 9.18444917e+01] [ 2.98275464e-01 9.54365198e-01 1.47924626e-02 1.52671644e+01] [-4.89419856e-02 -1.84983611e-04 9.98801606e-01 -7.13082529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.813201008 meters 0.07142993956234692 Centerline is valid? [True, True] Translation: X:91.90, Y:15.29, Z:-7.13 [[ 9.53438169e-01 -2.97965336e-01 4.66081212e-02 9.18994762e+01] [ 2.97597928e-01 9.54576662e-01 1.47942560e-02 1.52850501e+01] [-4.88992002e-02 -2.34928084e-04 9.98803691e-01 -7.13497701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.873201008 meters 0.07127358015067259 Centerline is valid? [True, True] Translation: X:91.96, Y:15.30, Z:-7.14 [[ 9.52995551e-01 -2.99377194e-01 4.66130398e-02 9.19550057e+01] [ 2.99011436e-01 9.54134828e-01 1.47949961e-02 1.53009125e+01] [-4.89044091e-02 -1.61733542e-04 9.98803450e-01 -7.14014824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.933201008 meters 0.07139510883619789 Centerline is valid? [True, True] Translation: X:92.01, Y:15.31, Z:-7.15 [[ 9.51720380e-01 -3.03419518e-01 4.65286343e-02 9.20117089e+01] [ 3.03059246e-01 9.52857069e-01 1.47816873e-02 1.53147776e+01] [-4.88201905e-02 3.28997723e-05 9.98807583e-01 -7.14542950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99320100799999 meters 0.07108035152486944 Centerline is valid? [True, True] Translation: X:92.07, Y:15.33, Z:-7.15 [[ 9.50272068e-01 -3.07651506e-01 4.83068131e-02 9.20699706e+01] [ 3.07267828e-01 9.51499075e-01 1.53619973e-02 1.53263310e+01] [-5.06900297e-02 2.45052583e-04 9.98714404e-01 -7.14725641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05320100799999 meters 0.0710438252721617 Centerline is valid? [True, True] Translation: X:92.13, Y:15.34, Z:-7.14 [[ 9.48796007e-01 -3.12187947e-01 4.82164267e-02 9.21277084e+01] [ 3.11810962e-01 9.50020242e-01 1.53448370e-02 1.53397049e+01] [-5.05970545e-02 4.75290287e-04 9.98719036e-01 -7.14499847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11320100799999 meters 0.0712174040514086 Centerline is valid? [True, True] Translation: X:92.18, Y:15.36, Z:-7.15 [[ 9.48182494e-01 -3.14010533e-01 4.84493900e-02 9.21829812e+01] [ 3.13631395e-01 9.49419335e-01 1.54361651e-02 1.53556727e+01] [-5.08459060e-02 5.58948232e-04 9.98706354e-01 -7.15188202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17320100799999 meters 0.07163450991811368 Centerline is valid? [True, True] Translation: X:92.24, Y:15.37, Z:-7.16 [[ 9.47589392e-01 -3.15797127e-01 4.84408742e-02 9.22386061e+01] [ 3.15420422e-01 9.48826510e-01 1.54340763e-02 1.53742079e+01] [-5.08360226e-02 6.54073977e-04 9.98706799e-01 -7.15932707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.233201008 meters 0.07143988441906293 Centerline is valid? [True, True] Translation: X:92.29, Y:15.39, Z:-7.16 [[ 9.47115435e-01 -3.16994284e-01 4.98695921e-02 9.22947506e+01] [ 3.16595766e-01 9.48427172e-01 1.59066088e-02 1.53884296e+01] [-5.23399802e-02 7.23106939e-04 9.98629062e-01 -7.16139792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.293201008 meters 0.07098181617770352 Centerline is valid? [True, True] Translation: X:92.35, Y:15.41, Z:-7.16 [[ 9.47236073e-01 -3.16326794e-01 5.17801228e-02 9.23507171e+01] [ 3.15896041e-01 9.48650017e-01 1.65177694e-02 1.54063930e+01] [-5.43462274e-02 7.10908793e-04 9.98521899e-01 -7.16302241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.353201008 meters 0.07075804879142744 Centerline is valid? [True, True] Translation: X:92.40, Y:15.43, Z:-7.17 [[ 9.49597292e-01 -3.09412943e-01 5.02853333e-02 9.24023470e+01] [ 3.08996228e-01 9.50927729e-01 1.60556812e-02 1.54332801e+01] [-5.27855534e-02 2.91546996e-04 9.98605828e-01 -7.17042990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41320100799999 meters 0.07140415505544484 Centerline is valid? [True, True] Translation: X:92.45, Y:15.47, Z:-7.18 [[ 9.53898935e-01 -2.96150899e-01 4.86977120e-02 9.24526284e+01] [ 2.95742585e-01 9.55141067e-01 1.55520403e-02 1.54678171e+01] [-5.11189353e-02 -4.33087431e-04 9.98692479e-01 -7.17783486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47320100799999 meters 0.07249899473814642 Centerline is valid? [True, True] Translation: X:92.51, Y:15.49, Z:-7.18 [[ 9.56512232e-01 -2.87462196e-01 4.94958258e-02 9.25058756e+01] [ 2.87027829e-01 9.57791534e-01 1.58241360e-02 1.54949363e+01] [-5.19555238e-02 -9.29300191e-04 9.98648967e-01 -7.18085186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53320100799999 meters 0.073699598933387 Centerline is valid? [True, True] Translation: X:92.56, Y:15.52, Z:-7.18 [[ 9.58516068e-01 -2.80394878e-01 5.12411912e-02 9.25602561e+01] [ 2.79919048e-01 9.59883773e-01 1.63850290e-02 1.55198983e+01] [-5.37798662e-02 -1.36192808e-03 9.98551887e-01 -7.18270157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.593201008 meters 0.07549372208919476 Centerline is valid? [True, True] Translation: X:92.61, Y:15.55, Z:-7.19 [[ 9.60006874e-01 -2.75087082e-01 5.20951029e-02 9.26129190e+01] [ 2.74587290e-01 9.61417829e-01 1.66606794e-02 1.55456013e+01] [-5.46682985e-02 -1.68971364e-03 9.98503141e-01 -7.18830771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.653201008 meters 0.0754789911191988 Centerline is valid? [True, True] Translation: X:92.67, Y:15.56, Z:-7.19 [[ 9.59704114e-01 -2.76101354e-01 5.23073286e-02 9.26692954e+01] [ 2.75598965e-01 9.61127128e-01 1.67288331e-02 1.55615050e+01] [-5.48928460e-02 -1.63888428e-03 9.98490906e-01 -7.19243053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.713201008 meters 0.07293394210991867 Centerline is valid? [True, True] Translation: X:92.73, Y:15.57, Z:-7.20 [[ 9.57328248e-01 -2.84147301e-01 5.27535438e-02 9.27300932e+01] [ 2.83647687e-01 9.58779885e-01 1.68855519e-02 1.55664646e+01] [-5.53770206e-02 -1.20159514e-03 9.98464792e-01 -7.19587750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77320100799999 meters 0.07138224151461908 Centerline is valid? [True, True] Translation: X:92.79, Y:15.57, Z:-7.20 [[ 9.54196724e-01 -2.94584773e-01 5.22343198e-02 9.27902629e+01] [ 2.94109892e-01 9.55625161e-01 1.67308803e-02 1.55720822e+01] [-5.48450929e-02 -6.01921017e-04 9.98494694e-01 -7.20176995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83320100799999 meters 0.0708470719313413 Centerline is valid? [True, True] Translation: X:92.85, Y:15.58, Z:-7.21 [[ 9.52790314e-01 -2.99330535e-01 5.09102077e-02 9.28483344e+01] [ 2.98885619e-01 9.54149423e-01 1.63176309e-02 1.55828314e+01] [-5.34603105e-02 -3.30951650e-04 9.98569920e-01 -7.20719791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89320100799999 meters 0.07112127270965438 Centerline is valid? [True, True] Translation: X:92.90, Y:15.60, Z:-7.22 [[ 9.52374094e-01 -3.01123998e-01 4.80408463e-02 9.29048275e+01] [ 3.00729575e-01 9.53584965e-01 1.54089751e-02 1.55986297e+01] [-5.04510409e-02 -2.27805378e-04 9.98726509e-01 -7.21546151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.953201008 meters 0.0713760623051526 Centerline is valid? [True, True] Translation: X:92.96, Y:15.62, Z:-7.22 [[ 9.52797134e-01 -3.00171614e-01 4.55480251e-02 9.29601977e+01] [ 2.99815493e-01 9.53885175e-01 1.46199697e-02 1.56176485e+01] [-4.78360858e-02 -2.73861647e-04 9.98855162e-01 -7.22292039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.013201008 meters 0.07134132542907964 Centerline is valid? [True, True] Translation: X:93.01, Y:15.64, Z:-7.22 [[ 9.54241460e-01 -2.95087986e-01 4.84387907e-02 9.30143981e+01] [ 2.94677750e-01 9.55469908e-01 1.55653179e-02 1.56372024e+01] [-5.08749452e-02 -5.79237862e-04 9.98704864e-01 -7.22350097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.073201008 meters 0.07086988302523786 Centerline is valid? [True, True] Translation: X:93.07, Y:15.65, Z:-7.22 [[ 9.54454408e-01 -2.94074859e-01 5.03662607e-02 9.30707090e+01] [ 2.93629820e-01 9.55782162e-01 1.61860078e-02 1.56549615e+01] [-5.28990715e-02 -6.59770427e-04 9.98599646e-01 -7.22366753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13320100799999 meters 0.07062335362328212 Centerline is valid? [True, True] Translation: X:93.13, Y:15.67, Z:-7.23 [[ 9.54516854e-01 -2.93440476e-01 5.28229349e-02 9.31262734e+01] [ 2.92949175e-01 9.55977058e-01 1.69895613e-02 1.56742847e+01] [-5.54829389e-02 -7.42387438e-04 9.98459359e-01 -7.22680105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19320100799999 meters 0.07072630838586695 Centerline is valid? [True, True] Translation: X:93.18, Y:15.70, Z:-7.24 [[ 9.54546206e-01 -2.93328255e-01 5.29157423e-02 9.31803982e+01] [ 2.92834330e-01 9.56011482e-01 1.70323793e-02 1.56951150e+01] [-5.55841353e-02 -7.62647102e-04 9.98453716e-01 -7.23510566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25320100799999 meters 0.07038599930702627 Centerline is valid? [True, True] Translation: X:93.24, Y:15.71, Z:-7.24 [[ 9.54834745e-01 -2.92535386e-01 5.20927899e-02 9.32362235e+01] [ 2.92054699e-01 9.56254355e-01 1.67828016e-02 1.57129852e+01] [-5.47235205e-02 -8.10858064e-04 9.98501216e-01 -7.23889317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.313201008 meters 0.06880754439189325 Centerline is valid? [True, True] Translation: X:93.29, Y:15.72, Z:-7.24 [[ 9.52942756e-01 -2.98309458e-01 5.39589791e-02 9.32932486e+01] [ 2.97801889e-01 9.54469069e-01 1.74020659e-02 1.57246586e+01] [-5.66933774e-02 -5.14086738e-04 9.98391505e-01 -7.23943402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.373201008 meters 0.06768149395023672 Centerline is valid? [True, True] Translation: X:93.35, Y:15.74, Z:-7.24 [[ 9.50546899e-01 -3.05520564e-01 5.58370626e-02 9.33497452e+01] [ 3.04989084e-01 9.52185474e-01 1.80133998e-02 1.57402406e+01] [-5.86707040e-02 -9.28867314e-05 9.98277386e-01 -7.24280239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.433201008 meters 0.06786321995659769 Centerline is valid? [True, True] Translation: X:93.40, Y:15.76, Z:-7.25 [[ 9.50382268e-01 -3.06163921e-01 5.51107762e-02 9.34030832e+01] [ 3.05647218e-01 9.51978808e-01 1.77799818e-02 1.57645611e+01] [-5.79078800e-02 -5.33240335e-05 9.98321929e-01 -7.25161306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49320100799999 meters 0.06766772784151794 Centerline is valid? [True, True] Translation: X:93.46, Y:15.79, Z:-7.25 [[ 9.51462568e-01 -3.02938700e-01 5.42874465e-02 9.34573318e+01] [ 3.02431288e-01 9.53010009e-01 1.75282410e-02 1.57885431e+01] [-5.70464624e-02 -2.59242810e-04 9.98371491e-01 -7.25320011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55320100799999 meters 0.06745004421033055 Centerline is valid? [True, True] Translation: X:93.51, Y:15.81, Z:-7.26 [[ 9.52560566e-01 -2.99623037e-01 5.34266200e-02 9.35116583e+01] [ 2.99125632e-01 9.54057556e-01 1.72637064e-02 1.58114584e+01] [-5.61446746e-02 -4.63454510e-04 9.98422536e-01 -7.25543367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61320100799999 meters 0.06757795857494202 Centerline is valid? [True, True] Translation: X:93.56, Y:15.84, Z:-7.26 [[ 9.53214043e-01 -2.97298264e-01 5.47423935e-02 9.35647073e+01] [ 2.96771412e-01 9.54784451e-01 1.77025892e-02 1.58370121e+01] [-5.75301351e-02 -6.28379210e-04 9.98343572e-01 -7.26089103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67320100799999 meters 0.06713484794485518 Centerline is valid? [True, True] Translation: X:93.62, Y:15.86, Z:-7.26 [[ 9.53180969e-01 -2.97019802e-01 5.67915200e-02 9.36200014e+01] [ 2.96451190e-01 9.54871073e-01 1.83827506e-02 1.58583732e+01] [-5.96886206e-02 -6.86174345e-04 9.98216809e-01 -7.26491087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.733201008 meters 0.06675842267059795 Centerline is valid? [True, True] Translation: X:93.68, Y:15.88, Z:-7.27 [[ 9.52482770e-01 -2.99208064e-01 5.70184856e-02 9.36758910e+01] [ 2.98637928e-01 9.54187725e-01 1.84708781e-02 1.58765512e+01] [-5.99329748e-02 -5.65310770e-04 9.98202244e-01 -7.26876555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.793201008 meters 0.06564385020625833 Centerline is valid? [True, True] Translation: X:93.73, Y:15.89, Z:-7.27 [[ 9.51629717e-01 -3.01869291e-01 5.72347249e-02 9.37331284e+01] [ 3.01298746e-01 9.53349233e-01 1.85554497e-02 1.58907902e+01] [-6.01660015e-02 -4.13166534e-04 9.98188300e-01 -7.26922879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.853201008 meters 0.06504005660486657 Centerline is valid? [True, True] Translation: X:93.79, Y:15.91, Z:-7.27 [[ 9.50275191e-01 -3.05885223e-01 5.84062576e-02 9.37894983e+01] [ 3.05297686e-01 9.52068379e-01 1.89505769e-02 1.59072132e+01] [-6.14034524e-02 -1.76967815e-04 9.98113012e-01 -7.27281166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91320100799999 meters 0.06492104745298194 Centerline is valid? [True, True] Translation: X:93.84, Y:15.93, Z:-7.28 [[ 9.49709447e-01 -3.07688083e-01 5.81378463e-02 9.38443663e+01] [ 3.07108455e-01 9.51487277e-01 1.88774668e-02 1.59257683e+01] [-6.11257926e-02 -7.34843808e-05 9.98130068e-01 -7.27868740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97320100799999 meters 0.06469178773383043 Centerline is valid? [True, True] Translation: X:93.90, Y:15.94, Z:-7.29 [[ 9.49483087e-01 -3.08932906e-01 5.51572974e-02 9.38988400e+01] [ 3.08412334e-01 9.51083834e-01 1.79268760e-02 1.59426490e+01] [-5.79974158e-02 -1.00747471e-05 9.98316733e-01 -7.28542405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03320100799999 meters 0.06456874003946243 Centerline is valid? [True, True] Translation: X:93.95, Y:15.96, Z:-7.29 [[ 9.49780252e-01 -3.08166004e-01 5.43248301e-02 9.39541275e+01] [ 3.07659403e-01 9.51332597e-01 1.76630097e-02 1.59614310e+01] [-5.71241208e-02 -6.24329869e-05 9.98367082e-01 -7.28940749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.093201008 meters 0.0642329021029112 Centerline is valid? [True, True] Translation: X:94.01, Y:15.98, Z:-7.29 [[ 9.50155524e-01 -3.07092480e-01 5.38394799e-02 9.40097359e+01] [ 3.06592414e-01 9.51679668e-01 1.75186161e-02 1.59817601e+01] [-5.66177736e-02 -1.38633758e-04 9.98395918e-01 -7.29301741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.153201008 meters 0.06433538586856868 Centerline is valid? [True, True] Translation: X:94.06, Y:16.01, Z:-7.30 [[ 9.51105854e-01 -3.04189031e-01 5.35414628e-02 9.40642398e+01] [ 3.03689152e-01 9.52611636e-01 1.74347169e-02 1.60059207e+01] [-5.63076702e-02 -3.22299910e-04 9.98413413e-01 -7.29620665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.213201008 meters 0.06441859888403255 Centerline is valid? [True, True] Translation: X:94.12, Y:16.03, Z:-7.30 [[ 9.51851391e-01 -3.02093888e-01 5.21364884e-02 9.41179937e+01] [ 3.01615890e-01 9.53278071e-01 1.69933657e-02 1.60282009e+01] [-5.48341630e-02 -4.49965494e-04 9.98495374e-01 -7.30277595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27320100799999 meters 0.06386828001809211 Centerline is valid? [True, True] Translation: X:94.17, Y:16.04, Z:-7.30 [[ 9.51146253e-01 -3.04400911e-01 5.15838183e-02 9.41742586e+01] [ 3.03936364e-01 9.52543955e-01 1.68136755e-02 1.60431801e+01] [-5.42539524e-02 -3.14066271e-04 9.98527120e-01 -7.30483087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33320100799999 meters 0.06315821720754533 Centerline is valid? [True, True] Translation: X:94.23, Y:16.05, Z:-7.31 [[ 9.48980336e-01 -3.11142924e-01 5.12484485e-02 9.42316343e+01] [ 3.10693169e-01 9.50363130e-01 1.67235209e-02 1.60524607e+01] [-5.39080412e-02 5.22503871e-05 9.98545903e-01 -7.30782698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39320100799999 meters 0.06320787439955945 Centerline is valid? [True, True] Translation: X:94.29, Y:16.07, Z:-7.31 [[ 9.48111296e-01 -3.13987236e-01 4.99698532e-02 9.42885513e+01] [ 3.13563555e-01 9.49427181e-01 1.63071925e-02 1.60665377e+01] [-5.25629872e-02 2.07691421e-04 9.98617589e-01 -7.31317544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.453201008 meters 0.06319094886434364 Centerline is valid? [True, True] Translation: X:94.34, Y:16.08, Z:-7.32 [[ 9.47821975e-01 -3.15045171e-01 4.87856867e-02 9.43448326e+01] [ 3.14642157e-01 9.49076645e-01 1.59322000e-02 1.60843240e+01] [-5.13207186e-02 2.49144461e-04 9.98682193e-01 -7.31636302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.513201008 meters 0.06319688679796802 Centerline is valid? [True, True] Translation: X:94.40, Y:16.10, Z:-7.32 [[ 9.48702458e-01 -3.12570387e-01 4.75751960e-02 9.43991159e+01] [ 3.12183259e-01 9.49894596e-01 1.55521459e-02 1.61031978e+01] [-5.00525618e-02 9.78207305e-05 9.98746580e-01 -7.32196492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.573201008 meters 0.06350249542899777 Centerline is valid? [True, True] Translation: X:94.45, Y:16.12, Z:-7.33 [[ 9.50109550e-01 -3.08685729e-01 4.47768317e-02 9.44537977e+01] [ 3.08338134e-01 9.51164081e-01 1.46453414e-02 1.61236588e+01] [-4.71109219e-02 -1.08273959e-04 9.98889658e-01 -7.32911328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63320100799999 meters 0.0639144201016613 Centerline is valid? [True, True] Translation: X:94.51, Y:16.15, Z:-7.33 [[ 9.52221001e-01 -3.02254036e-01 4.37911242e-02 9.45072898e+01] [ 3.01914919e-01 9.53227321e-01 1.43197583e-02 1.61495053e+01] [-4.60711007e-02 -4.14380870e-04 9.98938077e-01 -7.33325291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69320100799999 meters 0.06417130102250666 Centerline is valid? [True, True] Translation: X:94.56, Y:16.17, Z:-7.34 [[ 9.53742621e-01 -2.97484978e-01 4.33324379e-02 9.45615338e+01] [ 2.97147299e-01 9.54726276e-01 1.41852339e-02 1.61709087e+01] [-4.55905111e-02 -6.52945218e-04 9.98959999e-01 -7.33652609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75320100799999 meters 0.06450041215793281 Centerline is valid? [True, True] Translation: X:94.62, Y:16.19, Z:-7.34 [[ 9.53559986e-01 -2.98148834e-01 4.27858074e-02 9.46160394e+01] [ 2.97820112e-01 9.54519194e-01 1.40103026e-02 1.61885231e+01] [-4.50170298e-02 -6.17189979e-04 9.98986029e-01 -7.34362634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.813201008 meters 0.06380748544760617 Centerline is valid? [True, True] Translation: X:94.67, Y:16.20, Z:-7.35 [[ 9.52573007e-01 -3.01465612e-01 4.15108478e-02 9.46738626e+01] [ 3.01159456e-01 9.53476946e-01 1.35902631e-02 1.62000203e+01] [-4.36766334e-02 -4.44333466e-04 9.99045622e-01 -7.34555360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.873201008 meters 0.0634494687764919 Centerline is valid? [True, True] Translation: X:94.73, Y:16.21, Z:-7.35 [[ 9.51232335e-01 -3.05844164e-01 4.02043758e-02 9.47311945e+01] [ 3.05560127e-01 9.52081553e-01 1.31804999e-02 1.62101959e+01] [-4.23090235e-02 -2.52863498e-04 9.99104540e-01 -7.35120838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.933201008 meters 0.06311261886030253 Centerline is valid? [True, True] Translation: X:94.79, Y:16.22, Z:-7.35 [[ 9.49543356e-01 -3.11010253e-01 4.04973809e-02 9.47900818e+01] [ 3.10726805e-01 9.50406556e-01 1.32752055e-02 1.62208951e+01] [-4.26177014e-02 -2.17614574e-05 9.99091453e-01 -7.35460082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99320100799999 meters 0.06272700471253587 Centerline is valid? [True, True] Translation: X:94.85, Y:16.23, Z:-7.36 [[ 9.48287512e-01 -3.14780776e-01 4.07904230e-02 9.48469609e+01] [ 3.14496289e-01 9.49164392e-01 1.33805963e-02 1.62326187e+01] [-4.29287715e-02 1.39784262e-04 9.99078126e-01 -7.35728539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05320100799999 meters 0.0625802456318009 Centerline is valid? [True, True] Translation: X:94.90, Y:16.25, Z:-7.36 [[ 9.48477767e-01 -3.14132883e-01 4.13576703e-02 9.49037997e+01] [ 3.13839220e-01 9.49379019e-01 1.35802207e-02 1.62492875e+01] [-4.35300984e-02 9.91216229e-05 9.99052111e-01 -7.35893154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11320100799999 meters 0.06291214743013093 Centerline is valid? [True, True] Translation: X:94.96, Y:16.27, Z:-7.36 [[ 9.49606184e-01 -3.10700614e-01 4.13911014e-02 9.49574753e+01] [ 3.10402554e-01 9.50507824e-01 1.36063163e-02 1.62666200e+01] [-4.35700565e-02 -7.27385290e-05 9.99050372e-01 -7.36430150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17320100799999 meters 0.06322077654543977 Centerline is valid? [True, True] Translation: X:95.01, Y:16.29, Z:-7.37 [[ 9.50088750e-01 -3.09146211e-01 4.19522106e-02 9.50135085e+01] [ 3.08838413e-01 9.51014510e-01 1.37925981e-02 1.62850072e+01] [-4.41610905e-02 -1.47738119e-04 9.99024412e-01 -7.36873961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.233201008 meters 0.06312766443964035 Centerline is valid? [True, True] Translation: X:95.07, Y:16.30, Z:-7.37 [[ 9.49618612e-01 -3.10712183e-01 4.10174378e-02 9.50701271e+01] [ 3.10418974e-01 9.50504041e-01 1.34954973e-02 1.63011591e+01] [-4.31804558e-02 -8.29844619e-05 9.99067286e-01 -7.37426852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.293201008 meters 0.0632951625108485 Centerline is valid? [True, True] Translation: X:95.12, Y:16.32, Z:-7.38 [[ 9.49005111e-01 -3.12581086e-01 4.10166332e-02 9.51249261e+01] [ 3.12289229e-01 9.49891080e-01 1.35045545e-02 1.63185114e+01] [-4.31826023e-02 -6.83845690e-06 9.99067196e-01 -7.38074288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35320100799998 meters 0.06271087006625548 Centerline is valid? [True, True] Translation: X:95.18, Y:16.33, Z:-7.38 [[ 9.47766493e-01 -3.16082409e-01 4.27853454e-02 9.51828736e+01] [ 3.15767595e-01 9.48731727e-01 1.41044605e-02 1.63337447e+01] [-4.50499865e-02 1.42490520e-04 9.98984724e-01 -7.37787194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41320100799999 meters 0.062454863307341284 Centerline is valid? [True, True] Translation: X:95.24, Y:16.35, Z:-7.38 [[ 9.47556407e-01 -3.16419802e-01 4.48928044e-02 9.52369864e+01] [ 3.16073255e-01 9.48619251e-01 1.48058663e-02 1.63539757e+01] [-4.72710477e-02 1.60021341e-04 9.98882086e-01 -7.38163940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47320100799999 meters 0.06292809813562122 Centerline is valid? [True, True] Translation: X:95.29, Y:16.38, Z:-7.39 [[ 9.48510732e-01 -3.13681221e-01 4.39486395e-02 9.52898794e+01] [ 3.13345839e-01 9.49528352e-01 1.45014989e-02 1.63773664e+01] [-4.62793272e-02 1.62959970e-05 9.98928538e-01 -7.39044789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53320100799999 meters 0.06354419885942061 Centerline is valid? [True, True] Translation: X:95.34, Y:16.40, Z:-7.40 [[ 9.50296456e-01 -3.08717746e-01 4.03732527e-02 9.53443857e+01] [ 3.08430258e-01 9.51153673e-01 1.33216049e-02 1.64018019e+01] [-4.25137835e-02 -2.07141115e-04 9.99095859e-01 -7.39589590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.593201008 meters 0.06367650957683516 Centerline is valid? [True, True] Translation: X:95.40, Y:16.42, Z:-7.40 [[ 9.50859867e-01 -3.07139842e-01 3.91232834e-02 9.53988739e+01] [ 3.06868113e-01 9.51664352e-01 1.29198369e-02 1.64226108e+01] [-4.12004308e-02 -2.79266199e-04 9.99150863e-01 -7.40073924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.653201008 meters 0.06343371530576838 Centerline is valid? [True, True] Translation: X:95.46, Y:16.44, Z:-7.41 [[ 9.48910090e-01 -3.12793227e-01 4.15937225e-02 9.54562344e+01] [ 3.12491333e-01 9.49821244e-01 1.37394009e-02 1.64377232e+01] [-4.38041928e-02 -3.97783775e-05 9.99040135e-01 -7.40549370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.713201008 meters 0.06326735950037277 Centerline is valid? [True, True] Translation: X:95.51, Y:16.45, Z:-7.41 [[ 9.46480684e-01 -3.19969484e-01 4.23538076e-02 9.55137876e+01] [ 3.19663637e-01 9.47427802e-01 1.39899511e-02 1.64484311e+01] [-4.46035323e-02 2.97753698e-04 9.99004723e-01 -7.40823416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77320100799999 meters 0.06355981162158303 Centerline is valid? [True, True] Translation: X:95.57, Y:16.46, Z:-7.41 [[ 9.45188355e-01 -3.23821006e-01 4.19395985e-02 9.55711289e+01] [ 3.23524328e-01 9.46118250e-01 1.38660319e-02 1.64638819e+01] [-4.41699320e-02 4.62468527e-04 9.99023925e-01 -7.41188649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83320100799999 meters 0.06335491597521975 Centerline is valid? [True, True] Translation: X:95.63, Y:16.48, Z:-7.41 [[ 9.44305945e-01 -3.25928578e-01 4.53524558e-02 9.56270809e+01] [ 3.25583200e-01 9.45394211e-01 1.50121725e-02 1.64828087e+01] [-4.77688452e-02 5.89914002e-04 9.98858243e-01 -7.41143815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89320100799999 meters 0.06325132499379445 Centerline is valid? [True, True] Translation: X:95.68, Y:16.50, Z:-7.41 [[ 9.44347979e-01 -3.25420158e-01 4.80480449e-02 9.56821332e+01] [ 3.25031624e-01 9.45569335e-01 1.59083553e-02 1.65015943e+01] [-5.06096574e-02 5.94110842e-04 9.98718333e-01 -7.41388702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.953201008 meters 0.06322223779831304 Centerline is valid? [True, True] Translation: X:95.74, Y:16.52, Z:-7.42 [[ 9.44372096e-01 -3.25301354e-01 4.83774179e-02 9.57381005e+01] [ 3.24907350e-01 9.45610215e-01 1.60167195e-02 1.65211689e+01] [-5.09564410e-02 5.92435668e-04 9.98700701e-01 -7.41675727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.013201008 meters 0.06343274110099412 Centerline is valid? [True, True] Translation: X:95.79, Y:16.54, Z:-7.42 [[ 9.44721305e-01 -3.24331023e-01 4.80733044e-02 9.57931245e+01] [ 3.23940139e-01 9.45943503e-01 1.59271985e-02 1.65407858e+01] [-5.06403145e-02 5.26109149e-04 9.98716818e-01 -7.42165345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.073201008 meters 0.06382096110588503 Centerline is valid? [True, True] Translation: X:95.85, Y:16.56, Z:-7.43 [[ 9.45897696e-01 -3.21449114e-01 4.41363381e-02 9.58474913e+01] [ 3.21115708e-01 9.46926798e-01 1.46403630e-02 1.65606842e+01] [-4.65000130e-02 3.24585808e-04 9.98918237e-01 -7.42887203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13320100799999 meters 0.06428286774046003 Centerline is valid? [True, True] Translation: X:95.90, Y:16.58, Z:-7.44 [[ 9.47043909e-01 -3.18235417e-01 4.28258622e-02 9.59001700e+01] [ 3.17918142e-01 9.48011706e-01 1.42077936e-02 1.65833415e+01] [-4.51208417e-02 1.59714146e-04 9.98981523e-01 -7.43951459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19320100799999 meters 0.06469302317968567 Centerline is valid? [True, True] Translation: X:95.95, Y:16.61, Z:-7.44 [[ 9.48609786e-01 -3.13920217e-01 3.99195519e-02 9.59543361e+01] [ 3.13640562e-01 9.49449364e-01 1.32477462e-02 1.66070394e+01] [-4.20603285e-02 -4.65510273e-05 9.99115072e-01 -7.44364210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25320100799999 meters 0.06533857637273173 Centerline is valid? [True, True] Translation: X:96.01, Y:16.63, Z:-7.45 [[ 9.50138832e-01 -3.09303654e-01 3.95910341e-02 9.60088731e+01] [ 3.09024736e-01 9.50963296e-01 1.31348046e-02 1.66297703e+01] [-4.17122634e-02 -2.45279064e-04 9.99129635e-01 -7.44798155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.313201008 meters 0.06512329874348669 Centerline is valid? [True, True] Translation: X:96.06, Y:16.65, Z:-7.45 [[ 9.50429385e-01 -3.07888270e-01 4.34602946e-02 9.60645795e+01] [ 3.07550069e-01 9.51422457e-01 1.44313600e-02 1.66518828e+01] [-4.57923467e-02 -3.49772002e-04 9.98950919e-01 -7.44769776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.373201008 meters 0.06509146978804643 Centerline is valid? [True, True] Translation: X:96.12, Y:16.67, Z:-7.45 [[ 9.49919009e-01 -3.09371585e-01 4.40805966e-02 9.61211239e+01] [ 3.09024784e-01 9.50941185e-01 1.46473661e-02 1.66681147e+01] [-4.64495336e-02 -2.91814610e-04 9.98920595e-01 -7.45122848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.433201008 meters 0.06467095738904736 Centerline is valid? [True, True] Translation: X:96.18, Y:16.68, Z:-7.45 [[ 9.48805727e-01 -3.12752901e-01 4.41963365e-02 9.61808542e+01] [ 3.12407381e-01 9.49834514e-01 1.46977575e-02 1.66773514e+01] [-4.65759721e-02 -1.38054734e-04 9.98914741e-01 -7.45206566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49320100799999 meters 0.06474774470179114 Centerline is valid? [True, True] Translation: X:96.24, Y:16.69, Z:-7.46 [[ 9.47466595e-01 -3.16811387e-01 4.40181425e-02 9.62372304e+01] [ 3.16472607e-01 9.48488557e-01 1.46474123e-02 1.66905915e+01] [-4.63911714e-02 5.26024628e-05 9.98923349e-01 -7.45681188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55320100799999 meters 0.06545071906194007 Centerline is valid? [True, True] Translation: X:96.29, Y:16.71, Z:-7.46 [[ 9.46703270e-01 -3.19351983e-01 4.20384316e-02 9.62933332e+01] [ 3.19044953e-01 9.47636157e-01 1.40011295e-02 1.67066375e+01] [-4.43084262e-02 1.57234329e-04 9.99017887e-01 -7.46403058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61320100799999 meters 0.06583088507845822 Centerline is valid? [True, True] Translation: X:96.35, Y:16.72, Z:-7.47 [[ 9.46817254e-01 -3.19082784e-01 4.15122285e-02 9.63493924e+01] [ 3.18782663e-01 9.47726838e-01 1.38367160e-02 1.67238722e+01] [-4.37573109e-02 1.32537233e-04 9.99042181e-01 -7.46925098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67320100799999 meters 0.06633613319394001 Centerline is valid? [True, True] Translation: X:96.40, Y:16.74, Z:-7.48 [[ 9.46908275e-01 -3.19042587e-01 3.97057397e-02 9.64047110e+01] [ 3.18767386e-01 9.47740373e-01 1.32490800e-02 1.67381548e+01] [-4.18577533e-02 1.11231329e-04 9.99123574e-01 -7.47811527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.733201008 meters 0.06639382224364519 Centerline is valid? [True, True] Translation: X:96.46, Y:16.76, Z:-7.48 [[ 9.46604620e-01 -3.19911804e-01 3.99516047e-02 9.64600418e+01] [ 3.19634013e-01 9.47447315e-01 1.33297849e-02 1.67552601e+01] [-4.21163961e-02 1.51855787e-04 9.99112699e-01 -7.48040555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.793201008 meters 0.06659867336236541 Centerline is valid? [True, True] Translation: X:96.51, Y:16.78, Z:-7.49 [[ 9.47789508e-01 -3.16550676e-01 3.86098285e-02 9.65139916e+01] [ 3.16287960e-01 9.48575600e-01 1.28940685e-02 1.67782435e+01] [-4.07059673e-02 -9.03893077e-06 9.99171169e-01 -7.48564397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85320100799998 meters 0.06679837490882798 Centerline is valid? [True, True] Translation: X:96.57, Y:16.80, Z:-7.49 [[ 9.47938052e-01 -3.16328424e-01 3.67393275e-02 9.65698975e+01] [ 3.16090064e-01 9.48649739e-01 1.22777732e-02 1.67976774e+01] [-3.87365621e-02 -2.56319980e-05 9.99249457e-01 -7.48987977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91320100799999 meters 0.06677261889162897 Centerline is valid? [True, True] Translation: X:96.63, Y:16.81, Z:-7.49 [[ 9.46979694e-01 -3.19038599e-01 3.79977699e-02 9.66270136e+01] [ 3.18785213e-01 9.47741719e-01 1.27130288e-02 1.68139646e+01] [-4.00680187e-02 7.41470363e-05 9.99196952e-01 -7.49365264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97320100799999 meters 0.06668873888110895 Centerline is valid? [True, True] Translation: X:96.68, Y:16.83, Z:-7.50 [[ 9.45482871e-01 -3.23386659e-01 3.85124701e-02 9.66837355e+01] [ 3.23129727e-01 9.46266877e-01 1.28909484e-02 1.68254854e+01] [-4.06118355e-02 2.56353072e-04 9.99174966e-01 -7.49739293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03320100799999 meters 0.06662209558320085 Centerline is valid? [True, True] Translation: X:96.74, Y:16.84, Z:-7.50 [[ 9.44614685e-01 -3.25718475e-01 4.01319207e-02 9.67408293e+01] [ 3.25441503e-01 9.45466730e-01 1.34346663e-02 1.68419594e+01] [-4.23193148e-02 3.70009514e-04 9.99104068e-01 -7.49856132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.093201008 meters 0.06676452032823472 Centerline is valid? [True, True] Translation: X:96.80, Y:16.86, Z:-7.51 [[ 9.44647815e-01 -3.25709334e-01 3.94199845e-02 9.67954484e+01] [ 3.25441690e-01 9.45469886e-01 1.32061227e-02 1.68633355e+01] [-4.15717657e-02 3.53771394e-04 9.99135458e-01 -7.50509755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.153201008 meters 0.06720127932659359 Centerline is valid? [True, True] Translation: X:96.85, Y:16.89, Z:-7.51 [[ 9.45024213e-01 -3.24883299e-01 3.71494243e-02 9.68497511e+01] [ 3.24644642e-01 9.45754068e-01 1.24538702e-02 1.68857331e+01] [-3.91802736e-02 2.91152658e-04 9.99232116e-01 -7.51212117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.213201008 meters 0.06690505957825034 Centerline is valid? [True, True] Translation: X:96.91, Y:16.90, Z:-7.51 [[ 9.44689017e-01 -3.25847135e-01 3.72331352e-02 9.69050010e+01] [ 3.25607840e-01 9.45422413e-01 1.24898037e-02 1.69039068e+01] [-3.92708073e-02 3.24420311e-04 9.99228552e-01 -7.51333440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27320100799999 meters 0.06800765686844726 Centerline is valid? [True, True] Translation: X:96.96, Y:16.92, Z:-7.53 [[ 9.43764955e-01 -3.28763732e-01 3.49587921e-02 9.69607028e+01] [ 3.28554109e-01 9.44412117e-01 1.17452213e-02 1.69195362e+01] [-3.68769097e-02 4.01126579e-04 9.99319735e-01 -7.52541957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33320100799999 meters 0.06804399810749956 Centerline is valid? [True, True] Translation: X:97.02, Y:16.94, Z:-7.53 [[ 9.42816993e-01 -3.31498138e-01 3.47145829e-02 9.70177927e+01] [ 3.31293481e-01 9.43455735e-01 1.16578144e-02 1.69356574e+01] [-3.66162161e-02 5.09529511e-04 9.99329272e-01 -7.52842171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39320100799999 meters 0.06754110555592518 Centerline is valid? [True, True] Translation: X:97.07, Y:16.95, Z:-7.53 [[ 9.42572724e-01 -3.32175111e-01 3.48762872e-02 9.70729897e+01] [ 3.31968511e-01 9.43217589e-01 1.17255369e-02 1.69524715e+01] [-3.67908591e-02 5.25657924e-04 9.99322849e-01 -7.52930491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.453201008 meters 0.06789868608831036 Centerline is valid? [True, True] Translation: X:97.13, Y:16.97, Z:-7.54 [[ 9.42999141e-01 -3.30814586e-01 3.62536834e-02 9.71279090e+01] [ 3.30590087e-01 9.43695647e-01 1.21950820e-02 1.69710343e+01] [-3.82467542e-02 4.85156484e-04 9.99268207e-01 -7.53591839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.513201008 meters 0.0671802318402552 Centerline is valid? [True, True] Translation: X:97.18, Y:17.00, Z:-7.54 [[ 9.44043364e-01 -3.27660931e-01 3.76887471e-02 9.71826620e+01] [ 3.27415847e-01 9.44795309e-01 1.26762904e-02 1.69954681e+01] [-3.97616766e-02 3.72925205e-04 9.99209122e-01 -7.53690342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.573201008 meters 0.06678208582033182 Centerline is valid? [True, True] Translation: X:97.24, Y:17.02, Z:-7.54 [[ 9.46210095e-01 -3.21144984e-01 3.93999370e-02 9.72350495e+01] [ 3.20870897e-01 9.47030037e-01 1.32656271e-02 1.70216129e+01] [-4.15731134e-02 9.02228405e-05 9.99135460e-01 -7.53976218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63320100799999 meters 0.06706820169780509 Centerline is valid? [True, True] Translation: X:97.29, Y:17.05, Z:-7.55 [[ 9.47826932e-01 -3.16337876e-01 3.94265704e-02 9.72868808e+01] [ 3.16059256e-01 9.48646580e-01 1.32745298e-02 1.70479439e+01] [-4.16011178e-02 -1.20824358e-04 9.99134291e-01 -7.54581301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69320100799999 meters 0.06787003075972141 Centerline is valid? [True, True] Translation: X:97.34, Y:17.08, Z:-7.55 [[ 9.50163587e-01 -3.09289175e-01 3.91070803e-02 9.73390611e+01] [ 3.09008575e-01 9.50967936e-01 1.31789995e-02 1.70772111e+01] [-4.12657013e-02 -4.37782332e-04 9.99148112e-01 -7.55128928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75320100799999 meters 0.06838765022074296 Centerline is valid? [True, True] Translation: X:97.39, Y:17.10, Z:-7.56 [[ 9.51327297e-01 -3.05641168e-01 3.94949409e-02 9.73921087e+01] [ 3.05351233e-01 9.52146573e-01 1.33239258e-02 1.70995237e+01] [-4.16773129e-02 -6.15585362e-04 9.99130934e-01 -7.55532885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.813201008 meters 0.0681455751501771 Centerline is valid? [True, True] Translation: X:97.45, Y:17.12, Z:-7.56 [[ 9.51689449e-01 -3.04556714e-01 3.91458934e-02 9.74475133e+01] [ 3.04270911e-01 9.52493976e-01 1.32075059e-02 1.71186534e+01] [-4.13086622e-02 -6.58487343e-04 9.99146216e-01 -7.55694864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.873201008 meters 0.06923498691778304 Centerline is valid? [True, True] Translation: X:97.50, Y:17.14, Z:-7.57 [[ 9.52188420e-01 -3.03135068e-01 3.80308075e-02 9.74995248e+01] [ 3.02863619e-01 9.52947334e-01 1.28454990e-02 1.71420842e+01] [-4.01352779e-02 -7.13187462e-04 9.99194001e-01 -7.56723206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.933201008 meters 0.06862811627047952 Centerline is valid? [True, True] Translation: X:97.56, Y:17.16, Z:-7.57 [[ 9.51839028e-01 -3.04600587e-01 3.49420478e-02 9.75566964e+01] [ 3.04372254e-01 9.52479983e-01 1.18072986e-02 1.71574139e+01] [-3.68781112e-02 -6.03257799e-04 9.99319589e-01 -7.57058967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99320100799999 meters 0.06685828160559612 Centerline is valid? [True, True] Translation: X:97.62, Y:17.16, Z:-7.57 [[ 9.48784246e-01 -3.13990305e-01 3.49076420e-02 9.76177012e+01] [ 3.13768706e-01 9.49426159e-01 1.17969607e-02 1.71617639e+01] [-3.68463598e-02 -2.39844828e-04 9.99320914e-01 -7.57054903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05320100799999 meters 0.065985510657714 Centerline is valid? [True, True] Translation: X:97.68, Y:17.17, Z:-7.57 [[ 9.46561550e-01 -3.20492226e-01 3.61381476e-02 9.76771141e+01] [ 3.20259563e-01 9.47251145e-01 1.22098301e-02 1.71713261e+01] [-3.81450574e-02 1.62316690e-05 9.99272212e-01 -7.57233274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11320100799999 meters 0.06638225605560008 Centerline is valid? [True, True] Translation: X:97.73, Y:17.20, Z:-7.58 [[ 9.47311983e-01 -3.18599875e-01 3.30775882e-02 9.77311098e+01] [ 3.18403334e-01 9.47889295e-01 1.11893525e-02 1.71959558e+01] [-3.49188181e-02 -6.77932876e-05 9.99390150e-01 -7.58017108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17320100799999 meters 0.06620199214967383 Centerline is valid? [True, True] Translation: X:97.79, Y:17.22, Z:-7.58 [[ 9.47596846e-01 -3.17532282e-01 3.51207603e-02 9.77858439e+01] [ 3.17309914e-01 9.48247455e-01 1.18820141e-02 1.72166026e+01] [-3.70760947e-02 -1.15193649e-04 9.99312439e-01 -7.58381367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.233201008 meters 0.0656511776330768 Centerline is valid? [True, True] Translation: X:97.84, Y:17.24, Z:-7.58 [[ 9.48465624e-01 -3.14925253e-01 3.51432174e-02 9.78416409e+01] [ 3.14700970e-01 9.49116452e-01 1.18852846e-02 1.72372283e+01] [-3.70979821e-02 -2.13179220e-04 9.99311610e-01 -7.58370795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.293201008 meters 0.0652536089367816 Centerline is valid? [True, True] Translation: X:97.90, Y:17.25, Z:-7.59 [[ 9.46450666e-01 -3.21072324e-01 3.38186189e-02 9.78993230e+01] [ 3.20868262e-01 9.47054678e-01 1.14453652e-02 1.72511754e+01] [-3.57028712e-02 1.88479419e-05 9.99362449e-01 -7.58803179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35320100799998 meters 0.06539784169175744 Centerline is valid? [True, True] Translation: X:97.95, Y:17.27, Z:-7.59 [[ 9.46071757e-01 -3.22379168e-01 3.19359212e-02 9.79549128e+01] [ 3.22197694e-01 9.46610622e-01 1.08155913e-02 1.72704829e+01] [-3.37176035e-02 5.73546765e-05 9.99431398e-01 -7.59459685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41320100799999 meters 0.06553557400670545 Centerline is valid? [True, True] Translation: X:98.01, Y:17.29, Z:-7.60 [[ 9.46753085e-01 -3.20464791e-01 3.09986069e-02 9.80097596e+01] [ 3.20292316e-01 9.47260427e-01 1.05126202e-02 1.72895805e+01] [-3.27326783e-02 -2.42400431e-05 9.99464142e-01 -7.60057240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47320100799999 meters 0.06536476684560805 Centerline is valid? [True, True] Translation: X:98.07, Y:17.31, Z:-7.60 [[ 9.47020745e-01 -3.19566219e-01 3.20802144e-02 9.80654986e+01] [ 3.19381093e-01 9.47563944e-01 1.08760587e-02 1.73081814e+01] [-3.38736755e-02 -5.40393115e-05 9.99426121e-01 -7.60272677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53320100799999 meters 0.06555111606484823 Centerline is valid? [True, True] Translation: X:98.12, Y:17.33, Z:-7.61 [[ 9.47547725e-01 -3.17890506e-01 3.31501907e-02 9.81204914e+01] [ 3.17691444e-01 9.48127423e-01 1.12488481e-02 1.73304924e+01] [-3.50065069e-02 -1.27288469e-04 9.99387076e-01 -7.60749615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.593201008 meters 0.06581075110064855 Centerline is valid? [True, True] Translation: X:98.17, Y:17.35, Z:-7.61 [[ 9.47880232e-01 -3.16899431e-01 3.31333033e-02 9.81743370e+01] [ 3.16699493e-01 9.48459129e-01 1.12566329e-02 1.73515542e+01] [-3.49928045e-02 -1.76639525e-04 9.99387549e-01 -7.61372582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.653201008 meters 0.06473604100447147 Centerline is valid? [True, True] Translation: X:98.23, Y:17.37, Z:-7.61 [[ 9.47556781e-01 -3.17365189e-01 3.76229173e-02 9.82322645e+01] [ 3.17107770e-01 9.48303382e-01 1.27811377e-02 1.73671892e+01] [-3.97342279e-02 -1.80334263e-04 9.99210267e-01 -7.60979053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.713201008 meters 0.06481620745985915 Centerline is valid? [True, True] Translation: X:98.29, Y:17.38, Z:-7.62 [[ 9.46968092e-01 -3.19208165e-01 3.68453545e-02 9.82878982e+01] [ 3.18962368e-01 9.47684618e-01 1.25248546e-02 1.73846137e+01] [-3.89158116e-02 -1.08356099e-04 9.99242487e-01 -7.61546980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77320100799999 meters 0.06491538867782984 Centerline is valid? [True, True] Translation: X:98.34, Y:17.40, Z:-7.62 [[ 9.46465854e-01 -3.20620046e-01 3.74856413e-02 9.83430208e+01] [ 3.20366125e-01 9.47207887e-01 1.27578978e-02 1.74017982e+01] [-3.95971328e-02 -6.57850218e-05 9.99215724e-01 -7.62174964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83320100799999 meters 0.06480843007779773 Centerline is valid? [True, True] Translation: X:98.40, Y:17.42, Z:-7.63 [[ 9.46581619e-01 -3.20365774e-01 3.67288738e-02 9.83986225e+01] [ 3.20121907e-01 9.47293917e-01 1.24979700e-02 1.74203824e+01] [-3.87969606e-02 -7.26316109e-05 9.99247112e-01 -7.62504130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89320100799999 