+ python -m lidar_slam --no-model /working/61721308-a28a-4b5d-a02b-eba3020b5a7b Lidar SLAM 0.0.11 ===================================================== The recording path: /working/61721308-a28a-4b5d-a02b-eba3020b5a7b 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 0.005336195 Adjusted end_distance from 9.223372036854776e+18 to 177.335336195 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.005336195 meters 0.07725577052872507 Centerline is valid? [0, True] SLAMing on 0.065336195 meters 0.05718775319952539 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.19, Z:-0.01 [[ 9.99511377e-01 -3.04513417e-02 -7.05145056e-03 5.84536953e-02] [ 3.04525428e-02 9.99536212e-01 6.29986401e-05 -1.85082999e-01] [ 7.04626179e-03 -2.77702457e-04 9.99975136e-01 -8.75382350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12533619499999998 meters 0.047390112063034735 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.16, Z:-0.00 [[ 9.99693849e-01 -2.44531924e-02 -3.77500126e-03 1.19192426e-01] [ 2.44534941e-02 9.99700968e-01 3.37757916e-05 -1.64425418e-01] [ 3.77304649e-03 -1.26077422e-04 9.99992874e-01 -6.41763469e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18533619499999998 meters 0.046972960966467435 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.15, Z:-0.01 [[ 9.99871921e-01 -1.36089348e-02 -8.42246728e-03 1.78959104e-01] [ 1.36100521e-02 9.99907376e-01 7.53538710e-05 -1.49860141e-01] [ 8.42066167e-03 -1.89974438e-04 9.99964528e-01 -8.75119878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24533619499999998 meters 0.04087364061584894 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.14, Z:-0.01 [[ 9.99960927e-01 -3.85868030e-03 -7.95333168e-03 2.39317975e-01] [ 3.85936822e-03 9.99992550e-01 7.11488611e-05 -1.36726713e-01] [ 7.95299789e-03 -1.01840917e-04 9.99968369e-01 -1.04146933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.305336195 meters 0.04955968961651476 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.12, Z:-0.01 [[ 9.99944076e-01 8.29215839e-03 -6.56384409e-03 2.98504420e-01] [-8.29195152e-03 9.99965619e-01 5.87291273e-05 -1.15314900e-01] [ 6.56410542e-03 -4.29876595e-06 9.99978456e-01 -5.12864581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.365336195 meters 0.04295374095742068 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.10, Z:-0.00 [[ 9.99918885e-01 1.17595621e-02 -4.89252212e-03 3.57355984e-01] [-1.17594888e-02 9.99930854e-01 4.37534522e-05 -1.04483407e-01] [ 4.89269834e-03 1.37836559e-05 9.99988031e-01 -2.94588694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.425336195 meters 0.038243865442553156 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.12, Z:-0.01 [[ 9.99968635e-01 5.39309602e-03 -5.80022582e-03 4.15225996e-01] [-5.39288765e-03 9.99985457e-01 5.15634622e-05 -1.15248270e-01] [ 5.80041955e-03 -2.02818788e-05 9.99983177e-01 -8.20300032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48533619499999997 meters 0.03453781481568336 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.12, Z:-0.00 [[ 9.99949758e-01 -7.86512987e-03 -6.21455424e-03 4.75584566e-01] [ 7.86562170e-03 9.99969064e-01 5.47037072e-05 -1.23054330e-01] [ 6.21393173e-03 -1.03582291e-04 9.99980688e-01 -4.27855099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5453361950000001 meters 0.047687721341425196 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.13, Z:0.00 [[ 9.99843783e-01 -1.69457945e-02 -5.02498252e-03 5.34598571e-01] [ 1.69462303e-02 9.99856401e-01 4.41545381e-05 -1.29791307e-01] [ 5.02351271e-03 -1.29302151e-04 9.99987374e-01 4.22130949e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.605336195 meters 0.056835302474848276 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.15, Z:-0.00 [[ 9.99673550e-01 -2.51711738e-02 -4.38239245e-03 5.95148154e-01] [ 2.51715849e-02 9.99683145e-01 3.86718948e-05 -1.45668876e-01] [ 4.38003045e-03 -1.48971034e-04 9.99990397e-01 -3.43832398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.665336195 meters 0.049877266410731286 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.15, Z:-0.00 [[ 9.99640373e-01 -2.64035033e-02 -4.68825796e-03 6.56441385e-01] [ 2.64039879e-02 9.99651353e-01 4.14866098e-05 -1.48953518e-01] [ 4.68552803e-03 -1.65260397e-04 9.99989009e-01 -3.66068929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.725336195 meters 0.04599487951265512 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.13, Z:0.00 [[ 9.99701967e-01 -2.39243652e-02 -4.85816663e-03 7.18481576e-01] [ 2.39248572e-02 9.99713759e-01 4.31670638e-05 -1.30289538e-01] [ 4.85574328e-03 -1.59385141e-04 9.99988198e-01 2.02655706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7853361950000001 