meters 0.0646276980635462 Centerline is valid? [True, True] Translation: X:98.45, Y:17.44, Z:-7.63 [[ 9.47060096e-01 -3.18752293e-01 3.83946651e-02 9.84536345e+01] [ 3.18484062e-01 9.47838041e-01 1.30748034e-02 1.74424323e+01] [-4.05595477e-02 -1.54535684e-04 9.99177111e-01 -7.62726703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.953201008 meters 0.06482269498640743 Centerline is valid? [True, True] Translation: X:98.51, Y:17.46, Z:-7.63 [[ 9.47375420e-01 -3.17752923e-01 3.88959233e-02 9.85082512e+01] [ 3.17476382e-01 9.48173526e-01 1.32555895e-02 1.74632122e+01] [-4.10920870e-02 -2.09482632e-04 9.99155342e-01 -7.63109351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.013201008 meters 0.06465210328865155 Centerline is valid? [True, True] Translation: X:98.56, Y:17.48, Z:-7.63 [[ 9.47773529e-01 -3.16493910e-01 3.94581182e-02 9.85639890e+01] [ 3.16207810e-01 9.48594501e-01 1.34570783e-02 1.74820369e+01] [-4.16888373e-02 -2.77297443e-04 9.99130604e-01 -7.63172106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.073201008 meters 0.06500110078899701 Centerline is valid? [True, True] Translation: X:98.62, Y:17.50, Z:-7.64 [[ 9.48276029e-01 -3.15007528e-01 3.92788865e-02 9.86180764e+01] [ 3.14722082e-01 9.49089106e-01 1.34119716e-02 1.75011953e+01] [-4.15040353e-02 -3.56318201e-04 9.99138273e-01 -7.63751121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13320100799999 meters 0.0652131254343192 Centerline is valid? [True, True] Translation: X:98.67, Y:17.52, Z:-7.64 [[ 9.48932477e-01 -3.12972863e-01 3.96880418e-02 9.86738148e+01] [ 3.12679721e-01 9.49761963e-01 1.35501355e-02 1.75210819e+01] [-4.19350172e-02 -4.48517824e-04 9.99120240e-01 -7.64193149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19320100799999 meters 0.0653370534075391 Centerline is valid? [True, True] Translation: X:98.73, Y:17.54, Z:-7.65 [[ 9.48997198e-01 -3.12611944e-01 4.09645113e-02 9.87291776e+01] [ 3.12298775e-01 9.49880799e-01 1.39979829e-02 1.75421696e+01] [-4.32873393e-02 -4.90879896e-04 9.99062543e-01 -7.64844291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25320100799999 meters 0.06544063053715635 Centerline is valid? [True, True] Translation: X:98.78, Y:17.56, Z:-7.65 [[ 9.48382472e-01 -3.14507024e-01 4.06942193e-02 9.87845287e+01] [ 3.14199372e-01 9.49255058e-01 1.39136738e-02 1.75596826e+01] [-4.30051416e-02 -4.09386211e-04 9.99074767e-01 -7.65473124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.313201008 meters 0.06459634509042685 Centerline is valid? [True, True] Translation: X:98.84, Y:17.57, Z:-7.66 [[ 9.46767202e-01 -3.19187752e-01 4.18454751e-02 9.88427188e+01] [ 3.18866196e-01 9.47691475e-01 1.43254454e-02 1.75709771e+01] [-4.42291067e-02 -2.19754363e-04 9.99021390e-01 -7.65627972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.373201008 meters 0.06454568933795952 Centerline is valid? [True, True] Translation: X:98.90, Y:17.59, Z:-7.66 [[ 9.47132073e-01 -3.17971014e-01 4.28400637e-02 9.88976139e+01] [ 3.17632685e-01 9.48100392e-01 1.46671146e-02 1.75914584e+01] [-4.52803985e-02 -2.84290230e-04 9.98974276e-01 -7.66007828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.433201008 meters 0.0652152275081894 Centerline is valid? [True, True] Translation: X:98.95, Y:17.61, Z:-7.67 [[ 9.47887081e-01 -3.15581233e-01 4.38014594e-02 9.89508755e+01] [ 3.15224472e-01 9.48898472e-01 1.50073810e-02 1.76148915e+01] [-4.62991857e-02 -4.18010661e-04 9.98927530e-01 -7.66715660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49320100799999 meters 0.06531196100429242 Centerline is valid? [True, True] Translation: X:99.01, Y:17.63, Z:-7.67 [[ 9.47956546e-01 -3.15454501e-01 4.32069929e-02 9.90066035e+01] [ 3.15106605e-01 9.48940605e-01 1.48174123e-02 1.76325789e+01] [-4.56750894e-02 -4.31454141e-04 9.98956255e-01 -7.67114118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55320100799999 meters 0.0658311051996972 Centerline is valid? [True, True] Translation: X:99.06, Y:17.65, Z:-7.68 [[ 9.48482331e-01 -3.13757434e-01 4.40175049e-02 9.90594426e+01] [ 3.13393802e-01 9.49503019e-01 1.51109624e-02 1.76548699e+01] [-4.65359306e-02 -5.37667665e-04 9.98916472e-01 -7.67853030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61320100799999 meters 0.06566927230160986 Centerline is valid? [True, True] Translation: X:99.11, Y:17.67, Z:-7.68 [[ 9.48504855e-01 -3.13633045e-01 4.44168206e-02 9.91142628e+01] [ 3.13262615e-01 9.49544107e-01 1.52486917e-02 1.76732137e+01] [-4.69582239e-02 -5.49328787e-04 9.98896703e-01 -7.68142825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67320100799999 meters 0.06492488180694346 Centerline is valid? [True, True] Translation: X:99.17, Y:17.69, Z:-7.68 [[ 9.48192687e-01 -3.14031624e-01 4.81120306e-02 9.91706826e+01] [ 3.13596365e-01 9.49412337e-01 1.65388641e-02 1.76908972e+01] [-5.08718818e-02 -5.94272099e-04 9.98705011e-01 -7.68051600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.733201008 meters 0.06469420481266171 Centerline is valid? [True, True] Translation: X:99.23, Y:17.71, Z:-7.68 [[ 9.47481910e-01 -3.15813527e-01 5.03968961e-02 9.92259271e+01] [ 3.15338254e-01 9.48821132e-01 1.73276021e-02 1.77091212e+01] [-5.32899311e-02 -5.25520360e-04 9.98578944e-01 -7.68412580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.793201008 meters 0.06374286897903461 Centerline is valid? [True, True] Translation: X:99.29, Y:17.72, Z:-7.69 [[ 9.42805721e-01 -3.28922216e-01 5.41068283e-02 9.92852575e+01] [ 3.28395385e-01 9.44356991e-01 1.86103523e-02 1.77171655e+01] [-5.72175199e-02 2.22486142e-04 9.98361711e-01 -7.68651873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85320100799998 meters 0.06440191087448867 Centerline is valid? [True, True] Translation: X:99.35, Y:17.72, Z:-7.69 [[ 9.37981071e-01 -3.42245745e-01 5.53114898e-02 9.93453356e+01] [ 3.41717950e-01 9.39609889e-01 1.90289182e-02 1.77242019e+01] [-5.84837891e-02 1.05216385e-03 9.98287804e-01 -7.68822199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91320100799999 meters 0.06510324444537641 Centerline is valid? [True, True] Translation: X:99.40, Y:17.73, Z:-7.69 [[ 9.35761896e-01 -3.48214028e-01 5.56476845e-02 9.94038970e+01] [ 3.47690116e-01 9.37413967e-01 1.91478088e-02 1.77347060e+01] [-5.88324522e-02 1.43036003e-03 9.98266846e-01 -7.69171391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97320100799999 meters 0.06548581397675092 Centerline is valid? [True, True] Translation: X:99.46, Y:17.75, Z:-7.69 [[ 9.34122444e-01 -3.52404648e-01 5.67998605e-02 9.94614870e+01] [ 3.51866478e-01 9.35846129e-01 1.95449664e-02 1.77513138e+01] [-6.00436666e-02 1.72857508e-03 9.98194255e-01 -7.69446510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03320100799999 meters 0.06479914224352563 Centerline is valid? [True, True] Translation: X:99.51, Y:17.78, Z:-7.70 [[ 9.33462315e-01 -3.54041494e-01 5.74693489e-02 9.95145333e+01] [ 3.53492867e-01 9.35227898e-01 1.97881621e-02 1.77789027e+01] [-6.07527689e-02 1.84350125e-03 9.98151142e-01 -7.70058673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.093201008 meters 0.0649413462887922 Centerline is valid? [True, True] Translation: X:99.57, Y:17.80, Z:-7.71 [[ 9.33161776e-01 -3.54596248e-01 5.89118059e-02 9.95690658e+01] [ 3.54019817e-01 9.35017564e-01 2.03008270e-02 1.78006454e+01] [-6.22821703e-02 1.91199102e-03 9.98056750e-01 -7.70576717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.153201008 meters 0.06373728559698708 Centerline is valid? [True, True] Translation: X:99.62, Y:17.83, Z:-7.70 [[ 9.33592764e-01 -3.52773820e-01 6.28902396e-02 9.96224787e+01] [ 3.52111456e-01 9.35706708e-01 2.16905280e-02 1.78277757e+01] [-6.64986695e-02 1.89425383e-03 9.97784716e-01 -7.70407381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.213201008 meters 0.06292810098259001 Centerline is valid? [True, True] Translation: X:99.68, Y:17.85, Z:-7.71 [[ 9.34688127e-01 -3.49513793e-01 6.47936255e-02 9.96751232e+01] [ 3.48802518e-01 9.36929662e-01 2.23520141e-02 1.78545060e+01] [-6.85194068e-02 1.70801753e-03 9.97648322e-01 -7.70531156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27320100799999 meters 0.06266702516100588 Centerline is valid? [True, True] Translation: X:99.73, Y:17.88, Z:-7.71 [[ 9.35791542e-01 -3.46542491e-01 6.48266247e-02 9.97273089e+01] [ 3.45823052e-01 9.38033097e-01 2.23679517e-02 1.78822770e+01] [-6.85609652e-02 1.48680117e-03 9.97645821e-01 -7.71124180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33320100799999 meters 0.06241272649702845 Centerline is valid? [True, True] Translation: X:99.78, Y:17.91, Z:-7.72 [[ 9.37098996e-01 -3.42650364e-01 6.66047993e-02 9.97791757e+01] [ 3.41880576e-01 9.39462196e-01 2.29881125e-02 1.79126490e+01] [-7.04495761e-02 1.22875004e-03 9.97514585e-01 -7.71699565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39320100799999 meters 0.06232389901147491 Centerline is valid? [True, True] Translation: X:99.83, Y:17.94, Z:-7.72 [[ 9.37190646e-01 -3.42288391e-01 6.71740357e-02 9.98340973e+01] [ 3.41503909e-01 9.39594171e-01 2.31921151e-02 1.79356160e+01] [-7.10547241e-02 1.20476249e-03 9.97471691e-01 -7.71946138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.453201008 meters 0.06204198485805356 Centerline is valid? [True, True] Translation: X:99.89, Y:17.96, Z:-7.72 [[ 9.37622300e-01 -3.41070731e-01 6.73437412e-02 9.98882647e+01] [ 3.40277820e-01 9.40036995e-01 2.32691619e-02 1.79569377e+01] [-7.12420381e-02 1.09789637e-03 9.97458454e-01 -7.72190219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.513201008 meters 0.06193266822023757 Centerline is valid? [True, True] Translation: X:99.94, Y:17.98, Z:-7.73 [[ 9.38879190e-01 -3.37782411e-01 6.63996132e-02 9.99408427e+01] [ 3.37003015e-01 9.41223858e-01 2.29481125e-02 1.79837038e+01] [-7.02483689e-02 8.31364583e-04 9.97529185e-01 -7.72834169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.573201008 meters 0.062041829844342214 Centerline is valid? [True, True] Translation: X:99.99, Y:18.01, Z:-7.74 [[ 9.41210032e-01 -3.31975399e-01 6.25780275e-02 9.99927394e+01] [ 3.31269272e-01 9.43287976e-01 2.16440257e-02 1.80096286e+01] [-6.62143849e-02 3.58603504e-04 9.97805355e-01 -7.73727688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63320100799999 meters 0.06203411800252252 Centerline is valid? [True, True] Translation: X:100.05, Y:18.03, Z:-7.74 [[ 9.43130769e-01 -3.26827694e-01 6.07289958e-02 1.00045133e+02] [ 3.26151829e-01 9.45083943e-01 2.10077520e-02 1.80340911e+01] [-6.42599140e-02 -6.18421951e-06 9.97933196e-01 -7.74414548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69320100799999 meters 0.062425609996116314 Centerline is valid? [True, True] Translation: X:100.10, Y:18.06, Z:-7.75 [[ 9.45059781e-01 -3.21105333e-01 6.12647937e-02 1.00097258e+02] [ 3.20404155e-01 9.47043394e-01 2.12129012e-02 1.80589076e+01] [-6.48319938e-02 -4.17965345e-04 9.97896106e-01 -7.74822380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75320100799999 meters 0.06231966649748459 Centerline is valid? [True, True] Translation: X:100.15, Y:18.08, Z:-7.75 [[ 9.44960052e-01 -3.21380119e-01 6.13622038e-02 1.00152493e+02] [ 3.20677063e-01 9.46950187e-01 2.12500439e-02 1.80755693e+01] [-6.49362920e-02 -4.02991354e-04 9.97889330e-01 -7.75153952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.813201008 meters 0.0621858754791691 Centerline is valid? [True, True] Translation: X:100.21, Y:18.09, Z:-7.76 [[ 9.44055922e-01 -3.24314436e-01 5.98210844e-02 1.00208907e+02] [ 3.23651096e-01 9.45949312e-01 2.07332276e-02 1.80893559e+01] [-6.33117987e-02 -2.12166815e-04 9.97993773e-01 -7.75778553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.873201008 meters 0.06194150024758263 Centerline is valid? [True, True] Translation: X:100.27, Y:18.10, Z:-7.76 [[ 9.42678379e-01 -3.28221797e-01 6.02322727e-02 1.00266717e+02] [ 3.27556099e-01 9.44600683e-01 2.08938100e-02 1.81020614e+01] [-6.37532499e-02 3.33053194e-05 9.97965692e-01 -7.76098635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.933201008 meters 0.06187495575684975 Centerline is valid? [True, True] Translation: X:100.32, Y:18.12, Z:-7.76 [[ 9.41444806e-01 -3.31743924e-01 6.02299537e-02 1.00323249e+02] [ 3.31084525e-01 9.43369441e-01 2.09077682e-02 1.81161385e+01] [-6.37551229e-02 2.57695870e-04 9.97965539e-01 -7.76398224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99320100799999 meters 0.061881286958566796 Centerline is valid? [True, True] Translation: X:100.38, Y:18.13, Z:-7.77 [[ 9.40885574e-01 -3.33493234e-01 5.93009245e-02 1.00379084e+02] [ 3.32856366e-01 9.42752427e-01 2.06034475e-02 1.81333068e+01] [-6.27772008e-02 3.53203694e-04 9.98027504e-01 -7.76954152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05320100799999 meters 0.06185237158845592 Centerline is valid? [True, True] Translation: X:100.43, Y:18.15, Z:-7.77 [[ 9.40849045e-01 -3.33752368e-01 5.84160168e-02 1.00434667e+02] [ 3.33133950e-01 9.42660721e-01 2.03110201e-02 1.81514021e+01] [-6.18453355e-02 3.50754476e-04 9.98085683e-01 -7.77406042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11320100799999 meters 0.06183057858174684 Centerline is valid? [True, True] Translation: X:100.49, Y:18.17, Z:-7.78 [[ 9.39737055e-01 -3.37004694e-01 5.76376884e-02 1.00490714e+02] [ 3.36407774e-01 9.41502811e-01 2.00565890e-02 1.81673149e+01] [-6.10252103e-02 5.41846596e-04 9.98136078e-01 -7.78029979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17320100799999 meters 0.06220612271859258 Centerline is valid? [True, True] Translation: X:100.55, Y:18.19, Z:-7.79 [[ 9.38884423e-01 -3.39325374e-01 5.79165901e-02 1.00546198e+02] [ 3.38726675e-01 9.40668812e-01 2.01599931e-02 1.81856611e+01] [-6.13211272e-02 6.89990469e-04 9.98117850e-01 -7.78618724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.233201008 meters 0.062043493310553297 Centerline is valid? [True, True] Translation: X:100.60, Y:18.20, Z:-7.79 [[ 9.37747459e-01 -3.42305785e-01 5.87915993e-02 1.00602922e+02] [ 3.41693721e-01 9.39588191e-01 2.04800456e-02 1.82016385e+01] [-6.22503305e-02 8.83609598e-04 9.98060176e-01 -7.78713787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.293201008 meters 0.06196886642463442 Centerline is valid? [True, True] Translation: X:100.66, Y:18.22, Z:-7.79 [[ 9.36990630e-01 -3.44098610e-01 6.03713976e-02 1.00657570e+02] [ 3.43455886e-01 9.38932967e-01 2.10460947e-02 1.82223834e+01] [-6.39266274e-02 1.01491828e-03 9.97954085e-01 -7.79097923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35320100799998 meters 0.06175417172077008 Centerline is valid? [True, True] Translation: X:100.71, Y:18.25, Z:-7.80 [[ 9.37714631e-01 -3.42238145e-01 5.97019459e-02 1.00711238e+02] [ 3.41604705e-01 9.39612851e-01 2.08306177e-02 1.82480326e+01] [-6.32257475e-02 8.61290659e-04 9.97998879e-01 -7.79709295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41320100799999 meters 0.0615545596268322 Centerline is valid? [True, True] Translation: X:100.76, Y:18.28, Z:-7.80 [[ 9.40633341e-01 -3.34383646e-01 5.82794508e-02 1.00761669e+02] [ 3.33763913e-01 9.42436991e-01 2.03511377e-02 1.82775715e+01] [-6.17297979e-02 3.08618908e-04 9.98092850e-01 -7.80376101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47320100799999 meters 0.061609903834553545 Centerline is valid? [True, True] Translation: X:100.81, Y:18.31, Z:-7.81 [[ 9.42931385e-01 -3.27983007e-01 5.75113049e-02 1.00811868e+02] [ 3.27367309e-01 9.44683616e-01 2.00875752e-02 1.83060312e+01] [-6.09183708e-02 -1.13883980e-04 9.98142745e-01 -7.81085194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53320100799999 meters 0.062068209918580086 Centerline is valid? [True, True] Translation: X:100.86, Y:18.33, Z:-7.81 [[ 9.45002154e-01 -3.21843416e-01 5.82043351e-02 1.00864299e+02] [ 3.21200766e-01 9.46792767e-01 2.03352985e-02 1.83338001e+01] [-6.16522254e-02 -5.21623885e-04 9.98097556e-01 -7.81337850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.593201008 meters 0.06325578638629956 Centerline is valid? [True, True] Translation: X:100.92, Y:18.36, Z:-7.82 [[ 9.47819251e-01 -3.13409912e-01 5.84199833e-02 1.00916867e+02] [ 3.12745472e-01 9.49617312e-01 2.04262049e-02 1.83648170e+01] [-6.18784026e-02 -1.08976500e-03 9.98083101e-01 -7.81635829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.653201008 meters 0.0637185745094554 Centerline is valid? [True, True] Translation: X:100.97, Y:18.39, Z:-7.82 [[ 9.48428043e-01 -3.11393326e-01 5.93164759e-02 1.00971120e+02] [ 3.10703674e-01 9.50280291e-01 2.07507763e-02 1.83873622e+01] [-6.28289313e-02 -1.25077121e-03 9.98023527e-01 -7.82010423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.713201008 meters 0.06468692113787902 Centerline is valid? [True, True] Translation: X:101.02, Y:18.41, Z:-7.82 [[ 9.49601077e-01 -3.07596453e-01 6.03507859e-02 1.01024926e+02] [ 3.06873732e-01 9.51515651e-01 2.11300181e-02 1.84098875e+01] [-6.39242360e-02 -1.54501708e-03 9.97953559e-01 -7.82333736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77320100799999 meters 0.06406643481405323 Centerline is valid? [True, True] Translation: X:101.08, Y:18.42, Z:-7.83 [[ 9.48893658e-01 -3.09766281e-01 6.03794395e-02 1.01081898e+02] [ 3.09046792e-01 9.50811692e-01 2.11472745e-02 1.84240041e+01] [-6.39601895e-02 -1.40644255e-03 9.97951460e-01 -7.82745335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83320100799999 meters 0.06358216021003762 Centerline is valid? [True, True] Translation: X:101.14, Y:18.44, Z:-7.83 [[ 9.47961601e-01 -3.12687683e-01 5.99601170e-02 1.01139048e+02] [ 3.11982958e-01 9.49855217e-01 2.10166788e-02 1.84399456e+01] [-6.35250866e-02 -1.21646988e-03 9.97979501e-01 -7.83366382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89320100799999 meters 0.06305332807583813 Centerline is valid? [True, True] Translation: X:101.20, Y:18.45, Z:-7.84 [[ 9.46796703e-01 -3.16664626e-01 5.74414253e-02 1.01196202e+02] [ 3.16024265e-01 9.48537116e-01 2.01495439e-02 1.84513714e+01] [-6.08659716e-02 -9.24637500e-04 9.98145520e-01 -7.84052351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.953201008 meters 0.0628735104707933 Centerline is valid? [True, True] Translation: X:101.25, Y:18.47, Z:-7.85 [[ 9.46419141e-01 -3.18018259e-01 5.61711290e-02 1.01251424e+02] [ 3.17408201e-01 9.48084233e-01 1.97058580e-02 1.84680761e+01] [-5.95217844e-02 -8.20824156e-04 9.98226669e-01 -7.84634166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.013201008 meters 0.0632131918500229 Centerline is valid? [True, True] Translation: X:101.31, Y:18.48, Z:-7.85 [[ 9.46462029e-01 -3.17811858e-01 5.66149298e-02 1.01305788e+02] [ 3.17190538e-01 9.48153407e-01 1.98816103e-02 1.84836378e+01] [-5.99982501e-02 -8.59469163e-04 9.98198112e-01 -7.85197584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.073201008 meters 0.06327842516270711 Centerline is valid? [True, True] Translation: X:101.36, Y:18.50, Z:-7.86 [[ 9.46535886e-01 -3.17713686e-01 5.59269998e-02 1.01361895e+02] [ 3.17106906e-01 9.48186307e-01 1.96452716e-02 1.85004861e+01] [-5.92707871e-02 -8.60116730e-04 9.98241571e-01 -7.85714401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13320100799999 meters 0.0637375282277288 Centerline is valid? [True, True] Translation: X:101.42, Y:18.52, Z:-7.86 [[ 9.47524741e-01 -3.14673904e-01 5.63666534e-02 1.01417510e+02] [ 3.14051271e-01 9.49199233e-01 1.98145313e-02 1.85187310e+01] [-5.97383001e-02 -1.07273945e-03 9.98213497e-01 -7.86255487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19320100799999 meters 0.06499478323209466 Centerline is valid? [True, True] Translation: X:101.47, Y:18.54, Z:-7.87 [[ 9.48382767e-01 -3.12002842e-01 5.67833937e-02 1.01470642e+02] [ 3.11365101e-01 9.50080323e-01 1.99788167e-02 1.85401733e+01] [-6.01822326e-02 -1.26719837e-03 9.98186602e-01 -7.86900642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25320100799999 meters 0.06634689501609167 Centerline is valid? [True, True] Translation: X:101.53, Y:18.56, Z:-7.87 [[ 9.49552360e-01 -3.08527462e-01 5.62238492e-02 1.01526453e+02] [ 3.07895820e-01 9.51214287e-01 1.97874501e-02 1.85583871e+01] [-5.95859004e-02 -1.47813179e-03 9.98222087e-01 -7.87439650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.313201008 meters 0.06542135955875246 Centerline is valid? [True, True] Translation: X:101.58, Y:18.57, Z:-7.88 [[ 9.48178400e-01 -3.12960985e-01 5.48921153e-02 1.01584724e+02] [ 3.12366258e-01 9.49765259e-01 1.93202983e-02 1.85708279e+01] [-5.81811236e-02 -1.17264483e-03 9.98305355e-01 -7.88104767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.373201008 meters 0.06384351888715838 Centerline is valid? [True, True] Translation: X:101.64, Y:18.58, Z:-7.89 [[ 9.45923360e-01 -3.19911634e-01 5.37172550e-02 1.01644072e+02] [ 3.19352426e-01 9.47447092e-01 1.89218087e-02 1.85783623e+01] [-5.69475639e-02 -7.43845165e-04 9.98376894e-01 -7.88869212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.433201008 meters 0.0631656132611718 Centerline is valid? [True, True] Translation: X:101.70, Y:18.59, Z:-7.89 [[ 9.44727731e-01 -3.23548670e-01 5.29695347e-02 1.01703159e+02] [ 3.23010627e-01 9.46211388e-01 1.86586400e-02 1.85881356e+01] [-5.61573551e-02 -5.17612092e-04 9.98421796e-01 -7.89076606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49320100799999 meters 0.06252542755723915 Centerline is valid? [True, True] Translation: X:101.76, Y:18.60, Z:-7.89 [[ 9.43169091e-01 -3.27811021e-01 5.45160607e-02 1.01760605e+02] [ 3.27247162e-01 9.44743273e-01 1.92209243e-02 1.85995264e+01] [-5.78045125e-02 -2.88355595e-04 9.98327880e-01 -7.89312526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55320100799999 meters 0.06233475824951211 Centerline is valid? [True, True] Translation: X:101.82, Y:18.62, Z:-7.90 [[ 9.42159403e-01 -3.30910689e-01 5.32332205e-02 1.01817419e+02] [ 3.30377925e-01 9.43662072e-01 1.87701995e-02 1.86152888e+01] [-5.64454308e-02 -9.74389700e-05 9.98405681e-01 -7.89779773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61320100799999 meters 0.06271494043353222 Centerline is valid? [True, True] Translation: X:101.87, Y:18.64, Z:-7.91 [[ 9.42667005e-01 -3.29558656e-01 5.26308734e-02 1.01872092e+02] [ 3.29035013e-01 9.44135084e-01 1.85715922e-02 1.86374193e+01] [-5.58110830e-02 -1.89427066e-04 9.98441329e-01 -7.90581517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67320100799999 meters 0.06253822675311259 Centerline is valid? [True, True] Translation: X:101.93, Y:18.65, Z:-7.91 [[ 9.42598260e-01 -3.29773117e-01 5.25186803e-02 1.01927889e+02] [ 3.29251308e-01 9.44060197e-01 1.85450790e-02 1.86548221e+01] [-5.56964642e-02 -1.88714948e-04 9.98447729e-01 -7.90773173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.733201008 meters 0.06280414246466762 Centerline is valid? [True, True] Translation: X:101.98, Y:18.68, Z:-7.91 [[ 9.42748562e-01 -3.29432243e-01 5.19571656e-02 1.01981187e+02] [ 3.28919957e-01 9.44179192e-01 1.83661446e-02 1.86757811e+01] [-5.51072748e-02 -2.24907709e-04 9.98480414e-01 -7.91401677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.793201008 meters 0.06230973776318271 Centerline is valid? [True, True] Translation: X:102.04, Y:18.69, Z:-7.92 [[ 9.40611447e-01 -3.35207041e-01 5.37247197e-02 1.02039397e+02] [ 3.34668535e-01 9.42144483e-01 1.89932853e-02 1.86888333e+01] [-5.69831312e-02 1.14671708e-04 9.98375135e-01 -7.91533362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85320100799998 meters 0.06284243111998489 Centerline is valid? [True, True] Translation: X:102.09, Y:18.71, Z:-7.92 [[ 9.40083820e-01 -3.37197153e-01 5.04032914e-02 1.02093976e+02] [ 3.36725262e-01 9.41434032e-01 1.78342615e-02 1.87083618e+01] [-5.34650360e-02 2.06360834e-04 9.98569701e-01 -7.92377057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91320100799999 meters 0.06327039789829791 Centerline is valid? [True, True] Translation: X:102.15, Y:18.73, Z:-7.93 [[ 9.40318287e-01 -3.36905483e-01 4.79188379e-02 1.02148502e+02] [ 3.36478626e-01 9.41538455e-01 1.69549820e-02 1.87308261e+01] [-5.08296550e-02 1.80585056e-04 9.98707321e-01 -7.93187768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97320100799999 meters 0.06394947605269496 Centerline is valid? [True, True] Translation: X:102.20, Y:18.75, Z:-7.94 [[ 9.40772268e-01 -3.36342989e-01 4.26724005e-02 1.02203860e+02] [ 3.36003492e-01 9.41739549e-01 1.51087793e-02 1.87526433e+01] [-4.52680192e-02 1.24154951e-04 9.98974870e-01 -7.94046846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03320100799999 meters 0.06396811213631119 Centerline is valid? [True, True] Translation: X:102.26, Y:18.77, Z:-7.94 [[ 9.40928602e-01 -3.35692810e-01 4.43136899e-02 1.02258547e+02] [ 3.35325506e-01 9.41971512e-01 1.56995257e-02 1.87741911e+01] [-4.70124513e-02 8.73777180e-05 9.98894300e-01 -7.94242046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.093201008 meters 0.06404762888490642 Centerline is valid? [True, True] Translation: X:102.31, Y:18.80, Z:-7.95 [[ 9.41047738e-01 -3.35228422e-01 4.52886268e-02 1.02313131e+02] [ 3.34843627e-01 9.42136881e-01 1.60575000e-02 1.87951475e+01] [-4.80510159e-02 5.37340052e-05 9.98844881e-01 -7.94676156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.153201008 meters 0.06408122745273326 Centerline is valid? [True, True] Translation: X:102.37, Y:18.82, Z:-7.95 [[ 9.41900516e-01 -3.32460828e-01 4.78875425e-02 1.02365970e+02] [ 3.32026152e-01 9.43117059e-01 1.69955374e-02 1.88192678e+01] [-5.08139086e-02 -1.08188993e-04 9.98708133e-01 -7.94953575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.213201008 meters 0.06421593638834203 Centerline is valid? [True, True] Translation: X:102.42, Y:18.84, Z:-7.95 [[ 9.42071179e-01 -3.32082426e-01 4.71503498e-02 1.02421207e+02] [ 3.31660412e-01 9.43250362e-01 1.67369646e-02 1.88414288e+01] [-5.00326363e-02 -1.29507530e-04 9.98747575e-01 -7.95115862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27320100799999 meters 0.06399377578371152 Centerline is valid? [True, True] Translation: X:102.48, Y:18.86, Z:-7.96 [[ 9.40565040e-01 -3.36329293e-01 4.71169971e-02 1.02477175e+02] [ 3.35912605e-01 9.41744445e-01 1.67368632e-02 1.88572870e+01] [-5.00012676e-02 8.50848328e-05 9.98749151e-01 -7.95694702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33320100799999 meters 0.06429155831447898 Centerline is valid? [True, True] Translation: X:102.53, Y:18.88, Z:-7.96 [[ 9.40420083e-01 -3.36951501e-01 4.55384755e-02 1.02532544e+02] [ 3.36562326e-01 9.41522000e-01 1.61902804e-02 1.88771641e+01] [-4.83308158e-02 1.00870335e-04 9.98831378e-01 -7.96400421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39320100799999 meters 0.06460580663023172 Centerline is valid? [True, True] Translation: X:102.59, Y:18.90, Z:-7.97 [[ 9.40175285e-01 -3.37628362e-01 4.55798494e-02 1.02587399e+02] [ 3.37238741e-01 9.41279487e-01 1.62159941e-02 1.88968017e+01] [-4.83783568e-02 1.25414171e-04 9.98829074e-01 -7.97026402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.453201008 meters 0.06491884388697303 Centerline is valid? [True, True] Translation: X:102.64, Y:18.92, Z:-7.98 [[ 9.40520875e-01 -3.36633225e-01 4.58099848e-02 1.02641470e+02] [ 3.36237560e-01 9.41635847e-01 1.63166956e-02 1.89152750e+01] [-4.86290657e-02 5.68446672e-05 9.98816906e-01 -7.97609856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.513201008 meters 0.06475730931928572 Centerline is valid? [True, True] Translation: X:102.70, Y:18.94, Z:-7.98 [[ 9.41265308e-01 -3.34342921e-01 4.72697771e-02 1.02697080e+02] [ 3.33918681e-01 9.42451488e-01 1.68376771e-02 1.89365253e+01] [-5.01790299e-02 -6.44596355e-05 9.98740237e-01 -7.97716313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.573201008 meters 0.06476473835171055 Centerline is valid? [True, True] Translation: X:102.75, Y:18.96, Z:-7.98 [[ 9.41676745e-01 -3.33079957e-01 4.79859376e-02 1.02751830e+02] [ 3.32640555e-01 9.42898575e-01 1.71037817e-02 1.89576580e+01] [-5.09427990e-02 -1.44164566e-04 9.98701562e-01 -7.98033469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63320100799999 meters 0.06489731816147577 Centerline is valid? [True, True] Translation: X:102.81, Y:18.97, Z:-7.99 [[ 9.40986097e-01 -3.35068027e-01 4.76925805e-02 1.02807358e+02] [ 3.34635965e-01 9.42193937e-01 1.70104644e-02 1.89740370e+01] [-5.06353229e-02 -4.69577783e-05 9.98717208e-01 -7.98585545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69320100799999 meters 0.06513334448008058 Centerline is valid? [True, True] Translation: X:102.86, Y:18.99, Z:-7.99 [[ 9.40003009e-01 -3.37910387e-01 4.70203426e-02 1.02863552e+02] [ 3.37493244e-01 9.41178284e-01 1.67853579e-02 1.89916397e+01] [-4.99264721e-02 9.07610149e-05 9.98752892e-01 -7.99166233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75320100799999 meters 0.06572465033781216 Centerline is valid? [True, True] Translation: X:102.92, Y:19.00, Z:-8.00 [[ 9.38123496e-01 -3.43180681e-01 4.63823977e-02 1.02920317e+02] [ 3.42780456e-01 9.39269342e-01 1.65729599e-02 1.90032003e+01] [-4.92530838e-02 3.51496288e-04 9.98786269e-01 -7.99871558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.813201008 meters 0.06569431928099632 Centerline is valid? [True, True] Translation: X:102.98, Y:19.02, Z:-8.00 [[ 9.36955903e-01 -3.46255917e-01 4.71219162e-02 1.02977206e+02] [ 3.45846555e-01 9.38139953e-01 1.68401094e-02 1.90177185e+01] [-5.00379398e-02 5.18512524e-04 9.98747183e-01 -7.99961367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.873201008 meters 0.06661750616977785 Centerline is valid? [True, True] Translation: X:103.03, Y:19.03, Z:-8.01 [[ 9.34460425e-01 -3.52877564e-01 4.75514428e-02 1.03034284e+02] [ 3.52468465e-01 9.35669105e-01 1.70090154e-02 1.90323795e+01] [-5.04945158e-02 8.66132319e-04 9.98723963e-01 -8.00583420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.933201008 meters 0.06714046735462033 Centerline is valid? [True, True] Translation: X:103.09, Y:19.05, Z:-8.01 [[ 9.33084695e-01 -3.56500247e-01 4.75449784e-02 1.03089992e+02] [ 3.56095106e-01 9.34294643e-01 1.70233920e-02 1.90497657e+01] [-5.04898620e-02 1.04626755e-03 9.98724026e-01 -8.01011979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99320100799999 meters 0.0685186728325321 Centerline is valid? [True, True] Translation: X:103.15, Y:19.06, Z:-8.01 [[ 9.31105344e-01 -3.61064136e-01 5.17255096e-02 1.03148507e+02] [ 3.60591279e-01 9.32539931e-01 1.85258256e-02 1.90588638e+01] [-5.49251143e-02 1.40227245e-03 9.98489492e-01 -8.01226829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05320100799999 meters 0.06819218198821667 Centerline is valid? [True, True] Translation: X:103.20, Y:19.08, Z:-8.01 [[ 9.30072083e-01 -3.63219824e-01 5.51115268e-02 1.03203883e+02] [ 3.62686583e-01 9.31702051e-01 1.97416075e-02 1.90795376e+01] [-5.85180657e-02 1.62709327e-03 9.98285024e-01 -8.01127127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11320100799999 meters 0.06801097189168305 Centerline is valid? [True, True] Translation: X:103.26, Y:19.11, Z:-8.02 [[ 9.31177571e-01 -3.60501023e-01 5.42894493e-02 1.03255465e+02] [ 3.59978188e-01 9.32757734e-01 1.94605579e-02 1.91090987e+01] [-5.76544548e-02 1.42178252e-03 9.98335586e-01 -8.01903798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17320100799999 meters 0.06771579708340067 Centerline is valid? [True, True] Translation: X:103.31, Y:19.13, Z:-8.03 [[ 9.32671237e-01 -3.56889239e-01 5.24827113e-02 1.03308758e+02] [ 3.56394196e-01 9.34146004e-01 1.88260356e-02 1.91344005e+01] [-5.57453245e-02 1.14603179e-03 9.98444363e-01 -8.02659736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.233201008 meters 0.06751158130249005 Centerline is valid? [True, True] Translation: X:103.36, Y:19.16, Z:-8.03 [[ 9.34137796e-01 -3.53027211e-01 5.25201539e-02 1.03360798e+02] [ 3.52524396e-01 9.35612622e-01 1.88566107e-02 1.91605653e+01] [-5.57954156e-02 8.99962810e-04 9.98441817e-01 -8.03130867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.293201008 meters 0.06768524315015877 Centerline is valid? [True, True] Translation: X:103.41, Y:19.19, Z:-8.04 [[ 9.35054824e-01 -3.50587022e-01 5.25472679e-02 1.03412738e+02] [ 3.50079727e-01 9.36529857e-01 1.88682695e-02 1.91878939e+01] [-5.58270557e-02 7.52866765e-04 9.98440170e-01 -8.03790868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35320100799998 meters 0.06776672116278792 Centerline is valid? [True, True] Translation: X:103.47, Y:19.21, Z:-8.04 [[ 9.35605508e-01 -3.48961167e-01 5.35577888e-02 1.03466402e+02] [ 3.48430704e-01 9.37136956e-01 1.92450104e-02 1.92124688e+01] [-5.69067444e-02 6.55440335e-04 9.98379283e-01 -8.04329137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41320100799999 meters 0.06716440485738769 Centerline is valid? [True, True] Translation: X:103.52, Y:19.24, Z:-8.04 [[ 9.36565773e-01 -3.45733108e-01 5.75601543e-02 1.03519352e+02] [ 3.45113115e-01 9.38332772e-01 2.07013820e-02 1.92389019e+01] [-6.11677323e-02 4.76558296e-04 9.98127387e-01 -8.04403948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47320100799999 meters 0.06736501856504151 Centerline is valid? [True, True] Translation: X:103.57, Y:19.26, Z:-8.05 [[ 9.37333177e-01 -3.43670554e-01 5.74200857e-02 1.03573486e+02] [ 3.43049588e-01 9.39090217e-01 2.06529612e-02 1.92632647e+01] [-6.10204553e-02 3.39231051e-04 9.98136458e-01 -8.04974553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53320100799999 meters 0.06752022109391521 Centerline is valid? [True, True] Translation: X:103.63, Y:19.29, Z:-8.06 [[ 9.38085924e-01 -3.41566797e-01 5.76794815e-02 1.03627209e+02] [ 3.40935392e-01 9.39857482e-01 2.07598604e-02 1.92869509e+01] [-6.13013713e-02 1.90443827e-04 9.98119284e-01 -8.05610798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.593201008 meters 0.06778924407608879 Centerline is valid? [True, True] Translation: X:103.68, Y:19.31, Z:-8.06 [[ 9.37980510e-01 -3.41915359e-01 5.73275745e-02 1.03681441e+02] [ 3.41291442e-01 9.39730732e-01 2.06471252e-02 1.93068303e+01] [-6.09320527e-02 1.98809582e-04 9.98141896e-01 -8.06143682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.653201008 meters 0.06818222689339495 Centerline is valid? [True, True] Translation: X:103.74, Y:19.33, Z:-8.07 [[ 9.37552836e-01 -3.43348568e-01 5.57354545e-02 1.03736981e+02] [ 3.42760409e-01 9.39208012e-01 2.00901113e-02 1.93258364e+01] [-5.92450964e-02 2.68366414e-04 9.98243430e-01 -8.06818022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.713201008 meters 0.06832430913948402 Centerline is valid? [True, True] Translation: X:103.79, Y:19.34, Z:-8.07 [[ 9.37077283e-01 -3.44533987e-01 5.64136295e-02 1.03791908e+02] [ 3.43932707e-01 9.38773785e-01 2.03487913e-02 1.93442194e+01] [-5.99704867e-02 3.34102242e-04 9.98200095e-01 -8.07274689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77320100799999 meters 0.06808311620621187 Centerline is valid? [True, True] Translation: X:103.85, Y:19.36, Z:-8.07 [[ 9.36327462e-01 -3.46132224e-01 5.90200642e-02 1.03848971e+02] [ 3.45476023e-01 9.38185638e-01 2.13079001e-02 1.93590546e+01] [-6.27471275e-02 4.38845034e-04 9.98029361e-01 -8.07352330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83320100799999 meters 0.06806067958110058 Centerline is valid? [True, True] Translation: X:103.90, Y:19.38, Z:-8.08 [[ 9.36482411e-01 -3.45777147e-01 5.86417817e-02 1.03902989e+02] [ 3.45127729e-01 9.38316581e-01 2.11859595e-02 1.93797137e+01] [-6.23501767e-02 3.98626489e-04 9.98054255e-01 -8.07907090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89320100799999 meters 0.0683185270995781 Centerline is valid? [True, True] Translation: X:103.96, Y:19.41, Z:-8.09 [[ 9.38267313e-01 -3.40765240e-01 5.94432591e-02 1.03956244e+02] [ 3.40086700e-01 9.40148418e-01 2.14939049e-02 1.94054894e+01] [-6.32098617e-02 4.88334467e-05 9.98000256e-01 -8.08582202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.953201008 meters 0.0686061281417661 Centerline is valid? [True, True] Translation: X:104.01, Y:19.43, Z:-8.09 [[ 9.40760607e-01 -3.33979058e-01 5.85445998e-02 1.04009910e+02] [ 3.33306821e-01 9.42580403e-01 2.11836322e-02 1.94295897e+01] [-6.22578820e-02 -4.15412244e-04 9.98060010e-01 -8.08968559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.013201008 meters 0.06946772740912549 Centerline is valid? [True, True] Translation: X:104.06, Y:19.46, Z:-8.10 [[ 9.42797427e-01 -3.28214349e-01 5.83810952e-02 1.04061664e+02] [ 3.27533754e-01 9.44602924e-01 2.11413254e-02 1.94561910e+01] [-6.20858396e-02 -8.10207923e-04 9.98070485e-01 -8.09668010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.073201008 meters 0.07158067061350494 Centerline is valid? [True, True] Translation: X:104.11, Y:19.49, Z:-8.11 [[ 9.45931050e-01 -3.19533973e-01 5.57896797e-02 1.04113621e+02] [ 3.18897244e-01 9.47573898e-01 2.02053097e-02 1.94855299e+01] [-5.93211272e-02 -1.32165473e-03 9.98238076e-01 -8.10659225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13320100799999 meters 0.07215381634413108 Centerline is valid? [True, True] Translation: X:104.17, Y:19.50, Z:-8.11 [[ 9.47092176e-01 -3.16375933e-01 5.40618095e-02 1.04169582e+02] [ 3.15772048e-01 9.48632731e-01 1.95947906e-02 1.95044836e+01] [-5.74841222e-02 -1.48686457e-03 9.98345313e-01 -8.11087531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19320100799999 meters 0.0721921936659953 Centerline is valid? [True, True] Translation: X:104.23, Y:19.52, Z:-8.12 [[ 9.47442578e-01 -3.15343131e-01 5.39561912e-02 1.04226435e+02] [ 3.14739866e-01 9.48976456e-01 1.95576622e-02 1.95202390e+01] [-5.73705295e-02 -1.54759757e-03 9.98351755e-01 -8.11506232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25320100799999 meters 0.07192933756330892 Centerline is valid? [True, True] Translation: X:104.28, Y:19.54, Z:-8.12 [[ 9.47250896e-01 -3.15962429e-01 5.36980819e-02 1.04281775e+02] [ 3.15365148e-01 9.48770492e-01 1.94776127e-02 1.95373647e+01] [-5.71013494e-02 -1.51568255e-03 9.98367236e-01 -8.12022658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.313201008 meters 0.07149912491836531 Centerline is valid? [True, True] Translation: X:104.34, Y:19.55, Z:-8.12 [[ 9.46595570e-01 -3.17680330e-01 5.51002335e-02 1.04337366e+02] [ 3.17053084e-01 9.48196736e-01 2.00073129e-02 1.95524968e+01] [-5.86017913e-02 -1.46913476e-03 9.98280357e-01 -8.12448405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.373201008 meters 0.07055419514881793 Centerline is valid? [True, True] Translation: X:104.40, Y:19.57, Z:-8.12 [[ 9.45657549e-01 -3.20182780e-01 5.66990913e-02 1.04395644e+02] [ 3.19522698e-01 9.47354814e-01 2.05937559e-02 1.95653420e+01] [-6.03079231e-02 -1.35799416e-03 9.98178897e-01 -8.12490650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.433201008 meters 0.0699696762362109 Centerline is valid? [True, True] Translation: X:104.45, Y:19.58, Z:-8.13 [[ 9.45041850e-01 -3.21935212e-01 5.70405273e-02 1.04452372e+02] [ 3.21270231e-01 9.46760869e-01 2.07194342e-02 1.95818244e+01] [-6.06740547e-02 -1.25530899e-03 9.98156843e-01 -8.12762096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49320100799999 meters 0.0686197850669157 Centerline is valid? [True, True] Translation: X:104.51, Y:19.59, Z:-8.13 [[ 9.43766537e-01 -3.25345535e-01 5.87793076e-02 1.04510645e+02] [ 3.24644795e-01 9.45594577e-01 2.13694316e-02 1.95941248e+01] [-6.25338437e-02 -1.08535822e-03 9.98042254e-01 -8.12863216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55320100799999 meters 0.06820562020502308 Centerline is valid? [True, True] Translation: X:104.57, Y:19.61, Z:-8.14 [[ 9.42969704e-01 -3.27743063e-01 5.82462268e-02 1.04565195e+02] [ 3.27059326e-01 9.44766445e-01 2.11792674e-02 1.96134882e+01] [-6.19704386e-02 -9.21435775e-04 9.98077560e-01 -8.13669607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61320100799999 meters 0.06813585484033417 Centerline is valid? [True, True] Translation: X:104.62, Y:19.63, Z:-8.14 [[ 9.42690640e-01 -3.28866479e-01 5.64021005e-02 1.04620079e+02] [ 3.28226905e-01 9.44376065e-01 2.05169661e-02 1.96324888e+01] [-6.00121361e-02 -8.28465038e-04 9.98197304e-01 -8.14329094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67320100799999 meters 0.06748142866095969 Centerline is valid? [True, True] Translation: X:104.68, Y:19.65, Z:-8.15 [[ 9.41983581e-01 -3.31572709e-01 5.22156300e-02 1.04675490e+02] [ 3.31028553e-01 9.43429470e-01 1.89982106e-02 1.96471014e+01] [-5.55610523e-02 -6.11137959e-04 9.98455105e-01 -8.14964246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.733201008 meters 0.06656490375522926 Centerline is valid? [True, True] Translation: X:104.73, Y:19.66, Z:-8.15 [[ 9.39993849e-01 -3.37247615e-01 5.17262989e-02 1.04733654e+02] [ 3.36722030e-01 9.41415939e-01 1.88229888e-02 1.96584427e+01] [-5.50439703e-02 -2.76109346e-04 9.98483893e-01 -8.15254761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.793201008 meters 0.06640132790136498 Centerline is valid? [True, True] Translation: X:104.79, Y:19.68, Z:-8.16 [[ 9.38624349e-01 -3.41389863e-01 4.93689474e-02 1.04790440e+02] [ 3.40916200e-01 9.39921784e-01 1.79773456e-02 1.96750150e+01] [-5.25402327e-02 -4.33004018e-05 9.98618807e-01 -8.15856180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85320100799998 meters 0.06620440247022552 Centerline is valid? [True, True] Translation: X:104.84, Y:19.70, Z:-8.16 [[ 9.39260890e-01 -3.39900916e-01 4.75010301e-02 1.04843961e+02] [ 3.39459788e-01 9.40461242e-01 1.73119596e-02 1.96961483e+01] [-5.05572288e-02 -1.35756995e-04 9.98721156e-01 -8.16387110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91320100799999 meters 0.06573898519923593 Centerline is valid? [True, True] Translation: X:104.90, Y:19.72, Z:-8.17 [[ 9.40959986e-01 -3.35196320e-01 4.73046652e-02 1.04897926e+02] [ 3.34752692e-01 9.42148223e-01 1.72441615e-02 1.97215993e+01] [-5.03481858e-02 -3.90701996e-04 9.98731649e-01 -8.16526394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97320100799999 meters 0.06473234316599208 Centerline is valid? [True, True] Translation: X:104.95, Y:19.74, Z:-8.16 [[ 9.39673094e-01 -3.38742152e-01 4.76259495e-02 1.04954539e+02] [ 3.38296405e-01 9.40879221e-01 1.73733637e-02 1.97396080e+01] [-5.06953568e-02 -2.13594890e-04 9.98714141e-01 -8.16341890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03320100799999 meters 0.06463910891466881 Centerline is valid? [True, True] Translation: X:105.01, Y:19.76, Z:-8.17 [[ 9.38960421e-01 -3.41067491e-01 4.50143740e-02 1.05009152e+02] [ 3.40671449e-01 9.40038807e-01 1.64318558e-02 1.97605779e+01] [-4.79196303e-02 -9.37501967e-05 9.98851190e-01 -8.17126134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.093201008 meters 0.064751495861733 Centerline is valid? [True, True] Translation: X:105.06, Y:19.79, Z:-8.18 [[ 9.39654084e-01 -3.39463297e-01 4.26013204e-02 1.05061275e+02] [ 3.39106239e-01 9.40619284e-01 1.55666709e-02 1.97856596e+01] [-4.53559370e-02 -1.80912374e-04 9.98970874e-01 -8.18020419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.153201008 meters 0.06451190560731132 Centerline is valid? [True, True] Translation: X:105.11, Y:19.81, Z:-8.18 [[ 9.41816918e-01 -3.33273006e-01 4.37035089e-02 1.05113183e+02] [ 3.32890433e-01 9.42830239e-01 1.59718609e-02 1.98141980e+01] [-4.65279798e-02 -4.94088796e-04 9.98916865e-01 -8.18072167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.213201008 meters 0.06343174319731101 Centerline is valid? [True, True] Translation: X:105.17, Y:19.83, Z:-8.18 [[ 9.41548406e-01 -3.33849492e-01 4.50679096e-02 1.05168327e+02] [ 3.33443135e-01 9.42626269e-01 1.64740101e-02 1.98349033e+01] [-4.79820354e-02 -4.83492844e-04 9.98848082e-01 -8.18090329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27320100799999 meters 0.06297527323815942 Centerline is valid? [True, True] Translation: X:105.22, Y:19.86, Z:-8.18 [[ 9.40991277e-01 -3.35539298e-01 4.41451628e-02 1.05223894e+02] [ 3.35150759e-01 9.42026125e-01 1.61477234e-02 1.98556014e+01] [-4.70040924e-02 -3.99582043e-04 9.98894617e-01 -8.18474745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33320100799999 meters 0.0625608597065725 Centerline is valid? [True, True] Translation: X:105.28, Y:19.87, Z:-8.19 [[ 9.39609736e-01 -3.39641368e-01 4.21578657e-02 1.05280408e+02] [ 3.39290687e-01 9.40554997e-01 1.54313564e-02 1.98720804e+01] [-4.48929183e-02 -1.95681480e-04 9.98991786e-01 -8.19126562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39320100799999 meters 0.06269029007196011 Centerline is valid? [True, True] Translation: X:105.34, Y:19.89, Z:-8.20 [[ 9.38943837e-01 -3.41794513e-01 3.95092595e-02 1.05336714e+02] [ 3.41488024e-01 9.39774708e-01 1.44716187e-02 1.98896331e+01] [-4.20761226e-02 -9.60982090e-05 9.99114403e-01 -8.19883480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.453201008 meters 0.06236322172556536 Centerline is valid? [True, True] Translation: X:105.39, Y:19.91, Z:-8.20 [[ 9.39434251e-01 -3.40702026e-01 3.72212090e-02 1.05392970e+02] [ 3.40428819e-01 9.40171319e-01 1.36422230e-02 1.99087830e+01] [-3.96422461e-02 -1.44799321e-04 9.99213927e-01 -8.20355807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.513201008 meters 0.06176900833161347 Centerline is valid? [True, True] Translation: X:105.45, Y:19.93, Z:-8.21 [[ 9.39914261e-01 -3.39083634e-01 3.97928620e-02 1.05447994e+02] [ 3.38769237e-01 9.40756201e-01 1.46004869e-02 1.99303480e+01] [-4.23861679e-02 -2.42608406e-04 9.99101273e-01 -8.20541045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.573201008 meters 0.061725794755499615 Centerline is valid? [True, True] Translation: X:105.50, Y:19.95, Z:-8.21 [[ 9.40195322e-01 -3.38143718e-01 4.11288503e-02 1.05502385e+02] [ 3.37807044e-01 9.41094438e-01 1.50884159e-02 1.99508617e+01] [-4.38081853e-02 -2.92442692e-04 9.99039918e-01 -8.21133074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63320100799999 meters 0.06069502287227002 Centerline is valid? [True, True] Translation: X:105.56, Y:19.96, Z:-8.21 [[ 9.39041161e-01 -3.41278610e-01 4.16005787e-02 1.05560883e+02] [ 3.40936758e-01 9.39962172e-01 1.52722340e-02 1.99639786e+01] [-4.43150571e-02 -1.58089965e-04 9.99017593e-01 -8.20960439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69320100799999 meters 0.060607387360921715 Centerline is valid? [True, True] Translation: X:105.62, Y:19.98, Z:-8.22 [[ 9.38320598e-01 -3.43494332e-01 3.95739644e-02 1.05616832e+02] [ 3.43186552e-01 9.39154748e-01 1.45378985e-02 1.99815866e+01] [-4.21597623e-02 -5.99572143e-05 9.99110880e-01 -8.21533387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75320100799999 meters 0.061387105377425685 Centerline is valid? [True, True] Translation: X:105.67, Y:20.00, Z:-8.23 [[ 9.38570324e-01 -3.42944309e-01 3.84050484e-02 1.05669746e+02] [ 3.42653358e-01 9.39355732e-01 1.41238970e-02 2.00043800e+01] [-4.09197125e-02 -9.66517801e-05 9.99162433e-01 -8.22673017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.813201008 meters 0.06094438031605482 Centerline is valid? [True, True] Translation: X:105.73, Y:20.02, Z:-8.23 [[ 9.38707409e-01 -3.42653919e-01 3.76389694e-02 1.05725121e+02] [ 3.42374323e-01 9.39461697e-01 1.38398800e-02 2.00248278e+01] [-4.01026592e-02 -1.04981195e-04 9.99195559e-01 -8.22640709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.873201008 meters 0.061073906299166335 Centerline is valid? [True, True] Translation: X:105.78, Y:20.05, Z:-8.23 [[ 9.39124548e-01 -3.41557756e-01 3.71938558e-02 1.05779051e+02] [ 3.41283491e-01 9.39860774e-01 1.36859423e-02 2.00489240e+01] [-3.96315859e-02 -1.59155395e-04 9.99214347e-01 -8.23181917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.933201008 meters 0.061076329733632306 Centerline is valid? [True, True] Translation: X:105.83, Y:20.07, Z:-8.24 [[ 9.39380123e-01 -3.40615187e-01 3.93227627e-02 1.05832337e+02] [ 3.40307113e-01 9.40202767e-01 1.44853414e-02 2.00723806e+01] [-4.19052976e-02 -2.25425970e-04 9.99121562e-01 -8.23616561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99320100799999 meters 0.06592320497277776 Centerline is valid? [True, True] Translation: X:105.88, Y:20.11, Z:-8.26 [[ 9.40558258e-01 -3.36346002e-01 4.71331074e-02 1.05880230e+02] [ 3.35897546e-01 9.41738345e-01 1.73702895e-02 2.01073307e+01] [-5.02294820e-02 -5.05874122e-04 9.98737575e-01 -8.25748905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05320100799999 meters 0.061182206044648746 Centerline is valid? [True, True] Translation: X:105.94, Y:20.12, Z:-8.24 [[ 9.41556929e-01 -3.34093875e-01 4.30329244e-02 1.05939565e+02] [ 3.33717816e-01 9.42539632e-01 1.58575192e-02 2.01243087e+01] [-4.58581368e-02 -5.69903493e-04 9.98947800e-01 -8.23661046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11320100799999 meters 0.061268087069479 Centerline is valid? [True, True] Translation: X:105.99, Y:20.15, Z:-8.24 [[ 9.41761581e-01 -3.33435383e-01 4.36574198e-02 1.05993409e+02] [ 3.33047027e-01 9.42772750e-01 1.61003131e-02 2.01457717e+01] [-4.65274398e-02 -6.22682417e-04 9.98916818e-01 -8.24085225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17320100799999 meters 0.06069338689869663 Centerline is valid? [True, True] Translation: X:106.05, Y:20.16, Z:-8.24 [[ 9.40609007e-01 -3.36689502e-01 4.35301665e-02 1.06049721e+02] [ 3.36306761e-01 9.41615614e-01 1.60560669e-02 2.01621145e+01] [-4.63945937e-02 -4.62991808e-04 9.98923084e-01 -8.24463879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.233201008 meters 0.06002460988265352 Centerline is valid? [True, True] Translation: X:106.11, Y:20.17, Z:-8.25 [[ 9.38746761e-01 -3.41900487e-01 4.31111934e-02 1.06106865e+02] [ 3.41529809e-01 9.39736138e-01 1.59179370e-02 2.01743841e+01] [-4.59554968e-02 -2.19154185e-04 9.98943464e-01 -8.24796607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.293201008 meters 0.05952281845957944 Centerline is valid? [True, True] Translation: X:106.17, Y:20.18, Z:-8.25 [[ 9.34783556e-01 -3.52546793e-01 4.34794497e-02 1.06166248e+02] [ 3.52181277e-01 9.35794136e-01 1.60525304e-02 2.01811250e+01] [-4.63470822e-02 3.07006626e-04 9.98925349e-01 -8.25206725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35320100799998 meters 0.059255859300582185 Centerline is valid? [True, True] Translation: X:106.22, Y:20.20, Z:-8.25 [[ 9.33934285e-01 -3.54781608e-01 4.35518260e-02 1.06221748e+02] [ 3.54416442e-01 9.34949116e-01 1.60977150e-02 2.01995182e+01] [-4.64299145e-02 4.01275239e-04 9.98921469e-01 -8.25358918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41320100799999 meters 0.059179525084136576 Centerline is valid? [True, True] Translation: X:106.28, Y:20.22, Z:-8.25 [[ 9.32533303e-01 -3.58184517e-01 4.56671756e-02 1.06278196e+02] [ 3.57787031e-01 9.33650628e-01 1.68803384e-02 2.02184376e+01] [-4.86834630e-02 5.97645406e-04 9.98814078e-01 -8.25488384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47320100799999 meters 0.059042426735936765 Centerline is valid? [True, True] Translation: X:106.33, Y:20.24, Z:-8.26 [[ 9.32253413e-01 -3.58871536e-01 4.59869068e-02 1.06332710e+02] [ 3.58468586e-01 9.33386753e-01 1.70129978e-02 2.02365535e+01] [-4.90290502e-02 6.24436128e-04 9.98797158e-01 -8.25810216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53320100799999 meters 0.05921113084711621 Centerline is valid? [True, True] Translation: X:106.38, Y:20.26, Z:-8.26 [[ 9.32689855e-01 -3.57829195e-01 4.52537448e-02 1.06384836e+02] [ 3.57437700e-01 9.33786889e-01 1.67432249e-02 2.02612296e+01] [-4.82485682e-02 5.59158499e-04 9.98835203e-01 -8.26439053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.593201008 meters 0.059137680660789525 Centerline is valid? [True, True] Translation: X:106.44, Y:20.29, Z:-8.27 [[ 9.33619951e-01 -3.55415603e-01 4.50947450e-02 1.06438402e+02] [ 3.55023347e-01 9.34708282e-01 1.66988082e-02 2.02868867e+01] [-4.80854487e-02 4.19346806e-04 9.98843138e-01 -8.27034497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.653201008 meters 0.0590817968898534 Centerline is valid? [True, True] Translation: X:106.49, Y:20.31, Z:-8.27 [[ 9.36320211e-01 -3.48400266e-01 4.38373853e-02 1.06489538e+02] [ 3.48021197e-01 9.37345855e-01 1.62478917e-02 2.03140484e+01] [-4.67515612e-02 4.31099269e-05 9.98906547e-01 -8.27420097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.713201008 meters 0.05925756257086974 Centerline is valid? [True, True] Translation: X:106.54, Y:20.34, Z:-8.28 [[ 9.38181270e-01 -3.43288769e-01 4.43703236e-02 1.06541464e+02] [ 3.42894638e-01 9.39229884e-01 1.64466519e-02 2.03408320e+01] [-4.73198848e-02 -2.15594681e-04 9.98879764e-01 -8.27635959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77320100799999 meters 0.06025798449571339 Centerline is valid? [True, True] Translation: X:106.59, Y:20.37, Z:-8.29 [[ 9.39340238e-01 -3.40159264e-01 4.39498828e-02 1.06592565e+02] [ 3.39768331e-01 9.40367761e-01 1.63081400e-02 2.03686763e+01] [-4.68764178e-02 -3.86113834e-04 9.98900622e-01 -8.28576345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83320100799999 meters 0.06080156903613972 Centerline is valid? [True, True] Translation: X:106.65, Y:20.39, Z:-8.29 [[ 9.40072679e-01 -3.38026855e-01 4.47348183e-02 1.06645893e+02] [ 3.37619094e-01 9.41136328e-01 1.66060153e-02 2.03886216e+01] [-4.77148417e-02 -5.07532533e-04 9.98860869e-01 -8.29003389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89320100799999 meters 0.06023269497916747 Centerline is valid? [True, True] Translation: X:106.70, Y:20.41, Z:-8.29 [[ 9.40316309e-01 -3.37039739e-01 4.70048207e-02 1.06702833e+02] [ 3.36588139e-01 9.41490238e-01 1.74515694e-02 2.04050819e+01] [-5.01364522e-02 -5.88730224e-04 9.98742204e-01 -8.28665949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.953201008 meters 0.06048137351423682 Centerline is valid? [True, True] Translation: X:106.76, Y:20.42, Z:-8.30 [[ 9.39653258e-01 -3.38910588e-01 4.68120462e-02 1.06757498e+02] [ 3.38464155e-01 9.40818452e-01 1.73969985e-02 2.04216113e+01] [-4.99376638e-02 -5.02946614e-04 9.98752210e-01 -8.29659770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.013201008 meters 0.060563630894235 Centerline is valid? [True, True] Translation: X:106.81, Y:20.44, Z:-8.30 [[ 9.39032248e-01 -3.40785168e-01 4.56498313e-02 1.06813259e+02] [ 3.40362853e-01 9.40141114e-01 1.69650805e-02 2.04396637e+01] [-4.86987311e-02 -3.93250820e-04 9.98813436e-01 -8.30271285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.073201008 meters 0.06087632569115452 Centerline is valid? [True, True] Translation: X:106.87, Y:20.45, Z:-8.31 [[ 9.38070969e-01 -3.43850185e-01 4.23073077e-02 1.06871085e+02] [ 3.43489919e-01 9.39024492e-01 1.57377961e-02 2.04517939e+01] [-4.51390422e-02 -2.31035919e-04 9.98980687e-01 -8.30955495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13320100799999 meters 0.06077733343366311 Centerline is valid? [True, True] Translation: X:106.93, Y:20.47, Z:-8.31 [[ 9.37746893e-01 -3.44751106e-01 4.21596966e-02 1.06926735e+02] [ 3.44394397e-01 9.38694115e-01 1.56798830e-02 2.04690585e+01] [-4.49807161e-02 -1.84198282e-04 9.98987838e-01 -8.31211153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19320100799999 meters 0.061309672748924286 Centerline is valid? [True, True] Translation: X:106.98, Y:20.49, Z:-8.32 [[ 9.37671238e-01 -3.44987814e-01 4.19053528e-02 1.06979651e+02] [ 3.44634785e-01 9.38607145e-01 1.56042531e-02 2.04906652e+01] [-4.47159408e-02 -1.89617080e-04 9.98999724e-01 -8.32129073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25320100799999 meters 0.06134076612246239 Centerline is valid? [True, True] Translation: X:107.03, Y:20.51, Z:-8.32 [[ 9.37991456e-01 -3.44099952e-01 4.20387020e-02 1.07032864e+02] [ 3.43743871e-01 9.38932995e-01 1.56518827e-02 2.05131618e+01] [-4.48573364e-02 -2.30786075e-04 9.98993376e-01 -8.32467061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.313201008 meters 0.06126822077884511 Centerline is valid? [True, True] Translation: X:107.09, Y:20.53, Z:-8.33 [[ 9.37742842e-01 -3.44566572e-01 4.37291708e-02 1.07087635e+02] [ 3.44181054e-01 9.38761857e-01 1.62965560e-02 2.05333270e+01] [-4.66665260e-02 -2.31226636e-04 9.98910497e-01 -8.32853531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.373201008 meters 0.06067759740238754 Centerline is valid? [True, True] Translation: X:107.15, Y:20.55, Z:-8.33 [[ 9.36025319e-01 -3.48957601e-01 4.56639327e-02 1.07145185e+02] [ 3.48541792e-01 9.37138513e-01 1.70301886e-02 2.05472372e+01] [-4.87362437e-02 -2.48988497e-05 9.98811683e-01 -8.32879795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.433201008 meters 0.06075297721400467 Centerline is valid? [True, True] Translation: X:107.20, Y:20.57, Z:-8.34 [[ 9.35625241e-01 -3.50073236e-01 4.53225996e-02 1.07199974e+02] [ 3.49664353e-01 9.36722333e-01 1.69148179e-02 2.05672786e+01] [-4.83761162e-02 2.17668695e-05 9.98829190e-01 -8.33641257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49320100799999 meters 0.060906781732798204 Centerline is valid? [True, True] Translation: X:107.26, Y:20.59, Z:-8.34 [[ 9.35288708e-01 -3.50921047e-01 4.57105116e-02 1.07255588e+02] [ 3.50505527e-01 9.36405049e-01 1.70722071e-02 2.05867932e+01] [-4.87945506e-02 5.43444412e-05 9.98808835e-01 -8.34244154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55320100799999 meters 0.06068334272946446 Centerline is valid? [True, True] Translation: X:107.31, Y:20.61, Z:-8.34 [[ 9.35211061e-01 -3.51160804e-01 4.54572429e-02 1.07310653e+02] [ 3.50749633e-01 9.36315164e-01 1.69884777e-02 2.06067221e+01] [-4.85279933e-02 5.62990193e-05 9.98821821e-01 -8.34462453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61320100799999 meters 0.060777727688368484 Centerline is valid? [True, True] Translation: X:107.37, Y:20.63, Z:-8.35 [[ 9.35543662e-01 -3.50047294e-01 4.71693677e-02 1.07365800e+02] [ 3.49602299e-01 9.36732028e-01 1.76448531e-02 2.06282917e+01] [-5.03615906e-02 -1.70111132e-05 9.98731050e-01 -8.34886669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67320100799999 meters 0.06097822064692842 Centerline is valid? [True, True] Translation: X:107.42, Y:20.65, Z:-8.35 [[ 9.35489614e-01 -3.50068531e-01 4.80750086e-02 1.07419601e+02] [ 3.49605615e-01 9.36724091e-01 1.79969641e-02 2.06513207e+01] [-5.13331895e-02 -2.86800411e-05 9.98681582e-01 -8.35440000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.733201008 meters 0.061251584239843 Centerline is valid? [True, True] Translation: X:107.47, Y:20.67, Z:-8.36 [[ 9.36249508e-01 -3.47956452e-01 4.86124073e-02 1.07472786e+02] [ 3.47479385e-01 9.37510683e-01 1.82152656e-02 2.06740861e+01] [-5.19127704e-02 -1.62224079e-04 9.98651610e-01 -8.35961606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.793201008 meters 0.06155038030565916 Centerline is valid? [True, True] Translation: X:107.53, Y:20.70, Z:-8.36 [[ 9.37079665e-01 -3.45446265e-01 5.04834508e-02 1.07525011e+02] [ 3.44927872e-01 9.38438478e-01 1.89204955e-02 2.06990078e+01] [-5.39116273e-02 -3.16862341e-04 9.98545660e-01 -8.36351887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85320100799998 meters 0.06141265262151577 Centerline is valid? [True, True] Translation: X:107.58, Y:20.72, Z:-8.37 [[ 9.36694425e-01 -3.46020739e-01 5.36022607e-02 1.07579670e+02] [ 3.45436861e-01 9.38226814e-01 2.00952968e-02 2.07209279e+01] [-5.72444677e-02 -3.06955828e-04 9.98360144e-01 -8.36695399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91320100799999 meters 0.06141775140556625 Centerline is valid? [True, True] Translation: X:107.64, Y:20.74, Z:-8.37 [[ 9.35883572e-01 -3.47735900e-01 5.65834272e-02 1.07635501e+02] [ 3.47087391e-01 9.37592498e-01 2.12285399e-02 2.07393116e+01] [-6.04341223e-02 -2.28047623e-04 9.98172162e-01 -8.37114328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97320100799999 meters 0.06132600318392452 Centerline is valid? [True, True] Translation: X:107.69, Y:20.76, Z:-8.37 [[ 9.34529956e-01 -3.50753030e-01 6.02168830e-02 1.07692460e+02] [ 3.50023631e-01 9.36467997e-01 2.26085871e-02 2.07555211e+01] [-6.43212142e-02 -5.10698660e-05 9.97929245e-01 -8.37330675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03320100799999 meters 0.061653847836439096 Centerline is valid? [True, True] Translation: X:107.75, Y:20.77, Z:-8.38 [[ 9.32222248e-01 -3.56766938e-01 6.06550315e-02 1.07749527e+02] [ 3.56038542e-01 9.34193357e-01 2.27887833e-02 2.07692171e+01] [-6.47938119e-02 3.51318137e-04 9.97898611e-01 -8.37911433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.093201008 meters 0.061848699412421375 Centerline is valid? [True, True] Translation: X:107.81, Y:20.78, Z:-8.38 [[ 9.30292076e-01 -3.61721868e-01 6.09421319e-02 1.07807437e+02] [ 3.60996103e-01 9.32285805e-01 2.29126978e-02 2.07829682e+01] [-6.51035083e-02 6.84370941e-04 9.97878282e-01 -8.38082476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.153201008 meters 0.06214983726015807 Centerline is valid? [True, True] Translation: X:107.86, Y:20.80, Z:-8.39 [[ 9.29138978e-01 -3.64743362e-01 6.05230474e-02 1.07863615e+02] [ 3.64032883e-01 9.31107682e-01 2.27715810e-02 2.08006141e+01] [-6.46592573e-02 8.74415959e-04 9.97907018e-01 -8.38634857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21320100799998 meters 0.06276966610039075 Centerline is valid? [True, True] Translation: X:107.92, Y:20.82, Z:-8.39 [[ 9.27889305e-01 -3.67966634e-01 6.01830109e-02 1.07918969e+02] [ 3.67269840e-01 9.29838371e-01 2.26598533e-02 2.08197622e+01] [-6.42985427e-02 1.07756925e-03 9.97930126e-01 -8.39251002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27320100799999 meters 0.06311380112457278 Centerline is valid? [True, True] Translation: X:107.97, Y:20.84, Z:-8.40 [[ 9.27170257e-01 -3.69825178e-01 5.98719651e-02 1.07973862e+02] [ 3.69138402e-01 9.29100605e-01 2.25589546e-02 2.08400553e+01] [-6.39699483e-02 1.18504981e-03 9.97951122e-01 -8.39790570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33320100799999 meters 0.06349132819964091 Centerline is valid? [True, True] Translation: X:108.03, Y:20.86, Z:-8.40 [[ 9.27153195e-01 -3.69735928e-01 6.06819258e-02 1.08027385e+02] [ 3.69029042e-01 9.29136135e-01 2.28825112e-02 2.08612307e+01] [-6.48422565e-02 1.17779958e-03 9.97894831e-01 -8.40379949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39320100799999 meters 0.06288058231380568 Centerline is valid? [True, True] Translation: X:108.08, Y:20.89, Z:-8.41 [[ 9.28163644e-01 -3.67171659e-01 6.08047875e-02 1.08080366e+02] [ 3.66456145e-01 9.30152664e-01 2.29328439e-02 2.08886883e+01] [-6.49780255e-02 9.96856030e-04 9.97886197e-01 -8.40592821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.453201008 meters 0.0626053793202334 Centerline is valid? [True, True] Translation: X:108.13, Y:20.91, Z:-8.41 [[ 9.28813683e-01 -3.65274388e-01 6.22877526e-02 1.08132932e+02] [ 3.64517993e-01 9.30899494e-01 2.35109383e-02 2.09126616e+01] [-6.65715809e-02 8.67725376e-04 9.97781274e-01 -8.40971336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.513201008 meters 0.06256065527408133 Centerline is valid? [True, True] Translation: X:108.19, Y:20.94, Z:-8.42 [[ 9.29178030e-01 -3.64360835e-01 6.22042616e-02 1.08185772e+02] [ 3.63604126e-01 9.31257508e-01 2.34838873e-02 2.09382732e+01] [-6.64847944e-02 7.97013997e-04 9.97787120e-01 -8.41628976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.573201008 meters 0.062300668188269535 Centerline is valid? [True, True] Translation: X:108.24, Y:20.97, Z:-8.42 [[ 9.30156508e-01 -3.61683590e-01 6.31969261e-02 1.08238164e+02] [ 3.60895211e-01 9.32300714e-01 2.38752170e-02 2.09664624e+01] [-6.75538135e-02 5.99779524e-04 9.97715452e-01 -8.42000414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63320100799999 meters 0.06191289566277539 Centerline is valid? [True, True] Translation: X:108.29, Y:20.99, Z:-8.42 [[ 9.30929646e-01 -3.59623395e-01 6.35689203e-02 1.08291991e+02] [ 3.58819744e-01 9.33097435e-01 2.40326475e-02 2.09899823e+01] [-6.79586988e-02 4.37079640e-04 9.97688040e-01 -8.42286957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69320100799999 meters 0.061975177078475406 Centerline is valid? [True, True] Translation: X:108.35, Y:21.01, Z:-8.43 [[ 9.31045318e-01 -3.59138156e-01 6.46096035e-02 1.08345880e+02] [ 3.58305568e-01 9.33284325e-01 2.44435899e-02 2.10140351e+01] [-6.90777560e-02 3.91890723e-04 9.97611202e-01 -8.42768478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75320100799999 meters 0.06218981473850645 Centerline is valid? [True, True] Translation: X:108.40, Y:21.04, Z:-8.44 [[ 9.31086135e-01 -3.59410997e-01 6.24687425e-02 1.08398793e+02] [ 3.58632178e-01 9.33179291e-01 2.36510467e-02 2.10357105e+01] [-6.67949832e-02 3.82139482e-04 9.97766648e-01 -8.43569410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.813201008 meters 0.06224917569744927 Centerline is valid? [True, True] Translation: X:108.45, Y:21.06, Z:-8.44 [[ 9.31229275e-01 -3.59265588e-01 6.11577780e-02 1.08451579e+02] [ 3.58518467e-01 9.33235291e-01 2.31603232e-02 2.10590961e+01] [-6.53953039e-02 3.58621776e-04 9.97859372e-01 -8.44318375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.873201008 meters 0.062083811449841535 Centerline is valid? [True, True] Translation: X:108.51, Y:21.08, Z:-8.45 [[ 9.31935048e-01 -3.57601206e-01 6.01535077e-02 1.08505207e+02] [ 3.56874773e-01 9.33874361e-01 2.27832055e-02 2.10803854e+01] [-6.43231203e-02 2.34801654e-04 9.97929096e-01 -8.44602123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.933201008 meters 0.06202787383666027 Centerline is valid? [True, True] Translation: X:108.56, Y:21.11, Z:-8.45 [[ 9.33869349e-01 -3.52552930e-01 5.99538997e-02 1.08557762e+02] [ 3.51819747e-01 9.35791865e-01 2.27255644e-02 2.11068953e+01] [-6.41163359e-02 -1.29742241e-04 9.97942423e-01 -8.44985103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99320100799999 meters 0.06222943230241749 Centerline is valid? [True, True] Translation: X:108.61, Y:21.13, Z:-8.45 [[ 9.34309554e-01 -3.50953617e-01 6.24276863e-02 1.08611698e+02] [ 3.50153719e-01 9.36392806e-01 2.36830299e-02 2.11309938e+01] [-6.67684813e-02 -2.67994537e-04 9.97768459e-01 -8.45245476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05320100799999 meters 0.06266687896044763 Centerline is valid? [True, True] Translation: X:108.66, Y:21.16, Z:-8.46 [[ 9.35882071e-01 -3.46952996e-01 6.12239183e-02 1.08663412e+02] [ 3.46173952e-01 9.37882352e-01 2.32441253e-02 2.11577071e+01] [-6.54854514e-02 -5.59634373e-04 9.97853367e-01 -8.45773667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11320100799999 meters 0.06296650628839055 Centerline is valid? [True, True] Translation: X:108.72, Y:21.18, Z:-8.46 [[ 9.37116448e-01 -3.43894970e-01 5.95735933e-02 1.08717911e+02] [ 3.43151001e-01 9.39007816e-01 2.26210556e-02 2.11792348e+01] [-6.37193370e-02 -7.55825084e-04 9.97967572e-01 -8.46095489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17320100799999 meters 0.06318693968156501 Centerline is valid? [True, True] Translation: X:108.77, Y:21.20, Z:-8.47 [[ 9.37844921e-01 -3.42205656e-01 5.78117135e-02 1.08771441e+02] [ 3.41500805e-01 9.39624685e-01 2.19693506e-02 2.11995686e+01] [-6.18393491e-02 -8.61097211e-04 9.98085745e-01 -8.46633410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.233201008 meters 0.06307899949117118 Centerline is valid? [True, True] Translation: X:108.83, Y:21.22, Z:-8.47 [[ 9.36947577e-01 -3.44602510e-01 5.81235542e-02 1.08827661e+02] [ 3.43894419e-01 9.38748425e-01 2.20912241e-02 2.12175818e+01] [-6.21760863e-02 -7.09952983e-04 9.98064943e-01 -8.47134763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.293201008 meters 0.0629531549185952 Centerline is valid? [True, True] Translation: X:108.88, Y:21.23, Z:-8.48 [[ 9.36004387e-01 -3.47674926e-01 5.49357280e-02 1.08883601e+02] [ 3.47046918e-01 9.37615009e-01 2.08933389e-02 2.12343694e+01] [-5.87726532e-02 -4.90981794e-04 9.98271273e-01 -8.47902697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35320100799998 meters 0.06313993215468608 Centerline is valid? [True, True] Translation: X:108.94, Y:21.25, Z:-8.48 [[ 9.35893086e-01 -3.48218393e-01 5.33674283e-02 1.08939218e+02] [ 3.47625840e-01 9.37413325e-01 2.03109133e-02 2.12540117e+01] [-5.70999720e-02 -4.56946220e-04 9.98368361e-01 -8.48439234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41320100799999 meters 0.06320066311229774 Centerline is valid? [True, True] Translation: X:108.99, Y:21.27, Z:-8.49 [[ 9.36335852e-01 -3.47202385e-01 5.22080022e-02 1.08993567e+02] [ 3.46632821e-01 9.37790078e-01 1.98861024e-02 2.12723239e+01] [-5.58646486e-02 -5.23063555e-04 9.98438214e-01 -8.48844662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47320100799999 meters 0.06364691269442316 Centerline is valid? [True, True] Translation: X:109.05, Y:21.29, Z:-8.50 [[ 9.36561226e-01 -3.46596805e-01 5.21893095e-02 1.09046527e+02] [ 3.46026359e-01 9.38014038e-01 1.98852652e-02 2.12936930e+01] [-5.58464743e-02 -5.64891624e-04 9.98439208e-01 -8.49548872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53320100799999 meters 0.06339883278744776 Centerline is valid? [True, True] Translation: X:109.10, Y:21.31, Z:-8.50 [[ 9.35651974e-01 -3.49016845e-01 5.23700776e-02 1.09102316e+02] [ 3.48446125e-01 9.37116355e-01 1.99558418e-02 2.13126174e+01] [-5.60417811e-02 -4.23572244e-04 9.98428335e-01 -8.49917584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.593201008 meters 0.0632347860968575 Centerline is valid? [True, True] Translation: X:109.16, Y:21.33, Z:-8.50 [[ 9.34949307e-01 -3.50965255e-01 5.18958835e-02 1.09157802e+02] [ 3.50407121e-01 9.36388429e-01 1.97878575e-02 2.13295788e+01] [-5.55395553e-02 -3.15956508e-04 9.98456438e-01 -8.50238203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.653201008 meters 0.06350650504177119 Centerline is valid? [True, True] Translation: X:109.21, Y:21.35, Z:-8.51 [[ 9.34638669e-01 -3.52315067e-01 4.82146439e-02 1.09213009e+02] [ 3.51834208e-01 9.35881423e-01 1.84025147e-02 2.13470123e+01] [-5.16066727e-02 -2.36140763e-04 9.98667460e-01 -8.50879696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71320100799998 meters 0.06321713508573149 Centerline is valid? [True, True] Translation: X:109.27, Y:21.36, Z:-8.51 [[ 9.32040392e-01 -3.58952988e-01 4.95324084e-02 1.09270581e+02] [ 3.58454587e-01 9.33355632e-01 1.89096290e-02 2.13585571e+01] [-5.30190202e-02 1.30580910e-04 9.98593494e-01 -8.51367580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77320100799999 meters 0.06344455117426023 Centerline is valid? [True, True] Translation: X:109.33, Y:21.38, Z:-8.52 [[ 9.30939686e-01 -3.61840921e-01 4.92183781e-02 1.09326560e+02] [ 3.61352811e-01 9.32239809e-01 1.87905154e-02 2.13780940e+01] [-5.26825088e-02 2.92362833e-04 9.98611270e-01 -8.51841334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83320100799999 meters 0.06360481332912883 Centerline is valid? [True, True] Translation: X:109.38, Y:21.40, Z:-8.52 [[ 9.31003634e-01 -3.61753103e-01 4.86510621e-02 1.09380453e+02] [ 3.61275207e-01 9.32273898e-01 1.85904431e-02 2.13983437e+01] [-5.20812658e-02 2.68652418e-04 9.98642814e-01 -8.52358794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89320100799999 meters 0.06358219803028936 Centerline is valid? [True, True] Translation: X:109.44, Y:21.41, Z:-8.52 [[ 9.29044161e-01 -3.66593951e-01 4.98580208e-02 1.09438676e+02] [ 3.66098917e-01 9.30380874e-01 1.90528949e-02 2.14124975e+01] [-5.33716250e-02 5.51986638e-04 9.98574567e-01 -8.52354239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.953201008 meters 0.06381182488504396 Centerline is valid? [True, True] Translation: X:109.49, Y:21.43, Z:-8.53 [[ 9.28848150e-01 -3.67228518e-01 4.88295935e-02 1.09493739e+02] [ 3.66753926e-01 9.30130580e-01 1.86724593e-02 2.14342768e+01] [-5.22749577e-02 5.64565859e-04 9.98632570e-01 -8.52873510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.013201008 meters 0.06374627824814624 Centerline is valid? [True, True] Translation: X:109.54, Y:21.46, Z:-8.54 [[ 9.30727834e-01 -3.62660427e-01 4.71499110e-02 1.09544224e+02] [ 3.62211521e-01 9.31921313e-01 1.80411002e-02 2.14640316e+01] [-5.04828001e-02 2.86886869e-04 9.98724889e-01 -8.53689705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.073201008 meters 0.06359117729653972 Centerline is valid? [True, True] Translation: X:109.59, Y:21.49, Z:-8.54 [[ 9.33048238e-01 -3.56464847e-01 4.85159683e-02 1.09594527e+02] [ 3.55980103e-01 9.34308733e-01 1.85838108e-02 2.14941049e+01] [-5.19533682e-02 -6.88724729e-05 9.98649509e-01 -8.54145170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13320100799999 meters 0.06360137762774179 Centerline is valid? [True, True] Translation: X:109.65, Y:21.52, Z:-8.54 [[ 9.34756705e-01 -3.51747410e-01 5.00366142e-02 1.09646172e+02] [ 3.51224938e-01 9.36094890e-01 1.91677029e-02 2.15233188e+01] [-5.35812087e-02 -3.43032089e-04 9.98563436e-01 -8.54293491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19320100799999 meters 0.06369895428262803 Centerline is valid? [True, True] Translation: X:109.70, Y:21.55, Z:-8.55 [[ 9.34967185e-01 -3.51173697e-01 5.01337939e-02 1.09698352e+02] [ 3.50647506e-01 9.36310248e-01 1.92209631e-02 2.15472636e+01] [-5.36906817e-02 -3.91679945e-04 9.98557538e-01 -8.54833977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25320100799999 meters 0.0635560429178441 Centerline is valid? [True, True] Translation: X:109.75, Y:21.57, Z:-8.55 [[ 9.34685535e-01 -3.51943804e-01 4.99850842e-02 1.09753116e+02] [ 3.51421676e-01 9.36021066e-01 1.91668672e-02 2.15675529e+01] [-5.35327520e-02 -3.49151478e-04 9.98566033e-01 -8.55170748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.313201008 meters 0.0635305697799581 Centerline is valid? [True, True] Translation: X:109.81, Y:21.59, Z:-8.56 [[ 9.33964943e-01 -3.53894959e-01 4.96774004e-02 1.09808177e+02] [ 3.53381207e-01 9.35285141e-01 1.90637493e-02 2.15864214e+01] [-5.32090992e-02 -2.49813789e-04 9.98583361e-01 -8.55632595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.373201008 meters 0.06319244200129187 Centerline is valid? [True, True] Translation: X:109.86, Y:21.60, Z:-8.56 [[ 9.33094565e-01 -3.56230162e-01 4.93417167e-02 1.09864007e+02] [ 3.55725817e-01 9.34398231e-01 1.89496227e-02 2.16035905e+01] [-5.28552400e-02 -1.29667416e-04 9.98602176e-01 -8.56082114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.433201008 meters 0.063620565999806 Centerline is valid? [True, True] Translation: X:109.92, Y:21.62, Z:-8.57 [[ 9.33128911e-01 -3.56204215e-01 4.88773158e-02 1.09918345e+02] [ 3.55708241e-01 9.34408120e-01 1.87912891e-02 2.16226780e+01] [-5.23648972e-02 -1.48631095e-04 9.98628007e-01 -8.56904901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49320100799999 meters 0.0633909000664975 Centerline is valid? [True, True] Translation: X:109.98, Y:21.64, Z:-8.57 [[ 9.32448731e-01 -3.57921117e-01 4.93136705e-02 1.09975116e+02] [ 3.57418570e-01 9.33751825e-01 1.89603409e-02 2.16390552e+01] [-5.28330362e-02 -5.39241799e-05 9.98603358e-01 -8.57165971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55320100799999 meters 0.06315800702988636 Centerline is valid? [True, True] Translation: X:110.03, Y:21.66, Z:-8.57 [[ 9.31800191e-01 -3.59362475e-01 5.10589468e-02 1.10031313e+02] [ 3.58825087e-01 9.33198056e-01 1.96454946e-02 2.16577409e+01] [-5.47079634e-02 1.55554084e-05 9.98502398e-01 -8.57296580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61320100799999 meters 0.06324662620400273 Centerline is valid? [True, True] Translation: X:110.09, Y:21.68, Z:-8.58 [[ 9.31324694e-01 -3.60410316e-01 5.23327748e-02 1.10085275e+02] [ 3.59846441e-01 9.32793868e-01 2.01528850e-02 2.16776835e+01] [-5.60789991e-02 6.28833234e-05 9.98426333e-01 -8.57793899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67320100799999 meters 0.06327563336895653 Centerline is valid? [True, True] Translation: X:110.14, Y:21.70, Z:-8.58 [[ 9.31262607e-01 -3.60636050e-01 5.18806012e-02 1.10140379e+02] [ 3.60081961e-01 9.32706617e-01 1.99836758e-02 2.16983769e+01] [-5.55962140e-02 7.12186199e-05 9.98453332e-01 -8.58232401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.733201008 meters 0.06370099600842255 Centerline is valid? [True, True] Translation: X:110.19, Y:21.72, Z:-8.59 [[ 9.32338596e-01 -3.58141963e-01 4.97903214e-02 1.10193023e+02] [ 3.57627420e-01 9.33667139e-01 1.91911921e-02 2.17236335e+01] [-5.33607582e-02 -8.63049085e-05 9.98575296e-01 -8.59016012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.793201008 meters 0.06377697032166549 Centerline is valid? [True, True] Translation: X:110.25, Y:21.75, Z:-8.60 [[ 9.32645976e-01 -3.57474062e-01 4.88239488e-02 1.10246504e+02] [ 3.56977531e-01 9.33923057e-01 1.88352487e-02 2.17458177e+01] [-5.23309243e-02 -1.37566184e-04 9.98629789e-01 -8.59700162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85320100799998 meters 0.06384852194256434 Centerline is valid? [True, True] Translation: X:110.30, Y:21.77, Z:-8.60 [[ 9.32523450e-01 -3.57922028e-01 4.78731307e-02 1.10299920e+02] [ 3.57445021e-01 9.33751471e-01 1.84728915e-02 2.17661428e+01] [-5.13134610e-02 -1.14392327e-04 9.98682590e-01 -8.60344832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91320100799999 meters 0.06386917996548265 Centerline is valid? [True, True] Translation: X:110.36, Y:21.78, Z:-8.61 [[ 9.29690212e-01 -3.65385050e-01 4.65819226e-02 1.10357769e+02] [ 3.64942781e-01 9.30856424e-01 1.79745466e-02 2.17803787e+01] [-4.99287125e-02 2.88976359e-04 9.98752742e-01 -8.60850514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97320100799999 meters 0.06415887325010602 Centerline is valid? [True, True] Translation: X:110.41, Y:21.80, Z:-8.62 [[ 9.29591600e-01 -3.65836450e-01 4.49794282e-02 1.10412736e+02] [ 3.65424071e-01 9.30679110e-01 1.73678439e-02 2.18018979e+01] [-4.82152046e-02 2.91563984e-04 9.98836928e-01 -8.61572619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03320100799999 meters 0.06385323938676181 Centerline is valid? [True, True] Translation: X:110.47, Y:21.83, Z:-8.62 [[ 9.30802429e-01 -3.62715747e-01 4.52119906e-02 1.10466485e+02] [ 3.62294832e-01 9.31899819e-01 1.74694647e-02 2.18253672e+01] [-4.84694958e-02 1.19450308e-04 9.98824656e-01 -8.61744448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.093201008 meters 0.06345811098816208 Centerline is valid? [True, True] Translation: X:110.52, Y:21.85, Z:-8.62 [[ 9.30580308e-01 -3.63072637e-01 4.68887044e-02 1.10521725e+02] [ 3.62619670e-01 9.31760830e-01 1.81309526e-02 2.18452618e+01] [-5.02719109e-02 1.30459075e-04 9.98735560e-01 -8.61891119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.153201008 meters 0.06365630806637429 Centerline is valid? [True, True] Translation: X:110.58, Y:21.87, Z:-8.62 [[ 9.30158484e-01 -3.64037987e-01 4.77654609e-02 1.10576385e+02] [ 3.63568478e-01 9.31384085e-01 1.84837092e-02 2.18680012e+01] [-5.12167624e-02 1.73236969e-04 9.98687545e-01 -8.62416149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21320100799998 meters 0.06390023057135455 Centerline is valid? [True, True] Translation: X:110.63, Y:21.89, Z:-8.63 [[ 9.29741120e-01 -3.65121141e-01 4.76235452e-02 1.10630830e+02] [ 3.64654960e-01 9.30959991e-01 1.84460024e-02 2.18863792e+01] [-5.10706407e-02 2.16155072e-04 9.98695020e-01 -8.63072919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27320100799999 meters 0.06367665444475602 Centerline is valid? [True, True] Translation: X:110.69, Y:21.90, Z:-8.63 [[ 9.29294554e-01 -3.66434959e-01 4.62282804e-02 1.10686941e+02] [ 3.65997331e-01 9.30443627e-01 1.79056062e-02 2.19045704e+01] [-4.95740489e-02 2.79844931e-04 9.98770412e-01 -8.63383023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33320100799999 meters 0.06351412562130798 Centerline is valid? [True, True] Translation: X:110.74, Y:21.92, Z:-8.64 [[ 9.28604321e-01 -3.68077175e-01 4.70447419e-02 1.10743593e+02] [ 3.67625390e-01 9.29795172e-01 1.82348677e-02 2.19222952e+01] [-5.04538125e-02 3.61864701e-04 9.98726330e-01 -8.63675906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39320100799999 meters 0.06343820210176973 Centerline is valid? [True, True] Translation: X:110.80, Y:21.94, Z:-8.64 [[ 9.26917535e-01 -3.71882117e-01 5.02749837e-02 1.10798872e+02] [ 3.71370903e-01 9.28279774e-01 1.95016502e-02 2.19436897e+01] [-5.39215655e-02 5.94244519e-04 9.98544997e-01 -8.63899703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.453201008 meters 0.06374864346660804 Centerline is valid? [True, True] Translation: X:110.86, Y:21.96, Z:-8.64 [[ 9.25195303e-01 -3.75965977e-01 5.16065444e-02 1.10855299e+02] [ 3.75432833e-01 9.26633087e-01 2.00327375e-02 2.19612420e+01] [-5.53519593e-02 8.40596541e-04 9.98466551e-01 -8.64246912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.513201008 meters 0.0642515670125405 Centerline is valid? [True, True] Translation: X:110.91, Y:21.98, Z:-8.65 [[ 9.24218002e-01 -3.78496561e-01 5.06106496e-02 1.10908880e+02] [ 3.77986892e-01 9.25602199e-01 1.96590762e-02 2.19849623e+01] [-5.42862213e-02 9.60890074e-04 9.98524954e-01 -8.64744631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.573201008 meters 0.06427462997419345 Centerline is valid? [True, True] Translation: X:110.96, Y:22.01, Z:-8.65 [[ 9.24555244e-01 -3.77700983e-01 5.03941367e-02 1.10961929e+02] [ 3.77193558e-01 9.25927193e-01 1.95921445e-02 2.20072654e+01] [-5.40612738e-02 8.94323784e-04 9.98537220e-01 -8.65262199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63320100799999 meters 0.06368688179312071 Centerline is valid? [True, True] Translation: X:111.01, Y:22.03, Z:-8.66 [[ 9.26281998e-01 -3.73769009e-01 4.79414987e-02 1.11014175e+02] [ 3.73304560e-01 9.27521605e-01 1.86380839e-02 2.20341105e+01] [-5.14331140e-02 6.32658469e-04 9.98676241e-01 -8.65605264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69320100799999 meters 0.06358082529901721 Centerline is valid? [True, True] Translation: X:111.07, Y:22.06, Z:-8.66 [[ 9.28021108e-01 -3.69673684e-01 4.60238072e-02 1.11065966e+02] [ 3.69239712e-01 9.29161573e-01 1.79110769e-02 2.20594493e+01] [-4.93848069e-02 3.71959911e-04 9.98779757e-01 -8.66212727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75320100799999 meters 0.06405703032589696 Centerline is valid? [True, True] Translation: X:111.12, Y:22.09, Z:-8.67 [[ 9.30478743e-01 -3.63484125e-01 4.57012010e-02 1.11115218e+02] [ 3.63048741e-01 9.31600391e-01 1.77854627e-02 2.20946698e+01] [-4.90399901e-02 4.27684672e-05 9.98796815e-01 -8.66846193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.813201008 meters 0.06428027271210672 Centerline is valid? [True, True] Translation: X:111.17, Y:22.13, Z:-8.67 [[ 9.32677383e-01 -3.57829293e-01 4.55092939e-02 1.11166660e+02] [ 3.57390218e-01 9.33786982e-01 1.77230221e-02 2.21251814e+01] [-4.88378026e-02 -2.65285473e-04 9.98806687e-01 -8.67212665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.873201008 meters 0.06476339106703563 Centerline is valid? [True, True] Translation: X:111.22, Y:22.15, Z:-8.67 [[ 9.34352583e-01 -3.53248054e-01 4.69154849e-02 1.11217793e+02] [ 3.52774801e-01 9.35529543e-01 1.82870062e-02 2.21521285e+01] [-5.03506715e-02 -5.35910650e-04 9.98731457e-01 -8.67440310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.933201008 meters 0.06533475910420708 Centerline is valid? [True, True] Translation: X:111.27, Y:22.18, Z:-8.68 [[ 9.36097727e-01 -3.48344385e-01 4.87568910e-02 1.11269827e+02] [ 3.47826367e-01 9.37366253e-01 1.90085796e-02 2.21821101e+01] [-5.23245962e-02 -8.34955884e-04 9.98629781e-01 -8.67625269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99320100799999 meters 0.06499705435298794 Centerline is valid? [True, True] Translation: X:111.33, Y:22.20, Z:-8.68 [[ 9.34805294e-01 -3.51487556e-01 5.09466372e-02 1.11325555e+02] [ 3.50925767e-01 9.36192290e-01 1.98771791e-02 2.22028386e+01] [-5.46824300e-02 -7.02804578e-04 9.98503549e-01 -8.68067649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05320100799999 meters 0.06453094151385443 Centerline is valid? [True, True] Translation: X:111.38, Y:22.22, Z:-8.68 [[ 9.33756704e-01 -3.54297041e-01 5.07151253e-02 1.11381364e+02] [ 3.53743834e-01 9.35132775e-01 1.97987978e-02 2.22217960e+01] [-5.44400313e-02 -5.47097346e-04 9.98516892e-01 -8.68497550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11320100799999 meters 0.06500749265426373 Centerline is valid? [True, True] Translation: X:111.44, Y:22.24, Z:-8.69 [[ 9.32210883e-01 -3.58911457e-01 4.65342382e-02 1.11436180e+02] [ 3.58450950e-01 9.33371574e-01 1.81774741e-02 2.22423231e+01] [-4.99578389e-02 -2.64997290e-04 9.98751292e-01 -8.69455826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17320100799999 meters 0.06589531062404919 Centerline is valid? [True, True] Translation: X:111.49, Y:22.27, Z:-8.70 [[ 9.33814997e-01 -3.55266023e-01 4.21379292e-02 1.11489274e+02] [ 3.54884172e-01 9.34765141e-01 1.64728694e-02 2.22678365e+01] [-4.52413181e-02 -4.28528357e-04 9.98975995e-01 -8.70153171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.233201008 meters 0.06635705884786802 Centerline is valid? [True, True] Translation: X:111.54, Y:22.29, Z:-8.71 [[ 9.34893665e-01 -3.52494811e-01 4.14878609e-02 1.11543243e+02] [ 3.52121785e-01 9.35813602e-01 1.62219180e-02 2.22919961e+01] [-4.45430465e-02 -5.56988673e-04 9.99007311e-01 -8.70570956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.293201008 meters 0.06674844489032711 Centerline is valid? [True, True] Translation: X:111.60, Y:22.31, Z:-8.71 [[ 9.35266649e-01 -3.51619578e-01 4.04965139e-02 1.11596908e+02] [ 3.51262681e-01 9.36142785e-01 1.58497538e-02 2.23145752e+01] [-4.34836030e-02 -5.98832102e-04 9.99053961e-01 -8.71056524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35320100799998 meters 0.06724721659921097 Centerline is valid? [True, True] Translation: X:111.65, Y:22.34, Z:-8.72 [[ 9.35481733e-01 -3.50971325e-01 4.11467665e-02 1.11651093e+02] [ 3.50602339e-01 9.36385991e-01 1.61020740e-02 2.23360452e+01] [-4.41806219e-02 -6.37043532e-04 9.99023356e-01 -8.71589780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41320100799999 meters 0.06670269062973735 Centerline is valid? [True, True] Translation: X:111.71, Y:22.35, Z:-8.72 [[ 9.33896136e-01 -3.54978711e-01 4.27565345e-02 1.11708330e+02] [ 3.54583514e-01 9.34874259e-01 1.67526652e-02 2.23495980e+01] [-4.59188230e-02 -4.84487117e-04 9.98945057e-01 -8.71824630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47320100799999 meters 0.06556007085233659 Centerline is valid? [True, True] Translation: X:111.77, Y:22.36, Z:-8.72 [[ 9.31534044e-01 -3.60830583e-01 4.52284820e-02 1.11767411e+02] [ 3.60395082e-01 9.32631356e-01 1.77239619e-02 2.23619263e+01] [-4.85768480e-02 -2.10351400e-04 9.98819426e-01 -8.71686980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53320100799999 meters 0.06605706650853649 Centerline is valid? [True, True] Translation: X:111.82, Y:22.38, Z:-8.73 [[ 9.30441569e-01 -3.63858139e-01 4.34251199e-02 1.11822916e+02] [ 3.63459952e-01 9.31454375e-01 1.70179547e-02 2.23808438e+01] [-4.66406392e-02 -5.09204511e-05 9.98911732e-01 -8.72647720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.593201008 meters 0.06680352378721455 Centerline is valid? [True, True] Translation: X:111.88, Y:22.40, Z:-8.74 [[ 9.30608820e-01 -3.63683323e-01 4.12512401e-02 1.11875780e+02] [ 3.63323201e-01 9.31522644e-01 1.61807251e-02 2.24022699e+01] [-4.43111241e-02 -7.03928567e-05 9.99017777e-01 -8.73536809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.653201008 meters 0.06739456341684867 Centerline is valid? [True, True] Translation: X:111.93, Y:22.42, Z:-8.74 [[ 9.31694266e-01 -3.61292603e-01 3.75958620e-02 1.11931392e+02] [ 3.60991335e-01 9.32452479e-01 1.47523186e-02 2.24216682e+01] [-4.03862584e-02 -1.72870250e-04 9.99184127e-01 -8.74063287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71320100799998 meters 0.06772973750586081 Centerline is valid? [True, True] Translation: X:111.99, Y:22.44, Z:-8.75 [[ 9.32356488e-01 -3.59668772e-01 3.67389943e-02 1.11985949e+02] [ 3.59380031e-01 9.33080018e-01 1.44108621e-02 2.24430781e+01] [-3.94635586e-02 -2.32799795e-04 9.99220983e-01 -8.74520388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77320100799999 meters 0.06815112822740685 Centerline is valid? [True, True] Translation: X:112.04, Y:22.46, Z:-8.75 [[ 9.31700095e-01 -3.61248753e-01 3.78717880e-02 1.12039968e+02] [ 3.60942774e-01 9.32469466e-01 1.48663576e-02 2.24639400e+01] [-4.06847391e-02 -1.81438594e-04 9.99172017e-01 -8.75363448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83320100799999 meters 0.06823091533830787 Centerline is valid? [True, True] Translation: X:112.09, Y:22.49, Z:-8.76 [[ 9.31813975e-01 -3.60876647e-01 3.86103722e-02 1.12094269e+02] [ 3.60557688e-01 9.32613532e-01 1.51708503e-02 2.24876797e+01] [-4.14833612e-02 -2.15143787e-04 9.99139172e-01 -8.75782840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89320100799999 meters 0.06820783074015599 Centerline is valid? [True, True] Translation: X:112.15, Y:22.51, Z:-8.76 [[ 9.32927692e-01 -3.57865960e-01 3.97224997e-02 1.12148118e+02] [ 3.57525518e-01 9.33772897e-01 1.56102572e-02 2.25104431e+01] [-4.26781733e-02 -3.61433977e-04 9.99088806e-01 -8.76027866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.953201008 meters 0.0683243641785773 Centerline is valid? [True, True] Translation: X:112.20, Y:22.54, Z:-8.76 [[ 9.33706850e-01 -3.55718950e-01 4.06884115e-02 1.12200163e+02] [ 3.55359249e-01 9.34592851e-01 1.60002017e-02 2.25359898e+01] [-4.37186734e-02 -4.80494617e-04 9.99043766e-01 -8.76489792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.013201008 meters 0.06910726267460914 Centerline is valid? [True, True] Translation: X:112.25, Y:22.56, Z:-8.77 [[ 9.34889284e-01 -3.52407767e-01 4.23177455e-02 1.12250703e+02] [ 3.52014641e-01 9.35846308e-01 1.66547670e-02 2.25642875e+01] [-4.54721752e-02 -6.73897243e-04 9.98965378e-01 -8.77119160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.073201008 meters 0.06921417217269564 Centerline is valid? [True, True] Translation: X:112.30, Y:22.59, Z:-8.77 [[ 9.35216200e-01 -3.51443707e-01 4.31042919e-02 1.12303666e+02] [ 3.51034186e-01 9.36208718e-01 1.69775407e-02 2.25871135e+01] [-4.63212637e-02 -7.46591075e-04 9.98926315e-01 -8.77422103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13320100799999 meters 0.06902226233015064 Centerline is valid? [True, True] Translation: X:112.36, Y:22.61, Z:-8.78 [[ 9.35226580e-01 -3.51210337e-01 4.47497841e-02 1.12358355e+02] [ 3.50767687e-01 9.36296240e-01 1.76459603e-02 2.26065032e+01] [-4.80964982e-02 -8.06192794e-04 9.98842368e-01 -8.77708780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19320100799999 meters 0.06823083513393711 Centerline is valid? [True, True] Translation: X:112.41, Y:22.62, Z:-8.78 [[ 9.34197336e-01 -3.53757254e-01 4.61642967e-02 1.12413945e+02] [ 3.53289013e-01 9.35337005e-01 1.82087998e-02 2.26249522e+01] [-4.96206700e-02 -7.01273484e-04 9.98767890e-01 -8.78034041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25320100799999 meters 0.06752929292103818 Centerline is valid? [True, True] Translation: X:112.47, Y:22.64, Z:-8.78 [[ 9.32209520e-01 -3.58992845e-01 4.59298140e-02 1.12471768e+02] [ 3.58535756e-01 9.33340217e-01 1.81149229e-02 2.26394380e+01] [-4.93712703e-02 -4.19423047e-04 9.98780407e-01 -8.78415264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.313201008 meters 0.06753836412939088 Centerline is valid? [True, True] Translation: X:112.53, Y:22.66, Z:-8.79 [[ 9.31228089e-01 -3.61627880e-01 4.51610734e-02 1.12526047e+02] [ 3.61188303e-01 9.32322472e-01 1.78274347e-02 2.26569603e+01] [-4.85515810e-02 -2.89756448e-04 9.98820635e-01 -8.79092078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.373201008 meters 0.06745287093769563 Centerline is valid? [True, True] Translation: X:112.58, Y:22.67, Z:-8.80 [[ 9.30740002e-01 -3.62865287e-01 4.52971551e-02 1.12580712e+02] [ 3.62424225e-01 9.31841580e-01 1.78871807e-02 2.26744817e+01] [-4.87004095e-02 -2.31528281e-04 9.98813404e-01 -8.79768411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.433201008 meters 0.06702305339720208 Centerline is valid? [True, True] Translation: X:112.64, Y:22.70, Z:-8.80 [[ 9.30465257e-01 -3.63280386e-01 4.75580381e-02 1.12636003e+02] [ 3.62794488e-01 9.31679833e-01 1.87842717e-02 2.26954981e+01] [-5.11328224e-02 -2.24318112e-04 9.98691836e-01 -8.79682036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49320100799999 meters 0.06673858081441572 Centerline is valid? [True, True] Translation: X:112.69, Y:22.72, Z:-8.80 [[ 9.30105265e-01 -3.64039693e-01 4.87780562e-02 1.12691468e+02] [ 3.63528847e-01 9.31383413e-01 1.92799228e-02 2.27160058e+01] [-5.24497296e-02 -2.00127164e-04 9.98623546e-01 -8.80001716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55320100799999 meters 0.06689628276801438 Centerline is valid? [True, True] Translation: X:112.74, Y:22.74, Z:-8.81 [[ 9.29896342e-01 -3.64544597e-01 4.89901056e-02 1.12744483e+02] [ 3.64029092e-01 9.31185911e-01 1.93808781e-02 2.27374731e+01] [-5.26840905e-02 -1.88384014e-04 9.98611211e-01 -8.80750092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61320100799999 meters 0.06680779868584297 Centerline is valid? [True, True] Translation: X:112.80, Y:22.76, Z:-8.81 [[ 9.29740464e-01 -3.64789197e-01 5.01149743e-02 1.12799068e+02] [ 3.64250004e-01 9.31090119e-01 1.98273885e-02 2.27588053e+01] [-5.38943745e-02 -1.79945816e-04 9.98546626e-01 -8.81151543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67320100799999 meters 0.066504840153042 Centerline is valid? [True, True] Translation: X:112.86, Y:22.78, Z:-8.81 [[ 9.29077377e-01 -3.66411629e-01 5.05741567e-02 1.12855798e+02] [ 3.65864159e-01 9.30452851e-01 2.00227168e-02 2.27756505e+01] [-5.43934246e-02 -9.93818979e-05 9.98519577e-01 -8.81406598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.733201008 meters 0.0665132308550298 Centerline is valid? [True, True] Translation: X:112.91, Y:22.80, Z:-8.82 [[ 9.29157061e-01 -3.66198662e-01 5.06527032e-02 1.12909380e+02] [ 3.65648492e-01 9.30536686e-01 2.00662829e-02 2.27982511e+01] [-5.44824445e-02 -1.23643958e-04 9.98514721e-01 -8.81955455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.793201008 meters 0.06647370145266858 Centerline is valid? [True, True] Translation: X:112.96, Y:22.82, Z:-8.82 [[ 9.29147651e-01 -3.66183156e-01 5.09366112e-02 1.12962855e+02] [ 3.65625917e-01 9.30542786e-01 2.01943580e-02 2.28206024e+01] [-5.47935299e-02 -1.39795183e-04 9.98497696e-01 -8.82392751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85320100799998 meters 0.06657864720939925 Centerline is valid? [True, True] Translation: X:113.02, Y:22.84, Z:-8.83 [[ 9.28032687e-01 -3.69261388e-01 4.90036686e-02 1.13018838e+02] [ 3.68749133e-01 9.29325576e-01 1.94435154e-02 2.28383747e+01] [-5.27201021e-02 2.58425248e-05 9.98609328e-01 -8.82968675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91320100799999 meters 0.06640015390594915 Centerline is valid? [True, True] Translation: X:113.07, Y:22.86, Z:-8.83 [[ 9.26867113e-01 -3.72110557e-01 4.95084613e-02 1.13074252e+02] [ 3.71591057e-01 9.28188398e-01 1.96566708e-02 2.28550963e+01] [-5.32676341e-02 1.77779712e-04 9.98580256e-01 -8.83318178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97320100799999 meters 0.06636921824603638 Centerline is valid? [True, True] Translation: X:113.13, Y:22.88, Z:-8.84 [[ 9.26328141e-01 -3.73487530e-01 4.92264056e-02 1.13129097e+02] [ 3.72975040e-01 9.27635169e-01 1.95604835e-02 2.28753106e+01] [-5.29697417e-02 2.40794300e-04 9.98596089e-01 -8.83750436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03320100799999 meters 0.06658669840008197 Centerline is valid? [True, True] Translation: X:113.18, Y:22.89, Z:-8.84 [[ 9.25016023e-01 -3.76784841e-01 4.87702881e-02 1.13183569e+02] [ 3.76285522e-01 9.26300715e-01 1.93956355e-02 2.28926174e+01] [-5.24839342e-02 4.10279677e-04 9.98621684e-01 -8.84453062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.093201008 meters 0.06641977399902052 Centerline is valid? [True, True] Translation: X:113.24, Y:22.91, Z:-8.85 [[ 9.24106975e-01 -3.78840094e-01 5.00647828e-02 1.13239097e+02] [ 3.78316771e-01 9.25461989e-01 1.99130175e-02 2.29134417e+01] [-5.38769029e-02 5.38588567e-04 9.98547440e-01 -8.84575115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.153201008 meters 0.06623537138415575 Centerline is valid? [True, True] Translation: X:113.29, Y:22.93, Z:-8.85 [[ 9.24574477e-01 -3.77787086e-01 4.93857732e-02 1.13292358e+02] [ 3.77275481e-01 9.25892386e-01 1.96596355e-02 2.29325408e+01] [-5.31530679e-02 4.55244102e-04 9.98586273e-01 -8.85230268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21320100799998 meters 0.06590797238051496 Centerline is valid? [True, True] Translation: X:113.34, Y:22.96, Z:-8.86 [[ 9.25788297e-01 -3.74721705e-01 4.99967264e-02 1.13344758e+02] [ 3.74192653e-01 9.27137296e-01 1.99070953e-02 2.29596613e+01] [-5.38134504e-02 2.78651778e-04 9.98550968e-01 -8.85545158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27320100799999 meters 0.06598763771411863 Centerline is valid? [True, True] Translation: X:113.40, Y:22.99, Z:-8.86 [[ 9.26666832e-01 -3.72643211e-01 4.92505853e-02 1.13397096e+02] [ 3.72126268e-01 9.27974685e-01 1.96220329e-02 2.29879348e+01] [-5.30153138e-02 1.44349431e-04 9.98593689e-01 -8.85930276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33320100799999 meters 0.06618581079397697 Centerline is valid? [True, True] Translation: X:113.45, Y:23.01, Z:-8.87 [[ 9.27752088e-01 -3.70045409e-01 4.83989453e-02 1.13449485e+02] [ 3.69541772e-01 9.29013668e-01 1.92998444e-02 2.30121224e+01] [-5.21051005e-02 -2.00389401e-05 9.98641606e-01 -8.86760355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39320100799999 meters 0.06590193796943192 Centerline is valid? [True, True] Translation: X:113.50, Y:23.04, Z:-8.87 [[ 9.29574157e-01 -3.65433755e-01 4.84773937e-02 1.13502794e+02] [ 3.64922156e-01 9.30837307e-01 1.93320497e-02 2.30382860e+01] [-5.21891501e-02 -2.80098814e-04 9.98637178e-01 -8.86725678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.453201008 meters 0.06624235878391745 Centerline is valid? [True, True] Translation: X:113.55, Y:23.06, Z:-8.87 [[ 9.30557588e-01 -3.62924858e-01 4.84574240e-02 1.13554989e+02] [ 3.62409435e-01 9.31818307e-01 1.93402296e-02 2.30639151e+01] [-5.21725649e-02 -4.35769775e-04 9.98637989e-01 -8.87355726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.513201008 meters 0.06637559148997617 Centerline is valid? [True, True] Translation: X:113.61, Y:23.09, Z:-8.88 [[ 9.30616150e-01 -3.62836285e-01 4.79938746e-02 1.13608738e+02] [ 3.62330356e-01 9.31852797e-01 1.91592582e-02 2.30867619e+01] [-5.16749003e-02 -4.40277421e-04 9.98663863e-01 -8.87917622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.573201008 meters 0.06597961828594912 Centerline is valid? [True, True] Translation: X:113.66, Y:23.11, Z:-8.88 [[ 9.30019719e-01 -3.64398422e-01 4.77190937e-02 1.13663279e+02] [ 3.63899718e-01 9.31243072e-01 1.90613999e-02 2.31053684e+01] [-5.13840194e-02 -3.62513076e-04 9.98678903e-01 -8.88393740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63320100799999 meters 0.06526805952896521 Centerline is valid? [True, True] Translation: X:113.72, Y:23.12, Z:-8.89 [[ 9.28445870e-01 -3.68352772e-01 4.80052264e-02 1.13721238e+02] [ 3.67852523e-01 9.29686082e-01 1.91914348e-02 2.31193635e+01] [-5.16990090e-02 -1.59364733e-04 9.98662699e-01 -8.88719858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69320100799999 meters 0.06500000303568722 Centerline is valid? [True, True] Translation: X:113.78, Y:23.13, Z:-8.89 [[ 9.26124995e-01 -3.74278604e-01 4.69895779e-02 1.13778547e+02] [ 3.73806315e-01 9.27316290e-01 1.87972495e-02 2.31331840e+01] [-5.06096094e-02 1.56398410e-04 9.98718500e-01 -8.89305937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75320100799999 meters 0.06508542991627196 Centerline is valid? [True, True] Translation: X:113.83, Y:23.15, Z:-8.90 [[ 9.24803496e-01 -3.77496903e-01 4.72713695e-02 1.13833820e+02] [ 3.77022502e-01 9.26010790e-01 1.89222036e-02 2.31507296e+01] [-5.09168715e-02 3.23049918e-04 9.98702843e-01 -8.89846409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.813201008 meters 0.06483134579200327 Centerline is valid? [True, True] Translation: X:113.89, Y:23.17, Z:-8.90 [[ 9.24552282e-01 -3.78180226e-01 4.67203877e-02 1.13888900e+02] [ 3.77716951e-01 9.25731926e-01 1.87164620e-02 2.31717299e+01] [-5.03287504e-02 3.42734753e-04 9.98732647e-01 -8.89988558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.873201008 meters 0.06502750325557334 Centerline is valid? [True, True] Translation: X:113.94, Y:23.20, Z:-8.91 [[ 9.24536279e-01 -3.78327252e-01 4.58384049e-02 1.13942550e+02] [ 3.77880889e-01 9.25671853e-01 1.83753798e-02 2.31962282e+01] [-4.93832281e-02 3.32751953e-04 9.98779849e-01 -8.90619292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.933201008 meters 0.06509272794608947 Centerline is valid? [True, True] Translation: X:114.00, Y:23.22, Z:-8.91 [[ 9.23579484e-01 -3.80624358e-01 4.61089413e-02 1.13995695e+02] [ 3.80174765e-01 9.24729637e-01 1.84999132e-02 2.32186834e+01] [-4.96798222e-02 4.43315649e-04 9.98765097e-01 -8.91217094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99320100799999 meters 0.06474860306673683 Centerline is valid? [True, True] Translation: X:114.05, Y:23.24, Z:-8.91 [[ 9.23434510e-01 -3.80958651e-01 4.62516216e-02 1.14048901e+02] [ 3.80506550e-01 9.24591961e-01 1.85599189e-02 2.32414132e+01] [-4.98344392e-02 4.60175411e-04 9.98757386e-01 -8.91367113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05320100799999 meters 0.06449988235756553 Centerline is valid? [True, True] Translation: X:114.10, Y:23.27, Z:-8.92 [[ 9.24984365e-01 -3.77001376e-01 4.76853015e-02 1.14100210e+02] [ 3.76514677e-01 9.26212668e-01 1.91518232e-02 2.32723883e+01] [-5.13869940e-02 2.39078939e-04 9.98678787e-01 -8.91673667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11320100799999 meters 0.06447617259220542 Centerline is valid? [True, True] Translation: X:114.15, Y:23.30, Z:-8.92 [[ 9.27390077e-01 -3.71039890e-01 4.77183967e-02 1.14150987e+02] [ 3.70543703e-01 9.28616922e-01 1.91826974e-02 2.33007674e+01] [-5.14296566e-02 -1.08091808e-04 9.98676614e-01 -8.92287421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17320100799999 meters 0.06545318842070869 Centerline is valid? [True, True] Translation: X:114.20, Y:23.34, Z:-8.93 [[ 9.30856661e-01 -3.62027582e-01 4.94156541e-02 1.14199618e+02] [ 3.61482619e-01 9.32167170e-01 1.98666289e-02 2.33372764e+01] [-5.32559180e-02 -6.30083733e-04 9.98580698e-01 -8.92746343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.233201008 meters 0.06655573811709938 Centerline is valid? [True, True] Translation: X:114.25, Y:23.37, Z:-8.93 [[ 9.33419913e-01 -3.55345504e-01 4.95665049e-02 1.14251400e+02] [ 3.54787017e-01 9.34734463e-01 1.99413341e-02 2.33682538e+01] [-5.34175837e-02 -1.02808591e-03 9.98571732e-01 -8.93149557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.293201008 meters 0.06718770067438956 Centerline is valid? [True, True] Translation: X:114.30, Y:23.39, Z:-8.94 [[ 9.34192723e-01 -3.53480734e-01 4.83252171e-02 1.14304770e+02] [ 3.52946869e-01 9.35441140e-01 1.94520390e-02 2.33936481e+01] [-5.20813172e-02 -1.11571922e-03 9.98642224e-01 -8.93710602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35320100799998 meters 0.06734617514800337 Centerline is valid? [True, True] Translation: X:114.36, Y:23.42, Z:-8.94 [[ 9.34137939e-01 -3.53642309e-01 4.82019481e-02 1.14356918e+02] [ 3.53110545e-01 9.35380065e-01 1.94184814e-02 2.34155609e+01] [-5.19543379e-02 -1.11892403e-03 9.98648835e-01 -8.94410108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41320100799999 meters 0.06698914200787881 Centerline is valid? [True, True] Translation: X:114.41, Y:23.44, Z:-8.95 [[ 9.33782423e-01 -3.54666551e-01 4.75607347e-02 1.14410562e+02] [ 3.54150057e-01 9.34992265e-01 1.91625097e-02 2.34364338e+01] [-5.12652203e-02 -1.04997778e-03 9.98684522e-01 -8.94800359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47320100799999 meters 0.06608663827064086 Centerline is valid? [True, True] Translation: X:114.47, Y:23.45, Z:-8.95 [[ 9.32108264e-01 -3.59103643e-01 4.71036941e-02 1.14467540e+02] [ 3.58601788e-01 9.33297332e-01 1.89959906e-02 2.34525705e+01] [-5.07832814e-02 -8.14850928e-04 9.98709364e-01 -8.95220867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53320100799999 meters 0.06538861092061933 Centerline is valid? [True, True] Translation: X:114.52, Y:23.47, Z:-8.96 [[ 9.30537170e-01 -3.63112526e-01 4.74327911e-02 1.14524142e+02] [ 3.62608565e-01 9.31745098e-01 1.91337757e-02 2.34699700e+01] [-5.11429842e-02 -6.05153147e-04 9.98691158e-01 -8.95529080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.593201008 meters 0.06463291846987913 Centerline is valid? [True, True] Translation: X:114.58, Y:23.48, Z:-8.96 [[ 9.28184373e-01 -3.68903131e-01 4.88287791e-02 1.14581388e+02] [ 3.68376256e-01 9.29467796e-01 1.97116653e-02 2.34846579e+01] [-5.26564727e-02 -3.08696854e-04 9.98612638e-01 -8.95823120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.653201008 meters 0.06428135176234018 Centerline is valid? [True, True] Translation: X:114.64, Y:23.50, Z:-8.96 [[ 9.26751746e-01 -3.72438943e-01 4.91979205e-02 1.14637699e+02] [ 3.71908504e-01 9.28056690e-01 1.98707079e-02 2.35024733e+01] [-5.30590847e-02 -1.18088215e-04 9.98591368e-01 -8.96116451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71320100799998 meters 0.06439860868764995 Centerline is valid? [True, True] Translation: X:114.69, Y:23.52, Z:-8.97 [[ 9.25321738e-01 -3.75996874e-01 4.90513216e-02 1.14691850e+02] [ 3.75473943e-01 9.26620929e-01 1.98235458e-02 2.35220878e+01] [-5.29055724e-02 7.43352584e-05 9.98599517e-01 -8.96553311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77320100799999 meters 0.06450672716738066 Centerline is valid? [True, True] Translation: X:114.75, Y:23.54, Z:-8.97 [[ 9.24504753e-01 -3.78168898e-01 4.77414609e-02 1.14748393e+02] [ 3.77675645e-01 9.25736600e-01 1.93094505e-02 2.35394724e+01] [-5.14982513e-02 1.79108276e-04 9.98673069e-01 -8.96981356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83320100799999 meters 0.06457894217185084 Centerline is valid? [True, True] Translation: X:114.80, Y:23.56, Z:-8.98 [[ 9.25602422e-01 -3.75764174e-01 4.54031102e-02 1.14801707e+02] [ 3.75314423e-01 9.26715320e-01 1.83793173e-02 2.35623597e+01] [-4.89820468e-02 2.85014571e-05 9.98799659e-01 -8.97662039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89320100799999 meters 0.0648752377053895 Centerline is valid? [True, True] Translation: X:114.85, Y:23.59, Z:-8.98 [[ 9.26463836e-01 -3.73833936e-01 4.37372713e-02 1.14854765e+02] [ 3.73414477e-01 9.27495651e-01 1.77043745e-02 2.35876890e+01] [-4.71846249e-02 -7.03324526e-05 9.98886183e-01 -8.98370996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.953201008 meters 0.06601819896763163 Centerline is valid? [True, True] Translation: X:114.91, Y:23.62, Z:-8.99 [[ 9.29322426e-01 -3.66991239e-01 4.09543490e-02 1.14906051e+02] [ 3.66616234e-01 9.30224310e-01 1.65912553e-02 2.36163386e+01] [-4.41855763e-02 -4.04096438e-04 9.99023259e-01 -8.99345562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.013201008 meters 0.06577250194164493 Centerline is valid? [True, True] Translation: X:114.96, Y:23.64, Z:-8.99 [[ 9.29379567e-01 -3.66901539e-01 4.04583983e-02 1.14962125e+02] [ 3.66535401e-01 9.30259693e-01 1.63921715e-02 2.36361431e+01] [-4.36511301e-02 -4.05114030e-04 9.99046753e-01 -8.99407764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.073201008 meters 0.06556546860812766 Centerline is valid? [True, True] Translation: X:115.02, Y:23.66, Z:-9.00 [[ 9.28927080e-01 -3.67876842e-01 4.19655728e-02 1.15017325e+02] [ 3.67483336e-01 9.29874444e-01 1.70151809e-02 2.36561937e+01] [-4.52822047e-02 -3.84213640e-04 9.98974161e-01 -8.99594376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13320100799999 meters 0.06561440722499841 Centerline is valid? [True, True] Translation: X:115.07, Y:23.68, Z:-9.00 [[ 9.28592683e-01 -3.68692380e-01 4.22085028e-02 1.15072254e+02] [ 3.68294615e-01 9.29551398e-01 1.71252732e-02 2.36778070e+01] [-4.55489305e-02 -3.57239089e-04 9.98962045e-01 -9.00094548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19320100799999 meters 0.0656075556784333 Centerline is valid? [True, True] Translation: X:115.13, Y:23.70, Z:-9.00 [[ 9.28834350e-01 -3.67983847e-01 4.30655184e-02 1.15126733e+02] [ 3.67568439e-01 9.29832092e-01 1.74849538e-02 2.36997696e+01] [-4.64778816e-02 -4.11100310e-04 9.98919235e-01 -9.00390936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25320100799999 meters 0.06546736457450862 Centerline is valid? [True, True] Translation: X:115.18, Y:23.72, Z:-9.01 [[ 9.29213061e-01 -3.66996763e-01 4.33181628e-02 1.15180497e+02] [ 3.66574902e-01 9.30222099e-01 1.75979736e-02 2.37214590e+01] [-4.67539116e-02 -4.72915626e-04 9.98906326e-01 -9.00572826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.313201008 meters 0.06588048817820541 Centerline is valid? [True, True] Translation: X:115.23, Y:23.74, Z:-9.01 [[ 9.29681702e-01 -3.65839768e-01 4.30487754e-02 1.15233626e+02] [ 3.65421004e-01 9.30677692e-01 1.75078011e-02 2.37443069e+01] [-4.64695848e-02 -5.45755567e-04 9.98919556e-01 -9.01155635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.373201008 meters 0.06592414264853587 Centerline is valid? [True, True] Translation: X:115.29, Y:23.76, Z:-9.02 [[ 9.28865597e-01 -3.68059108e-01 4.17276290e-02 1.15289378e+02] [ 3.67667947e-01 9.29802299e-01 1.69695268e-02 2.37630634e+01] [-4.50442344e-02 -4.20497976e-04 9.98984905e-01 -9.01856629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.433201008 meters 0.064934979790064 Centerline is valid? [True, True] Translation: X:115.35, Y:23.77, Z:-9.02 [[ 9.24155361e-01 -3.79817579e-01 4.09325702e-02 1.15351553e+02] [ 3.79452206e-01 9.25061397e-01 1.66564209e-02 2.37685471e+01] [-4.41915420e-02 1.38833419e-04 9.99023067e-01 -9.01745099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49320100799999 meters 0.0659583339747285 Centerline is valid? [True, True] Translation: X:115.41, Y:23.78, Z:-9.03 [[ 9.20371659e-01 -3.89085444e-01 3.90963700e-02 1.15410017e+02] [ 3.88759996e-01 9.21201508e-01 1.59200216e-02 2.37817723e+01] [-4.22098837e-02 5.46767930e-04 9.99108616e-01 -9.02614948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55320100799999 meters 0.06793506709272311 Centerline is valid? [True, True] Translation: X:115.47, Y:23.80, Z:-9.04 [[ 9.18647955e-01 -3.93622107e-01 3.38758218e-02 1.15465476e+02] [ 3.93380671e-01 9.19272112e-01 1.37997115e-02 2.38013620e+01] [-3.65729698e-02 6.49016730e-04 9.99330774e-01 -9.03822830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61320100799999 meters 0.06752509902965427 Centerline is valid? [True, True] Translation: X:115.52, Y:23.82, Z:-9.04 [[ 9.19028003e-01 -3.92900381e-01 3.18876292e-02 1.15520023e+02] [ 3.92685799e-01 9.19580859e-01 1.29964120e-02 2.38240116e+01] [-3.44295487e-02 5.77752538e-04 9.99406960e-01 -9.04028275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67320100799999 meters 0.06718452172056084 Centerline is valid? [True, True] Translation: X:115.57, Y:23.85, Z:-9.04 [[ 9.20863674e-01 -3.88466897e-01 3.32199380e-02 1.15573558e+02] [ 3.88230543e-01 9.21462586e-01 1.35553524e-02 2.38482158e+01] [-3.58767357e-02 4.14362955e-04 9.99356137e-01 -9.04437252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.733201008 meters 0.06672401340081932 Centerline is valid? [True, True] Translation: X:115.63, Y:23.87, Z:-9.05 [[ 9.22638966e-01 -3.84156249e-01 3.40780844e-02 1.15626679e+02] [ 3.83904614e-01 9.23268061e-01 1.39045049e-02 2.38743998e+01] [-3.68047094e-02 2.53895792e-04 9.99322445e-01 -9.04783822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.793201008 meters 0.06639456093029515 Centerline is valid? [True, True] Translation: X:115.68, Y:23.90, Z:-9.05 [[ 9.24357982e-01 -3.79941457e-01 3.47391781e-02 1.15678225e+02] [ 3.79676698e-01 9.25010531e-01 1.41817640e-02 2.39043609e+01] [-3.75223457e-02 8.06296286e-05 9.99295786e-01 -9.05175000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85320100799998 meters 0.06641751272192656 Centerline is valid? [True, True] Translation: X:115.73, Y:23.93, Z:-9.06 [[ 9.25068857e-01 -3.78187707e-01 3.49523590e-02 1.15729953e+02] [ 3.77918129e-01 9.25728933e-01 1.42768820e-02 2.39310293e+01] [-3.77557512e-02 2.03122913e-06 9.99286997e-01 -9.05568835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91320100799999 meters 0.06621924292106134 Centerline is valid? [True, True] Translation: X:115.78, Y:23.96, Z:-9.06 [[ 9.25785943e-01 -3.76166939e-01 3.76672618e-02 1.15782131e+02] [ 3.75851489e-01 9.26551900e-01 1.54024309e-02 2.39595085e+01] [-4.06945583e-02 -1.02057549e-04 9.99171628e-01 -9.05769387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97320100799999 meters 0.06617396439720313 Centerline is valid? [True, True] Translation: X:115.83, Y:23.99, Z:-9.06 [[ 9.26551877e-01 -3.74037934e-01 3.99655193e-02 1.15833150e+02] [ 3.73680261e-01 9.27413379e-01 1.63550249e-02 2.39870816e+01] [-4.31819570e-02 -2.19453301e-04 9.99067200e-01 -9.06209918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03320100799999 meters 0.06641056703423619 Centerline is valid? [True, True] Translation: X:115.88, Y:24.02, Z:-9.07 [[ 9.28295279e-01 -3.69685090e-01 4.00101211e-02 1.15884812e+02] [ 3.69322622e-01 9.29157014e-01 1.63720565e-02 2.40163910e+01] [-4.32281898e-02 -4.21459949e-04 9.99065136e-01 -9.06705320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.093201008 meters 0.06607368604574546 Centerline is valid? [True, True] Translation: X:115.94, Y:24.04, Z:-9.07 [[ 9.29663225e-01 -3.66160035e-01 4.06585434e-02 1.15937801e+02] [ 3.65781703e-01 9.30551696e-01 1.66519475e-02 2.40414841e+01] [-4.39321541e-02 -6.08551940e-04 9.99034331e-01 -9.06783023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.153201008 meters 0.06602050188962277 Centerline is valid? [True, True] Translation: X:115.99, Y:24.07, Z:-9.07 [[ 9.29294144e-01 -3.66913051e-01 4.22753753e-02 1.15991113e+02] [ 3.66504649e-01 9.30255048e-01 1.73172504e-02 2.40658927e+01] [-4.56808065e-02 -5.98697763e-04 9.98955908e-01 -9.07250192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21320100799998 meters 0.06532094874015719 Centerline is valid? [True, True] Translation: X:116.05, Y:24.09, Z:-9.08 [[ 9.28074165e-01 -3.69961576e-01 4.25061909e-02 1.16046392e+02] [ 3.69551357e-01 9.29046941e-01 1.74234314e-02 2.40852653e+01] [-4.59362468e-02 -4.62016033e-04 9.98944267e-01 -9.07631191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27320100799999 meters 0.06458178970425757 Centerline is valid? [True, True] Translation: X:116.10, Y:24.10, Z:-9.08 [[ 9.26867771e-01 -3.72695207e-01 4.48822630e-02 1.16101921e+02] [ 3.72240287e-01 9.27953746e-01 1.84123535e-02 2.41047449e+01] [-4.85108599e-02 -3.58830601e-04 9.98822591e-01 -9.07787273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33320100799999 meters 0.0632604534655045 Centerline is valid? [True, True] Translation: X:116.16, Y:24.12, Z:-9.08 [[ 9.23071129e-01 -3.81638803e-01 4.78697606e-02 1.16160479e+02] [ 3.81132529e-01 9.24311535e-01 1.96515254e-02 2.41188701e+01] [-5.17463565e-02 1.04967186e-04 9.98660254e-01 -9.07624845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39320100799999 meters 0.0635727277551932 Centerline is valid? [True, True] Translation: X:116.21, Y:24.14, Z:-9.08 [[ 9.21172909e-01 -3.86268151e-01 4.73010334e-02 1.16214961e+02] [ 3.85779802e-01 9.22386463e-01 1.94205403e-02 2.41396386e+01] [-5.11313691e-02 3.58107686e-04 9.98691872e-01 -9.08279322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.453201008 meters 0.0643635807770491 Centerline is valid? [True, True] Translation: X:116.27, Y:24.16, Z:-9.09 [[ 9.18978161e-01 -3.91687766e-01 4.53853788e-02 1.16269523e+02] [ 3.91244007e-01 9.20097990e-01 1.86497915e-02 2.41609772e+01] [-4.90638910e-02 6.18006408e-04 9.98795451e-01 -9.08987463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.513201008 meters 0.0644353688278311 Centerline is valid? [True, True] Translation: X:116.33, Y:24.18, Z:-9.09 [[ 9.16758362e-01 -3.96816822e-01 4.57221583e-02 1.16325175e+02] [ 3.96372717e-01 9.17897383e-01 1.87900089e-02 2.41793774e+01] [-4.94244410e-02 8.97118292e-04 9.98777463e-01 -9.09060457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.573201008 meters 0.06547087165127156 Centerline is valid? [True, True] Translation: X:116.38, Y:24.20, Z:-9.09 [[ 9.13032455e-01 -4.05097580e-01 4.76202315e-02 1.16382002e+02] [ 4.04626749e-01 9.14272390e-01 1.95752659e-02 2.41986466e+01] [-5.14677557e-02 1.39556635e-03 9.98673682e-01 -9.09109214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63320100799999 meters 0.06616683854248159 Centerline is valid? [True, True] Translation: X:116.44, Y:24.22, Z:-9.10 [[ 9.11836265e-01 -4.07730558e-01 4.80668112e-02 1.16435124e+02] [ 4.07253700e-01 9.13100984e-01 1.97741605e-02 2.42223314e+01] [-5.19523821e-02 1.54459004e-03 9.98648369e-01 -9.09661861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69320100799999 meters 0.06606881536428298 Centerline is valid? [True, True] Translation: X:116.49, Y:24.25, Z:-9.10 [[ 9.11725138e-01 -4.07885540e-01 4.88534397e-02 1.16488581e+02] [ 4.07393099e-01 9.13031706e-01 2.00989229e-02 2.42483438e+01] [-5.28027994e-02 1.57786095e-03 9.98603713e-01 -9.09841508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75320100799999 meters 0.06568091367793398 Centerline is valid? [True, True] Translation: X:116.54, Y:24.28, Z:-9.10 [[ 9.12541437e-01 -4.05963278e-01 4.96179553e-02 1.16540370e+02] [ 4.05451566e-01 9.13888200e-01 2.04300047e-02 2.42779219e+01] [-5.36390955e-02 1.47445183e-03 9.98559299e-01 -9.10178202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.813201008 meters 0.06504157273922884 Centerline is valid? [True, True] Translation: X:116.59, Y:24.31, Z:-9.11 [[ 9.13434659e-01 -4.03947163e-01 4.96368122e-02 1.16592170e+02] [ 4.03431904e-01 9.14781317e-01 2.04411435e-02 2.43057457e+01] [-5.36639704e-02 1.35342472e-03 9.98558134e-01 -9.10634985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.873201008 meters 0.06417083537282355 Centerline is valid? [True, True] Translation: X:116.64, Y:24.34, Z:-9.11 [[ 9.17682761e-01 -3.94265521e-01 4.91228024e-02 1.16640329e+02] [ 3.93746273e-01 9.18996253e-01 2.02425304e-02 2.43433932e+01] [-5.31246031e-02 7.65699198e-04 9.98587598e-01 -9.11343434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.933201008 meters 0.0635501476002815 Centerline is valid? [True, True] Translation: X:116.69, Y:24.38, Z:-9.12 [[ 9.20948248e-01 -3.86435486e-01 5.02189249e-02 1.16689505e+02] [ 3.85880409e-01 9.22316388e-01 2.07072382e-02 2.43779566e+01] [-5.43197491e-02 3.08204534e-04 9.98523545e-01 -9.11841041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99320100799999 meters 0.06358959662971335 Centerline is valid? [True, True] Translation: X:116.74, Y:24.42, Z:-9.12 [[ 9.24960360e-01 -3.76491789e-01 5.19833178e-02 1.16736935e+02] [ 3.75880327e-01 9.26419906e-01 2.14508266e-02 2.44155636e+01] [-5.62344405e-02 -3.01657723e-04 9.98417546e-01 -9.12094449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05320100799999 meters 0.06381182081738551 Centerline is valid? [True, True] Translation: X:116.79, Y:24.44, Z:-9.12 [[ 9.26795770e-01 -3.72039059e-01 5.13472521e-02 1.16788751e+02] [ 3.71435550e-01 9.28216902e-01 2.11899585e-02 2.44442853e+01] [-5.55448795e-02 -5.66569015e-04 9.98456031e-01 -9.12479580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11320100799999 meters 0.06455197982438607 Centerline is valid? [True, True] Translation: X:116.84, Y:24.47, Z:-9.13 [[ 9.28155311e-01 -3.68771173e-01 5.03541604e-02 1.16840155e+02] [ 3.68185283e-01 9.29519901e-01 2.07930668e-02 2.44741027e+01] [-5.44730778e-02 -7.59534517e-04 9.98514951e-01 -9.13254415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17320100799999 meters 0.06495446278027449 Centerline is valid? [True, True] Translation: X:116.89, Y:24.50, Z:-9.14 [[ 9.28452468e-01 -3.68244018e-01 4.87068496e-02 1.16894259e+02] [ 3.67694480e-01 9.29728853e-01 2.01253296e-02 2.44964325e+01] [-5.26951957e-02 -7.76172238e-04 9.98610341e-01 -9.13749542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.233201008 meters 0.06439187793024992 Centerline is valid? [True, True] Translation: X:116.95, Y:24.52, Z:-9.14 [[ 9.27603837e-01 -3.70365365e-01 4.87915659e-02 1.16950467e+02] [ 3.69816011e-01 9.28885916e-01 2.01760436e-02 2.45158690e+01] [-5.27943062e-02 -6.71473186e-04 9.98605182e-01 -9.14003214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.293201008 meters 0.06416874154025431 Centerline is valid? [True, True] Translation: X:117.00, Y:24.53, Z:-9.15 [[ 9.26037630e-01 -3.74213461e-01 4.91792034e-02 1.17004803e+02] [ 3.73660299e-01 9.27342478e-01 2.03447761e-02 2.45344244e+01] [-5.32192534e-02 -4.63712346e-04 9.98582744e-01 -9.14567371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35320100799998 meters 0.06330056199182489 Centerline is valid? [True, True] Translation: X:117.06, Y:24.55, Z:-9.15 [[ 9.22617234e-01 -3.82364597e-01 5.07420421e-02 1.17064469e+02] [ 3.81787842e-01 9.24011534e-01 2.09935492e-02 2.45457614e+01] [-5.49134222e-02 3.68445313e-06 9.98491120e-01 -9.14639892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41320100799999 meters 0.06334142027708048 Centerline is valid? [True, True] Translation: X:117.12, Y:24.56, Z:-9.15 [[ 9.19985604e-01 -3.88806541e-01 4.95576556e-02 1.17120795e+02] [ 3.88264969e-01 9.21319347e-01 2.05176438e-02 2.45618428e+01] [-5.36358211e-02 3.65564678e-04 9.98560496e-01 -9.15288696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47320100799999 meters 0.06379806486141498 Centerline is valid? [True, True] Translation: X:117.18, Y:24.58, Z:-9.16 [[ 9.16620184e-01 -3.96509030e-01 5.08726474e-02 1.17177442e+02] [ 3.95949843e-01 9.18030444e-01 2.10671764e-02 2.45795777e+01] [-5.50559648e-02 8.32417620e-04 9.98482923e-01 -9.15643778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53320100799999 meters 0.06348855715453648 Centerline is valid? [True, True] Translation: X:117.23, Y:24.60, Z:-9.16 [[ 9.15810555e-01 -3.98475993e-01 5.00790308e-02 1.17231636e+02] [ 3.97936387e-01 9.17178297e-01 2.07509794e-02 2.46034736e+01] [-5.42001673e-02 9.24302688e-04 9.98529663e-01 -9.15726049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.593201008 meters 0.06349033190703852 Centerline is valid? [True, True] Translation: X:117.28, Y:24.63, Z:-9.16 [[ 9.16165655e-01 -3.97600449e-01 5.05408335e-02 1.17283694e+02] [ 3.97048561e-01 9.17558246e-01 2.09595946e-02 2.46279935e+01] [-5.47077027e-02 8.64704502e-04 9.98502038e-01 -9.16403835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.653201008 meters 0.0627239002344005 Centerline is valid? [True, True] Translation: X:117.34, Y:24.66, Z:-9.16 [[ 9.16949918e-01 -3.95632061e-01 5.17505577e-02 1.17335588e+02] [ 3.95050181e-01 9.18408781e-01 2.14631092e-02 2.46570943e+01] [-5.60196607e-02 7.63470968e-04 9.98429374e-01 -9.16476870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71320100799998 meters 0.06243652340480067 Centerline is valid? [True, True] Translation: X:117.39, Y:24.69, Z:-9.17 [[ 9.18678538e-01 -3.91664029e-01 5.12740855e-02 1.17387172e+02] [ 3.91085870e-01 9.20108165e-01 2.12792759e-02 2.46863694e+01] [-5.55120316e-02 5.03756260e-04 9.98457891e-01 -9.16925712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77320100799999 meters 0.062229100167020816 Centerline is valid? [True, True] Translation: X:117.44, Y:24.71, Z:-9.17 [[ 9.19811051e-01 -3.89043840e-01 5.09168022e-02 1.17439573e+02] [ 3.88468951e-01 9.21219182e-01 2.11445617e-02 2.47145092e+01] [-5.51316964e-02 3.30595252e-04 9.98479037e-01 -9.17328595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83320100799999 meters 0.06256155784910016 Centerline is valid? [True, True] Translation: X:117.49, Y:24.74, Z:-9.18 [[ 9.20500844e-01 -3.87877010e-01 4.72188577e-02 1.17491932e+02] [ 3.87380500e-01 9.21711111e-01 1.96208218e-02 2.47416268e+01] [-5.11326115e-02 2.30681633e-04 9.98691846e-01 -9.18285617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89320100799999 meters 0.06277921111905065 Centerline is valid? [True, True] Translation: X:117.55, Y:24.76, Z:-9.19 [[ 9.20681452e-01 -3.87665155e-01 4.54025468e-02 1.17545532e+02] [ 3.87205365e-01 9.21800243e-01 1.88763950e-02 2.47647647e+01] [-4.91697992e-02 2.00962885e-04 9.98790414e-01 -9.18979825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.953201008 meters 0.06277421843184605 Centerline is valid? [True, True] Translation: X:117.60, Y:24.79, Z:-9.19 [[ 9.21664757e-01 -3.85355454e-01 4.51137365e-02 1.17596564e+02] [ 3.84897997e-01 9.22768210e-01 1.87713098e-02 2.47892902e+01] [-4.88631485e-02 6.33320522e-05 9.98805481e-01 -9.19427133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.013201008 meters 0.06262542976131219 Centerline is valid? [True, True] Translation: X:117.65, Y:24.82, Z:-9.20 [[ 9.22817588e-01 -3.82412743e-01 4.65638698e-02 1.17648954e+02] [ 3.81921464e-01 9.23991604e-01 1.93781077e-02 2.48159577e+01] [-5.04350600e-02 -9.87172404e-05 9.98727338e-01 -9.19787591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.073201008 meters 0.06296661155383297 Centerline is valid? [True, True] Translation: X:117.70, Y:24.85, Z:-9.20 [[ 9.26162577e-01 -3.73966583e-01 4.87019011e-02 1.17699630e+02] [ 3.73416717e-01 9.27441986e-01 2.02809564e-02 2.48474186e+01] [-5.27525879e-02 -5.97358821e-04 9.98607434e-01 -9.20016598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13320100799999 meters 0.06381939832450254 Centerline is valid? [True, True] Translation: X:117.75, Y:24.88, Z:-9.21 [[ 9.27992326e-01 -3.69333343e-01 4.92252457e-02 1.17751508e+02] [ 3.68764358e-01 9.29296563e-01 2.05120796e-02 2.48757473e+01] [-5.33206466e-02 -8.82536296e-04 9.98577052e-01 -9.20600824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19320100799999 meters 0.06458266360622235 Centerline is valid? [True, True] Translation: X:117.80, Y:24.90, Z:-9.21 [[ 9.29086914e-01 -3.66447591e-01 5.01365051e-02 1.17804981e+02] [ 3.65852392e-01 9.30438067e-01 2.09052856e-02 2.48994946e+01] [-5.43096044e-02 -1.08026692e-03 9.98523560e-01 -9.21137242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25320100799999 meters 0.06420020701467383 Centerline is valid? [True, True] Translation: X:117.86, Y:24.92, Z:-9.21 [[ 9.28550444e-01 -3.67914231e-01 4.93273917e-02 1.17860970e+02] [ 3.67339552e-01 9.29859204e-01 2.05794339e-02 2.49166483e+01] [-5.34389958e-02 -9.89140530e-04 9.98570626e-01 -9.21444418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.313201008 meters 0.06351027663770957 Centerline is valid? [True, True] Translation: X:117.92, Y:24.93, Z:-9.22 [[ 9.26323542e-01 -3.73670103e-01 4.79098097e-02 1.17920753e+02] [ 3.73134881e-01 9.27561442e-01 2.00033167e-02 2.49272739e+01] [-5.19139335e-02 -6.52722079e-04 9.98651349e-01 -9.21820674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.373201008 meters 0.06342279982846234 Centerline is valid? [True, True] Translation: X:117.98, Y:24.94, Z:-9.23 [[ 9.24405183e-01 -3.78422430e-01 4.76604902e-02 1.17977652e+02] [ 3.77898301e-01 9.25632922e-01 1.99140124e-02 2.49408508e+01] [-5.16520278e-02 -3.97797927e-04 9.98665064e-01 -9.22540698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.433201008 meters 0.06361120153842231 Centerline is valid? [True, True] Translation: X:118.04, Y:24.95, Z:-9.23 [[ 9.22355583e-01 -3.83576298e-01 4.61454475e-02 1.18035507e+02] [ 3.83091039e-01 9.23509183e-01 1.92884762e-02 2.49523372e+01] [-5.00143468e-02 -1.12926239e-04 9.98748493e-01 -9.23299496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49320100799999 meters 0.0637414463782314 Centerline is valid? [True, True] Translation: X:118.09, Y:24.97, Z:-9.24 [[ 9.22192971e-01 -3.84153810e-01 4.45642671e-02 1.18091771e+02] [ 3.83701951e-01 9.23269107e-01 1.86270933e-02 2.49706567e+01] [-4.83004800e-02 -7.83782749e-05 9.98832848e-01 -9.23813404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55320100799999 meters 0.06374564305296501 Centerline is valid? [True, True] Translation: X:118.15, Y:24.99, Z:-9.24 [[ 9.22724531e-01 -3.82936579e-01 4.40342653e-02 1.18147729e+02] [ 3.82493473e-01 9.23774623e-01 1.84170989e-02 2.49895828e+01] [-4.77303176e-02 -1.51089849e-04 9.98860247e-01 -9.24108001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61320100799999 meters 0.06408071958015768 Centerline is valid? [True, True] Translation: X:118.20, Y:25.01, Z:-9.25 [[ 9.23985794e-01 -3.79621018e-01 4.62399625e-02 1.18200959e+02] [ 3.79127318e-01 9.25142019e-01 1.93577096e-02 2.50128426e+01] [-5.01271257e-02 -3.55415729e-04 9.98742782e-01 -9.24577295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67320100799999 meters 0.06438028609056523 Centerline is valid? [True, True] Translation: X:118.25, Y:25.04, Z:-9.25 [[ 9.24683161e-01 -3.77831304e-01 4.69527099e-02 1.18254229e+02] [ 3.77319956e-01 9.25874341e-01 1.96559457e-02 2.50364781e+01] [-5.08989410e-02 -4.59327557e-04 9.98703703e-01 -9.25086426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.733201008 meters 0.06527305967739094 Centerline is valid? [True, True] Translation: X:118.31, Y:25.06, Z:-9.26 [[ 9.26597917e-01 -3.73013334e-01 4.77216201e-02 1.18307580e+02] [ 3.72477850e-01 9.27825678e-01 1.99940612e-02 2.50620093e+01] [-5.17353959e-02 -7.51208972e-04 9.98660545e-01 -9.25556544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.793201008 meters 0.06610033904060512 Centerline is valid? [True, True] Translation: X:118.36, Y:25.09, Z:-9.26 [[ 9.27817413e-01 -3.69809011e-01 4.89504211e-02 1.18360593e+02] [ 3.69240182e-01 9.29107289e-01 2.05264217e-02 2.50857229e+01] [-5.30710487e-02 -9.70309080e-04 9.98590267e-01 -9.26041251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85320100799998 meters 0.0668424394124023 Centerline is valid? [True, True] Translation: X:118.41, Y:25.11, Z:-9.27 [[ 9.28573915e-01 -3.67970628e-01 4.84572095e-02 1.18414865e+02] [ 3.67410469e-01 9.29836800e-01 2.03241996e-02 2.51064694e+01] [-5.25360051e-02 -1.06883552e-03 9.98618459e-01 -9.26662943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91320100799999 meters 0.0666210625858975 Centerline is valid? [True, True] Translation: X:118.47, Y:25.12, Z:-9.27 [[ 9.27891173e-01 -3.69706019e-01 4.83262845e-02 1.18470761e+02] [ 3.69151188e-01 9.29148277e-01 2.02701662e-02 2.51249122e+01] [-5.23962864e-02 -9.68802911e-04 9.98625901e-01 -9.27234125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97320100799999 meters 0.06502146650666804 Centerline is valid? [True, True] Translation: X:118.53, Y:25.13, Z:-9.28 [[ 9.22540584e-01 -3.82945164e-01 4.76641640e-02 1.18532595e+02] [ 3.82422137e-01 9.23771047e-01 2.00090358e-02 2.51264994e+01] [-5.16931382e-02 -2.31316090e-04 9.98662989e-01 -9.27868133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03320100799999 meters 0.06473488053653052 Centerline is valid? [True, True] Translation: X:118.59, Y:25.14, Z:-9.28 [[ 9.18997240e-01 -3.91257358e-01 4.85978681e-02 1.18592169e+02] [ 3.90725146e-01 9.20281274e-01 2.04019081e-02 2.51366090e+01] [-5.27061046e-02 2.39111850e-04 9.98610039e-01 -9.27767175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.093201008 meters 0.06480440629227052 Centerline is valid? [True, True] Translation: X:118.65, Y:25.15, Z:-9.28 [[ 9.16434950e-01 -3.96916888e-01 5.10290770e-02 1.18649347e+02] [ 3.96337806e-01 9.17854374e-01 2.14404183e-02 2.51491448e+01] [-5.53473257e-02 5.76003727e-04 9.98466996e-01 -9.28072607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.153201008 meters 0.06483000455502763 Centerline is valid? [True, True] Translation: X:118.70, Y:25.17, Z:-9.28 [[ 9.16360177e-01 -3.97011842e-01 5.16296782e-02 1.18702853e+02] [ 3.96418889e-01 9.17813302e-01 2.16980974e-02 2.51736496e+01] [-5.60008071e-02 5.83707278e-04 9.98430553e-01 -9.28498442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21320100799998 meters 0.06518324802699649 Centerline is valid? [True, True] Translation: X:118.75, Y:25.20, Z:-9.29 [[ 9.16562888e-01 -3.96628879e-01 5.09706219e-02 1.18754611e+02] [ 3.96049415e-01 9.17978891e-01 2.14386688e-02 2.51976355e+01] [-5.52931501e-02 5.36996795e-04 9.98470019e-01 -9.29372178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27320100799999 meters 0.06530491597349472 Centerline is valid? [True, True] Translation: X:118.81, Y:25.22, Z:-9.30 [[ 9.16353488e-01 -3.97319411e-01 4.93312368e-02 1.18809375e+02] [ 3.96777589e-01 9.17680213e-01 2.07502297e-02 2.52195785e+01] [-5.35147690e-02 5.58983861e-04 9.98566902e-01 -9.29880377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33320100799999 meters 0.06563730731647739 Centerline is valid? [True, True] Translation: X:118.86, Y:25.24, Z:-9.30 [[ 9.15795704e-01 -3.98650646e-01 4.89478396e-02 1.18863433e+02] [ 3.98118412e-01 9.17102654e-01 2.06022177e-02 2.52434777e+01] [-5.31032810e-02 6.19613716e-04 9.98588833e-01 -9.30342431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39320100799999 meters 0.06626220714266633 Centerline is valid? [True, True] Translation: X:118.92, Y:25.27, Z:-9.31 [[ 9.15992532e-01 -3.98393081e-01 4.73353336e-02 1.18915836e+02] [ 3.97894157e-01 9.17214603e-01 1.99401870e-02 2.52677669e+01] [-5.13606918e-02 5.69390255e-04 9.98680006e-01 -9.31265174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.453201008 meters 0.0656781538646449 Centerline is valid? [True, True] Translation: X:118.97, Y:25.29, Z:-9.31 [[ 9.16489329e-01 -3.97058804e-01 4.89041417e-02 1.18970384e+02] [ 3.96524274e-01 9.17793030e-01 2.06022888e-02 2.52904800e+01] [-5.30642006e-02 5.09901465e-04 9.98590973e-01 -9.31280888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.513201008 meters 0.06515407238999821 Centerline is valid? [True, True] Translation: X:119.02, Y:25.32, Z:-9.31 [[ 9.17385469e-01 -3.94767674e-01 5.06200025e-02 1.19024514e+02] [ 3.94190495e-01 9.18780901e-01 2.13426816e-02 2.53152331e+01] [-5.49340923e-02 3.74457825e-04 9.98489912e-01 -9.31391603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.573201008 meters 0.0652512615766573 Centerline is valid? [True, True] Translation: X:119.08, Y:25.34, Z:-9.32 [[ 9.19076581e-01 -3.90781287e-01 5.08745919e-02 1.19076394e+02] [ 3.90191901e-01 9.20483551e-01 2.14548952e-02 2.53427721e+01] [-5.52133966e-02 1.32161982e-04 9.98474568e-01 -9.31965332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63320100799999 meters 0.06590248164511328 Centerline is valid? [True, True] Translation: X:119.12, Y:25.38, Z:-9.33 [[ 9.21741300e-01 -3.84768920e-01 4.84340210e-02 1.19124813e+02] [ 3.84225587e-01 9.23012906e-01 2.04419603e-02 2.53756482e+01] [-5.25706575e-02 -2.32608917e-04 9.98617180e-01 -9.33106003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69320100799999 meters 0.06613899974026116 Centerline is valid? [True, True] Translation: X:119.18, Y:25.40, Z:-9.33 [[ 9.22995657e-01 -3.81745496e-01 4.84705410e-02 1.19176341e+02] [ 3.81197122e-01 9.24267392e-01 2.04583125e-02 2.54042202e+01] [-5.26096091e-02 -4.06102835e-04 9.98615073e-01 -9.33320335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75320100799999 meters 0.06661558145844841 Centerline is valid? [True, True] Translation: X:119.23, Y:25.43, Z:-9.34 [[ 9.23917818e-01 -3.79391322e-01 4.93770224e-02 1.19226559e+02] [ 3.78818037e-01 9.25236135e-01 2.08563877e-02 2.54318358e+01] [-5.35981379e-02 -5.64681559e-04 9.98562427e-01 -9.33897809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.813201008 meters 0.06623130198885284 Centerline is valid? [True, True] Translation: X:119.28, Y:25.45, Z:-9.34 [[ 9.22946684e-01 -3.81678127e-01 4.99121843e-02 1.19282414e+02] [ 3.81095145e-01 9.24295196e-01 2.10922082e-02 2.54518500e+01] [-5.41840267e-02 -4.45692518e-04 9.98530867e-01 -9.34090315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.873201008 meters 0.06581490653151784 Centerline is valid? [True, True] Translation: X:119.34, Y:25.47, Z:-9.35 [[ 9.21774342e-01 -3.84405933e-01 5.06373506e-02 1.19337317e+02] [ 3.83809072e-01 9.23164116e-01 2.14151911e-02 2.54704079e+01] [-5.49787116e-02 -3.04899105e-04 9.98487480e-01 -9.34519273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.933201008 meters 0.06573380287601521 Centerline is valid? [True, True] Translation: X:119.39, Y:25.49, Z:-9.35 [[ 9.21146857e-01 -3.86011338e-01 4.98368860e-02 1.19391794e+02] [ 3.85435324e-01 9.22494012e-01 2.10809893e-02 2.54914587e+01] [-5.41117298e-02 -2.09790703e-04 9.98534865e-01 -9.35074839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99320100799999 meters 0.0658087257765325 Centerline is valid? [True, True] Translation: X:119.45, Y:25.51, Z:-9.36 [[ 9.19835808e-01 -3.89213563e-01 4.91415218e-02 1.19447284e+02] [ 3.88657382e-01 9.21147546e-01 2.07999684e-02 2.55110252e+01] [-5.33622221e-02 -3.33405086e-05 9.98575221e-01 -9.35647901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.053201008 meters 0.06572965835402168 Centerline is valid? [True, True] Translation: X:119.50, Y:25.53, Z:-9.36 [[ 9.19148719e-01 -3.90980057e-01 4.79606908e-02 1.19502290e+02] [ 3.90451833e-01 9.20399148e-01 2.03168343e-02 2.55294848e+01] [-5.20864560e-02 5.21474562e-05 9.98642578e-01 -9.36197854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.113201008 meters 0.0655167240611547 Centerline is valid? [True, True] Translation: X:119.56, Y:25.55, Z:-9.37 [[ 9.18409260e-01 -3.92604228e-01 4.88503068e-02 1.19557930e+02] [ 3.92058440e-01 9.19707507e-01 2.06949319e-02 2.55493782e+01] [-5.30529116e-02 1.45758014e-04 9.98591692e-01 -9.36504369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.173201008 meters 0.06562395000124718 Centerline is valid? [True, True] Translation: X:119.61, Y:25.57, Z:-9.37 [[ 9.18833582e-01 -3.91674827e-01 4.83288538e-02 1.19610582e+02] [ 3.91138675e-01 9.20103703e-01 2.04869095e-02 2.55740467e+01] [-5.24917641e-02 7.92234186e-05 9.98621354e-01 -9.37257478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.233201008 meters 0.06595814172314264 Centerline is valid? [True, True] Translation: X:119.66, Y:25.60, Z:-9.38 [[ 9.22192906e-01 -3.83833265e-01 4.72468914e-02 1.19662064e+02] [ 3.83309923e-01 9.23402343e-01 2.00403511e-02 2.56032379e+01] [-5.13200436e-02 -3.70867270e-04 9.98682189e-01 -9.37561058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.293201008 meters 0.06645585525076003 Centerline is valid? [True, True] Translation: X:119.72, Y:25.63, Z:-9.38 [[ 9.23221192e-01 -3.81338771e-01 4.73642492e-02 1.19715029e+02] [ 3.80808875e-01 9.24435216e-01 2.01030341e-02 2.56294982e+01] [-5.14512463e-02 -5.22820630e-04 9.98675371e-01 -9.38092450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.353201008 meters 0.06695811272548631 Centerline is valid? [True, True] Translation: X:119.77, Y:25.66, Z:-9.39 [[ 9.24815007e-01 -3.77399858e-01 4.78178874e-02 1.19767055e+02] [ 3.76853596e-01 9.26050086e-01 2.03126906e-02 2.56560205e+01] [-5.19477653e-02 -7.65138243e-04 9.98649510e-01 -9.38611457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41320100800002 meters 0.06684644849818987 Centerline is valid? [True, True] Translation: X:119.82, Y:25.68, Z:-9.39 [[ 9.24169647e-01 -3.78901496e-01 4.84161150e-02 1.19822065e+02] [ 3.78343445e-01 9.25436750e-01 2.05683767e-02 2.56778615e+01] [-5.25994408e-02 -6.90749648e-04 9.98615452e-01 -9.39186963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47320100800002 meters 0.06620717594741862 Centerline is valid? [True, True] Translation: X:119.88, Y:25.69, Z:-9.40 [[ 9.22340046e-01 -3.83516714e-01 4.69443208e-02 1.19879655e+02] [ 3.82997356e-01 9.23533837e-01 1.99568893e-02 2.56934973e+01] [-5.10084693e-02 -4.27487388e-04 9.98698129e-01 -9.39774976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.533201008 meters 0.06540037552507014 Centerline is valid? [True, True] Translation: X:119.94, Y:25.70, Z:-9.40 [[ 9.18282274e-01 -3.93186645e-01 4.64965261e-02 1.19939751e+02] [ 3.92689288e-01 9.19458673e-01 1.97704754e-02 2.57026537e+01] [-5.05251211e-02 1.03810613e-04 9.98722785e-01 -9.39962875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.593201008 meters 0.06538755984656025 Centerline is valid? [True, True] Translation: X:119.99, Y:25.72, Z:-9.40 [[ 9.17814672e-01 -3.94370707e-01 4.56943526e-02 1.19994266e+02] [ 3.93891028e-01 9.18951426e-01 1.94457105e-02 2.57234603e+01] [-4.96597090e-02 1.51037108e-04 9.98766184e-01 -9.40358969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.653201008 meters 0.06570713264110559 Centerline is valid? [True, True] Translation: X:120.05, Y:25.75, Z:-9.41 [[ 9.17198284e-01 -3.95883497e-01 4.49840469e-02 1.20047380e+02] [ 3.95420441e-01 9.18300716e-01 1.91434207e-02 2.57479234e+01] [-4.88874468e-02 2.29299053e-04 9.98804268e-01 -9.41175912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.713201008 meters 0.06566332531733478 Centerline is valid? [True, True] Translation: X:120.10, Y:25.77, Z:-9.42 [[ 9.17804881e-01 -3.94286048e-01 4.66123589e-02 1.20099636e+02] [ 3.93786120e-01 9.18987755e-01 1.98493832e-02 2.57745342e+01] [-5.06625219e-02 1.37439110e-04 9.98715820e-01 -9.41504520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.773201008 meters 0.06523907433392818 Centerline is valid? [True, True] Translation: X:120.15, Y:25.80, Z:-9.42 [[ 9.18400567e-01 -3.92736936e-01 4.79384778e-02 1.20154547e+02] [ 3.92205312e-01 9.19650856e-01 2.04278203e-02 2.57969492e+01] [-5.21094217e-02 4.08038704e-05 9.98641380e-01 -9.41503847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.833201008 meters 0.06446710438451196 Centerline is valid? [True, True] Translation: X:120.21, Y:25.82, Z:-9.41 [[ 9.18499004e-01 -3.92077831e-01 5.13279099e-02 1.20207579e+02] [ 3.91466215e-01 9.19932049e-01 2.18912887e-02 2.58206810e+01] [-5.58012783e-02 -1.39842848e-05 9.98441895e-01 -9.41370891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.893201008 meters 0.0645083701627112 Centerline is valid? [True, True] Translation: X:120.26, Y:25.85, Z:-9.42 [[ 9.18041210e-01 -3.93129879e-01 5.14707242e-02 1.20259414e+02] [ 3.92516436e-01 9.19482950e-01 2.19534129e-02 2.58455716e+01] [-5.59569959e-02 4.89674580e-05 9.98433179e-01 -9.42086396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.953201008 meters 0.06490123521358089 Centerline is valid? [True, True] Translation: X:120.31, Y:25.87, Z:-9.43 [[ 9.16366640e-01 -3.97284166e-01 4.93707712e-02 1.20313246e+02] [ 3.96724833e-01 9.17695601e-01 2.10758216e-02 2.58657576e+01] [-5.36804297e-02 2.73431170e-04 9.98558129e-01 -9.43083836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.013201008 meters 0.06493962541278049 Centerline is valid? [True, True] Translation: X:120.37, Y:25.89, Z:-9.43 [[ 9.15227909e-01 -4.00130627e-01 4.74695343e-02 1.20368833e+02] [ 3.99617197e-01 9.16458022e-01 2.02679659e-02 2.58857217e+01] [-5.16136694e-02 4.19834183e-04 9.98667038e-01 -9.43484444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.073201008 meters 0.06505378384487093 Centerline is valid? [True, True] Translation: X:120.42, Y:25.91, Z:-9.44 [[ 9.14912660e-01 -4.00969519e-01 4.64571758e-02 1.20421944e+02] [ 4.00478018e-01 9.16091289e-01 1.98521442e-02 2.59074813e+01] [-5.05191187e-02 4.42099593e-04 9.98722996e-01 -9.43922886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13320100800001 meters 0.065136510777619 Centerline is valid? [True, True] Translation: X:120.47, Y:25.93, Z:-9.44 [[ 9.15484673e-01 -3.99755844e-01 4.56407472e-02 1.20474768e+02] [ 3.99279956e-01 9.16621585e-01 1.95035177e-02 2.59329331e+01] [-4.96319392e-02 3.68264034e-04 9.98767508e-01 -9.44471950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19320100800002 meters 0.06486079966289147 Centerline is valid? [True, True] Translation: X:120.53, Y:25.96, Z:-9.45 [[ 9.16911083e-01 -3.96351776e-01 4.66833442e-02 1.20526562e+02] [ 3.95848673e-01 9.18098709e-01 1.99647007e-02 2.59628236e+01] [-5.07729627e-02 1.73684482e-04 9.98710206e-01 -9.44754569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25320100800002 meters 0.06478829073161228 Centerline is valid? [True, True] Translation: X:120.58, Y:25.99, Z:-9.45 [[ 9.17906866e-01 -3.93852394e-01 4.82418496e-02 1.20577802e+02] [ 3.93311277e-01 9.19173700e-01 2.06385304e-02 2.59894793e+01] [-5.24711740e-02 2.98147477e-05 9.98622439e-01 -9.45191078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.313201008 meters 0.0645696021248397 Centerline is valid? [True, True] Translation: X:120.63, Y:26.02, Z:-9.45 [[ 9.19829969e-01 -3.89092160e-01 5.02007857e-02 1.20630232e+02] [ 3.88498798e-01 9.21198798e-01 2.14815996e-02 2.60173177e+01] [-5.46032254e-02 -2.56474177e-04 9.98508098e-01 -9.45155999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.373201008 meters 0.06440752237914345 Centerline is valid? [True, True] Translation: X:120.68, Y:26.04, Z:-9.45 [[ 9.19582368e-01 -3.89775506e-01 4.94299921e-02 1.20684804e+02] [ 3.89200497e-01 9.20909879e-01 2.11652655e-02 2.60386036e+01] [-5.37702701e-02 -2.25027413e-04 9.98553307e-01 -9.45480526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.433201008 meters 0.06453732275759111 Centerline is valid? [True, True] Translation: X:120.74, Y:26.06, Z:-9.46 [[ 9.18194179e-01 -3.93171271e-01 4.83301251e-02 1.20740007e+02] [ 3.92625587e-01 9.19465252e-01 2.07074472e-02 2.60594949e+01] [-5.25794440e-02 -3.78137614e-05 9.98616744e-01 -9.46325005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.493201008 meters 0.0650122924672372 Centerline is valid? [True, True] Translation: X:120.79, Y:26.08, Z:-9.47 [[ 9.18130883e-01 -3.93632656e-01 4.57057335e-02 1.20792307e+02] [ 3.93144446e-01 9.19267824e-01 1.95987896e-02 2.60824561e+01] [-4.97305337e-02 -2.52987658e-05 9.98762671e-01 -9.47361307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.553201008 meters 0.06492396672222771 Centerline is valid? [True, True] Translation: X:120.85, Y:26.10, Z:-9.48 [[ 9.17362991e-01 -3.95396080e-01 4.59029717e-02 1.20847272e+02] [ 3.94905879e-01 9.18510716e-01 1.96827747e-02 2.61015836e+01] [-4.99448633e-02 7.11043152e-05 9.98751974e-01 -9.47783314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.613201008 meters 0.06480380959136221 Centerline is valid? [True, True] Translation: X:120.90, Y:26.12, Z:-9.48 [[ 9.16904265e-01 -3.96510987e-01 4.54489356e-02 1.20901714e+02] [ 3.96030921e-01 9.18029969e-01 1.95060309e-02 2.61206603e+01] [-4.94578405e-02 1.14020947e-04 9.98776206e-01 -9.48166097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.673201008 meters 0.06479570629885728 Centerline is valid? [True, True] Translation: X:120.96, Y:26.14, Z:-9.48 [[ 9.15703729e-01 -3.99292186e-01 4.53037694e-02 1.20957321e+02] [ 3.98818420e-01 9.16823692e-01 1.94469879e-02 2.61408179e+01] [-4.93005994e-02 2.60298410e-04 9.98783952e-01 -9.48351383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.733201008 meters 0.06510368429591423 Centerline is valid? [True, True] Translation: X:121.01, Y:26.16, Z:-9.49 [[ 9.14095959e-01 -4.03059401e-01 4.44037815e-02 1.21012793e+02] [ 4.02608134e-01 9.15173712e-01 1.90726947e-02 2.61611172e+01] [-4.83246024e-02 4.43050484e-04 9.98831586e-01 -9.48942351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.793201008 meters 0.06573840826377816 Centerline is valid? [True, True] Translation: X:121.07, Y:26.18, Z:-9.49 [[ 9.11372451e-01 -4.09219752e-01 4.40391804e-02 1.21070005e+02] [ 4.08782453e-01 9.12435548e-01 1.89282127e-02 2.61783248e+01] [-4.79287122e-02 7.51792533e-04 9.98850476e-01 -9.49271742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.853201008 meters 0.06600208565416706 Centerline is valid? [True, True] Translation: X:121.13, Y:26.20, Z:-9.50 [[ 9.10019518e-01 -4.12338011e-01 4.29166900e-02 1.21125764e+02] [ 4.11925672e-01 9.11030508e-01 1.84568194e-02 2.61985603e+01] [-4.67088620e-02 8.82420479e-04 9.98908156e-01 -9.49655038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91320100800002 meters 0.06671362025338017 Centerline is valid? [True, True] Translation: X:121.18, Y:26.22, Z:-9.50 [[ 9.09970997e-01 -4.12395489e-01 4.33906235e-02 1.21179709e+02] [ 4.11973267e-01 9.11004493e-01 1.86772832e-02 2.62194687e+01] [-4.72314803e-02 8.79990901e-04 9.98883583e-01 -9.50370308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97320100800002 meters 0.06517210967794532 Centerline is valid? [True, True] Translation: X:121.23, Y:26.25, Z:-9.50 [[ 9.11925071e-01 -4.07992874e-01 4.39827144e-02 1.21230188e+02] [ 4.07553908e-01 9.12984873e-01 1.89323332e-02 2.62532173e+01] [-4.78798099e-02 6.60457869e-04 9.98852886e-01 -9.50314605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.033201008 meters 0.0651441061369538 Centerline is valid? [True, True] Translation: X:121.28, Y:26.28, Z:-9.51 [[ 9.13508230e-01 -4.04444202e-01 4.39044469e-02 1.21281262e+02] [ 4.04001939e-01 9.14562560e-01 1.89144441e-02 2.62805097e+01] [-4.78032006e-02 4.58981340e-04 9.98856668e-01 -9.51041111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.093201008 meters 0.06470365408343957 Centerline is valid? [True, True] Translation: X:121.33, Y:26.31, Z:-9.51 [[ 9.16130022e-01 -3.98550136e-01 4.31690997e-02 1.21332118e+02] [ 3.98116040e-01 9.17146535e-01 1.85970945e-02 2.63112359e+01] [-4.70042648e-02 1.48954467e-04 9.98894678e-01 -9.51367082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.153201008 meters 0.06453891531019373 Centerline is valid? [True, True] Translation: X:121.38, Y:26.34, Z:-9.52 [[ 9.17635262e-01 -3.94953959e-01 4.42368166e-02 1.21384958e+02] [ 3.94493302e-01 9.18700913e-01 1.90700352e-02 2.63383584e+01] [-4.81721897e-02 -4.82089361e-05 9.98839045e-01 -9.51765155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.213201008 meters 0.06439524562147132 Centerline is valid? [True, True] Translation: X:121.44, Y:26.36, Z:-9.52 [[ 9.18710611e-01 -3.92349638e-01 4.50840748e-02 1.21437169e+02] [ 3.91867160e-01 9.19816133e-01 1.94527540e-02 2.63636093e+01] [-4.91013404e-02 -2.04483167e-04 9.98793781e-01 -9.52007088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.273201008 meters 0.06459154577243292 Centerline is valid? [True, True] Translation: X:121.49, Y:26.39, Z:-9.53 [[ 9.19075302e-01 -3.91668894e-01 4.35438557e-02 1.21490015e+02] [ 3.91218101e-01 9.20106202e-01 1.87876015e-02 2.63898664e+01] [-4.74234908e-02 -2.32076029e-04 9.98874846e-01 -9.52633973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.333201008 meters 0.06495074817896182 Centerline is valid? [True, True] Translation: X:121.54, Y:26.42, Z:-9.53 [[ 9.19697677e-01 -3.90287195e-01 4.28028971e-02 1.21542749e+02] [ 3.89849586e-01 9.20693114e-01 1.84794601e-02 2.64161260e+01] [-4.66206292e-02 -3.08824860e-04 9.98912620e-01 -9.53281601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.393201008 meters 0.06469943359034894 Centerline is valid? [True, True] Translation: X:121.60, Y:26.44, Z:-9.53 [[ 9.19413130e-01 -3.90986709e-01 4.25310397e-02 1.21597013e+02] [ 3.90554906e-01 9.20396281e-01 1.83725616e-02 2.64382596e+01] [-4.63288382e-02 -2.81268111e-04 9.98926203e-01 -9.53462962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.453201008 meters 0.06433227298600003 Centerline is valid? [True, True] Translation: X:121.65, Y:26.46, Z:-9.54 [[ 9.17895775e-01 -3.94414577e-01 4.36404305e-02 1.21652829e+02] [ 3.93963039e-01 9.18932601e-01 1.88679223e-02 2.64573305e+01] [-4.75443979e-02 -1.26069482e-04 9.98869118e-01 -9.53860547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.513201008 meters 0.0642783448169178 Centerline is valid? [True, True] Translation: X:121.71, Y:26.48, Z:-9.54 [[ 9.16880815e-01 -3.96643562e-01 4.47599927e-02 1.21707234e+02] [ 3.96170544e-01 9.17972704e-01 1.93653205e-02 2.64782509e+01] [-4.87695812e-02 -2.31002087e-05 9.98810056e-01 -9.54382617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.573201008 meters 0.06403052308340282 Centerline is valid? [True, True] Translation: X:121.76, Y:26.50, Z:-9.55 [[ 9.14969746e-01 -4.00948089e-01 4.55081818e-02 1.21763701e+02] [ 4.00463781e-01 9.16100754e-01 1.97020081e-02 2.64960510e+01] [-4.95895622e-02 1.97637227e-04 9.98769661e-01 -9.54614079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63320100800001 meters 0.06409327999363156 Centerline is valid? [True, True] Translation: X:121.82, Y:26.51, Z:-9.55 [[ 9.12510427e-01 -4.06448131e-01 4.60937855e-02 1.21820655e+02] [ 4.05957387e-01 9.13673727e-01 1.99729840e-02 2.65104019e+01] [-5.02326628e-02 4.86556547e-04 9.98737424e-01 -9.55017065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69320100800002 meters 0.06414370617302437 Centerline is valid? [True, True] Translation: X:121.87, Y:26.53, Z:-9.55 [[ 9.11713635e-01 -4.08334238e-01 4.51818315e-02 1.21874855e+02] [ 4.07865051e-01 9.12832304e-01 1.95776806e-02 2.65332705e+01] [-4.92376726e-02 5.78851621e-04 9.98786922e-01 -9.55430203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75320100800002 meters 0.06484322348516554 Centerline is valid? [True, True] Translation: X:121.93, Y:26.56, Z:-9.56 [[ 9.11169962e-01 -4.09786607e-01 4.29445732e-02 1.21926797e+02] [ 4.09363629e-01 9.12181212e-01 1.86240516e-02 2.65564230e+01] [-4.68051198e-02 6.10269909e-04 9.98903853e-01 -9.56459827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.813201008 meters 0.06530938871315793 Centerline is valid? [True, True] Translation: X:121.98, Y:26.58, Z:-9.57 [[ 9.09507749e-01 -4.13638398e-01 4.12180833e-02 1.21982316e+02] [ 4.13252529e-01 9.10440926e-01 1.78792503e-02 2.65767808e+01] [-4.49221744e-02 7.72160490e-04 9.98990191e-01 -9.56746017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.873201008 meters 0.06597991595306849 Centerline is valid? [True, True] Translation: X:122.04, Y:26.60, Z:-9.57 [[ 9.07965652e-01 -4.16960421e-01 4.17418538e-02 1.22036533e+02] [ 4.16567917e-01 9.08924154e-01 1.81122222e-02 2.65975121e+01] [-4.54922589e-02 9.43041500e-04 9.98964246e-01 -9.57299370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.933201008 meters 0.06600853421721804 Centerline is valid? [True, True] Translation: X:122.09, Y:26.62, Z:-9.58 [[ 9.07358475e-01 -4.18327347e-01 4.12653372e-02 1.22089890e+02] [ 4.17945207e-01 9.08295783e-01 1.79045950e-02 2.66231035e+01] [-4.49711135e-02 1.00076394e-03 9.98987786e-01 -9.57722021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.993201008 meters 0.06586110592148475 Centerline is valid? [True, True] Translation: X:122.14, Y:26.65, Z:-9.58 [[ 9.07811024e-01 -4.17319078e-01 4.15202510e-02 1.22142280e+02] [ 4.16930630e-01 9.08759534e-01 1.80266070e-02 2.66496563e+01] [-4.52547710e-02 9.46311854e-04 9.98975030e-01 -9.58146737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.053201008 meters 0.06490325826875971 Centerline is valid? [True, True] Translation: X:122.19, Y:26.68, Z:-9.58 [[ 9.09474106e-01 -4.13414119e-01 4.41091542e-02 1.22194344e+02] [ 4.12970303e-01 9.10542779e-01 1.91670658e-02 2.66792513e+01] [-4.80872075e-02 7.83820739e-04 9.98842834e-01 -9.58166438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.113201008 meters 0.06431090656212571 Centerline is valid? [True, True] Translation: X:122.25, Y:26.71, Z:-9.59 [[ 9.10758563e-01 -4.10338392e-01 4.62735811e-02 1.22246308e+02] [ 4.09845802e-01 9.11933102e-01 2.01105916e-02 2.67072547e+01] [-5.04505582e-02 6.49139483e-04 9.98726349e-01 -9.58511038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.173201008 meters 0.06353259088387703 Centerline is valid? [True, True] Translation: X:122.30, Y:26.74, Z:-9.59 [[ 9.14461765e-01 -4.01888092e-01 4.73882134e-02 1.22295245e+02] [ 4.01359375e-01 9.15688774e-01 2.06087521e-02 2.67429904e+01] [-5.16752671e-02 1.73787901e-04 9.98663926e-01 -9.58686955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.233201008 meters 0.06416262325777339 Centerline is valid? [True, True] Translation: X:122.34, Y:26.78, Z:-9.59 [[ 9.18599188e-01 -3.92404099e-01 4.68460657e-02 1.22343986e+02] [ 3.91874617e-01 9.19792852e-01 2.03812280e-02 2.67790942e+01] [-5.10863538e-02 -3.64395455e-04 9.98694173e-01 -9.59226454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.293201008 meters 0.0644849874145462 Centerline is valid? [True, True] Translation: X:122.40, Y:26.81, Z:-9.60 [[ 9.19962563e-01 -3.89084969e-01 4.77678671e-02 1.22396817e+02] [ 3.88529244e-01 9.21201693e-01 2.07958537e-02 2.68062459e+01] [-5.20951941e-02 -5.72193595e-04 9.98641960e-01 -9.59595450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.353201008 meters 0.06497159746504534 Centerline is valid? [True, True] Translation: X:122.45, Y:26.83, Z:-9.60 [[ 9.20467230e-01 -3.87994953e-01 4.69040988e-02 1.22448697e+02] [ 3.87456878e-01 9.21661277e-01 2.04366943e-02 2.68320110e+01] [-5.11590258e-02 -6.37991770e-04 9.98690316e-01 -9.60416634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41320100800002 meters 0.06476497951200705 Centerline is valid? [True, True] Translation: X:122.50, Y:26.85, Z:-9.61 [[ 9.19687155e-01 -3.89990252e-01 4.56414349e-02 1.22503775e+02] [ 3.89483228e-01 9.20818842e-01 1.98865494e-02 2.68528413e+01] [-4.97830536e-02 -5.12830625e-04 9.98759923e-01 -9.60958425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47320100800002 meters 0.06387647627194243 Centerline is valid? [True, True] Translation: X:122.56, Y:26.87, Z:-9.61 [[ 9.17223846e-01 -3.95716515e-01 4.59222914e-02 1.22561600e+02] [ 3.95209736e-01 9.18372688e-01 2.00217708e-02 2.68681490e+01] [-5.00967236e-02 -2.15508940e-04 9.98744348e-01 -9.61221791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.533201008 meters 0.06382222865580033 Centerline is valid? [True, True] Translation: X:122.62, Y:26.89, Z:-9.62 [[ 9.15470264e-01 -3.99827893e-01 4.52973637e-02 1.22616698e+02] [ 3.99339008e-01 9.16590234e-01 1.97661473e-02 2.68856542e+01] [-4.94221782e-02 -6.31576529e-06 9.98777977e-01 -9.61748227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.593201008 meters 0.06417619627708657 Centerline is valid? [True, True] Translation: X:122.68, Y:26.90, Z:-9.62 [[ 9.11864267e-01 -4.08333027e-01 4.20440097e-02 1.22676031e+02] [ 4.07920790e-01 9.12832933e-01 1.83484482e-02 2.68961996e+01] [-4.58714341e-02 4.19331399e-04 9.98947264e-01 -9.62324323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.653201008 meters 0.06527680330711727 Centerline is valid? [True, True] Translation: X:122.73, Y:26.91, Z:-9.63 [[ 9.08396180e-01 -4.16123950e-01 4.07091836e-02 1.22732837e+02] [ 4.15744854e-01 9.09307568e-01 1.77753392e-02 2.69094251e+01] [-4.44139131e-02 7.77583374e-04 9.99012913e-01 -9.62985976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.713201008 meters 0.06596664234328214 Centerline is valid? [True, True] Translation: X:122.79, Y:26.93, Z:-9.63 [[ 9.05138305e-01 -4.23187023e-01 4.04647075e-02 1.22788678e+02] [ 4.22819569e-01 9.06041662e-01 1.76669028e-02 2.69291709e+01] [-4.41391149e-02 1.11827972e-03 9.99024768e-01 -9.63372398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.773201008 meters 0.06640054946603224 Centerline is valid? [True, True] Translation: X:122.84, Y:26.95, Z:-9.63 [[ 9.03129295e-01 -4.27426284e-01 4.07952018e-02 1.22844763e+02] [ 4.27056589e-01 9.04049232e-01 1.78228921e-02 2.69496041e+01] [-4.44988435e-02 1.32548373e-03 9.99008557e-01 -9.63490992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.833201008 meters 0.0686745890320783 Centerline is valid? [True, True] Translation: X:122.90, Y:26.97, Z:-9.64 [[ 9.01368998e-01 -4.30934248e-01 4.27738532e-02 1.22901043e+02] [ 4.30530982e-01 9.02381987e-01 1.87035525e-02 2.69657910e+01] [-4.66583560e-02 1.55666664e-03 9.98909693e-01 -9.64024763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.893201008 meters 0.06689101452562031 Centerline is valid? [True, True] Translation: X:122.95, Y:27.00, Z:-9.64 [[ 9.01165661e-01 -4.31498928e-01 4.13415828e-02 1.22952075e+02] [ 4.31122875e-01 9.02112145e-01 1.80760596e-02 2.69968533e+01] [-4.50945443e-02 1.53377787e-03 9.98981546e-01 -9.64098400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.953201008 meters 0.06805454666873179 Centerline is valid? [True, True] Translation: X:123.00, Y:27.02, Z:-9.65 [[ 9.03752874e-01 -4.26113249e-01 4.07215121e-02 1.23002706e+02] [ 4.25742231e-01 9.04668990e-01 1.78204994e-02 2.70249408e+01] [-4.44330402e-02 1.23153983e-03 9.99011606e-01 -9.65456234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.013201008 meters 0.06520032109525976 Centerline is valid? [True, True] Translation: X:123.05, Y:27.06, Z:-9.65 [[ 9.06950562e-01 -4.19380334e-01 3.95071235e-02 1.23052116e+02] [ 4.19024685e-01 9.07810207e-01 1.72898969e-02 2.70595416e+01] [-4.31160127e-02 8.73378311e-04 9.99069691e-01 -9.65184562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.073201008 meters 0.06420698330827952 Centerline is valid? [True, True] Translation: X:123.10, Y:27.09, Z:-9.66 [[ 9.11837602e-01 -4.08501703e-01 4.09700546e-02 1.23100158e+02] [ 4.08107515e-01 9.12757487e-01 1.79450735e-02 2.70931373e+01] [-4.47263172e-02 3.57194384e-04 9.98999214e-01 -9.65656958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13320100800001 meters 0.06395209934688066 Centerline is valid? [True, True] Translation: X:123.15, Y:27.13, Z:-9.66 [[ 9.14952899e-01 -4.01482754e-01 4.08997645e-02 1.23150398e+02] [ 4.01082958e-01 9.15866583e-01 1.79126385e-02 2.71256583e+01] [-4.46503431e-02 1.49779605e-05 9.99002676e-01 -9.66259825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19320100800002 meters 0.06486235716800186 Centerline is valid? [True, True] Translation: X:123.20, Y:27.16, Z:-9.67 [[ 9.18987370e-01 -3.92213038e-01 4.03874590e-02 1.23199223e+02] [ 3.91813732e-01 9.19874306e-01 1.76991919e-02 2.71606295e+01] [-4.40932397e-02 -4.40972758e-04 9.99027323e-01 -9.67043673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25320100800002 meters 0.06556045602146741 Centerline is valid? [True, True] Translation: X:123.25, Y:27.19, Z:-9.68 [[ 9.20730852e-01 -3.88190794e-01 3.95298034e-02 1.23251243e+02] [ 3.87804107e-01 9.21578814e-01 1.73339068e-02 2.71883736e+01] [-4.31586923e-02 -6.30042655e-04 9.99068031e-01 -9.67551621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.313201008 meters 0.06623682251681766 Centerline is valid? [True, True] Translation: X:123.30, Y:27.21, Z:-9.68 [[ 9.22546510e-01 -3.83708833e-01 4.09324805e-02 1.23304257e+02] [ 3.83289289e-01 9.23453711e-01 1.79600722e-02 2.72134857e+01] [-4.46906894e-02 -8.80020583e-04 9.99000484e-01 -9.67780245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.373201008 meters 0.06591565215113274 Centerline is valid? [True, True] Translation: X:123.36, Y:27.23, Z:-9.68 [[ 9.21819217e-01 -3.85228723e-01 4.29902585e-02 1.23359972e+02] [ 3.84766893e-01 9.22820725e-01 1.88771484e-02 2.72331162e+01] [-4.69443213e-02 -8.60089943e-04 9.98897137e-01 -9.68075687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.433201008 meters 0.0656715569185615 Centerline is valid? [True, True] Translation: X:123.41, Y:27.25, Z:-9.69 [[ 9.21042855e-01 -3.87084887e-01 4.29575301e-02 1.23414955e+02] [ 3.86625396e-01 9.22043759e-01 1.88708616e-02 2.72532673e+01] [-4.69133479e-02 -7.72400199e-04 9.98898664e-01 -9.68538433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.493201008 meters 0.06511824636977799 Centerline is valid? [True, True] Translation: X:123.47, Y:27.26, Z:-9.69 [[ 9.18778337e-01 -3.92653083e-01 4.08646901e-02 1.23474061e+02] [ 3.92242322e-01 9.19686540e-01 1.79618877e-02 2.72647933e+01] [-4.46354961e-02 -4.74132403e-04 9.99003227e-01 -9.69109395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.553201008 meters 0.06471567423811146 Centerline is valid? [True, True] Translation: X:123.53, Y:27.28, Z:-9.70 [[ 9.16604882e-01 -3.97778331e-01 4.00985036e-02 1.23531549e+02] [ 3.97387261e-01 9.17481524e-01 1.76357133e-02 2.72792743e+01] [-4.38047408e-02 -2.30346387e-04 9.99040085e-01 -9.69563457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.613201008 meters 0.06441656637895224 Centerline is valid? [True, True] Translation: X:123.59, Y:27.29, Z:-9.70 [[ 9.12297784e-01 -4.07597583e-01 3.97110036e-02 1.23592934e+02] [ 4.07222843e-01 9.13161628e-01 1.74756457e-02 2.72863278e+01] [-4.33855956e-02 2.28234947e-04 9.99058376e-01 -9.69816656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.673201008 meters 0.06487707792074057 Centerline is valid? [True, True] Translation: X:123.65, Y:27.30, Z:-9.70 [[ 9.09526614e-01 -4.13814897e-01 3.89688219e-02 1.23650353e+02] [ 4.13459277e-01 9.10360904e-01 1.71595597e-02 2.73016921e+01] [-4.25765734e-02 5.04944725e-04 9.99093079e-01 -9.70321321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.733201008 meters 0.06554121091967091 Centerline is valid? [True, True] Translation: X:123.71, Y:27.32, Z:-9.71 [[ 9.08289433e-01 -4.16633982e-01 3.77681215e-02 1.23705941e+02] [ 4.16301983e-01 9.09074119e-01 1.66404527e-02 2.73217624e+01] [-4.12669998e-02 6.08596526e-04 9.99147969e-01 -9.70892450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.793201008 meters 0.06575895813483407 Centerline is valid? [True, True] Translation: X:123.76, Y:27.34, Z:-9.71 [[ 9.07185167e-01 -4.19068218e-01 3.73751519e-02 1.23760345e+02] [ 4.18744768e-01 9.07954478e-01 1.64767966e-02 2.73435123e+01] [-4.08398383e-02 7.03143867e-04 9.99165458e-01 -9.71192495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.853201008 meters 0.06692835192093653 Centerline is valid? [True, True] Translation: X:123.81, Y:27.36, Z:-9.72 [[ 9.06536106e-01 -4.20544087e-01 3.65371013e-02 1.23814629e+02] [ 4.20235577e-01 9.07271804e-01 1.61224832e-02 2.73634567e+01] [-3.99292968e-02 7.38576682e-04 9.99202235e-01 -9.72003206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91320100800002 meters 0.06561933803179511 Centerline is valid? [True, True] Translation: X:123.87, Y:27.39, Z:-9.72 [[ 9.06286435e-01 -4.21046695e-01 3.69402073e-02 1.23867195e+02] [ 4.20731905e-01 9.07038634e-01 1.62966184e-02 2.73896535e+01] [-4.03678325e-02 7.72519588e-04 9.99184588e-01 -9.71639977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97320100800002 meters 0.06513334199310439 Centerline is valid? [True, True] Translation: X:123.92, Y:27.42, Z:-9.72 [[ 9.07261482e-01 -4.18875757e-01 3.76789476e-02 1.23919425e+02] [ 4.18545800e-01 9.08043304e-01 1.66364431e-02 2.74175238e+01] [-4.11827188e-02 6.76761207e-04 9.99151403e-01 -9.71882107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.033201008 meters 0.06530045801163091 Centerline is valid? [True, True] Translation: X:123.97, Y:27.44, Z:-9.73 [[ 9.07799176e-01 -4.17631928e-01 3.85257001e-02 1.23971089e+02] [ 4.17285138e-01 9.08616085e-01 1.70271508e-02 2.74420301e+01] [-4.21161527e-02 6.18968616e-04 9.99112529e-01 -9.72521435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.093201008 meters 0.06473195742666232 Centerline is valid? [True, True] Translation: X:124.02, Y:27.47, Z:-9.73 [[ 9.08073752e-01 -4.16832701e-01 4.06516986e-02 1.24024014e+02] [ 4.16445754e-01 9.08983016e-01 1.79669494e-02 2.74693168e+01] [-4.44409156e-02 6.13912092e-04 9.99011826e-01 -9.72752644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.153201008 meters 0.06366868169774886 Centerline is valid? [True, True] Translation: X:124.08, Y:27.50, Z:-9.73 [[ 9.08029265e-01 -4.16776101e-01 4.21963953e-02 1.24076133e+02] [ 4.16358626e-01 9.09008961e-01 1.86601940e-02 2.74993858e+01] [-4.61340243e-02 6.24830891e-04 9.98935064e-01 -9.72598419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.213201008 meters 0.06349590937805014 Centerline is valid? [True, True] Translation: X:124.13, Y:27.53, Z:-9.73 [[ 9.08122060e-01 -4.16553131e-01 4.24006257e-02 1.24128625e+02] [ 4.16130864e-01 9.09111171e-01 1.87611993e-02 2.75265888e+01] [-4.63619188e-02 6.06750091e-04 9.98924524e-01 -9.72968354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.273201008 meters 0.06303211149685972 Centerline is valid? [True, True] Translation: X:124.18, Y:27.56, Z:-9.73 [[ 9.10044227e-01 -4.12275345e-01 4.29947031e-02 1.24178901e+02] [ 4.11835787e-01 9.11059215e-01 1.90365692e-02 2.75580747e+01] [-4.70190286e-02 3.82637528e-04 9.98893921e-01 -9.73283677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.333201008 meters 0.06300625537841736 Centerline is valid? [True, True] Translation: X:124.23, Y:27.59, Z:-9.74 [[ 9.11743900e-01 -4.08468564e-01 4.33185028e-02 1.24228674e+02] [ 4.08017252e-01 9.12772372e-01 1.91968658e-02 2.75886187e+01] [-4.73812487e-02 1.72071156e-04 9.98876863e-01 -9.73850826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.393201008 meters 0.06281434487527518 Centerline is valid? [True, True] Translation: X:124.28, Y:27.62, Z:-9.74 [[ 9.14835525e-01 -4.01257334e-01 4.54809189e-02 1.24276906e+02] [ 4.00750842e-01 9.15965342e-01 2.01557813e-02 2.76248856e+01] [-4.97466005e-02 -2.12708209e-04 9.98761849e-01 -9.74185281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.453201008 meters 0.06381143904758217 Centerline is valid? [True, True] Translation: X:124.33, Y:27.66, Z:-9.75 [[ 9.18291825e-01 -3.93310452e-01 4.52439225e-02 1.24325878e+02] [ 3.92798924e-01 9.19405494e-01 2.00634744e-02 2.76600276e+01] [-4.94886851e-02 -6.52360417e-04 9.98774471e-01 -9.74954361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.513201008 meters 0.06488491518237537 Centerline is valid? [True, True] Translation: X:124.38, Y:27.69, Z:-9.75 [[ 9.20148089e-01 -3.88895082e-01 4.56958449e-02 1.24376866e+02] [ 3.88367216e-01 9.21281600e-01 2.02760612e-02 2.76895724e+01] [-4.99840016e-02 -9.10210925e-04 9.98749604e-01 -9.75360422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.573201008 meters 0.06536813026522997 Centerline is valid? [True, True] Translation: X:124.43, Y:27.71, Z:-9.76 [[ 9.20805900e-01 -3.87456812e-01 4.46510216e-02 1.24430444e+02] [ 3.86950562e-01 9.21887339e-01 1.98241456e-02 2.77143723e+01] [-4.88442118e-02 -9.76452338e-04 9.98805932e-01 -9.75875020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63320100800001 meters 0.06474742768923523 Centerline is valid? [True, True] Translation: X:124.49, Y:27.73, Z:-9.76 [[ 9.18985923e-01 -3.91812341e-01 4.41357348e-02 1.24486500e+02] [ 3.91322135e-01 9.20044852e-01 1.96075731e-02 2.77336267e+01] [-4.82893447e-02 -7.47793686e-04 9.98833109e-01 -9.76253956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69320100800002 meters 0.06469715552297521 Centerline is valid? [True, True] Translation: X:124.54, Y:27.75, Z:-9.77 [[ 9.16444418e-01 -3.97932603e-01 4.21814289e-02 1.24541164e+02] [ 3.97490570e-01 9.17414555e-01 1.87558247e-02 2.77513778e+01] [-4.61614110e-02 -4.21950604e-04 9.98933905e-01 -9.77276478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75320100800002 meters 0.06452214602666168 Centerline is valid? [True, True] Translation: X:124.60, Y:27.76, Z:-9.78 [[ 9.10998140e-01 -4.10406754e-01 4.06040150e-02 1.24602534e+02] [ 4.10009548e-01 9.11902547e-01 1.80531097e-02 2.77590874e+01] [-4.44360229e-02 2.01684513e-04 9.99012212e-01 -9.77616459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.813201008 meters 0.06477012218025321 Centerline is valid? [True, True] Translation: X:124.66, Y:27.77, Z:-9.77 [[ 9.05873376e-01 -4.21169601e-01 4.48284827e-02 1.24663045e+02] [ 4.20697618e-01 9.06981558e-01 1.99491323e-02 2.77701937e+01] [-4.90605751e-02 7.87848087e-04 9.98795494e-01 -9.77337332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.873201008 meters 0.0657270173853116 Centerline is valid? [True, True] Translation: X:124.72, Y:27.79, Z:-9.78 [[ 9.03575311e-01 -4.25741494e-01 4.79149067e-02 1.24718018e+02] [ 4.25208182e-01 9.04844170e-01 2.13314231e-02 2.77871915e+01] [-5.24371959e-02 1.09926319e-03 9.98623619e-01 -9.77800393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.933201008 meters 0.06628312211992392 Centerline is valid? [True, True] Translation: X:124.77, Y:27.81, Z:-9.78 [[ 9.01776114e-01 -4.29203305e-01 5.08366256e-02 1.24773314e+02] [ 4.28608153e-01 9.03206859e-01 2.26367124e-02 2.78088736e+01] [-5.56317407e-02 1.37574562e-03 9.98450408e-01 -9.77947511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.993201008 meters 0.06590339610773108 Centerline is valid? [True, True] Translation: X:124.82, Y:27.84, Z:-9.78 [[ 9.01602013e-01 -4.29558592e-01 5.09237292e-02 1.24824584e+02] [ 4.28961227e-01 9.03037922e-01 2.26886963e-02 2.78356315e+01] [-5.57321831e-02 1.38813116e-03 9.98444789e-01 -9.78181302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.053201008 meters 0.06621480016173756 Centerline is valid? [True, True] Translation: X:124.88, Y:27.86, Z:-9.79 [[ 9.02469021e-01 -4.28013824e-01 4.85163122e-02 1.24875555e+02] [ 4.27468376e-01 9.03771372e-01 2.16354998e-02 2.78627397e+01] [-5.31079471e-02 1.21382088e-03 9.98588039e-01 -9.78808899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.113201008 meters 0.06661937210562695 Centerline is valid? [True, True] Translation: X:124.93, Y:27.89, Z:-9.79 [[ 9.02316173e-01 -4.28288559e-01 4.89329464e-02 1.24925445e+02] [ 4.27733875e-01 9.03641179e-01 2.18254804e-02 2.78892442e+01] [-5.35654289e-02 1.23679484e-03 9.98563576e-01 -9.79495283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.173201008 meters 0.06622731565966886 Centerline is valid? [True, True] Translation: X:124.98, Y:27.92, Z:-9.80 [[ 9.02214348e-01 -4.28430936e-01 4.95600972e-02 1.24978047e+02] [ 4.27861932e-01 9.03573656e-01 2.21091767e-02 2.79162799e+01] [-5.42534534e-02 1.25766249e-03 9.98526405e-01 -9.79651225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.233201008 meters 0.06606946296508295 Centerline is valid? [True, True] Translation: X:125.03, Y:27.95, Z:-9.80 [[ 9.02776127e-01 -4.26962679e-01 5.19435815e-02 1.25029215e+02] [ 4.26334241e-01 9.04268436e-01 2.31886015e-02 2.79452212e+01] [-5.68716086e-02 1.21121153e-03 9.98380766e-01 -9.79980012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.293201008 meters 0.0657746118196931 Centerline is valid? [True, True] Translation: X:125.08, Y:27.97, Z:-9.80 [[ 9.03556263e-01 -4.25189801e-01 5.29123098e-02 1.25080393e+02] [ 4.24534006e-01 9.05103530e-01 2.36321172e-02 2.79740690e+01] [-5.79392536e-02 1.11012737e-03 9.98319493e-01 -9.80474187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.353201008 meters 0.06535029247855581 Centerline is valid? [True, True] Translation: X:125.13, Y:28.01, Z:-9.81 [[ 9.05963337e-01 -4.20168609e-01 5.18533659e-02 1.25128909e+02] [ 4.19529649e-01 9.07445737e-01 2.31755886e-02 2.80057274e+01] [-5.67917707e-02 7.57790760e-04 9.98385757e-01 -9.81133314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41320100800002 meters 0.06469050750625871 Centerline is valid? [True, True] Translation: X:125.18, Y:28.04, Z:-9.82 [[ 9.09362653e-01 -4.12924270e-01 5.05283438e-02 1.25177607e+02] [ 4.12306260e-01 9.10765316e-01 2.25851125e-02 2.80405482e+01] [-5.53454041e-02 2.95094609e-04 9.98467225e-01 -9.81709123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47320100800002 meters 0.06438602873337361 Centerline is valid? [True, True] Translation: X:125.23, Y:28.07, Z:-9.82 [[ 9.12378830e-01 -4.06124208e-01 5.12640027e-02 1.25226529e+02] [ 4.05476603e-01 9.13817876e-01 2.29262777e-02 2.80747975e+01] [-5.61568784e-02 -1.31096799e-04 9.98421949e-01 -9.81988092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.533201008 meters 0.06512273569675651 Centerline is valid? [True, True] Translation: X:125.27, Y:28.11, Z:-9.83 [[ 9.16545442e-01 -3.96482667e-01 5.24017915e-02 1.25274112e+02] [ 3.95789295e-01 9.18041899e-01 2.34500770e-02 2.81120540e+01] [-5.74045893e-02 -7.52993087e-04 9.98350713e-01 -9.82548839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.593201008 meters 0.06599517550378933 Centerline is valid? [True, True] Translation: X:125.32, Y:28.14, Z:-9.83 [[ 9.19213020e-01 -3.90164168e-01 5.30975155e-02 1.25323914e+02] [ 3.89440676e-01 9.20744553e-01 2.37787430e-02 2.81425996e+01] [-5.81668616e-02 -1.17939785e-03 9.98306178e-01 -9.83103950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.653201008 meters 0.06636900039616743 Centerline is valid? [True, True] Translation: X:125.38, Y:28.17, Z:-9.83 [[ 9.19750734e-01 -3.88699155e-01 5.45119589e-02 1.25377465e+02] [ 3.87933895e-01 9.21363803e-01 2.44138574e-02 2.81664670e+01] [-5.97149915e-02 -1.30762679e-03 9.98214611e-01 -9.83387320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.713201008 meters 0.06572251657645663 Centerline is valid? [True, True] Translation: X:125.43, Y:28.19, Z:-9.84 [[ 9.19013122e-01 -3.90064993e-01 5.71330273e-02 1.25432659e+02] [ 3.89225849e-01 9.20786418e-01 2.56048993e-02 2.81876859e+01] [-6.25948904e-02 -1.29358746e-03 9.98038179e-01 -9.83532651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.773201008 meters 0.06569099789990673 Centerline is valid? [True, True] Translation: X:125.49, Y:28.21, Z:-9.84 [[ 9.18269291e-01 -3.92083185e-01 5.52475009e-02 1.25486510e+02] [ 3.91301143e-01 9.19929068e-01 2.47775081e-02 2.82089974e+01] [-6.05386263e-02 -1.13401455e-03 9.98165211e-01 -9.84364431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.833201008 meters 0.06536299012691323 Centerline is valid? [True, True] Translation: X:125.54, Y:28.23, Z:-9.85 [[ 9.16432887e-01 -3.96728414e-01 5.25102660e-02 1.25542340e+02] [ 3.96029494e-01 9.17935697e-01 2.35519796e-02 2.82260163e+01] [-5.75447872e-02 -7.88194602e-04 9.98342615e-01 -9.85367958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.893201008 meters 0.06490894691319664 Centerline is valid? [True, True] Translation: X:125.60, Y:28.24, Z:-9.86 [[ 9.15103381e-01 -3.99895724e-01 5.16644221e-02 1.25598707e+02] [ 3.99223419e-01 9.16560450e-01 2.31862552e-02 2.82431627e+01] [-5.66256503e-02 -5.92173271e-04 9.98395305e-01 -9.85705455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.953201008 meters 0.06438632683834972 Centerline is valid? [True, True] Translation: X:125.66, Y:28.26, Z:-9.86 [[ 9.12040128e-01 -4.06946734e-01 5.07657515e-02 1.25657232e+02] [ 4.06307750e-01 9.13451875e-01 2.27965757e-02 2.82561390e+01] [-5.56490629e-02 -1.64873579e-04 9.98450377e-01 -9.85969735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.013201008 meters 0.0646679295184472 Centerline is valid? [True, True] Translation: X:125.71, Y:28.27, Z:-9.87 [[ 9.09518246e-01 -4.12542580e-01 5.08446550e-02 1.25711389e+02] [ 4.11909376e-01 9.10938304e-01 2.28489021e-02 2.82726300e+01] [-5.57424888e-02 1.61896736e-04 9.98445166e-01 -9.86897161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.073201008 meters 0.06446225732546708 Centerline is valid? [True, True] Translation: X:125.77, Y:28.29, Z:-9.87 [[ 9.08920747e-01 -4.13900009e-01 5.04961149e-02 1.25767072e+02] [ 4.13277321e-01 9.10322319e-01 2.26965052e-02 2.82933209e+01] [-5.53618241e-02 2.39574557e-04 9.98466329e-01 -9.86981208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13320100800001 meters 0.06413365738704563 Centerline is valid? [True, True] Translation: X:125.82, Y:28.32, Z:-9.87 [[ 9.09572125e-01 -4.12481662e-01 5.03728973e-02 1.25819894e+02] [ 4.11859095e-01 9.10965893e-01 2.26545094e-02 2.83181010e+01] [-5.52325610e-02 1.40625632e-04 9.98473507e-01 -9.87293544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19320100800002 meters 0.06419820355591138 Centerline is valid? [True, True] Translation: X:125.87, Y:28.34, Z:-9.88 [[ 9.10615186e-01 -4.10026539e-01 5.15579244e-02 1.25871300e+02] [ 4.09369157e-01 9.12073592e-01 2.32089875e-02 2.83431984e+01] [-5.65409221e-02 -2.82324171e-05 9.98400282e-01 -9.87975596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25320100800002 meters 0.06407343300655703 Centerline is valid? [True, True] Translation: X:125.92, Y:28.37, Z:-9.88 [[ 9.10838725e-01 -4.09470621e-01 5.20252548e-02 1.25924290e+02] [ 4.08800254e-01 9.12323302e-01 2.34210603e-02 2.83677951e+01] [-5.70540883e-02 -6.48713517e-05 9.98371087e-01 -9.88334513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.313201008 meters 0.06374863429882088 Centerline is valid? [True, True] Translation: X:125.98, Y:28.39, Z:-9.88 [[ 9.10993302e-01 -4.09125327e-01 5.20352756e-02 1.25977901e+02] [ 4.08453230e-01 9.12478195e-01 2.34414817e-02 2.83897775e+01] [-5.70715582e-02 -1.01056435e-04 9.98370085e-01 -9.88274957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.373201008 meters 0.0635762709955572 Centerline is valid? [True, True] Translation: X:126.03, Y:28.41, Z:-9.89 [[ 9.09605170e-01 -4.12203223e-01 5.20282398e-02 1.26032097e+02] [ 4.11535160e-01 9.11091926e-01 2.34587949e-02 2.84090088e+01] [-5.70723001e-02 7.32088462e-05 9.98370045e-01 -9.88661622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.433201008 meters 0.06372418169537818 Centerline is valid? [True, True] Translation: X:126.09, Y:28.43, Z:-9.89 [[ 9.07947477e-01 -4.15694435e-01 5.31931995e-02 1.26085327e+02] [ 4.15001615e-01 9.09504289e-01 2.39918290e-02 2.84305304e+01] [-5.83527129e-02 2.91943092e-04 9.98295986e-01 -9.89274008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.493201008 meters 0.06373711014181407 Centerline is valid? [True, True] Translation: X:126.14, Y:28.45, Z:-9.89 [[ 9.06123300e-01 -4.19420519e-01 5.50181105e-02 1.26139694e+02] [ 4.18685781e-01 9.07791899e-01 2.48210578e-02 2.84525956e+01] [-6.03554560e-02 5.44361788e-04 9.98176799e-01 -9.89388460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.553201008 meters 0.0637059997161504 Centerline is valid? [True, True] Translation: X:126.19, Y:28.48, Z:-9.90 [[ 9.05044266e-01 -4.21497850e-01 5.68721314e-02 1.26193623e+02] [ 4.20715619e-01 9.06829139e-01 2.56764411e-02 2.84753462e+01] [-6.23958707e-02 6.88678261e-04 9.98051242e-01 -9.89589620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.613201008 meters 0.06375150554013202 Centerline is valid? [True, True] Translation: X:126.25, Y:28.50, Z:-9.90 [[ 9.04386150e-01 -4.23049840e-01 5.58079160e-02 1.26245868e+02] [ 4.22298487e-01 9.06106091e-01 2.52138756e-02 2.85019310e+01] [-6.12346187e-02 7.64518626e-04 9.98123107e-01 -9.90135287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.673201008 meters 0.0638256236690198 Centerline is valid? [True, True] Translation: X:126.30, Y:28.53, Z:-9.91 [[ 9.04321918e-01 -4.23468481e-01 5.36312736e-02 1.26297429e+02] [ 4.22774549e-01 9.05910528e-01 2.42445107e-02 2.85293611e+01] [-5.88519215e-02 7.49095061e-04 9.98266442e-01 -9.90892491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.733201008 meters 0.06395885325403508 Centerline is valid? [True, True] Translation: X:126.35, Y:28.56, Z:-9.92 [[ 9.04761831e-01 -4.23035416e-01 4.94678197e-02 1.26348302e+02] [ 4.22443804e-01 9.06112912e-01 2.23746019e-02 2.85585288e+01] [-5.42886792e-02 6.53688177e-04 9.98525068e-01 -9.91797434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.793201008 meters 0.06410129389131707 Centerline is valid? [True, True] Translation: X:126.40, Y:28.59, Z:-9.92 [[ 9.04825995e-01 -4.23045217e-01 4.81940248e-02 1.26399230e+02] [ 4.22482827e-01 9.06108359e-01 2.18152203e-02 2.85850856e+01] [-5.28978333e-02 6.22169428e-04 9.98599736e-01 -9.92478911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.853201008 meters 0.06378791006028266 Centerline is valid? [True, True] Translation: X:126.45, Y:28.61, Z:-9.93 [[ 9.04698508e-01 -4.23438137e-01 4.71248699e-02 1.26450720e+02] [ 4.22900741e-01 9.05924804e-01 2.13357005e-02 2.86129039e+01] [-5.17259378e-02 6.26765961e-04 9.98661121e-01 -9.92744283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91320100800002 meters 0.06388356704313845 Centerline is valid? [True, True] Translation: X:126.50, Y:28.64, Z:-9.93 [[ 9.03482759e-01 -4.26103591e-01 4.64180253e-02 1.26501465e+02] [ 4.25585494e-01 9.04674055e-01 2.10200135e-02 2.86422151e+01] [-5.09498864e-02 7.63618442e-04 9.98700919e-01 -9.93202694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97320100800002 meters 0.06386291565039878 Centerline is valid? [True, True] Translation: X:126.55, Y:28.67, Z:-9.93 [[ 9.02466000e-01 -4.28132676e-01 4.75134822e-02 1.26553837e+02] [ 4.27592617e-01 9.03715444e-01 2.15162674e-02 2.86677867e+01] [-5.21504848e-02 8.98714468e-04 9.98638833e-01 -9.93393981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.033201008 meters 0.06371090083195352 Centerline is valid? [True, True] Translation: X:126.60, Y:28.70, Z:-9.94 [[ 9.02457220e-01 -4.27927283e-01 4.94894585e-02 1.26604912e+02] [ 4.27339887e-01 9.03812714e-01 2.24320983e-02 2.86953424e+01] [-5.43285087e-02 9.04810561e-04 9.98522706e-01 -9.93574575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.093201008 meters 0.06322192554700252 Centerline is valid? [True, True] Translation: X:126.66, Y:28.73, Z:-9.94 [[ 9.03754931e-01 -4.25127717e-01 4.99344351e-02 1.26655397e+02] [ 4.24525331e-01 9.05133070e-01 2.26355738e-02 2.87258842e+01] [-5.48203183e-02 7.41421134e-04 9.98495960e-01 -9.94061565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.153201008 meters 0.06264525028912674 Centerline is valid? [True, True] Translation: X:126.70, Y:28.76, Z:-9.95 [[ 9.07254860e-01 -4.17743716e-01 4.87730184e-02 1.26702621e+02] [ 4.17157683e-01 9.08564864e-01 2.21213988e-02 2.87639669e+01] [-5.35545262e-02 2.76292826e-04 9.98564888e-01 -9.94719186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.213201008 meters 0.06269736147609148 Centerline is valid? [True, True] Translation: X:126.75, Y:28.79, Z:-9.95 [[ 9.08783762e-01 -4.14462535e-01 4.82999107e-02 1.26753429e+02] [ 4.13882543e-01 9.10066372e-01 2.19189212e-02 2.87932814e+01] [-5.30406961e-02 7.09302194e-05 9.98592349e-01 -9.95286066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.273201008 meters 0.06370858475867582 Centerline is valid? [True, True] Translation: X:126.80, Y:28.83, Z:-9.96 [[ 9.14461322e-01 -4.02106980e-01 4.55023896e-02 1.26799020e+02] [ 4.01576031e-01 9.15592477e-01 2.06665702e-02 2.88316099e+01] [-4.99718178e-02 -6.26110039e-04 9.98750432e-01 -9.96020233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.333201008 meters 0.06482218791706743 Centerline is valid? [True, True] Translation: X:126.85, Y:28.86, Z:-9.96 [[ 9.17436806e-01 -3.95307477e-01 4.51852433e-02 1.26850573e+02] [ 3.94775467e-01 9.18548318e-01 2.05260470e-02 2.88624952e+01] [-4.96189291e-02 -9.93325450e-04 9.98767728e-01 -9.96445664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.393201008 meters 0.06622262786933811 Centerline is valid? [True, True] Translation: X:126.90, Y:28.89, Z:-9.97 [[ 9.19595336e-01 -3.90098251e-01 4.65593335e-02 1.26902098e+02] [ 3.89525891e-01 9.20772280e-01 2.11657527e-02 2.88905986e+01] [-5.11272668e-02 -1.32786162e-03 9.98691263e-01 -9.97066466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.453201008 meters 0.06663278859659613 Centerline is valid? [True, True] Translation: X:126.96, Y:28.91, Z:-9.98 [[ 9.19357209e-01 -3.90669451e-01 4.64725964e-02 1.26955609e+02] [ 3.90099836e-01 9.20530120e-01 2.11285716e-02 2.89113476e+01] [-5.10337122e-02 -1.29575236e-03 9.98696091e-01 -9.97621114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.513201008 meters 0.06607167158256246 Centerline is valid? [True, True] Translation: X:127.01, Y:28.93, Z:-9.98 [[ 9.18142764e-01 -3.93505671e-01 4.65526766e-02 1.27013658e+02] [ 3.92937678e-01 9.19321481e-01 2.11659313e-02 2.89259173e+01] [-5.11257896e-02 -1.14104607e-03 9.98691570e-01 -9.98089037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.573201008 meters 0.065577157723684 Centerline is valid? [True, True] Translation: X:127.07, Y:28.94, Z:-9.99 [[ 9.17058245e-01 -3.96114061e-01 4.58020327e-02 1.27071149e+02] [ 3.95566929e-01 9.18200779e-01 2.08358803e-02 2.89409292e+01] [-5.03088472e-02 -9.89946465e-04 9.98733218e-01 -9.98614617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63320100800001 meters 0.06491945866938141 Centerline is valid? [True, True] Translation: X:127.13, Y:28.96, Z:-9.99 [[ 9.15701092e-01 -3.99292973e-01 4.53500942e-02 1.27128857e+02] [ 3.98759839e-01 9.16823020e-01 2.06431605e-02 2.89570919e+01] [-4.98206793e-02 -8.19168337e-04 9.98757843e-01 -9.99034889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69320100800002 meters 0.06369185177679043 Centerline is valid? [True, True] Translation: X:127.19, Y:28.97, Z:-10.00 [[ 9.11563674e-01 -4.08662918e-01 4.52359201e-02 1.27189746e+02] [ 4.08143357e-01 9.12685334e-01 2.06029508e-02 2.89660437e+01] [-4.97058228e-02 -3.18161204e-04 9.98763851e-01 -9.99632458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75320100800002 meters 0.06342696658148798 Centerline is valid? [True, True] Translation: X:127.25, Y:28.98, Z:-10.00 [[ 9.08431567e-01 -4.15495280e-01 4.59974019e-02 1.27248853e+02] [ 4.14966198e-01 9.09595333e-01 2.09614967e-02 2.89789625e+01] [-5.05484251e-02 4.52817504e-05 9.98721610e-01 -1.00013405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.813201008 meters 0.06333154969642245 Centerline is valid? [True, True] Translation: X:127.31, Y:28.99, Z:-10.00 [[ 9.05729323e-01 -4.21181280e-01 4.75470614e-02 1.27307827e+02] [ 4.20623033e-01 9.06976404e-01 2.16810162e-02 2.89919367e+01] [-5.22557009e-02 3.62257068e-04 9.98633672e-01 -1.00031180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.873201008 meters 0.06309329434695127 Centerline is valid? [True, True] Translation: X:127.36, Y:29.01, Z:-10.01 [[ 9.05882428e-01 -4.20797328e-01 4.80274366e-02 1.27362449e+02] [ 4.20226500e-01 9.07154617e-01 2.19132390e-02 2.90136855e+01] [-5.27893432e-02 3.31583384e-04 9.98605615e-01 -1.00072880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.933201008 meters 0.06302426908292359 Centerline is valid? [True, True] Translation: X:127.42, Y:29.04, Z:-10.01 [[ 9.07174209e-01 -4.18016227e-01 4.79310780e-02 1.27415618e+02] [ 4.17443128e-01 9.08439546e-01 2.18820756e-02 2.90398545e+01] [-5.26895495e-02 1.57644501e-04 9.98610929e-01 -1.00111539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.993201008 meters 0.06334062089046195 Centerline is valid? [True, True] Translation: X:127.47, Y:29.07, Z:-10.02 [[ 9.09007479e-01 -4.14236640e-01 4.59718358e-02 1.27468309e+02] [ 4.13704021e-01 9.10169216e-01 2.09995592e-02 2.90652762e+01] [-5.05409366e-02 -7.00229985e-05 9.98721988e-01 -1.00177931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.053201008 meters 0.06366034938063214 Centerline is valid? [True, True] Translation: X:127.52, Y:29.09, Z:-10.02 [[ 9.09650918e-01 -4.12752710e-01 4.65876379e-02 1.27522110e+02] [ 4.12203082e-01 9.10843111e-01 2.12942739e-02 2.90885217e+01] [-5.12232983e-02 -1.66787920e-04 9.98687211e-01 -1.00233422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.113201008 meters 0.06365710897833345 Centerline is valid? [True, True] Translation: X:127.58, Y:29.11, Z:-10.03 [[ 9.09796162e-01 -4.12312014e-01 4.76418626e-02 1.27577804e+02] [ 4.11735887e-01 9.11042677e-01 2.17898983e-02 2.91091015e+01] [-5.23880069e-02 -2.08501273e-04 9.98626784e-01 -1.00258343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.173201008 meters 0.0634919005818927 Centerline is valid? [True, True] Translation: X:127.63, Y:29.13, Z:-10.03 [[ 9.10202374e-01 -4.11207813e-01 4.93940523e-02 1.27631982e+02] [ 4.10586079e-01 9.11541577e-01 2.26058499e-02 2.91324435e+01] [-5.43204345e-02 -2.95388017e-04 9.98523512e-01 -1.00257755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.233201008 meters 0.06368626266505231 Centerline is valid? [True, True] Translation: X:127.68, Y:29.16, Z:-10.03 [[ 9.10700695e-01 -4.09996848e-01 5.02675707e-02 1.27683970e+02] [ 4.09350289e-01 9.12086857e-01 2.30196856e-02 2.91585098e+01] [-5.52863891e-02 -3.86999055e-04 9.98470463e-01 -1.00311236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.293201008 meters 0.06407550170040126 Centerline is valid? [True, True] Translation: X:127.74, Y:29.18, Z:-10.04 [[ 9.10911429e-01 -4.09520473e-01 5.03324018e-02 1.27736968e+02] [ 4.08870607e-01 9.12300826e-01 2.30657822e-02 2.91813737e+01] [-5.53642017e-02 -4.31444999e-04 9.98466133e-01 -1.00377002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.353201008 meters 0.063649553477872 Centerline is valid? [True, True] Translation: X:127.79, Y:29.20, Z:-10.04 [[ 9.09711358e-01 -4.12070801e-01 5.12142577e-02 1.27791660e+02] [ 4.11400788e-01 9.11151779e-01 2.34910051e-02 2.92000922e+01] [-5.63439193e-02 -3.00448180e-04 9.98411374e-01 -1.00416387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41320100800002 meters 0.06373176015444322 Centerline is valid? [True, True] Translation: X:127.85, Y:29.22, Z:-10.05 [[ 9.08754515e-01 -4.14384233e-01 4.95069647e-02 1.27846792e+02] [ 4.13761348e-01 9.10102018e-01 2.27126333e-02 2.92192758e+01] [-5.44681456e-02 -1.56139577e-04 9.98515496e-01 -1.00469664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47320100800002 meters 0.06384477937669157 Centerline is valid? [True, True] Translation: X:127.90, Y:29.24, Z:-10.06 [[ 9.07330081e-01 -4.17704427e-01 4.76983737e-02 1.27901302e+02] [ 4.17130585e-01 9.08582968e-01 2.18875465e-02 2.92375609e+01] [-5.24804550e-02 3.72211903e-05 9.98621951e-01 -1.00551177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.533201008 meters 0.06394674260452156 Centerline is valid? [True, True] Translation: X:127.96, Y:29.26, Z:-10.06 [[ 9.05976258e-01 -4.20739577e-01 4.67464301e-02 1.27956195e+02] [ 4.20192425e-01 9.07181440e-01 2.14513647e-02 2.92579963e+01] [-5.14329319e-02 2.08068686e-04 9.98676429e-01 -1.00608480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.593201008 meters 0.06420612004798987 Centerline is valid? [True, True] Translation: X:128.01, Y:29.28, Z:-10.07 [[ 9.05205672e-01 -4.22603755e-01 4.48191649e-02 1.28009741e+02] [ 4.22102393e-01 9.06314506e-01 2.05812222e-02 2.92786210e+01] [-4.93179611e-02 2.88037650e-04 9.98783087e-01 -1.00663707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.653201008 meters 0.06401843849361816 Centerline is valid? [True, True] Translation: X:128.06, Y:29.31, Z:-10.07 [[ 9.05903615e-01 -4.21060855e-01 4.52371093e-02 1.28061993e+02] [ 4.20547903e-01 9.07032368e-01 2.07784844e-02 2.93058087e+01] [-4.97805288e-02 2.01067377e-04 9.98760161e-01 -1.00687120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.713201008 meters 0.06414823872455747 Centerline is valid? [True, True] Translation: X:128.11, Y:29.34, Z:-10.07 [[ 9.07558903e-01 -4.17426768e-01 4.57354386e-02 1.28112255e+02] [ 4.16897154e-01 9.08710566e-01 2.10207011e-02 2.93372234e+01] [-5.03348796e-02 -1.05502513e-05 9.98732396e-01 -1.00739747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.773201008 meters 0.06407237433832147 Centerline is valid? [True, True] Translation: X:128.16, Y:29.37, Z:-10.08 [[ 9.08629499e-01 -4.14893180e-01 4.74982398e-02 1.28162826e+02] [ 4.14317721e-01 9.09870112e-01 2.18450336e-02 2.93670806e+01] [-5.22805842e-02 -1.69679425e-04 9.98632421e-01 -1.00780708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.833201008 meters 0.06455554979416404 Centerline is valid? [True, True] Translation: X:128.21, Y:29.40, Z:-10.08 [[ 9.10653372e-01 -4.10536629e-01 4.65844661e-02 1.28213188e+02] [ 4.09976752e-01 9.11844009e-01 2.14374921e-02 2.93979728e+01] [-5.12786420e-02 -4.23576330e-04 9.98684295e-01 -1.00829716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.893201008 meters 0.06487902997930088 Centerline is valid? [True, True] Translation: X:128.26, Y:29.43, Z:-10.09 [[ 9.11242077e-01 -4.09310045e-01 4.58602715e-02 1.28264983e+02] [ 4.08765260e-01 9.12395222e-01 2.11168426e-02 2.94255538e+01] [-5.04860284e-02 -4.96469719e-04 9.98724644e-01 -1.00892940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.953201008 meters 0.06484591813205055 Centerline is valid? [True, True] Translation: X:128.32, Y:29.45, Z:-10.09 [[ 9.10090216e-01 -4.12007679e-01 4.45586234e-02 1.28319877e+02] [ 4.11496027e-01 9.11180307e-01 2.05297091e-02 2.94469397e+01] [-4.90593380e-02 -3.48190919e-04 9.98795805e-01 -1.00948822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.013201008 meters 0.06437497839335508 Centerline is valid? [True, True] Translation: X:128.38, Y:29.46, Z:-10.10 [[ 9.07559750e-01 -4.17566409e-01 4.44251570e-02 1.28376617e+02] [ 4.17063844e-01 9.08646406e-01 2.04806917e-02 2.94647014e+01] [-4.89188081e-02 -5.93246743e-05 9.98802757e-01 -1.00971609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.073201008 meters 0.0645472042634561 Centerline is valid? [True, True] Translation: X:128.43, Y:29.48, Z:-10.10 [[ 9.04662047e-01 -4.23869435e-01 4.38324383e-02 1.28432764e+02] [ 4.23386755e-01 9.05723266e-01 2.02242802e-02 2.94813973e+01] [-4.82725133e-02 2.61935096e-04 9.98834168e-01 -1.01031104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13320100800001 meters 0.06466006308236544 Centerline is valid? [True, True] Translation: X:128.49, Y:29.50, Z:-10.11 [[ 9.04037781e-01 -4.25227560e-01 4.35570099e-02 1.28487159e+02] [ 4.24752512e-01 9.05086411e-01 2.00970713e-02 2.95046589e+01] [-4.79686864e-02 3.32437625e-04 9.98848785e-01 -1.01074095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19320100800002 meters 0.0647473953032748 Centerline is valid? [True, True] Translation: X:128.54, Y:29.53, Z:-10.11 [[ 9.03327417e-01 -4.26682167e-01 4.40670707e-02 1.28540231e+02] [ 4.26197098e-01 9.04401551e-01 2.03437583e-02 2.95281215e+01] [-4.85346460e-02 4.04183013e-04 9.98821418e-01 -1.01109174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25320100800002 meters 0.06452620516947014 Centerline is valid? [True, True] Translation: X:128.59, Y:29.55, Z:-10.11 [[ 9.03142482e-01 -4.26955367e-01 4.51970404e-02 1.28593013e+02] [ 4.26444651e-01 9.04272604e-01 2.08810445e-02 2.95541312e+01] [-4.97857194e-02 4.15477752e-04 9.98759836e-01 -1.01135500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.313201008 meters 0.06458832560873884 Centerline is valid? [True, True] Translation: X:128.65, Y:29.58, Z:-10.12 [[ 9.03299115e-01 -4.26441417e-01 4.68873799e-02 1.28645108e+02] [ 4.25890332e-01 9.04515100e-01 2.16762292e-02 2.95804334e+01] [-5.16539850e-02 3.88763151e-04 9.98664966e-01 -1.01181109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.373201008 meters 0.0644323178823035 Centerline is valid? [True, True] Translation: X:128.70, Y:29.60, Z:-10.12 [[ 9.03011831e-01 -4.26970187e-01 4.76034929e-02 1.28698945e+02] [ 4.26402139e-01 9.04265607e-01 2.20210651e-02 2.96049170e+01] [-5.24485397e-02 4.12948834e-04 9.98623543e-01 -1.01202005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.433201008 meters 0.06468923047540351 Centerline is valid? [True, True] Translation: X:128.75, Y:29.63, Z:-10.12 [[ 9.01406724e-01 -4.30218340e-01 4.87657501e-02 1.28752593e+02] [ 4.29626207e-01 9.02724662e-01 2.25722685e-02 2.96276657e+01] [-5.37330491e-02 6.04249609e-04 9.98555153e-01 -1.01244716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.493201008 meters 0.06497379839229149 Centerline is valid? [True, True] Translation: X:128.81, Y:29.65, Z:-10.13 [[ 9.00909746e-01 -4.31315289e-01 4.82571313e-02 1.28806006e+02] [ 4.30736171e-01 9.02201032e-01 2.23528512e-02 2.96512796e+01] [-5.31787601e-02 6.48190434e-04 9.98584798e-01 -1.01304019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.553201008 meters 0.06492445983748374 Centerline is valid? [True, True] Translation: X:128.86, Y:29.68, Z:-10.14 [[ 9.01606989e-01 -4.30082871e-01 4.61904981e-02 1.28858872e+02] [ 4.29550104e-01 9.02789251e-01 2.14073742e-02 2.96777468e+01] [-5.09072302e-02 5.40095061e-04 9.98703240e-01 -1.01360029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.613201008 meters 0.0649064203858306 Centerline is valid? [True, True] Translation: X:128.91, Y:29.71, Z:-10.14 [[ 9.02646082e-01 -4.28052675e-01 4.47320746e-02 1.28910049e+02] [ 4.27549972e-01 9.03753698e-01 2.07430856e-02 2.97073042e+01] [-4.93059111e-02 4.01532316e-04 9.98783643e-01 -1.01415513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.673201008 meters 0.06514946271485249 Centerline is valid? [True, True] Translation: X:128.96, Y:29.74, Z:-10.15 [[ 9.04002159e-01 -4.25345181e-01 4.31459596e-02 1.28960560e+02] [ 4.24873647e-01 9.05031173e-01 2.00239855e-02 2.97354168e+01] [-4.75655442e-02 2.29855094e-04 9.98868092e-01 -1.01505316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.733201008 meters 0.06475780163959212 Centerline is valid? [True, True] Translation: X:129.01, Y:29.76, Z:-10.15 [[ 9.04859085e-01 -4.23446646e-01 4.38517206e-02 1.29013171e+02] [ 4.22957314e-01 9.05921034e-01 2.03516520e-02 2.97622089e+01] [-4.83440348e-02 1.32028771e-04 9.98830735e-01 -1.01508433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.793201008 meters 0.06462065706139287 Centerline is valid? [True, True] Translation: X:129.07, Y:29.79, Z:-10.15 [[ 9.05118159e-01 -4.22669092e-01 4.59560290e-02 1.29065993e+02] [ 4.22129917e-01 9.06284079e-01 2.13424671e-02 2.97891105e+01] [-5.06700186e-02 8.19601752e-05 9.98715446e-01 -1.01542490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.853201008 meters 0.06463829575108682 Centerline is valid? [True, True] Translation: X:129.12, Y:29.82, Z:-10.16 [[ 9.05043666e-01 -4.22705842e-01 4.70715907e-02 1.29118320e+02] [ 4.22139571e-01 9.06266939e-01 2.18727462e-02 2.98159260e+01] [-5.19051641e-02 7.49907460e-05 9.98652016e-01 -1.01573676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91320100800002 meters 0.06437424324144042 Centerline is valid? [True, True] Translation: X:129.17, Y:29.84, Z:-10.16 [[ 9.05106681e-01 -4.22352516e-01 4.89923285e-02 1.29170878e+02] [ 4.21737757e-01 9.06431658e-01 2.27796931e-02 2.98435720e+01] [-5.40292582e-02 4.38622780e-05 9.98539352e-01 -1.01600895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97320100800002 meters 0.0642834410061946 Centerline is valid? [True, True] Translation: X:129.22, Y:29.87, Z:-10.16 [[ 9.06378510e-01 -4.19522830e-01 4.97854481e-02 1.29220853e+02] [ 4.18882788e-01 9.07744774e-01 2.31653787e-02 2.98721616e+01] [-5.49108856e-02 -1.42334131e-04 9.98491249e-01 -1.01644367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.033201008 meters 0.06446416153703294 Centerline is valid? [True, True] Translation: X:129.27, Y:29.90, Z:-10.17 [[ 9.07359070e-01 -4.17470549e-01 4.91717234e-02 1.29272922e+02] [ 4.16842934e-01 9.08690414e-01 2.28844848e-02 2.99001824e+01] [-5.42354721e-02 -2.67559468e-04 9.98528138e-01 -1.01680994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.093201008 meters 0.06505790643900485 Centerline is valid? [True, True] Translation: X:129.32, Y:29.93, Z:-10.18 [[ 9.08843364e-01 -4.14374606e-01 4.79314663e-02 1.29322864e+02] [ 4.13773277e-01 9.10106302e-01 2.23202671e-02 2.99321918e+01] [-5.28716814e-02 -4.52866734e-04 9.98601212e-01 -1.01762218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.153201008 meters 0.06544778840772993 Centerline is valid? [True, True] Translation: X:129.37, Y:29.96, Z:-10.18 [[ 9.09366325e-01 -4.13342331e-01 4.69148613e-02 1.29373924e+02] [ 4.12764213e-01 9.10575562e-01 2.18598105e-02 2.99608685e+01] [-5.17551112e-02 -5.13799731e-04 9.98659674e-01 -1.01836806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.213201008 meters 0.06537717865056848 Centerline is valid? [True, True] Translation: X:129.43, Y:29.98, Z:-10.19 [[ 9.09109009e-01 -4.14115702e-01 4.50443706e-02 1.29427586e+02] [ 4.13583149e-01 9.10224133e-01 2.10001467e-02 2.99839482e+01] [-4.96969636e-02 -4.61829885e-04 9.98764236e-01 -1.01886741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.273201008 meters 0.06501147178493845 Centerline is valid? [True, True] Translation: X:129.48, Y:30.01, Z:-10.19 [[ 9.08307170e-01 -4.15903936e-01 4.47437257e-02 1.29481219e+02] [ 4.15380085e-01 9.09408477e-01 2.08712045e-02 3.00064202e+01] [-4.93707395e-02 -3.71812103e-04 9.98780452e-01 -1.01921108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.333201008 meters 0.06475930091999117 Centerline is valid? [True, True] Translation: X:129.54, Y:30.03, Z:-10.19 [[ 9.07357789e-01 -4.17911333e-01 4.52985612e-02 1.29535871e+02] [ 4.17376099e-01 9.08487776e-01 2.11460029e-02 3.00288073e+01] [-4.99903433e-02 -2.80453709e-04 9.98749662e-01 -1.01942082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.393201008 meters 0.06486527945727988 Centerline is valid? [True, True] Translation: X:129.59, Y:30.05, Z:-10.20 [[ 9.06843724e-01 -4.18944496e-01 4.60431211e-02 1.29588756e+02] [ 4.18392147e-01 9.08011813e-01 2.15072022e-02 3.00529759e+01] [-5.08180219e-02 -2.39591064e-04 9.98707901e-01 -1.02013676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.453201008 meters 0.06511908895045432 Centerline is valid? [True, True] Translation: X:129.64, Y:30.08, Z:-10.21 [[ 9.08088118e-01 -4.16293158e-01 4.55628762e-02 1.29640157e+02] [ 4.15748091e-01 9.09230360e-01 2.12997172e-02 3.00790285e+01] [-5.02940769e-02 -3.99341283e-04 9.98734372e-01 -1.02051948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.513201008 meters 0.06523892574237472 Centerline is valid? [True, True] Translation: X:129.69, Y:30.11, Z:-10.21 [[ 9.09755900e-01 -4.12599159e-01 4.58926687e-02 1.29692618e+02] [ 4.12041452e-01 9.10912490e-01 2.14540965e-02 3.01063957e+01] [-5.06561473e-02 -6.08309004e-04 9.98715968e-01 -1.02060856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.573201008 meters 0.06455103365389692 Centerline is valid? [True, True] Translation: X:129.75, Y:30.13, Z:-10.21 [[ 9.08337062e-01 -4.15652315e-01 4.64428132e-02 1.29747730e+02] [ 4.15084447e-01 9.09523472e-01 2.17245544e-02 3.01273202e+01] [-5.12706901e-02 -4.55528487e-04 9.98684689e-01 -1.02082650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63320100800001 meters 0.06428962302022265 Centerline is valid? [True, True] Translation: X:129.80, Y:30.15, Z:-10.21 [[ 9.06447244e-01 -4.19895645e-01 4.51778830e-02 1.29801785e+02] [ 4.19362992e-01 9.07572366e-01 2.11443101e-02 3.01476655e+01] [-4.98806018e-02 -2.20269472e-04 9.98755164e-01 -1.02146460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69320100800002 meters 0.06405261630823111 Centerline is valid? [True, True] Translation: X:129.86, Y:30.17, Z:-10.22 [[ 9.05622704e-01 -4.21751933e-01 4.44164848e-02 1.29856803e+02] [ 4.21238585e-01 9.06711249e-01 2.08029866e-02 3.01694686e+01] [-4.90466263e-02 -1.29719764e-04 9.98796482e-01 -1.02190490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.753201008 meters 0.06396892137519146 Centerline is valid? [True, True] Translation: X:129.91, Y:30.19, Z:-10.22 [[ 9.05691339e-01 -4.21794328e-01 4.25763311e-02 1.29910993e+02] [ 4.21322164e-01 9.06691528e-01 1.99526124e-02 3.01928811e+01] [-4.70194974e-02 -1.32556292e-04 9.98893963e-01 -1.02225941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.813201008 meters 0.06380355637074536 Centerline is valid? [True, True] Translation: X:129.96, Y:30.22, Z:-10.23 [[ 9.05471348e-01 -4.22282541e-01 4.24157373e-02 1.29963387e+02] [ 4.21813963e-01 9.06464253e-01 1.98881328e-02 3.02171548e+01] [-4.68467609e-02 -1.16584171e-04 9.98902081e-01 -1.02255653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.873201008 meters 0.06418336338959595 Centerline is valid? [True, True] Translation: X:130.02, Y:30.24, Z:-10.23 [[ 9.04966498e-01 -4.23550885e-01 4.05004317e-02 1.30015167e+02] [ 4.23124107e-01 9.05872311e-01 1.90091165e-02 3.02417608e+01] [-4.47395478e-02 -6.59045850e-05 9.98998683e-01 -1.02342021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.933201008 meters 0.06408712869231736 Centerline is valid? [True, True] Translation: X:130.07, Y:30.26, Z:-10.24 [[ 9.03536761e-01 -4.26659432e-01 3.97875584e-02 1.30070210e+02] [ 4.26250619e-01 9.04412362e-01 1.86731971e-02 3.02624223e+01] [-4.39514554e-02 8.75513727e-05 9.99033664e-01 -1.02385978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.993201008 meters 0.06429217033743366 Centerline is valid? [True, True] Translation: X:130.13, Y:30.28, Z:-10.24 [[ 9.01067081e-01 -4.32032765e-01 3.77598373e-02 1.30127361e+02] [ 4.31668610e-01 9.01857854e-01 1.77375718e-02 3.02790323e+01] [-4.17172181e-02 3.16994423e-04 9.99129408e-01 -1.02424442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.053201008 meters 0.06442115078045357 Centerline is valid? [True, True] Translation: X:130.18, Y:30.30, Z:-10.25 [[ 9.00256446e-01 -4.33707312e-01 3.78985315e-02 1.30181568e+02] [ 4.33342070e-01 9.01053721e-01 1.78000383e-02 3.03010835e+01] [-4.18686196e-02 3.98428860e-04 9.99123045e-01 -1.02469026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.113201008 meters 0.0644105241919554 Centerline is valid? [True, True] Translation: X:130.24, Y:30.32, Z:-10.25 [[ 9.00127692e-01 -4.33984760e-01 3.77805069e-02 1.30235357e+02] [ 4.33621639e-01 9.00920122e-01 1.77540814e-02 3.03240313e+01] [-4.17422197e-02 4.01505036e-04 9.99128333e-01 -1.02510633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.173201008 meters 0.06412358688703165 Centerline is valid? [True, True] Translation: X:130.29, Y:30.35, Z:-10.25 [[ 9.01627456e-01 -4.30797132e-01 3.84936545e-02 1.30286812e+02] [ 4.30416672e-01 9.02448763e-01 1.81029807e-02 3.03532700e+01] [-4.25372630e-02 2.46166277e-04 9.99094851e-01 -1.02530661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.233201008 meters 0.06403146963708584 Centerline is valid? [True, True] Translation: X:130.34, Y:30.38, Z:-10.26 [[ 9.02788113e-01 -4.28292806e-01 3.92287505e-02 1.30338055e+02] [ 4.27894566e-01 9.03640005e-01 1.84656747e-02 3.03805717e+01] [-4.33573839e-02 1.15177562e-04 9.99059620e-01 -1.02566709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.293201008 meters 0.0641696754580052 Centerline is valid? [True, True] Translation: X:130.39, Y:30.41, Z:-10.26 [[ 9.03959778e-01 -4.25791746e-01 3.94728946e-02 1.30389487e+02] [ 4.25386190e-01 9.04821192e-01 1.85795688e-02 3.04096461e+01] [-4.36269386e-02 -3.95864170e-06 9.99047892e-01 -1.02604960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.353201008 meters 0.06411452084581185 Centerline is valid? [True, True] Translation: X:130.44, Y:30.44, Z:-10.26 [[ 9.04331677e-01 -4.25100095e-01 3.83943617e-02 1.30442173e+02] [ 4.24715363e-01 9.05146346e-01 1.80818521e-02 3.04365318e+01] [-4.24391132e-02 -4.53163907e-05 9.99099054e-01 -1.02640562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41320100800002 meters 0.06444954786003466 Centerline is valid? [True, True] Translation: X:130.50, Y:30.46, Z:-10.27 [[ 9.03313200e-01 -4.27315408e-01 3.77730574e-02 1.30495622e+02] [ 4.26944308e-01 9.04102616e-01 1.78050005e-02 3.04585724e+01] [-4.17590711e-02 4.34998932e-05 9.99127709e-01 -1.02698793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47320100800002 meters 0.06475841831395232 Centerline is valid? [True, True] Translation: X:130.55, Y:30.48, Z:-10.28 [[ 9.01662567e-01 -4.30866045e-01 3.68655334e-02 1.30550471e+02] [ 4.30515603e-01 9.02415874e-01 1.73754448e-02 3.04799144e+01] [-4.07545317e-02 2.04399208e-04 9.99169168e-01 -1.02755200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.533201008 meters 0.06487295395273379 Centerline is valid? [True, True] Translation: X:130.61, Y:30.50, Z:-10.28 [[ 8.99556777e-01 -4.35452370e-01 3.43342166e-02 1.30605078e+02] [ 4.35151467e-01 9.00211693e-01 1.61897955e-02 3.05019549e+01] [-3.79579481e-02 3.76944391e-04 9.99279266e-01 -1.02775056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.593201008 meters 0.06501988108758687 Centerline is valid? [True, True] Translation: X:130.66, Y:30.53, Z:-10.28 [[ 8.98941414e-01 -4.36776344e-01 3.36267660e-02 1.30657847e+02] [ 4.36488080e-01 8.99570040e-01 1.58713263e-02 3.05251730e+01] [-3.71818511e-02 4.10290036e-04 9.99308432e-01 -1.02813438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.653201008 meters 0.06509566873003308 Centerline is valid? [True, True] Translation: X:130.71, Y:30.55, Z:-10.29 [[ 8.99107342e-01 -4.36513873e-01 3.25826039e-02 1.30709806e+02] [ 4.36242957e-01 8.99697444e-01 1.53815412e-02 3.05495981e+01] [-3.60287416e-02 3.84274876e-04 9.99350680e-01 -1.02867558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.713201008 meters 0.06439357553267337 Centerline is valid? [True, True] Translation: X:130.76, Y:30.58, Z:-10.29 [[ 8.99896132e-01 -4.34800338e-01 3.36989260e-02 1.30760548e+02] [ 4.34509437e-01 9.00526823e-01 1.59056813e-02 3.05799590e+01] [-3.72625824e-02 3.29040273e-04 9.99305455e-01 -1.02867620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.773201008 meters 0.06425273087949271 Centerline is valid? [True, True] Translation: X:130.81, Y:30.61, Z:-10.29 [[ 9.01808319e-01 -4.30755397e-01 3.45187442e-02 1.30812221e+02] [ 4.30446788e-01 9.02468705e-01 1.63033370e-02 3.06099540e+01] [-3.81748367e-02 1.55997639e-04 9.99271063e-01 -1.02890317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.833201008 meters 0.0637633719021055 Centerline is valid? [True, True] Translation: X:130.86, Y:30.64, Z:-10.29 [[ 9.02998835e-01 -4.28196853e-01 3.52215579e-02 1.30863810e+02] [ 4.27873273e-01 9.03685484e-01 1.66435791e-02 3.06386325e+01] [-3.89559387e-02 4.12307563e-05 9.99240928e-01 -1.02895974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.893201008 meters 0.06450011384968106 Centerline is valid? [True, True] Translation: X:130.91, Y:30.67, Z:-10.30 [[ 9.05517842e-01 -4.22851716e-01 3.51264119e-02 1.30911762e+02] [ 4.22525458e-01 9.06198867e-01 1.66087294e-02 3.06730830e+01] [-3.88545444e-02 -1.97697528e-04 9.99244858e-01 -1.02987672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.953201008 meters 0.06531521649408033 Centerline is valid? [True, True] Translation: X:130.96, Y:30.70, Z:-10.30 [[ 9.08508095e-01 -4.16408851e-01 3.48813685e-02 1.30961528e+02] [ 4.16081829e-01 9.09177340e-01 1.65068629e-02 3.07045694e+01] [-3.85869537e-02 -4.83114930e-04 9.99255129e-01 -1.03021006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.013201008 meters 0.06634838722721326 Centerline is valid? [True, True] Translation: X:131.01, Y:30.74, Z:-10.31 [[ 9.10876538e-01 -4.11294321e-01 3.37774151e-02 1.31012194e+02] [ 4.10984103e-01 9.11502343e-01 1.59858301e-02 3.07359254e+01] [-3.73630742e-02 -6.79136947e-04 9.99301526e-01 -1.03070496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.073201008 meters 0.06814650707399784 Centerline is valid? [True, True] Translation: X:131.06, Y:30.77, Z:-10.31 [[ 9.12892206e-01 -4.06813892e-01 3.36196032e-02 1.31061263e+02] [ 4.06502989e-01 9.13510644e-01 1.59255472e-02 3.07667481e+01] [-3.71905993e-02 -8.71838757e-04 9.99307810e-01 -1.03147871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13320100800001 meters 0.069416761855335 Centerline is valid? [True, True] Translation: X:131.11, Y:30.79, Z:-10.32 [[ 9.14862204e-01 -4.02370957e-01 3.35374465e-02 1.31113394e+02] [ 4.02058519e-01 9.15476109e-01 1.58883628e-02 3.07945799e+01] [-3.70957468e-02 -1.05164657e-03 9.99311163e-01 -1.03191719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19320100800002 meters 0.06874360010423343 Centerline is valid? [True, True] Translation: X:131.17, Y:30.82, Z:-10.32 [[ 9.14685118e-01 -4.02631584e-01 3.51986193e-02 1.31168852e+02] [ 4.02287550e-01 9.15361464e-01 1.66768311e-02 3.08166270e+01] [-3.89340786e-02 -1.09408289e-03 9.99241182e-01 -1.03214172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.253201008 meters 0.0685986007908129 Centerline is valid? [True, True] Translation: X:131.22, Y:30.84, Z:-10.33 [[ 9.13519217e-01 -4.05162934e-01 3.64092894e-02 1.31224066e+02] [ 4.04796274e-01 9.14243912e-01 1.72640036e-02 3.08365002e+01] [-4.02817056e-02 -1.03265437e-03 9.99187829e-01 -1.03265908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.313201008 meters 0.06731585142270524 Centerline is valid? [True, True] Translation: X:131.28, Y:30.85, Z:-10.33 [[ 9.11974347e-01 -4.08632065e-01 3.63679223e-02 1.31281501e+02] [ 4.08268688e-01 9.12698774e-01 1.72518671e-02 3.08543129e+01] [-4.02426241e-02 -8.85376343e-04 9.99189545e-01 -1.03282304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.373201008 meters 0.0661172992436792 Centerline is valid? [True, True] Translation: X:131.34, Y:30.87, Z:-10.34 [[ 9.08482667e-01 -4.16300510e-01 3.67848916e-02 1.31339179e+02] [ 4.15934818e-01 9.09226911e-01 1.74542878e-02 3.08693500e+01] [-4.07120423e-02 -5.56800797e-04 9.99170766e-01 -1.03353671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.433201008 meters 0.06525713617882706 Centerline is valid? [True, True] Translation: X:131.40, Y:30.89, Z:-10.34 [[ 9.05590429e-01 -4.22547982e-01 3.68670242e-02 1.31396729e+02] [ 4.22185730e-01 9.06340513e-01 1.74952463e-02 3.08850253e+01] [-4.08066587e-02 -2.78796081e-04 9.99167023e-01 -1.03395831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.493201008 meters 0.06432421975677025 Centerline is valid? [True, True] Translation: X:131.46, Y:30.90, Z:-10.34 [[ 9.00999102e-01 -4.32040194e-01 3.92668899e-02 1.31457247e+02] [ 4.31637664e-01 9.01854339e-01 1.86461274e-02 3.08965835e+01] [-4.34688916e-02 1.48924537e-04 9.99054770e-01 -1.03396623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.553201008 meters 0.06452312838932696 Centerline is valid? [True, True] Translation: X:131.51, Y:30.91, Z:-10.34 [[ 8.97926187e-01 -4.38295636e-01 4.03174594e-02 1.31513170e+02] [ 4.37876901e-01 8.98830759e-01 1.91595012e-02 3.09131593e+01] [-4.46360984e-02 4.50266337e-04 9.99003211e-01 -1.03442493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.613201008 meters 0.06515269922120341 Centerline is valid? [True, True] Translation: X:131.57, Y:30.93, Z:-10.35 [[ 8.93936468e-01 -4.46358024e-01 4.05229149e-02 1.31570721e+02] [ 4.45942958e-01 8.94854061e-01 1.92636112e-02 3.09286956e+01] [-4.48605624e-02 8.50463997e-04 9.98992896e-01 -1.03476511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.673201008 meters 0.06513096789640584 Centerline is valid? [True, True] Translation: X:131.62, Y:30.95, Z:-10.35 [[ 8.92890229e-01 -4.48513948e-01 3.97778458e-02 1.31624345e+02] [ 4.48116083e-01 8.93775338e-01 1.89108816e-02 3.09536687e+01] [-4.40342518e-02 9.39751005e-04 9.99029580e-01 -1.03492626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.733201008 meters 0.06549821691373402 Centerline is valid? [True, True] Translation: X:131.68, Y:30.98, Z:-10.36 [[ 8.92769883e-01 -4.48741910e-01 3.99078244e-02 1.31675836e+02] [ 4.48341196e-01 8.93660901e-01 1.89832962e-02 3.09790291e+01] [-4.41826629e-02 9.44606606e-04 9.99023023e-01 -1.03552522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.793201008 meters 0.06584279221285681 Centerline is valid? [True, True] Translation: X:131.73, Y:31.01, Z:-10.36 [[ 8.93199237e-01 -4.47937702e-01 3.93311354e-02 1.31726247e+02] [ 4.47546975e-01 8.94064342e-01 1.87258861e-02 3.10056613e+01] [-4.35525961e-02 8.76583439e-04 9.99050751e-01 -1.03612703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.853201008 meters 0.06569453192698912 Centerline is valid? [True, True] Translation: X:131.78, Y:31.04, Z:-10.37 [[ 8.94827048e-01 -4.44310725e-01 4.32727795e-02 1.31775287e+02] [ 4.43833055e-01 8.95872423e-01 2.06111836e-02 3.10370310e+01] [-4.79246598e-02 7.62445373e-04 9.98850662e-01 -1.03679107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91320100800002 meters 0.06438673947643951 Centerline is valid? [True, True] Translation: X:131.82, Y:31.07, Z:-10.37 [[ 8.97250434e-01 -4.39286755e-01 4.43712310e-02 1.31824599e+02] [ 4.38777904e-01 8.98346759e-01 2.11435954e-02 3.10718600e+01] [-4.91488530e-02 4.98015603e-04 9.98791341e-01 -1.03677867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97320100800002 meters 0.06387654351383246 Centerline is valid? [True, True] Translation: X:131.88, Y:31.10, Z:-10.37 [[ 8.98606358e-01 -4.36499945e-01 4.44343525e-02 1.31875551e+02] [ 4.35986110e-01 8.99704218e-01 2.11762262e-02 3.11026035e+01] [-4.92211959e-02 3.43668973e-04 9.98787843e-01 -1.03697899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.033201008 meters 0.0635290950210745 Centerline is valid? [True, True] Translation: X:131.92, Y:31.14, Z:-10.37 [[ 9.01244681e-01 -4.30387159e-01 5.02485694e-02 1.31922378e+02] [ 4.29719299e-01 9.02644389e-01 2.39672943e-02 3.11390430e+01] [-5.56718049e-02 -7.61653020e-06 9.98449122e-01 -1.03744728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.093201008 meters 0.063359391135552 Centerline is valid? [True, True] Translation: X:131.97, Y:31.17, Z:-10.38 [[ 9.02433214e-01 -4.27484238e-01 5.35865678e-02 1.31971974e+02] [ 4.26719124e-01 9.04022779e-01 2.55656916e-02 3.11716946e+01] [-5.93724081e-02 -2.04916013e-04 9.98235882e-01 -1.03778191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.153201008 meters 0.0635433515092044 Centerline is valid? [True, True] Translation: X:132.02, Y:31.20, Z:-10.38 [[ 9.04140787e-01 -4.23576323e-01 5.57900998e-02 1.32020676e+02] [ 4.22738527e-01 9.05860284e-01 2.66323957e-02 3.12040472e+01] [-6.18188879e-02 -4.94810643e-04 9.98087261e-01 -1.03821168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.213201008 meters 0.06393844514183734 Centerline is valid? [True, True] Translation: X:132.07, Y:31.23, Z:-10.39 [[ 9.05317134e-01 -4.20930423e-01 5.67315228e-02 1.32071262e+02] [ 4.20057586e-01 9.07092653e-01 2.71024682e-02 3.12327008e+01] [-6.28690010e-02 -7.05822368e-04 9.98021538e-01 -1.03858313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.273201008 meters 0.06454709686666393 Centerline is valid? [True, True] Translation: X:132.12, Y:31.26, Z:-10.40 [[ 9.06533969e-01 -4.18287829e-01 5.68458984e-02 1.32120993e+02] [ 4.17405828e-01 9.08314091e-01 2.71640908e-02 3.12639406e+01] [-6.29963390e-02 -8.97361752e-04 9.98013355e-01 -1.03952749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.333201008 meters 0.06476737764083845 Centerline is valid? [True, True] Translation: X:132.17, Y:31.29, Z:-10.40 [[ 9.06860748e-01 -4.17512089e-01 5.73344505e-02 1.32173992e+02] [ 4.16612281e-01 9.08670846e-01 2.74135110e-02 3.12895419e+01] [-6.35436159e-02 -9.74000921e-04 9.97978587e-01 -1.04010638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.393201008 meters 0.06487929990276779 Centerline is valid? [True, True] Translation: X:132.23, Y:31.31, Z:-10.40 [[ 9.07711827e-01 -4.15348134e-01 5.95412981e-02 1.32227283e+02] [ 4.14371832e-01 9.09661763e-01 2.84861645e-02 3.13148137e+01] [-6.59941175e-02 -1.18499168e-03 9.97819308e-01 -1.04030813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.453201008 meters 0.06539996145160058 Centerline is valid? [True, True] Translation: X:132.28, Y:31.34, Z:-10.41 [[ 9.08559230e-01 -4.13164461e-01 6.17677479e-02 1.32279661e+02] [ 4.12107353e-01 9.10655334e-01 2.95701373e-02 3.13425708e+01] [-6.84664589e-02 -1.41127809e-03 9.97652421e-01 -1.04072685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.513201008 meters 0.06629320375793943 Centerline is valid? [True, True] Translation: X:132.33, Y:31.37, Z:-10.41 [[ 9.09658943e-01 -4.10746252e-01 6.17099984e-02 1.32332135e+02] [ 4.09684350e-01 9.11748282e-01 2.95601554e-02 3.13686269e+01] [-6.84057081e-02 -1.60803913e-03 9.97656290e-01 -1.04130312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.573201008 meters 0.06576690254979081 Centerline is valid? [True, True] Translation: X:132.39, Y:31.39, Z:-10.42 [[ 9.08396531e-01 -4.13388190e-01 6.26573734e-02 1.32385939e+02] [ 4.12298388e-01 9.10553738e-01 3.00321520e-02 3.13915854e+01] [-6.94678425e-02 -1.44756868e-03 9.97583141e-01 -1.04179285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63320100800001 meters 0.06495151733906611 Centerline is valid? [True, True] Translation: X:132.44, Y:31.41, Z:-10.43 [[ 9.06769824e-01 -4.17329044e-01 6.00412802e-02 1.32440942e+02] [ 4.16335985e-01 9.08754770e-01 2.87943789e-02 3.14125808e+01] [-6.65795304e-02 -1.11252839e-03 9.97780501e-01 -1.04270248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69320100800002 meters 0.0643339806606519 Centerline is valid? [True, True] Translation: X:132.50, Y:31.43, Z:-10.43 [[ 9.05564764e-01 -4.20132873e-01 5.86585695e-02 1.32496214e+02] [ 4.19189901e-01 9.07462153e-01 2.81472487e-02 3.14331064e+01] [-6.50560162e-02 -9.00076622e-04 9.97881208e-01 -1.04316677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.753201008 meters 0.06440116447224106 Centerline is valid? [True, True] Translation: X:132.55, Y:31.46, Z:-10.44 [[ 9.05631272e-01 -4.20214579e-01 5.70237300e-02 1.32550177e+02] [ 4.19322667e-01 9.07424337e-01 2.73783449e-02 3.14566086e+01] [-6.32495001e-02 -8.83342754e-04 9.97997355e-01 -1.04381413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.813201008 meters 0.06391522314546944 Centerline is valid? [True, True] Translation: X:132.60, Y:31.48, Z:-10.44 [[ 9.05168168e-01 -4.21120184e-01 5.76920999e-02 1.32604084e+02] [ 4.20208006e-01 9.07004453e-01 2.77155961e-02 3.14800633e+01] [-6.39985884e-02 -8.44593128e-04 9.97949632e-01 -1.04419546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.873201008 meters 0.06395240972525462 Centerline is valid? [True, True] Translation: X:132.66, Y:31.50, Z:-10.45 [[ 9.04329314e-01 -4.22937176e-01 5.75555125e-02 1.32657845e+02] [ 4.22031787e-01 9.06158711e-01 2.76687656e-02 3.15021774e+01] [-6.38565786e-02 -7.31420043e-04 9.97958818e-01 -1.04473315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.933201008 meters 0.06293995218360826 Centerline is valid? [True, True] Translation: X:132.72, Y:31.51, Z:-10.45 [[ 8.99745750e-01 -4.32387196e-01 5.91514896e-02 1.32716388e+02] [ 4.31450724e-01 9.01688033e-01 2.84423045e-02 3.15142222e+01] [-6.56342785e-02 -6.98895673e-05 9.97843744e-01 -1.04509418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.993201008 meters 0.06278121045920403 Centerline is valid? [True, True] Translation: X:132.77, Y:31.53, Z:-10.45 [[ 8.97046614e-01 -4.37757569e-01 6.06274168e-02 1.32772440e+02] [ 4.36785636e-01 8.99092990e-01 2.91565339e-02 3.15312764e+01] [-6.72731789e-02 3.26414796e-04 9.97734540e-01 -1.04519051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.053201008 meters 0.06273534249867367 Centerline is valid? [True, True] Translation: X:132.83, Y:31.55, Z:-10.45 [[ 8.95043459e-01 -4.41503847e-01 6.30203187e-02 1.32828676e+02] [ 4.40461354e-01 8.97259148e-01 3.03285031e-02 3.15491489e+01] [-6.99357082e-02 6.12686611e-04 9.97551313e-01 -1.04516418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.113201008 meters 0.06281117335108558 Centerline is valid? [True, True] Translation: X:132.88, Y:31.57, Z:-10.46 [[ 8.95091881e-01 -4.41596877e-01 6.16662224e-02 1.32881475e+02] [ 4.40597546e-01 8.97213382e-01 2.96976456e-02 3.15730164e+01] [-6.84421475e-02 5.87864745e-04 9.97654914e-01 -1.04578491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.173201008 meters 0.06272343427901504 Centerline is valid? [True, True] Translation: X:132.93, Y:31.60, Z:-10.46 [[ 8.95691819e-01 -4.40475216e-01 6.09733452e-02 1.32932159e+02] [ 4.39495087e-01 8.97764638e-01 2.93721520e-02 3.15977511e+01] [-6.76774182e-02 4.89089377e-04 9.97707135e-01 -1.04635834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.233201008 meters 0.06250319873441385 Centerline is valid? [True, True] Translation: X:132.98, Y:31.62, Z:-10.47 [[ 8.96699262e-01 -4.38581695e-01 5.98040930e-02 1.32984112e+02] [ 4.37633841e-01 8.98691264e-01 2.88206904e-02 3.16245678e+01] [-6.63856432e-02 3.28803130e-04 9.97793986e-01 -1.04679311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.293201008 meters 0.06238665065197216 Centerline is valid? [True, True] Translation: X:133.03, Y:31.65, Z:-10.47 [[ 8.97961362e-01 -4.36130819e-01 5.87818092e-02 1.33034274e+02] [ 4.35208710e-01 8.99883266e-01 2.83458491e-02 3.16536950e+01] [-6.52592648e-02 1.28878117e-04 9.97868334e-01 -1.04713756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.353201008 meters 0.06240399728788852 Centerline is valid? [True, True] Translation: X:133.09, Y:31.68, Z:-10.48 [[ 8.98106237e-01 -4.35915379e-01 5.81632919e-02 1.33085187e+02] [ 4.35010934e-01 8.99987652e-01 2.80662565e-02 3.16809844e+01] [-6.45807573e-02 9.51879265e-05 9.97912479e-01 -1.04768569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41320100800002 meters 0.062241753386178905 Centerline is valid? [True, True] Translation: X:133.14, Y:31.71, Z:-10.48 [[ 8.97772749e-01 -4.36679492e-01 5.75770188e-02 1.33136868e+02] [ 4.35793442e-01 8.99617143e-01 2.78041655e-02 3.17077888e+01] [-6.39387821e-02 1.29865109e-04 9.97953814e-01 -1.04808066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47320100800002 meters 0.06219492435548807 Centerline is valid? [True, True] Translation: X:133.19, Y:31.73, Z:-10.48 [[ 8.97039398e-01 -4.38210251e-01 5.73767787e-02 1.33189526e+02] [ 4.37333060e-01 8.98872473e-01 2.77141200e-02 3.17322248e+01] [-6.37190185e-02 2.32104702e-04 9.97967852e-01 -1.04840939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.533201008 meters 0.062105572337364225 Centerline is valid? [True, True] Translation: X:133.24, Y:31.76, Z:-10.49 [[ 8.96006808e-01 -4.40287177e-01 5.76107768e-02 1.33242770e+02] [ 4.39405906e-01 8.97856931e-01 2.78456633e-02 3.17565255e+01] [-6.39863238e-02 3.64611673e-04 9.97950709e-01 -1.04873511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.593201008 meters 0.06248133245583869 Centerline is valid? [True, True] Translation: X:133.29, Y:31.78, Z:-10.50 [[ 8.94513470e-01 -4.43707894e-01 5.44881324e-02 1.33294430e+02] [ 4.42924974e-01 8.96171295e-01 2.63529298e-02 3.17848158e+01] [-6.05237032e-02 5.61103952e-04 9.98166603e-01 -1.04963162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.653201008 meters 0.06298166666570275 Centerline is valid? [True, True] Translation: X:133.35, Y:31.81, Z:-10.50 [[ 8.93426061e-01 -4.46104873e-01 5.27286905e-02 1.33346116e+02] [ 4.45375065e-01 8.94980430e-01 2.55162967e-02 3.18127776e+01] [-5.85740904e-02 6.87119541e-04 9.98282828e-01 -1.05020474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.713201008 meters 0.06303445348659031 Centerline is valid? [True, True] Translation: X:133.40, Y:31.84, Z:-10.51 [[ 8.92474570e-01 -4.48133162e-01 5.16314938e-02 1.33399432e+02] [ 4.47435862e-01 8.93966469e-01 2.50020278e-02 3.18372353e+01] [-5.73610620e-02 7.88107894e-04 9.98353188e-01 -1.05051749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.773201008 meters 0.06342627727442432 Centerline is valid? [True, True] Translation: X:133.45, Y:31.86, Z:-10.51 [[ 8.91789562e-01 -4.49671833e-01 5.00661527e-02 1.33450385e+02] [ 4.49018169e-01 8.93193437e-01 2.42521953e-02 3.18636500e+01] [-5.56242881e-02 8.52757540e-04 9.98451407e-01 -1.05137073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.833201008 meters 0.06313223139073301 Centerline is valid? [True, True] Translation: X:133.50, Y:31.89, Z:-10.52 [[ 8.91705125e-01 -4.49920090e-01 4.93344039e-02 1.33501489e+02] [ 4.49285497e-01 8.93068412e-01 2.39029987e-02 3.18929396e+01] [-5.48134371e-02 8.50805776e-04 9.98496251e-01 -1.05171921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.893201008 meters 0.06267001121712253 Centerline is valid? [True, True] Translation: X:133.55, Y:31.92, Z:-10.52 [[ 8.92236395e-01 -4.49016425e-01 4.79423198e-02 1.33551337e+02] [ 4.48415192e-01 8.93523178e-01 2.32410408e-02 3.19243003e+01] [-5.32731830e-02 7.61562023e-04 9.98579685e-01 -1.05205221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.953201008 meters 0.0629704325989747 Centerline is valid? [True, True] Translation: X:133.60, Y:31.95, Z:-10.53 [[ 8.92651250e-01 -4.48350413e-01 4.64290158e-02 1.33603322e+02] [ 4.47784817e-01 8.93857617e-01 2.25237379e-02 3.19481044e+01] [-5.15994566e-02 6.84365541e-04 9.98667626e-01 -1.05271320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.013201008 meters 0.06246350234057559 Centerline is valid? [True, True] Translation: X:133.65, Y:31.98, Z:-10.53 [[ 8.93375770e-01 -4.46936594e-01 4.61239144e-02 1.33654357e+02] [ 4.46376279e-01 8.94565441e-01 2.23805744e-02 3.19784797e+01] [-5.12635575e-02 5.94358421e-04 9.98684983e-01 -1.05289071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.073201008 meters 0.06210975269033076 Centerline is valid? [True, True] Translation: X:133.70, Y:32.01, Z:-10.53 [[ 8.95763818e-01 -4.42077725e-01 4.66311837e-02 1.33703276e+02] [ 4.41497808e-01 8.96976694e-01 2.26383667e-02 3.20132457e+01] [-5.18350027e-02 3.08935635e-04 9.98655615e-01 -1.05330406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13320100800001 meters 0.06189296531485163 Centerline is valid? [True, True] Translation: X:133.75, Y:32.04, Z:-10.54 [[ 8.97378424e-01 -4.38784531e-01 4.66915372e-02 1.33753953e+02] [ 4.38197959e-01 8.98592301e-01 2.26809318e-02 3.20442661e+01] [-5.19086979e-02 1.06757501e-04 9.98651829e-01 -1.05367597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19320100800002 meters 0.06128651903980022 Centerline is valid? [True, True] Translation: X:133.81, Y:32.07, Z:-10.54 [[ 8.97453073e-01 -4.38299907e-01 4.97109073e-02 1.33807178e+02] [ 4.37633323e-01 8.98828786e-01 2.41637714e-02 3.20716476e+01] [-5.52725732e-02 6.92986751e-05 9.98471300e-01 -1.05351553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.253201008 meters 0.061431595367931253 Centerline is valid? [True, True] Translation: X:133.86, Y:32.10, Z:-10.54 [[ 8.98101672e-01 -4.37268359e-01 4.70081871e-02 1.33857911e+02] [ 4.36670342e-01 8.99331075e-01 2.28611079e-02 3.21015002e+01] [-5.22723626e-02 -4.51816517e-06 9.98632866e-01 -1.05426603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.313201008 meters 0.061708933861376755 Centerline is valid? [True, True] Translation: X:133.91, Y:32.13, Z:-10.55 [[ 8.98945981e-01 -4.35649751e-01 4.58848251e-02 1.33907438e+02] [ 4.35077241e-01 9.00116261e-01 2.23273693e-02 3.21325910e+01] [-5.10285900e-02 -1.07655840e-04 9.98697187e-01 -1.05508548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.373201008 meters 0.06192385765789739 Centerline is valid? [True, True] Translation: X:133.96, Y:32.16, Z:-10.56 [[ 8.99862362e-01 -4.33671846e-01 4.66525401e-02 1.33956980e+02] [ 4.33076648e-01 9.01070849e-01 2.27143770e-02 3.21641107e+01] [-5.18878297e-02 -2.35687230e-04 9.98652891e-01 -1.05553323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.433201008 meters 0.061756137855382885 Centerline is valid? [True, True] Translation: X:134.01, Y:32.19, Z:-10.56 [[ 9.00539485e-01 -4.32292701e-01 4.63859477e-02 1.34009335e+02] [ 4.31701812e-01 9.01733284e-01 2.25971398e-02 3.21909699e+01] [-5.15963315e-02 -3.24718960e-04 9.98667969e-01 -1.05574232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.493201008 meters 0.06191960514590753 Centerline is valid? [True, True] Translation: X:134.06, Y:32.22, Z:-10.56 [[ 9.00982103e-01 -4.31550962e-01 4.46656153e-02 1.34060113e+02] [ 4.31001455e-01 9.02088484e-01 2.17741542e-02 3.22193887e+01] [-4.96889944e-02 -3.67178104e-04 9.98764671e-01 -1.05639089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.553201008 meters 0.062260864870307055 Centerline is valid? [True, True] Translation: X:134.11, Y:32.25, Z:-10.57 [[ 9.01688010e-01 -4.30118073e-01 4.42399947e-02 1.34110076e+02] [ 4.29577095e-01 9.02772533e-01 2.15702170e-02 3.22499807e+01] [-4.92163922e-02 -4.45117590e-04 9.98788040e-01 -1.05703384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.613201008 meters 0.06232071008678216 Centerline is valid? [True, True] Translation: X:134.16, Y:32.27, Z:-10.58 [[ 9.01547165e-01 -4.30519018e-01 4.31982034e-02 1.34163606e+02] [ 4.30003123e-01 9.02581406e-01 2.10741212e-02 3.22749568e+01] [-4.80627051e-02 -4.23951811e-04 9.98844230e-01 -1.05752873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.673201008 meters 0.06209211377620794 Centerline is valid? [True, True] Translation: X:134.22, Y:32.30, Z:-10.58 [[ 9.00761204e-01 -4.32159597e-01 4.32126776e-02 1.34217299e+02] [ 4.31644663e-01 9.01797074e-01 2.10931835e-02 3.22987044e+01] [-4.80846879e-02 -3.47399712e-04 9.98843202e-01 -1.05780829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.733201008 meters 0.062127047351941106 Centerline is valid? [True, True] Translation: X:134.27, Y:32.32, Z:-10.59 [[ 8.99341233e-01 -4.35188586e-01 4.23820731e-02 1.34268504e+02] [ 4.34695878e-01 9.00339300e-01 2.07035723e-02 3.23232920e+01] [-4.71682044e-02 -1.96263796e-04 9.98886942e-01 -1.05869657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.793201008 meters 0.06160418262118598 Centerline is valid? [True, True] Translation: X:134.32, Y:32.35, Z:-10.59 [[ 8.98947252e-01 -4.35785147e-01 4.45549486e-02 1.34321913e+02] [ 4.35241226e-01 9.00050707e-01 2.17669663e-02 3.23483067e+01] [-4.95874335e-02 -1.75204073e-04 9.98769771e-01 -1.05873651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.853201008 meters 0.06147142586651748 Centerline is valid? [True, True] Translation: X:134.37, Y:32.38, Z:-10.59 [[ 8.98969272e-01 -4.35614284e-01 4.57650886e-02 1.34373620e+02] [ 4.35039471e-01 9.00133410e-01 2.23719394e-02 3.23757553e+01] [-5.09402216e-02 -2.02066136e-04 9.98701684e-01 -1.05912139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91320100800002 meters 0.06123596469647929 Centerline is valid? [True, True] Translation: X:134.43, Y:32.41, Z:-10.59 [[ 9.00097806e-01 -4.32955922e-01 4.87145785e-02 1.34425069e+02] [ 4.32299868e-01 9.01415009e-01 2.38286674e-02 3.24052281e+01] [-5.42288149e-02 -3.88825355e-04 9.98528460e-01 -1.05903353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97320100800002 meters 0.061208747351035 Centerline is valid? [True, True] Translation: X:134.48, Y:32.43, Z:-10.59 [[ 9.00534672e-01 -4.31959907e-01 4.94766942e-02 1.34475849e+02] [ 4.31280699e-01 9.01892686e-01 2.42186354e-02 3.24330281e+01] [-5.50841481e-02 -4.71377615e-04 9.98481604e-01 -1.05942579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.033201008 meters 0.061568270766473684 Centerline is valid? [True, True] Translation: X:134.53, Y:32.46, Z:-10.60 [[ 9.00612911e-01 -4.31902950e-01 4.85409753e-02 1.34526753e+02] [ 4.31248866e-01 9.01919963e-01 2.37654190e-02 3.24621772e+01] [-5.40444293e-02 -4.70202632e-04 9.98538421e-01 -1.06003925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.093201008 meters 0.06195803940020818 Centerline is valid? [True, True] Translation: X:134.58, Y:32.49, Z:-10.61 [[ 9.00776215e-01 -4.31645842e-01 4.77920222e-02 1.34576713e+02] [ 4.31010539e-01 9.02043028e-01 2.34156304e-02 3.24902693e+01] [-5.32177199e-02 -4.93377614e-04 9.98582811e-01 -1.06079249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.153201008 meters 0.06189727564187537 Centerline is valid? [True, True] Translation: X:134.63, Y:32.51, Z:-10.61 [[ 9.00267535e-01 -4.32919788e-01 4.58129090e-02 1.34629938e+02] [ 4.32337685e-01 9.01432358e-01 2.24461609e-02 3.25147787e+01] [-5.10146259e-02 -4.00902936e-04 9.98697826e-01 -1.06135886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.213201008 meters 0.062020873411986234 Centerline is valid? [True, True] Translation: X:134.68, Y:32.54, Z:-10.62 [[ 8.99962365e-01 -4.33666440e-01 4.47343326e-02 1.34682731e+02] [ 4.33111748e-01 9.01073409e-01 2.19300130e-02 3.25408111e+01] [-4.98192283e-02 -3.61221373e-04 9.98758186e-01 -1.06207532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.273201008 meters 0.06179706016471372 Centerline is valid? [True, True] Translation: X:134.74, Y:32.57, Z:-10.62 [[ 8.99602776e-01 -4.34380566e-01 4.50374341e-02 1.34735703e+02] [ 4.33818600e-01 9.00729378e-01 2.20909628e-02 3.25656772e+01] [-5.01624249e-02 -3.35014825e-04 9.98741017e-01 -1.06238780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.333201008 meters 0.06178146110990052 Centerline is valid? [True, True] Translation: X:134.79, Y:32.59, Z:-10.63 [[ 8.99504005e-01 -4.34511582e-01 4.57408984e-02 1.34787004e+02] [ 4.33931232e-01 9.00666178e-01 2.24526598e-02 3.25915508e+01] [-5.09532209e-02 -3.47853019e-04 9.98700980e-01 -1.06293887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.393201008 meters 0.06175882374311286 Centerline is valid? [True, True] Translation: X:134.84, Y:32.62, Z:-10.63 [[ 8.99696092e-01 -4.33856303e-01 4.81212142e-02 1.34840320e+02] [ 4.33212718e-01 9.00981987e-01 2.36262663e-02 3.26168958e+01] [-5.36067517e-02 -4.09737439e-04 9.98562040e-01 -1.06295061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.453201008 meters 0.06185339274781941 Centerline is valid? [True, True] Translation: X:134.89, Y:32.64, Z:-10.63 [[ 8.99414950e-01 -4.34365639e-01 4.87774451e-02 1.34893350e+02] [ 4.33704328e-01 9.00736550e-01 2.39629470e-02 3.26417860e+01] [-5.43443085e-02 -3.97643770e-04 9.98522177e-01 -1.06336649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.513201008 meters 0.06238242938698137 Centerline is valid? [True, True] Translation: X:134.95, Y:32.67, Z:-10.64 [[ 8.99404209e-01 -4.34431081e-01 4.83911584e-02 1.34945274e+02] [ 4.33779344e-01 9.00704985e-01 2.37909610e-02 3.26660363e+01] [-5.39216906e-02 -4.06605540e-04 9.98545085e-01 -1.06411869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.573201008 meters 0.06258504371429578 Centerline is valid? [True, True] Translation: X:135.00, Y:32.69, Z:-10.65 [[ 9.00301152e-01 -4.32678024e-01 4.74084801e-02 1.34996990e+02] [ 4.32050023e-01 9.01548377e-01 2.33088436e-02 3.26936860e+01] [-5.28262627e-02 -5.02143835e-04 9.98603592e-01 -1.06467582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63320100800001 meters 0.06385953406166153 Centerline is valid? [True, True] Translation: X:135.05, Y:32.72, Z:-10.65 [[ 9.02972720e-01 -4.27354967e-01 4.48107049e-02 1.35048475e+02] [ 4.26786779e-01 9.04083582e-01 2.20436359e-02 3.27227473e+01] [-4.99330799e-02 -7.80185508e-04 9.98752261e-01 -1.06536554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69320100800002 meters 0.06509645797305631 Centerline is valid? [True, True] Translation: X:135.10, Y:32.75, Z:-10.66 [[ 9.04548024e-01 -4.24028408e-01 4.46405759e-02 1.35097668e+02] [ 4.23459740e-01 9.05648365e-01 2.19746963e-02 3.27527971e+01] [-4.97465601e-02 -9.73681475e-04 9.98761399e-01 -1.06623545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.753201008 meters 0.06592039237216797 Centerline is valid? [True, True] Translation: X:135.15, Y:32.78, Z:-10.67 [[ 9.05550586e-01 -4.21846552e-01 4.49846898e-02 1.35148495e+02] [ 4.21266015e-01 9.06666563e-01 2.21514773e-02 3.27790621e+01] [-5.01306384e-02 -1.10876222e-03 9.98742054e-01 -1.06689070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.813201008 meters 0.06561215712591945 Centerline is valid? [True, True] Translation: X:135.20, Y:32.80, Z:-10.67 [[ 9.05910470e-01 -4.21040765e-01 4.52867993e-02 1.35203446e+02] [ 4.20451190e-01 9.07040968e-01 2.23042398e-02 3.28019564e+01] [-5.04679765e-02 -1.16475573e-03 9.98725001e-01 -1.06709948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.873201008 meters 0.06555196199936002 Centerline is valid? [True, True] Translation: X:135.26, Y:32.83, Z:-10.68 [[ 9.05543126e-01 -4.21852885e-01 4.50753767e-02 1.35255691e+02] [ 4.21269202e-01 9.06663597e-01 2.22121994e-02 3.28258179e+01] [-5.02384835e-02 -1.12523656e-03 9.98736616e-01 -1.06771177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.933201008 meters 0.06476258137093732 Centerline is valid? [True, True] Translation: X:135.31, Y:32.85, Z:-10.68 [[ 9.03055308e-01 -4.26929332e-01 4.71429305e-02 1.35311017e+02] [ 4.26296633e-01 9.04284543e-01 2.32518092e-02 3.28460896e+01] [-5.25575028e-02 -9.00797164e-04 9.98617493e-01 -1.06805989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.993201008 meters 0.06372224109221265 Centerline is valid? [True, True] Translation: X:135.37, Y:32.86, Z:-10.68 [[ 8.99204734e-01 -4.34867397e-01 4.81787617e-02 1.35369303e+02] [ 4.34217592e-01 9.00494388e-01 2.37684869e-02 3.28607337e+01] [-5.37208445e-02 -4.52670092e-04 9.98555890e-01 -1.06834023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.053201008 meters 0.06345930565372622 Centerline is valid? [True, True] Translation: X:135.42, Y:32.88, Z:-10.69 [[ 8.96270930e-01 -4.40884031e-01 4.81631775e-02 1.35424948e+02] [ 4.40242665e-01 8.97564070e-01 2.37725867e-02 3.28801337e+01] [-5.37104915e-02 -1.03192730e-04 9.98556544e-01 -1.06875203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.113201008 meters 0.06349323196760466 Centerline is valid? [True, True] Translation: X:135.48, Y:32.90, Z:-10.69 [[ 8.94115579e-01 -4.45316048e-01 4.74441610e-02 1.35480291e+02] [ 4.44699214e-01 8.95373439e-01 2.34310448e-02 3.29014534e+01] [-5.29144618e-02 1.48318893e-04 9.98599038e-01 -1.06931414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.173201008 meters 0.06395606958140444 Centerline is valid? [True, True] Translation: X:135.53, Y:32.92, Z:-10.70 [[ 8.92556186e-01 -4.48456568e-01 4.72245818e-02 1.35534586e+02] [ 4.47849122e-01 8.93804567e-01 2.33358136e-02 3.29242173e+01] [-5.26746458e-02 3.20962675e-04 9.98611676e-01 -1.06972041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.233201008 meters 0.06419714399935877 Centerline is valid? [True, True] Translation: X:135.59, Y:32.95, Z:-10.70 [[ 8.92878764e-01 -4.47849814e-01 4.68834343e-02 1.35585078e+02] [ 4.47249642e-01 8.94108757e-01 2.31794751e-02 3.29533027e+01] [-5.22998128e-02 2.72138097e-04 9.98631391e-01 -1.07021958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.293201008 meters 0.06418798804355354 Centerline is valid? [True, True] Translation: X:135.64, Y:32.98, Z:-10.71 [[ 8.94197874e-01 -4.45181316e-01 4.71567421e-02 1.35635199e+02] [ 4.44569388e-01 8.95440443e-01 2.33339482e-02 3.29827480e+01] [-5.26138918e-02 9.92771355e-05 9.98614925e-01 -1.07082925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.353201008 meters 0.06448370400969636 Centerline is valid? [True, True] Translation: X:135.68, Y:33.02, Z:-10.71 [[ 8.96528942e-01 -4.40550069e-01 4.63841863e-02 1.35684106e+02] [ 4.39951627e-01 8.97728025e-01 2.29556005e-02 3.30159924e+01] [-5.17534753e-02 -1.73561949e-04 9.98659876e-01 -1.07109956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41320100800002 meters 0.0652478467675731 Centerline is valid? [True, True] Translation: X:135.73, Y:33.05, Z:-10.72 [[ 8.98674041e-01 -4.36026386e-01 4.76020800e-02 1.35731048e+02] [ 4.35388809e-01 8.99933763e-01 2.35755634e-02 3.30498492e+01] [-5.31182867e-02 -4.61333906e-04 9.98588121e-01 -1.07177382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47320100800002 meters 0.06552573626346103 Centerline is valid? [True, True] Translation: X:135.78, Y:33.08, Z:-10.72 [[ 8.99878536e-01 -4.33577379e-01 4.72152192e-02 1.35781241e+02] [ 4.32946362e-01 9.01116134e-01 2.33914632e-02 3.30799603e+01] [-5.26884051e-02 -6.07818247e-04 9.98610816e-01 -1.07209513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.533201008 meters 0.06565623520255753 Centerline is valid? [True, True] Translation: X:135.83, Y:33.11, Z:-10.73 [[ 9.00516675e-01 -4.32230594e-01 4.73965257e-02 1.35832979e+02] [ 4.31592802e-01 9.01762850e-01 2.34822636e-02 3.31080274e+01] [-5.28901788e-02 -6.90170644e-04 9.98600096e-01 -1.07252014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.593201008 meters 0.065714991345189 Centerline is valid? [True, True] Translation: X:135.89, Y:33.14, Z:-10.73 [[ 9.00776703e-01 -4.31506604e-01 4.90243006e-02 1.35885260e+02] [ 4.30822309e-01 9.02109448e-01 2.43039653e-02 3.31363474e+01] [-5.47126062e-02 -7.71683337e-04 9.98501845e-01 -1.07285277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.653201008 meters 0.06584998941386712 Centerline is valid? [True, True] Translation: X:135.94, Y:33.16, Z:-10.73 [[ 9.00494264e-01 -4.32241530e-01 4.77214871e-02 1.35938511e+02] [ 4.31593552e-01 9.01757586e-01 2.36698552e-02 3.31621389e+01] [-5.32643074e-02 -7.18282708e-04 9.98580191e-01 -1.07339851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.713201008 meters 0.06534240550282597 Centerline is valid? [True, True] Translation: X:135.99, Y:33.18, Z:-10.74 [[ 8.99281213e-01 -4.34857725e-01 4.68194261e-02 1.35992706e+02] [ 4.34236899e-01 9.00498995e-01 2.32352040e-02 3.31847985e+01] [-5.22648541e-02 -5.64260068e-04 9.98633099e-01 -1.07388898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.773201008 meters 0.0654431267907759 Centerline is valid? [True, True] Translation: X:136.04, Y:33.21, Z:-10.75 [[ 8.98340385e-01 -4.36860437e-01 4.62332268e-02 1.36043917e+02] [ 4.36256896e-01 8.99529183e-01 2.29601781e-02 3.32088814e+01] [-5.16185301e-02 -4.56491170e-04 9.98666771e-01 -1.07463674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.833201008 meters 0.06501258635507426 Centerline is valid? [True, True] Translation: X:136.10, Y:33.23, Z:-10.75 [[ 8.97423356e-01 -4.38874437e-01 4.49505075e-02 1.36098541e+02] [ 4.38306345e-01 8.98548339e-01 2.23255466e-02 3.32320995e+01] [-5.01883156e-02 -3.33374315e-04 9.98739717e-01 -1.07493658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.893201008 meters 0.06512334244197372 Centerline is valid? [True, True] Translation: X:136.15, Y:33.26, Z:-10.76 [[ 8.97231789e-01 -4.39446269e-01 4.31519766e-02 1.36150942e+02] [ 4.38922639e-01 8.98268826e-01 2.14483606e-02 3.32570999e+01] [-4.81874775e-02 -3.03771495e-04 9.98838263e-01 -1.07564296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.953201008 meters 0.0653064644094637 Centerline is valid? [True, True] Translation: X:136.20, Y:33.29, Z:-10.76 [[ 8.97901315e-01 -4.38377664e-01 3.99781561e-02 1.36202216e+02] [ 4.37927028e-01 8.98790804e-01 1.98748364e-02 3.32853468e+01] [-4.46446834e-02 -3.38126711e-04 9.99002872e-01 -1.07641775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.013201008 meters 0.06571928299309962 Centerline is valid? [True, True] Translation: X:136.25, Y:33.31, Z:-10.77 [[ 8.98874276e-01 -4.36443601e-01 3.92685564e-02 1.36253242e+02] [ 4.36006868e-01 8.99731515e-01 1.95246376e-02 3.33129545e+01] [-4.38525609e-02 -4.28834212e-04 9.99037922e-01 -1.07695108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.073201008 meters 0.06595326543770183 Centerline is valid? [True, True] Translation: X:136.30, Y:33.34, Z:-10.77 [[ 9.00372633e-01 -4.33347448e-01 3.92314996e-02 1.36303631e+02] [ 4.32908652e-01 9.01226750e-01 1.95049627e-02 3.33445278e+01] [-4.38089027e-02 -5.78078963e-04 9.99039762e-01 -1.07729549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13320100800001 meters 0.06631860084095022 Centerline is valid? [True, True] Translation: X:136.35, Y:33.37, Z:-10.78 [[ 9.01267811e-01 -4.31385308e-01 4.02870772e-02 1.36354661e+02] [ 4.30920123e-01 9.02167515e-01 2.00405411e-02 3.33723603e+01] [-4.49908873e-02 -7.01382392e-04 9.98987151e-01 -1.07773918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19320100800002 meters 0.06651015104158021 Centerline is valid? [True, True] Translation: X:136.41, Y:33.40, Z:-10.78 [[ 9.02637807e-01 -4.28400627e-01 4.14474683e-02 1.36405826e+02] [ 4.27904161e-01 9.03588460e-01 2.06379304e-02 3.34004088e+01] [-4.62927564e-02 -8.93032096e-04 9.98927516e-01 -1.07792125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.253201008 meters 0.06667839032536023 Centerline is valid? [True, True] Translation: X:136.46, Y:33.43, Z:-10.78 [[ 9.03386821e-01 -4.26842213e-01 4.12065110e-02 1.36458002e+02] [ 4.26349911e-01 9.04325600e-01 2.05173757e-02 3.34281218e+01] [-4.60217848e-02 -9.66734454e-04 9.98939969e-01 -1.07826157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.313201008 meters 0.06639850076590295 Centerline is valid? [True, True] Translation: X:136.51, Y:33.45, Z:-10.79 [[ 9.03231455e-01 -4.27192498e-01 4.09817998e-02 1.36510652e+02] [ 4.26705447e-01 9.04160197e-01 2.04156808e-02 3.34524295e+01] [-4.57755378e-02 -9.52927908e-04 9.98951296e-01 -1.07865244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.373201008 meters 0.0655509704071116 Centerline is valid? [True, True] Translation: X:136.57, Y:33.47, Z:-10.79 [[ 9.02496743e-01 -4.28912515e-01 3.91622673e-02 1.36565812e+02] [ 4.28468846e-01 9.03345644e-01 1.95216769e-02 3.34735451e+01] [-4.37501551e-02 -8.38438311e-04 9.99042152e-01 -1.07898046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.433201008 meters 0.0654641359238931 Centerline is valid? [True, True] Translation: X:136.62, Y:33.50, Z:-10.80 [[ 9.01784217e-01 -4.30493906e-01 3.82128533e-02 1.36617903e+02] [ 4.30072270e-01 9.02593166e-01 1.90635380e-02 3.34966823e+01] [-4.26973972e-02 -7.56909151e-04 9.99087764e-01 -1.07960151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.493201008 meters 0.06435567490865055 Centerline is valid? [True, True] Translation: X:136.67, Y:33.52, Z:-10.79 [[ 9.01200718e-01 -4.31830668e-01 3.68719443e-02 1.36674221e+02] [ 4.31439225e-01 9.01954448e-01 1.83948069e-02 3.35159543e+01] [-4.12002559e-02 -6.69410082e-04 9.99150685e-01 -1.07949116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.553201008 meters 0.06456613848008373 Centerline is valid? [True, True] Translation: X:136.73, Y:33.54, Z:-10.80 [[ 9.00465074e-01 -4.33316514e-01 3.74092191e-02 1.36725291e+02] [ 4.32914369e-01 9.01241596e-01 1.86744720e-02 3.35434837e+01] [-4.18067014e-02 -6.20721331e-04 9.99125525e-01 -1.08031289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.613201008 meters 0.06447468218083874 Centerline is valid? [True, True] Translation: X:136.78, Y:33.57, Z:-10.81 [[ 8.98609699e-01 -4.37100933e-01 3.79918954e-02 1.36778205e+02] [ 4.36688796e-01 8.99412339e-01 1.89826062e-02 3.35661327e+01] [-4.24676944e-02 -4.67319023e-04 9.99097731e-01 -1.08124042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.673201008 meters 0.06308228172686593 Centerline is valid? [True, True] Translation: X:136.83, Y:33.59, Z:-10.81 [[ 8.97776118e-01 -4.38795862e-01 3.81606205e-02 1.36834166e+02] [ 4.38381654e-01 8.98586691e-01 1.90652675e-02 3.35872356e+01] [-4.26563862e-02 -3.87425965e-04 9.99089727e-01 -1.08067490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.733201008 meters 0.06202985070840562 Centerline is valid? [True, True] Translation: X:136.89, Y:33.61, Z:-10.81 [[ 8.96226037e-01 -4.41860737e-01 3.92170822e-02 1.36889765e+02] [ 4.41425680e-01 8.97083620e-01 1.96047715e-02 3.36087970e+01] [-4.38435809e-02 -2.58879469e-04 9.99038374e-01 -1.08052015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.793201008 meters 0.06173340132612509 Centerline is valid? [True, True] Translation: X:136.94, Y:33.63, Z:-10.81 [[ 8.95359678e-01 -4.43570392e-01 3.97033361e-02 1.36941563e+02] [ 4.43125386e-01 8.96239516e-01 1.98651015e-02 3.36342037e+01] [-4.43952696e-02 -1.92854696e-04 9.99014025e-01 -1.08108431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.853201008 meters 0.06179195464670136 Centerline is valid? [True, True] Translation: X:136.99, Y:33.66, Z:-10.82 [[ 8.95492544e-01 -4.43466084e-01 3.78277119e-02 1.36993213e+02] [ 4.43062126e-01 8.96291134e-01 1.89249826e-02 3.36613195e+01] [-4.22972307e-02 -1.87154332e-04 9.99105054e-01 -1.08174212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91320100800002 meters 0.06227071552029664 Centerline is valid? [True, True] Translation: X:137.04, Y:33.69, Z:-10.83 [[ 8.96469217e-01 -4.41726452e-01 3.49382944e-02 1.37043636e+02] [ 4.41380209e-01 8.97149751e-01 1.74881547e-02 3.36895221e+01] [-3.90698626e-02 -2.56520677e-04 9.99236449e-01 -1.08252330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97320100800002 meters 0.061839602834983645 Centerline is valid? [True, True] Translation: X:137.10, Y:33.72, Z:-10.82 [[ 8.97272709e-01 -4.40241915e-01 3.29960851e-02 1.37096440e+02] [ 4.39931733e-01 8.97879145e-01 1.65260664e-02 3.37151232e+01] [-3.69019638e-02 -3.12363500e-04 9.99318842e-01 -1.08237978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.033201008 meters 0.062215757988842914 Centerline is valid? [True, True] Translation: X:137.15, Y:33.75, Z:-10.83 [[ 8.98456641e-01 -4.37729105e-01 3.41891129e-02 1.37145226e+02] [ 4.37393856e-01 8.99106799e-01 1.71341087e-02 3.37454538e+01] [-3.82397619e-02 -4.40145790e-04 9.99268496e-01 -1.08292655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.093201008 meters 0.062391470255943174 Centerline is valid? [True, True] Translation: X:137.19, Y:33.78, Z:-10.83 [[ 8.99567560e-01 -4.35338666e-01 3.54746345e-02 1.37194890e+02] [ 4.34975704e-01 9.00266586e-01 1.77823413e-02 3.37754103e+01] [-3.96779688e-02 -5.65813280e-04 9.99212359e-01 -1.08323873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.153201008 meters 0.06165483458723284 Centerline is valid? [True, True] Translation: X:137.25, Y:33.80, Z:-10.83 [[ 9.00502036e-01 -4.33450456e-01 3.48824471e-02 1.37247887e+02] [ 4.33098220e-01 9.01177174e-01 1.74823701e-02 3.38014910e+01] [-3.90130064e-02 -6.35384193e-04 9.99238501e-01 -1.08289431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.213201008 meters 0.062435016962344776 Centerline is valid? [True, True] Translation: X:137.30, Y:33.83, Z:-10.83 [[ 9.02145781e-01 -4.30118589e-01 3.36301837e-02 1.37296866e+02] [ 4.29788252e-01 9.02772071e-01 1.68714616e-02 3.38332593e+01] [-3.76171198e-02 -7.66660046e-04 9.99291932e-01 -1.08340096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.273201008 meters 0.06224589547136636 Centerline is valid? [True, True] Translation: X:137.35, Y:33.86, Z:-10.84 [[ 9.02809133e-01 -4.28765125e-01 3.31079612e-02 1.37348771e+02] [ 4.28444237e-01 9.03415640e-01 1.66047336e-02 3.38606489e+01] [-3.70297806e-02 -8.05989963e-04 9.99313837e-01 -1.08362606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.333201008 meters 0.06265597527709581 Centerline is valid? [True, True] Translation: X:137.40, Y:33.89, Z:-10.84 [[ 9.03110242e-01 -4.28250432e-01 3.15191725e-02 1.37398347e+02] [ 4.27958836e-01 9.03659742e-01 1.58210539e-02 3.38894591e+01] [-3.52579805e-02 -7.99247487e-04 9.99377925e-01 -1.08431666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.393201008 meters 0.06276781251581973 Centerline is valid? [True, True] Translation: X:137.45, Y:33.91, Z:-10.85 [[ 9.02781236e-01 -4.29039776e-01 3.01812894e-02 1.37450354e+02] [ 4.28772633e-01 9.03285293e-01 1.51561693e-02 3.39142973e+01] [-3.37649143e-02 -7.41794358e-04 9.99429527e-01 -1.08492438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.453201008 meters 0.06191619600674315 Centerline is valid? [True, True] Translation: X:137.51, Y:33.94, Z:-10.85 [[ 9.01960989e-01 -4.30792551e-01 2.97346949e-02 1.37505057e+02] [ 4.30534341e-01 9.02450741e-01 1.49279028e-02 3.39366571e+01] [-3.32649267e-02 -6.62578690e-04 9.99446350e-01 -1.08517089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.513201008 meters 0.060409263744566656 Centerline is valid? [True, True] Translation: X:137.56, Y:33.96, Z:-10.85 [[ 9.01013981e-01 -4.32675972e-01 3.10694248e-02 1.37560244e+02] [ 4.32394815e-01 9.01549282e-01 1.56082233e-02 3.39595663e+01] [-3.47639208e-02 -6.28969228e-04 9.99395354e-01 -1.08501671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.573201008 meters 0.06019098864682662 Centerline is valid? [True, True] Translation: X:137.61, Y:33.98, Z:-10.85 [[ 9.00501393e-01 -4.33743016e-01 3.10521754e-02 1.37613335e+02] [ 4.33462532e-01 9.01036427e-01 1.56073945e-02 3.39844590e+01] [-3.47487395e-02 -5.94525892e-04 9.99395903e-01 -1.08539796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63320100800001 meters 0.05969436695910084 Centerline is valid? [True, True] Translation: X:137.67, Y:34.01, Z:-10.86 [[ 9.00167363e-01 -4.34489859e-01 3.02866381e-02 1.37666554e+02] [ 4.34223185e-01 9.00676551e-01 1.52307430e-02 3.40102807e+01] [-3.38960681e-02 -5.59057316e-04 9.99425207e-01 -1.08572026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69320100800002 meters 0.06011213143259987 Centerline is valid? [True, True] Translation: X:137.72, Y:34.04, Z:-10.86 [[ 9.00216535e-01 -4.34491355e-01 2.87654768e-02 1.37717855e+02] [ 4.34250422e-01 9.00675840e-01 1.44776384e-02 3.40357196e+01] [-3.21987787e-02 -5.41589024e-04 9.99481338e-01 -1.08636960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.753201008 meters 0.060500216493969354 Centerline is valid? [True, True] Translation: X:137.77, Y:34.06, Z:-10.87 [[ 9.00341073e-01 -4.34302955e-01 2.76928900e-02 1.37770065e+02] [ 4.34079554e-01 9.00766709e-01 1.39383037e-02 3.40628133e+01] [-3.09982799e-02 -5.28309921e-04 9.99519298e-01 -1.08707947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.813201008 meters 0.06039522074448839 Centerline is valid? [True, True] Translation: X:137.82, Y:34.09, Z:-10.87 [[ 9.00889619e-01 -4.33175880e-01 2.75054739e-02 1.37822853e+02] [ 4.32954737e-01 9.01309232e-01 1.38515048e-02 3.40885949e+01] [-3.07910753e-02 -5.70051630e-04 9.99525680e-01 -1.08726997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.873201008 meters 0.06012241992899122 Centerline is valid? [True, True] Translation: X:137.88, Y:34.11, Z:-10.88 [[ 9.00861434e-01 -4.33108523e-01 2.94225146e-02 1.37875867e+02] [ 4.32855109e-01 9.01341568e-01 1.48267571e-02 3.41142498e+01] [-3.29413303e-02 -6.21167837e-04 9.99457094e-01 -1.08752263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.933201008 meters 0.05979667913546137 Centerline is valid? [True, True] Translation: X:137.93, Y:34.14, Z:-10.88 [[ 9.00341803e-01 -4.34099997e-01 3.06892636e-02 1.37929821e+02] [ 4.33824334e-01 9.00864476e-01 1.54804394e-02 3.41388821e+01] [-3.43669261e-02 -6.23937412e-04 9.99409088e-01 -1.08781037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.993201008 meters 0.05942545740277969 Centerline is valid? [True, True] Translation: X:137.98, Y:34.16, Z:-10.88 [[ 8.99166008e-01 -4.36407476e-01 3.23883514e-02 1.37983427e+02] [ 4.36101904e-01 8.99748962e-01 1.63381451e-02 3.41622837e+01] [-3.62714742e-02 -5.66082952e-04 9.99341813e-01 -1.08834638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.053201008 meters 0.058306532118089095 Centerline is valid? [True, True] Translation: X:138.04, Y:34.18, Z:-10.89 [[ 8.95439325e-01 -4.43906009e-01 3.37026698e-02 1.38039118e+02] [ 4.43579916e-01 8.96073308e-01 1.70142389e-02 3.41786636e+01] [-3.77527857e-02 -2.85391172e-04 9.99287069e-01 -1.08887365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.113201008 meters 0.05771073563166486 Centerline is valid? [True, True] Translation: X:138.10, Y:34.20, Z:-10.89 [[ 8.92915556e-01 -4.48954157e-01 3.37931135e-02 1.38095325e+02] [ 4.48629764e-01 8.93554788e-01 1.70638773e-02 3.41984429e+01] [-3.78568970e-02 -7.60049338e-05 9.99283168e-01 -1.08928079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.173201008 meters 0.05707787215343318 Centerline is valid? [True, True] Translation: X:138.15, Y:34.22, Z:-10.89 [[ 8.88814725e-01 -4.56892903e-01 3.54578730e-02 1.38153366e+02] [ 4.56541624e-01 8.89521672e-01 1.79148194e-02 3.42150609e+01] [-3.97257003e-02 2.65039644e-04 9.99210588e-01 -1.08909641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.233201008 meters 0.0574449800466189 Centerline is valid? [True, True] Translation: X:138.21, Y:34.24, Z:-10.90 [[ 8.86463467e-01 -4.61219599e-01 3.81969131e-02 1.38207428e+02] [ 4.60815208e-01 8.87285891e-01 1.93155887e-02 3.42361857e+01] [-4.28003101e-02 4.79154704e-04 9.99083532e-01 -1.08960751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.293201008 meters 0.057954630481756995 Centerline is valid? [True, True] Translation: X:138.26, Y:34.26, Z:-10.90 [[ 8.84791987e-01 -4.64194087e-01 4.08287712e-02 1.38261027e+02] [ 4.63735030e-01 8.85733261e-01 2.06497472e-02 3.42593670e+01] [-4.57488913e-02 6.63000563e-04 9.98952751e-01 -1.09003106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.353201008 meters 0.05736751200174147 Centerline is valid? [True, True] Translation: X:138.31, Y:34.29, Z:-10.90 [[ 8.84794935e-01 -4.64035385e-01 4.25333302e-02 1.38312701e+02] [ 4.63536408e-01 8.85816409e-01 2.15241167e-02 3.42880682e+01] [-4.76646737e-02 6.71317640e-04 9.98863168e-01 -1.08990976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41320100800002 meters 0.05758564796598763 Centerline is valid? [True, True] Translation: X:138.36, Y:34.32, Z:-10.91 [[ 8.86671106e-01 -4.60443865e-01 4.24946591e-02 1.38361492e+02] [ 4.59940826e-01 8.87688703e-01 2.15221472e-02 3.43190643e+01] [-4.76317695e-02 4.61962498e-04 9.98864856e-01 -1.09065530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47320100800002 meters 0.05774353792773906 Centerline is valid? [True, True] Translation: X:138.41, Y:34.35, Z:-10.92 [[ 8.89037173e-01 -4.55786302e-01 4.32637379e-02 1.38410376e+02] [ 4.55259342e-01 8.90089209e-01 2.19119007e-02 3.43507567e+01] [-4.84957305e-02 2.15726643e-04 9.98823367e-01 -1.09154487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.533201008 meters 0.05771771447092212 Centerline is valid? [True, True] Translation: X:138.46, Y:34.38, Z:-10.92 [[ 8.89910017e-01 -4.54074493e-01 4.33187759e-02 1.38460537e+02] [ 4.53543596e-01 8.90963715e-01 2.19514144e-02 3.43799411e+01] [-4.85630349e-02 1.12169844e-04 9.98820113e-01 -1.09192985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.593201008 meters 0.05794650766678111 Centerline is valid? [True, True] Translation: X:138.51, Y:34.41, Z:-10.92 [[ 8.91201516e-01 -4.51462562e-01 4.40614688e-02 1.38510436e+02] [ 4.50909314e-01 8.92290061e-01 2.23436205e-02 3.44108207e+01] [-4.94029189e-02 -4.49417853e-05 9.98778929e-01 -1.09246223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.653201008 meters 0.05833774652360421 Centerline is valid? [True, True] Translation: X:138.56, Y:34.44, Z:-10.93 [[ 8.91295313e-01 -4.51132078e-01 4.55248662e-02 1.38560460e+02] [ 4.50540103e-01 8.92457193e-01 2.31035629e-02 3.44385129e+01] [-5.10517526e-02 -8.13193931e-05 9.98696006e-01 -1.09313527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.713201008 meters 0.058131159214697956 Centerline is valid? [True, True] Translation: X:138.62, Y:34.46, Z:-10.93 [[ 8.90105177e-01 -4.53392381e-01 4.63478444e-02 1.38615032e+02] [ 4.52781798e-01 8.91311027e-01 2.35222736e-02 3.44626279e+01] [-5.19751644e-02 4.81627665e-05 9.98648377e-01 -1.09319445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.773201008 meters 0.058601800040086145 Centerline is valid? [True, True] Translation: X:138.67, Y:34.48, Z:-10.94 [[ 8.87578285e-01 -4.58246910e-01 4.70590834e-02 1.38668760e+02] [ 4.57623474e-01 8.88824878e-01 2.38975284e-02 3.44825568e+01] [-5.27782526e-02 3.24413899e-04 9.98606204e-01 -1.09375172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.833201008 meters 0.05868187609473634 Centerline is valid? [True, True] Translation: X:138.72, Y:34.51, Z:-10.94 [[ 8.86299675e-01 -4.60646048e-01 4.77294928e-02 1.38722143e+02] [ 4.60007685e-01 8.87583800e-01 2.42472241e-02 3.45067199e+01] [-5.35333126e-02 4.65626646e-04 9.98565956e-01 -1.09414822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.893201008 meters 0.059016829174921445 Centerline is valid? [True, True] Translation: X:138.78, Y:34.53, Z:-10.94 [[ 8.83544027e-01 -4.65489488e-01 5.16671022e-02 1.38776877e+02] [ 4.64748476e-01 8.85053044e-01 2.62671690e-02 3.45289246e+01] [-5.79552171e-02 8.04006772e-04 9.98318860e-01 -1.09426696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.953201008 meters 0.06046457002324956 Centerline is valid? [True, True] Translation: X:138.83, Y:34.55, Z:-10.95 [[ 8.79424545e-01 -4.73044312e-01 5.33061784e-02 1.38833124e+02] [ 4.72268314e-01 8.81037636e-01 2.71168415e-02 3.45482299e+01] [-5.97922170e-02 1.32760297e-03 9.98209962e-01 -1.09459622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.013201008 meters 0.06147392743629295 Centerline is valid? [True, True] Translation: X:138.89, Y:34.57, Z:-10.95 [[ 8.77124615e-01 -4.77248166e-01 5.37270696e-02 1.38886925e+02] [ 4.76466693e-01 8.78767085e-01 2.73477547e-02 3.45694568e+01] [-6.02652461e-02 1.61177037e-03 9.98181097e-01 -1.09495014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.073201008 meters 0.06242436712126906 Centerline is valid? [True, True] Translation: X:138.94, Y:34.59, Z:-10.96 [[ 8.75186760e-01 -4.80887855e-01 5.28678234e-02 1.38940450e+02] [ 4.80137354e-01 8.76780211e-01 2.69180702e-02 3.45947403e+01] [-5.92980344e-02 1.82547817e-03 9.98238654e-01 -1.09552079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13320100800001 meters 0.06286212310925907 Centerline is valid? [True, True] Translation: X:138.99, Y:34.62, Z:-10.96 [[ 8.75584282e-01 -4.80325746e-01 5.13745304e-02 1.38990819e+02] [ 4.79615236e-01 8.77088483e-01 2.61728559e-02 3.46232705e+01] [-5.76315055e-02 1.72346625e-03 9.98336436e-01 -1.09626039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19320100800002 meters 0.06200362324479897 Centerline is valid? [True, True] Translation: X:139.04, Y:34.66, Z:-10.97 [[ 8.77202410e-01 -4.77450977e-01 5.05618142e-02 1.39038938e+02] [ 4.76757629e-01 8.78657102e-01 2.57655007e-02 3.46593681e+01] [-5.67282606e-02 1.50417135e-03 9.98388523e-01 -1.09688779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.253201008 meters 0.06271573618602955 Centerline is valid? [True, True] Translation: X:139.09, Y:34.69, Z:-10.98 [[ 8.78094455e-01 -4.75904706e-01 4.96471460e-02 1.39089517e+02] [ 4.75232888e-01 8.79495792e-01 2.53150887e-02 3.46877361e+01] [-5.57120258e-02 1.36491757e-03 9.98445946e-01 -1.09760131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.313201008 meters 0.06139870492201038 Centerline is valid? [True, True] Translation: X:139.14, Y:34.72, Z:-10.98 [[ 8.79763020e-01 -4.72651808e-01 5.11595265e-02 1.39138312e+02] [ 4.71932747e-01 8.81248460e-01 2.60889637e-02 3.47236129e+01] [-5.74152498e-02 1.19175038e-03 9.98349673e-01 -1.09765845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.373201008 meters 0.060701774631535164 Centerline is valid? [True, True] Translation: X:139.19, Y:34.76, Z:-10.98 [[ 8.81758491e-01 -4.68810303e-01 5.21427151e-02 1.39186997e+02] [ 4.68055786e-01 8.83298366e-01 2.66041180e-02 3.47586171e+01] [-5.85298596e-02 9.47292568e-04 9.98285209e-01 -1.09806334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.433201008 meters 0.06031477393594074 Centerline is valid? [True, True] Translation: X:139.23, Y:34.80, Z:-10.99 [[ 8.86505302e-01 -4.59674619e-01 5.29867469e-02 1.39232414e+02] [ 4.58878219e-01 8.88087345e-01 2.70489804e-02 3.47994116e+01] [-5.94905892e-02 3.35399529e-04 9.98228810e-01 -1.09858056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.493201008 meters 0.06058504138254859 Centerline is valid? [True, True] Translation: X:139.28, Y:34.84, Z:-10.99 [[ 8.90042263e-01 -4.52931088e-01 5.17513159e-02 1.39279867e+02] [ 4.52159187e-01 8.91545520e-01 2.64321001e-02 3.48351240e+01] [-5.81105737e-02 -1.25853285e-04 9.98310145e-01 -1.09922238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.553201008 meters 0.061253007052318766 Centerline is valid? [True, True] Translation: X:139.33, Y:34.87, Z:-11.00 [[ 8.93522734e-01 -4.45907423e-01 5.27607205e-02 1.39326007e+02] [ 4.45091799e-01 8.95078878e-01 2.69646652e-02 3.48711618e+01] [-5.92487508e-02 -6.10177414e-04 9.98243063e-01 -1.09966937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.613201008 meters 0.061582305049201334 Centerline is valid? [True, True] Translation: X:139.38, Y:34.90, Z:-11.00 [[ 8.94189749e-01 -4.44652924e-01 5.20429639e-02 1.39376602e+02] [ 4.43857093e-01 8.95702689e-01 2.66002615e-02 3.49008600e+01] [-5.84429067e-02 -6.86042469e-04 9.98290517e-01 -1.10014192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.673201008 meters 0.061647364372368584 Centerline is valid? [True, True] Translation: X:139.43, Y:34.93, Z:-11.01 [[ 8.93558736e-01 -4.46008603e-01 5.12748684e-02 1.39426930e+02] [ 4.45237355e-01 8.95028470e-01 2.62247242e-02 3.49266120e+01] [-5.75889196e-02 -6.03844657e-04 9.98340198e-01 -1.10082096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.733201008 meters 0.061463263845922815 Centerline is valid? [True, True] Translation: X:139.48, Y:34.95, Z:-11.01 [[ 8.92242660e-01 -4.48742013e-01 5.03352836e-02 1.39480856e+02] [ 4.48002888e-01 8.93661248e-01 2.57485040e-02 3.49496079e+01] [-5.65371279e-02 -4.23561285e-04 9.98400408e-01 -1.10126037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.793201008 meters 0.06128707275809889 Centerline is valid? [True, True] Translation: X:139.53, Y:34.98, Z:-11.02 [[ 8.91711428e-01 -4.49828057e-01 5.00544455e-02 1.39532780e+02] [ 4.49098046e-01 8.93115102e-01 2.56195253e-02 3.49759161e+01] [-5.62287625e-02 -3.65869840e-04 9.98417845e-01 -1.10164816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.853201008 meters 0.061393068736259666 Centerline is valid? [True, True] Translation: X:139.59, Y:35.00, Z:-11.02 [[ 8.92100648e-01 -4.49094498e-01 4.97047784e-02 1.39586233e+02] [ 4.48372573e-01 8.93484164e-01 2.54574929e-02 3.50018063e+01] [-5.58432524e-02 -4.24386542e-04 9.98439458e-01 -1.10185203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91320100800002 meters 0.061857843834440374 Centerline is valid? [True, True] Translation: X:139.64, Y:35.03, Z:-11.03 [[ 8.93126736e-01 -4.47033781e-01 4.98541113e-02 1.39635912e+02] [ 4.46303338e-01 8.94516894e-01 2.55510793e-02 3.50309838e+01] [-5.60175404e-02 -5.70295751e-04 9.98429622e-01 -1.10261831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97320100800002 meters 0.06254676844157399 Centerline is valid? [True, True] Translation: X:139.69, Y:35.06, Z:-11.03 [[ 8.95063821e-01 -4.43120622e-01 5.00486742e-02 1.39687577e+02] [ 4.42378036e-01 8.96461620e-01 2.56561313e-02 3.50599099e+01] [-5.62354764e-02 -8.23440677e-04 9.98417194e-01 -1.10288066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.033201008 meters 0.06355054426280028 Centerline is valid? [True, True] Translation: X:139.74, Y:35.09, Z:-11.03 [[ 8.97404547e-01 -4.38486349e-01 4.89367126e-02 1.39738794e+02] [ 4.37768747e-01 8.98737174e-01 2.51001225e-02 3.50903664e+01] [-5.49873039e-02 -1.10200063e-03 9.98486446e-01 -1.10340186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.093201008 meters 0.06525776019243035 Centerline is valid? [True, True] Translation: X:139.79, Y:35.12, Z:-11.04 [[ 8.99614721e-01 -4.34122616e-01 4.72324888e-02 1.39789351e+02] [ 4.33447297e-01 9.00852802e-01 2.42419088e-02 3.51180397e+01] [-5.30734807e-02 -1.33558345e-03 9.98589716e-01 -1.10409537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.153201008 meters 0.06620141145381726 Centerline is valid? [True, True] Translation: X:139.84, Y:35.14, Z:-11.05 [[ 8.99854461e-01 -4.33648869e-01 4.70170927e-02 1.39840270e+02] [ 4.32978824e-01 9.01080909e-01 2.41357136e-02 3.51442293e+01] [-5.28326296e-02 -1.36122410e-03 9.98602454e-01 -1.10477761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.213201008 meters 0.06540303345896159 Centerline is valid? [True, True] Translation: X:139.90, Y:35.17, Z:-11.06 [[ 8.99158793e-01 -4.35283561e-01 4.51850180e-02 1.39895164e+02] [ 4.34666808e-01 9.00292587e-01 2.31953220e-02 3.51654181e+01] [-5.07762791e-02 -1.21585015e-03 9.98709313e-01 -1.10556986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.273201008 meters 0.06535209022725556 Centerline is valid? [True, True] Translation: X:139.95, Y:35.19, Z:-11.06 [[ 8.98255200e-01 -4.37166997e-01 4.49734507e-02 1.39949755e+02] [ 4.36557691e-01 8.99379659e-01 2.31000350e-02 3.51877465e+01] [-5.05467797e-02 -1.11622074e-03 9.98721071e-01 -1.10628556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.333201008 meters 0.06479364335014486 Centerline is valid? [True, True] Translation: X:140.01, Y:35.21, Z:-11.07 [[ 8.96563366e-01 -4.40472167e-01 4.64585889e-02 1.40006637e+02] [ 4.39825581e-01 8.97765738e-01 2.38775545e-02 3.52056241e+01] [-5.22263275e-02 -9.74064785e-04 9.98634799e-01 -1.10650654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.393201008 meters 0.06487582482502191 Centerline is valid? [True, True] Translation: X:140.06, Y:35.23, Z:-11.07 [[ 8.96234560e-01 -4.40989087e-01 4.78773381e-02 1.40060624e+02] [ 4.40302286e-01 8.97511923e-01 2.46220390e-02 3.52302345e+01] [-5.38285323e-02 -9.86620877e-04 9.98549706e-01 -1.10708829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.453201008 meters 0.06519538613860085 Centerline is valid? [True, True] Translation: X:140.11, Y:35.26, Z:-11.08 [[ 8.96192514e-01 -4.40907199e-01 4.93945390e-02 1.40112969e+02] [ 4.40175257e-01 8.97552099e-01 2.54159939e-02 3.52564720e+01] [-5.55402668e-02 -1.03536955e-03 9.98455911e-01 -1.10763382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.513201008 meters 0.06437793905019704 Centerline is valid? [True, True] Translation: X:140.17, Y:35.28, Z:-11.08 [[ 8.94553523e-01 -4.44151723e-01 5.00324079e-02 1.40168099e+02] [ 4.43404961e-01 8.95951177e-01 2.57590711e-02 3.52783982e+01] [-5.62675305e-02 -8.58249922e-04 9.98415359e-01 -1.10787443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.573201008 meters 0.06320585596116414 Centerline is valid? [True, True] Translation: X:140.23, Y:35.29, Z:-11.08 [[ 8.90077321e-01 -4.52881105e-01 5.15855430e-02 1.40225956e+02] [ 4.52100684e-01 8.91570857e-01 2.65777898e-02 3.52916399e+01] [-5.80287456e-02 -3.34428670e-04 9.98314857e-01 -1.10804219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63320100800001 meters 0.06351769770712427 Centerline is valid? [True, True] Translation: X:140.28, Y:35.31, Z:-11.09 [[ 8.85914975e-01 -4.61073756e-01 5.06522289e-02 1.40280793e+02] [ 4.60334519e-01 8.87361794e-01 2.60993715e-02 3.53105101e+01] [-5.69805879e-02 1.95145380e-04 9.98375267e-01 -1.10895997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69320100800002 meters 0.06409189120280319 Centerline is valid? [True, True] Translation: X:140.34, Y:35.33, Z:-11.09 [[ 8.82599080e-01 -4.67377150e-01 5.07687386e-02 1.40336791e+02] [ 4.66643856e-01 8.84057835e-01 2.61773958e-02 3.53293530e+01] [-5.71172178e-02 5.86774484e-04 9.98367307e-01 -1.10944342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.753201008 meters 0.06559686425007163 Centerline is valid? [True, True] Translation: X:140.39, Y:35.34, Z:-11.10 [[ 8.78044761e-01 -4.75822139e-01 5.12902483e-02 1.40394228e+02] [ 4.75087024e-01 8.79540796e-01 2.64633219e-02 3.53437053e+01] [-5.77037003e-02 1.13135029e-03 9.98333112e-01 -1.10966619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.813201008 meters 0.06572701330580602 Centerline is valid? [True, True] Translation: X:140.45, Y:35.37, Z:-11.10 [[ 8.75601326e-01 -4.80230625e-01 5.19698372e-02 1.40448312e+02] [ 4.79483188e-01 8.77141089e-01 2.68212989e-02 3.53673640e+01] [-5.84652887e-02 1.43389833e-03 9.98288412e-01 -1.10974919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.873201008 meters 0.0671081109211992 Centerline is valid? [True, True] Translation: X:140.50, Y:35.39, Z:-11.11 [[ 8.73402834e-01 -4.84209944e-01 5.20405573e-02 1.40499354e+02] [ 4.83466489e-01 8.74950218e-01 2.68750773e-02 3.53927341e+01] [-5.85460766e-02 1.68709679e-03 9.98283282e-01 -1.11058441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.933201008 meters 0.06725953803976681 Centerline is valid? [True, True] Translation: X:140.55, Y:35.42, Z:-11.11 [[ 8.72496705e-01 -4.85819998e-01 5.22343750e-02 1.40550994e+02] [ 4.85073412e-01 8.74057039e-01 2.69829139e-02 3.54203122e+01] [-5.87646623e-02 1.79500302e-03 9.98270250e-01 -1.11107381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.993201008 meters 0.06743692327316524 Centerline is valid? [True, True] Translation: X:140.60, Y:35.45, Z:-11.12 [[ 8.71952107e-01 -4.86958634e-01 5.07031629e-02 1.40602653e+02] [ 4.86256325e-01 8.73423169e-01 2.62059938e-02 3.54493399e+01] [-5.70465522e-02 1.80436212e-03 9.98369889e-01 -1.11150674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.053201008 meters 0.06850050200268054 Centerline is valid? [True, True] Translation: X:140.65, Y:35.48, Z:-11.12 [[ 8.72645441e-01 -4.85947849e-01 4.84213037e-02 1.40652816e+02] [ 4.85304958e-01 8.73986258e-01 2.50423390e-02 3.54781069e+01] [-5.44888248e-02 1.64601586e-03 9.98513024e-01 -1.11239339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.113201008 meters 0.06676523467431006 Centerline is valid? [True, True] Translation: X:140.70, Y:35.52, Z:-11.13 [[ 8.74803397e-01 -4.82180049e-01 4.71319168e-02 1.40698028e+02] [ 4.81565158e-01 8.76071075e-01 2.43817396e-02 3.55196123e+01] [-5.30472974e-02 1.36786037e-03 9.98591064e-01 -1.11285076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.173201008 meters 0.06573581148900794 Centerline is valid? [True, True] Translation: X:140.75, Y:35.56, Z:-11.13 [[ 8.76829496e-01 -4.78508959e-01 4.68957587e-02 1.40745426e+02] [ 4.77894753e-01 8.78081936e-01 2.42635428e-02 3.55561588e+01] [-5.27886412e-02 1.13624705e-03 9.98605061e-01 -1.11308792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.233201008 meters 0.06507660018454937 Centerline is valid? [True, True] Translation: X:140.79, Y:35.59, Z:-11.13 [[ 8.77841021e-01 -4.76668373e-01 4.67162086e-02 1.40793722e+02] [ 4.76055581e-01 8.79082614e-01 2.41835071e-02 3.55916966e+01] [-5.25949198e-02 1.01023724e-03 9.98615418e-01 -1.11333701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.293201008 meters 0.06445743246219632 Centerline is valid? [True, True] Translation: X:140.84, Y:35.63, Z:-11.14 [[ 8.79462237e-01 -4.73601841e-01 4.74074805e-02 1.40840636e+02] [ 4.72965567e-01 8.80738674e-01 2.45552465e-02 3.56286564e+01] [-5.33830115e-02 8.26693821e-04 9.98573768e-01 -1.11359012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.353201008 meters 0.06431555666577214 Centerline is valid? [True, True] Translation: X:140.89, Y:35.66, Z:-11.14 [[ 8.79786049e-01 -4.73104578e-01 4.63526263e-02 1.40890600e+02] [ 4.72494954e-01 8.81005942e-01 2.40218401e-02 3.56607733e+01] [-5.22017817e-02 7.67302278e-04 9.98636263e-01 -1.11400836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41320100800002 meters 0.06447617745290721 Centerline is valid? [True, True] Translation: X:140.94, Y:35.69, Z:-11.14 [[ 8.79439929e-01 -4.73874675e-01 4.50355805e-02 1.40939882e+02] [ 4.73299605e-01 8.80591952e-01 2.33516184e-02 3.56930361e+01] [-5.07237103e-02 7.78976882e-04 9.98712420e-01 -1.11439081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47320100800002 meters 0.06464233972656387 Centerline is valid? [True, True] Translation: X:140.99, Y:35.72, Z:-11.15 [[ 8.78225512e-01 -4.76133522e-01 4.49090090e-02 1.40991456e+02] [ 4.75563993e-01 8.79372542e-01 2.32985284e-02 3.57222205e+01] [-5.05849598e-02 8.95745635e-04 9.98719360e-01 -1.11471296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.533201008 meters 0.06555672265875503 Centerline is valid? [True, True] Translation: X:141.04, Y:35.75, Z:-11.15 [[ 8.75393011e-01 -4.81346151e-01 4.46425861e-02 1.41042176e+02] [ 4.80789468e-01 8.76529803e-01 2.31730834e-02 3.57522525e+01] [-5.02848317e-02 1.17813003e-03 9.98734223e-01 -1.11529045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.593201008 meters 0.06629235080097629 Centerline is valid? [True, True] Translation: X:141.09, Y:35.78, Z:-11.16 [[ 8.73823705e-01 -4.84246911e-01 4.40120711e-02 1.41093892e+02] [ 4.83708947e-01 8.74930396e-01 2.28573115e-02 3.57806064e+01] [-4.95760813e-02 1.31577193e-03 9.98769483e-01 -1.11572629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.653201008 meters 0.06616598494976467 Centerline is valid? [True, True] Translation: X:141.14, Y:35.81, Z:-11.16 [[ 8.73015201e-01 -4.85915426e-01 4.16011734e-02 1.41142872e+02] [ 4.85436225e-01 8.74004831e-01 2.16154046e-02 3.58142684e+01] [-4.68628851e-02 1.32413977e-03 9.98900454e-01 -1.11601231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.713201008 meters 0.06609652781955094 Centerline is valid? [True, True] Translation: X:141.19, Y:35.85, Z:-11.17 [[ 8.73687399e-01 -4.84811897e-01 4.03454295e-02 1.41190549e+02] [ 4.84359608e-01 8.74617596e-01 2.09721417e-02 3.58483942e+01] [-4.54543664e-02 1.21860049e-03 9.98965673e-01 -1.11670328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.773201008 meters 0.0657532690553063 Centerline is valid? [True, True] Translation: X:141.24, Y:35.89, Z:-11.18 [[ 8.76094164e-01 -4.80617449e-01 3.82868610e-02 1.41235393e+02] [ 4.80205389e-01 8.76929869e-01 1.99195780e-02 3.58864689e+01] [-4.31485888e-02 9.34130918e-04 9.99068229e-01 -1.11752868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.833201008 meters 0.06576031714361845 Centerline is valid? [True, True] Translation: X:141.28, Y:35.92, Z:-11.18 [[ 8.77484792e-01 -4.78341143e-01 3.47877989e-02 1.41284553e+02] [ 4.77999300e-01 8.78173781e-01 1.80964004e-02 3.59193192e+01] [-3.92059857e-02 7.49227377e-04 9.99230869e-01 -1.11817894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.893201008 meters 0.06565358721798346 Centerline is valid? [True, True] Translation: X:141.33, Y:35.95, Z:-11.19 [[ 8.78627617e-01 -4.76328466e-01 3.35365888e-02 1.41331959e+02] [ 4.76008824e-01 8.79267197e-01 1.74584110e-02 3.59535377e+01] [-3.78035605e-02 6.24270085e-04 9.99284995e-01 -1.11874942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.953201008 meters 0.065201798626583 Centerline is valid? [True, True] Translation: X:141.38, Y:35.99, Z:-11.19 [[ 8.78962192e-01 -4.75750085e-01 3.29745598e-02 1.41381074e+02] [ 4.75440678e-01 8.79580303e-01 1.71654500e-02 3.59878602e+01] [-3.71702376e-02 5.89665554e-04 9.99308774e-01 -1.11896807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.013201008 meters 0.06474267214104887 Centerline is valid? [True, True] Translation: X:141.43, Y:36.02, Z:-11.19 [[ 8.78870908e-01 -4.75793224e-01 3.47380987e-02 1.41431961e+02] [ 4.75449274e-01 8.79556954e-01 1.80983976e-02 3.60192093e+01] [-3.91652312e-02 6.10048734e-04 9.99232562e-01 -1.11901353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.073201008 meters 0.06484044388021712 Centerline is valid? [True, True] Translation: X:141.48, Y:36.05, Z:-11.19 [[ 8.78014147e-01 -4.77303450e-01 3.56731681e-02 1.41483113e+02] [ 4.76941707e-01 8.78738266e-01 1.85921221e-02 3.60466052e+01] [-4.02214619e-02 6.89875494e-04 9.99190551e-01 -1.11936143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13320100800001 meters 0.06377441299889665 Centerline is valid? [True, True] Translation: X:141.53, Y:36.08, Z:-11.19 [[ 8.76251022e-01 -4.80332222e-01 3.82766659e-02 1.41532163e+02] [ 4.79918663e-01 8.77086178e-01 1.99477434e-02 3.60803141e+01] [-4.31534785e-02 8.90455806e-04 9.99068058e-01 -1.11904611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19320100800002 meters 0.06349808095911046 Centerline is valid? [True, True] Translation: X:141.58, Y:36.11, Z:-11.19 [[ 8.75390884e-01 -4.81683611e-01 4.08864198e-02 1.41581734e+02] [ 4.81212577e-01 8.76344611e-01 2.13208561e-02 3.61114380e+01] [-4.61005006e-02 1.01097641e-03 9.98936295e-01 -1.11923715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.253201008 meters 0.06358529445024584 Centerline is valid? [True, True] Translation: X:141.63, Y:36.14, Z:-11.20 [[ 8.74855151e-01 -4.82597752e-01 4.15677049e-02 1.41631174e+02] [ 4.82111394e-01 8.75841465e-01 2.16871523e-02 3.61429290e+01] [-4.68728905e-02 1.06714728e-03 9.98900292e-01 -1.11966475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.313201008 meters 0.06427307043392545 Centerline is valid? [True, True] Translation: X:141.68, Y:36.17, Z:-11.20 [[ 8.73142578e-01 -4.85902638e-01 3.89957100e-02 1.41680845e+02] [ 4.85477370e-01 8.74012179e-01 2.03576465e-02 3.61746136e+01] [-4.39745596e-02 1.15640682e-03 9.99031982e-01 -1.12026335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.373201008 meters 0.0649424868508594 Centerline is valid? [True, True] Translation: X:141.73, Y:36.20, Z:-11.21 [[ 8.72288615e-01 -4.87539007e-01 3.76601705e-02 1.41730759e+02] [ 4.87143362e-01 8.73100402e-01 1.96731477e-02 3.62023869e+01] [-4.24725369e-02 1.18523932e-03 9.99096932e-01 -1.12090515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.433201008 meters 0.06609861895680082 Centerline is valid? [True, True] Translation: X:141.78, Y:36.23, Z:-11.22 [[ 8.70300293e-01 -4.91300260e-01 3.46620078e-02 1.41781092e+02] [ 4.90968035e-01 8.70989364e-01 1.81084587e-02 3.62325741e+01] [-3.90869305e-02 1.25814099e-03 9.99235022e-01 -1.12158194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.493201008 meters 0.06735701381324902 Centerline is valid? [True, True] Translation: X:141.83, Y:36.26, Z:-11.22 [[ 8.66200493e-01 -4.98645187e-01 3.23988091e-02 1.41831666e+02] [ 4.98359758e-01 8.66804933e-01 1.69339641e-02 3.62641133e+01] [-3.65274873e-02 1.47805457e-03 9.99331556e-01 -1.12171886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.553201008 meters 0.06614492389230871 Centerline is valid? [True, True] Translation: X:141.88, Y:36.31, Z:-11.22 [[ 8.61831183e-01 -5.06147557e-01 3.25831539e-02 1.41877092e+02] [ 5.05863891e-01 8.62445022e-01 1.70384211e-02 3.63055412e+01] [-3.67251341e-02 1.79839841e-03 9.99323787e-01 -1.12155570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.613201008 meters 0.06901523911674123 Centerline is valid? [True, True] Translation: X:141.93, Y:36.33, Z:-11.22 [[ 8.60181222e-01 -5.08876074e-01 3.36661135e-02 1.41928209e+02] [ 5.08574751e-01 8.60837544e-01 1.76194746e-02 3.63316376e+01] [-3.79471835e-02 1.96579413e-03 9.99277813e-01 -1.12217349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.673201008 meters 0.06711278033250351 Centerline is valid? [True, True] Translation: X:141.97, Y:36.38, Z:-11.22 [[ 8.59213370e-01 -5.10300425e-01 3.66859943e-02 1.41971851e+02] [ 5.09943774e-01 8.59993372e-01 1.92028221e-02 3.63766411e+01] [-4.13489202e-02 2.20847294e-03 9.99142327e-01 -1.12213234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.733201008 meters 0.0668215080621286 Centerline is valid? [True, True] Translation: X:142.02, Y:36.42, Z:-11.23 [[ 8.59306861e-01 -5.10040809e-01 3.80800807e-02 1.42015977e+02] [ 5.09655783e-01 8.60147209e-01 1.99439595e-02 3.64182980e+01] [-4.29267084e-02 2.26975207e-03 9.99075646e-01 -1.12262018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.793201008 meters 0.06823762720074512 Centerline is valid? [True, True] Translation: X:142.06, Y:36.46, Z:-11.23 [[ 8.60713636e-01 -5.07662332e-01 3.80919038e-02 1.42058441e+02] [ 5.07274069e-01 8.61553472e-01 1.99658229e-02 3.64610844e+01] [-4.29541082e-02 2.13817900e-03 9.99074758e-01 -1.12304769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.853201008 meters 0.06678845268087569 Centerline is valid? [True, True] Translation: X:142.10, Y:36.51, Z:-11.23 [[ 8.62230172e-01 -5.05018791e-01 3.89249454e-02 1.42101309e+02] [ 5.04610698e-01 8.63105912e-01 2.04016819e-02 3.65072460e+01] [-4.38995832e-02 2.05099818e-03 9.99033843e-01 -1.12330331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91320100800002 meters 0.06667945274531883 Centerline is valid? [True, True] Translation: X:142.14, Y:36.56, Z:-11.24 [[ 8.65639457e-01 -4.99264560e-01 3.74597119e-02 1.42140088e+02] [ 4.98880798e-01 8.66447959e-01 1.96439152e-02 3.65615885e+01] [-4.22644016e-02 1.68338290e-03 9.99105043e-01 -1.12362714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97320100800002 meters 0.06694841926372645 Centerline is valid? [True, True] Translation: X:142.18, Y:36.60, Z:-11.24 [[ 8.66668494e-01 -4.97369316e-01 3.88520905e-02 1.42184612e+02] [ 4.96954059e-01 8.67537362e-01 2.03859889e-02 3.66045417e+01] [-4.38450054e-02 1.63980976e-03 9.99037000e-01 -1.12384921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.033201008 meters 0.06716237281757453 Centerline is valid? [True, True] Translation: X:142.22, Y:36.65, Z:-11.24 [[ 8.67845726e-01 -4.95079158e-01 4.17183784e-02 1.42224248e+02] [ 4.94596830e-01 8.68846362e-01 2.19083422e-02 3.66543693e+01] [-4.70932249e-02 1.62071660e-03 9.98889184e-01 -1.12429581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.093201008 meters 0.06694847590786365 Centerline is valid? [True, True] Translation: X:142.27, Y:36.70, Z:-11.25 [[ 8.69316030e-01 -4.92552659e-01 4.10063239e-02 1.42269012e+02] [ 4.92083800e-01 8.70281422e-01 2.15355440e-02 3.66956360e+01] [-4.62944314e-02 1.45735410e-03 9.98926775e-01 -1.12479072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.153201008 meters 0.06633056409547744 Centerline is valid? [True, True] Translation: X:142.31, Y:36.74, Z:-11.25 [[ 8.71493089e-01 -4.88316953e-01 4.52365837e-02 1.42310329e+02] [ 4.87740233e-01 8.72665298e-01 2.37643192e-02 3.67445306e+01] [-5.10809167e-02 1.35326195e-03 9.98693601e-01 -1.12510142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.213201008 meters 0.06609007915972609 Centerline is valid? [True, True] Translation: X:142.35, Y:36.79, Z:-11.26 [[ 8.73716464e-01 -4.84164013e-01 4.69547609e-02 1.42354068e+02] [ 4.83535866e-01 8.74976519e-01 2.46811040e-02 3.67889202e+01] [-5.30340156e-02 1.14002407e-03 9.98592056e-01 -1.12572991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.273201008 meters 0.06539999702258736 Centerline is valid? [True, True] Translation: X:142.39, Y:36.84, Z:-11.26 [[ 8.78177739e-01 -4.75954247e-01 4.76593590e-02 1.42393454e+02] [ 4.75294236e-01 8.79469809e-01 2.50648182e-02 3.68410155e+01] [-5.38446740e-02 6.40853267e-04 9.98549118e-01 -1.12622398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.333201008 meters 0.06539000885334706 Centerline is valid? [True, True] Translation: X:142.44, Y:36.88, Z:-11.27 [[ 8.81001139e-01 -4.70809515e-01 4.66411031e-02 1.42439051e+02] [ 4.70169548e-01 8.82234836e-01 2.45416046e-02 3.68800365e+01] [-5.27028269e-02 3.08044761e-04 9.98610193e-01 -1.12668306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.393201008 meters 0.06571035074259737 Centerline is valid? [True, True] Translation: X:142.48, Y:36.93, Z:-11.27 [[ 8.85327310e-01 -4.62651844e-01 4.63554224e-02 1.42478273e+02] [ 4.62007748e-01 8.86540036e-01 2.44050362e-02 3.69291068e+01] [-5.23869729e-02 -1.89880724e-04 9.98626842e-01 -1.12740165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.453201008 meters 0.0664393210799323 Centerline is valid? [True, True] Translation: X:142.52, Y:36.97, Z:-11.28 [[ 8.89062470e-01 -4.55376017e-01 4.69106391e-02 1.42519435e+02] [ 4.54705142e-01 8.90298976e-01 2.47177390e-02 3.69736235e+01] [-5.30203595e-02 -6.45105324e-04 9.98593223e-01 -1.12791155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.513201008 meters 0.06634820223649174 Centerline is valid? [True, True] Translation: X:142.57, Y:37.01, Z:-11.28 [[ 8.91206004e-01 -4.51287936e-01 4.57280763e-02 1.42570090e+02] [ 4.50644808e-01 8.92377969e-01 2.41001428e-02 3.70058376e+01] [-5.16828316e-02 -8.71071737e-04 9.98663170e-01 -1.12796101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1139.47 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/5152 [00:00