meters 0.04046982043320078 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.12, Z:0.00 [[ 9.99832671e-01 -1.79654488e-02 -3.44577189e-03 7.78873616e-01] [ 1.79656615e-02 9.99838604e-01 3.07835808e-05 -1.22608689e-01] [ 3.44466272e-03 -9.26840012e-05 9.99994063e-01 3.08835166e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.845336195 meters 0.04036631747784043 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.12, Z:-0.00 [[ 9.99882649e-01 -1.45641768e-02 -4.75103513e-03 8.40550289e-01] [ 1.45645425e-02 9.99893931e-01 4.23823920e-05 -1.18616042e-01] [ 4.74991393e-03 -1.11574072e-04 9.99988713e-01 -4.10281663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.905336195 meters 0.037094090556570355 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.11, Z:0.00 [[ 9.99897739e-01 -1.34475799e-02 -4.86555141e-03 9.03320393e-01] [ 1.34479508e-02 9.99909571e-01 4.35283252e-05 -1.08024656e-01] [ 4.86452607e-03 -1.08955570e-04 9.99988162e-01 1.63919677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.965336195 meters 0.03523645193188391 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.11, Z:0.00 [[ 9.99876336e-01 -1.46926519e-02 -5.60697870e-03 9.65852563e-01] [ 1.46931663e-02 9.99892048e-01 5.05659267e-05 -1.07266906e-01] [ 5.60563047e-03 -1.32943944e-04 9.99984279e-01 2.73792509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.025336195 meters 0.049486251765360444 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.12, Z:0.00 [[ 9.99749437e-01 -2.16680727e-02 -5.61770417e-03 1.02647651e+00] [ 2.16687010e-02 9.99765205e-01 5.09876763e-05 -1.19347081e-01] [ 5.61528036e-03 -1.72703253e-04 9.99984219e-01 1.95358806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.085336195 meters 0.044495569226672686 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.13, Z:0.00 [[ 9.99687896e-01 -2.44358381e-02 -5.19618332e-03 1.08652887e+00] [ 2.44364130e-02 9.99701385e-01 4.71740283e-05 -1.25440556e-01] [ 5.19347893e-03 -1.74135387e-04 9.99986499e-01 1.91825373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1453361949999998 meters 0.05153577980476711 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.12, Z:-0.00 [[ 9.99737742e-01 -2.22774166e-02 -5.30697728e-03 1.14776162e+00] [ 2.22779857e-02 9.99751814e-01 4.81389675e-05 -1.19397386e-01] [ 5.30458775e-03 -1.66355107e-04 9.99985917e-01 -1.40441236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2053361949999999 meters 0.04769104708336466 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.11, Z:-0.00 [[ 9.99797890e-01 -1.78219874e-02 -9.30358438e-03 1.20776357e+00] [ 1.78235464e-02 9.99841144e-01 8.46783971e-05 -1.10258747e-01] [ 9.30059732e-03 -2.50484150e-04 9.99956717e-01 -4.11896585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.265336195 meters 0.037956546667389235 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.10, Z:-0.01 [[ 9.99766297e-01 -1.77761570e-02 -1.23028007e-02 1.26973558e+00] [ 1.77788828e-02 9.99841937e-01 1.12218215e-04 -9.96657850e-02] [ 1.22988613e-02 -3.30922042e-04 9.99924311e-01 -5.59985931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3253361949999998 meters 0.04262034160153794 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.12, Z:-0.01 [[ 9.99726459e-01 -2.16859935e-02 -8.75930728e-03 1.32937267e+00] [ 2.16875271e-02 9.99764795e-01 8.01300117e-05 -1.19413938e-01] [ 8.75550934e-03 -2.70075807e-04 9.99961633e-01 -5.32776394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3853361949999998 meters 0.05051004505019857 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.13, Z:0.00 [[ 9.99584897e-01 -2.78112112e-02 -7.52132165e-03 1.38955132e+00] [ 2.78125152e-02 9.99613155e-01 6.88048904e-05 -1.25362315e-01] [ 7.51649852e-03 -2.77963202e-04 9.99971712e-01 1.05098653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4453361949999999 meters 0.057547602211263975 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.14, Z:0.01 [[ 9.99301610e-01 -3.71359458e-02 -4.14897880e-03 1.44991066e+00] [ 3.71364228e-02 9.99310204e-01 3.79547921e-05 -1.36355613e-01] [ 4.14470737e-03 -1.92006516e-04 9.99991392e-01 1.14916155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.505336195 meters 0.05857282320888844 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.15, Z:0.00 [[ 9.99087574e-01 -4.19844904e-02 -7.83088531e-03 1.51072372e+00] [ 4.19863383e-02 9.99118182e-01 7.16542579e-05 -1.49943582e-01] [ 7.82097153e-03 -4.00379078e-04 9.99969336e-01 1.82725733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.565336195 meters 0.05967669742432965 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.16, Z:0.00 [[ 9.99116698e-01 -4.10839484e-02 -8.82798310e-03 1.57274296e+00] [ 4.10862643e-02 9.99155600e-01 8.10656355e-05 -1.56506972e-01] [ 8.81719825e-03 -4.43702877e-04 9.99961029e-01 1.26587921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6253361949999998 meters 0.053925627863785845 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.15, Z:0.00 [[ 9.99459769e-01 -3.15281628e-02 -9.28140566e-03 1.63262196e+00] [ 3.15303148e-02 9.99502792e-01 8.55878870e-05 -1.54710617e-01] [ 9.27409244e-03 -3.78187292e-04 9.99956923e-01 4.41188276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6853361949999999 meters 0.04520895840303278 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.14, Z:0.01 [[ 9.99726031e-01 -2.23069062e-02 -7.08977197e-03 1.69378237e+00] [ 2.23079304e-02 9.99751145e-01 6.54055985e-05 -1.40111947e-01] [ 7.08654865e-03 -2.23545819e-04 9.99974865e-01 7.20286994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.745336195 meters 0.02597074606501152 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.12, Z:0.01 [[ 9.99941194e-01 -8.66986327e-03 -6.51481755e-03 1.75428592e+00] [ 8.67043899e-03 9.99962409e-01 6.01317367e-05 -1.21844179e-01] [ 6.51405132e-03 -1.16614529e-04 9.99978777e-01 7.17154447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8053361949999998 meters 0.01904372297199994 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.12, Z:0.00 [[ 9.99972873e-01 -1.36691601e-03 -7.23767564e-03 1.81378015e+00] [ 1.36743558e-03 9.99999063e-01 6.68396361e-05 -1.16250516e-01] [ 7.23757749e-03 -7.67348782e-05 9.99973805e-01 3.50755571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8653361949999998 meters 0.03239385589894404 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.11, Z:-0.00 [[ 9.99923012e-01 1.91794137e-03 -1.22593324e-02 1.87264158e+00] [-1.91670961e-03 9.99998157e-01 1.12224237e-04 -1.13684944e-01] [ 1.22595250e-02 -8.87180173e-05 9.99924845e-01 -1.89054400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9253361949999999 meters 0.029736822676116142 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.12, Z:0.00 [[ 9.99912523e-01 -2.62775439e-03 -1.29630862e-02 1.93028371e+00] [ 2.62949321e-03 9.99996536e-01 1.17094074e-04 -1.15490365e-01] [ 1.29627336e-02 -1.51170178e-04 9.99915969e-01 2.04697746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.985336195 meters 0.03947059017589689 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.14, Z:0.00 [[ 9.99832122e-01 -1.42977471e-02 -1.14587257e-02 1.99075059e+00] [ 1.42998676e-02 9.99897746e-01 1.03139299e-04 -1.40795695e-01] [ 1.14560794e-02 -2.66980245e-04 9.99934341e-01 3.07247969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.045336195 meters 0.03427061762353783 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.16, Z:0.01 [[ 9.99706032e-01 -2.30842665e-02 -7.41386784e-03 2.05068402e+00] [ 2.30853954e-02 9.99733495e-01 6.67261357e-05 -1.58965319e-01] [ 7.41035168e-03 -2.37858591e-04 9.99972515e-01 9.85670983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.105336195 meters 0.04475812120953071 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.17, Z:0.01 [[ 9.99475733e-01 -3.18084133e-02 -6.04026350e-03 2.11106133e+00] [ 3.18093214e-02 9.99493954e-01 5.43055519e-05 -1.73947962e-01] [ 6.03547947e-03 -2.46413764e-04 9.99981756e-01 1.41276999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.165336195 meters 0.04190650052334351 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.19, Z:0.02 [[ 9.99501592e-01 -3.11866417e-02 -4.89491592e-03 2.17207060e+00] [ 3.11872302e-02 9.99513559e-01 4.39233007e-05 -1.88464809e-01] [ 4.89116502e-03 -1.96560278e-04 9.99988019e-01 1.57098054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2253361949999997 meters 0.0414072928620519 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.19, Z:0.01 [[ 9.99667196e-01 -2.41565699e-02 -9.05301565e-03 2.23243742e+00] [ 2.41582992e-02 9.99708142e-01 8.16949435e-05 -1.87204047e-01] [ 9.04839999e-03 -3.00373216e-04 9.99959017e-01 8.02725654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2853361949999997 meters 0.03801578759936352 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.17, Z:0.01 [[ 9.99883529e-01 -9.62469845e-03 -1.18445206e-02 2.29234836e+00] [ 9.62663959e-03 9.99953657e-01 1.06881106e-04 -1.69819968e-01] [ 1.18429430e-02 -2.20891588e-04 9.99929845e-01 5.97960911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.345336195 meters 0.029021493830486977 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.15, Z:0.00 [[ 9.99903709e-01 8.79887222e-04 -1.38491054e-02 2.35265419e+00] [-8.78241696e-04 9.99999607e-01 1.24899537e-04 -1.54292522e-01] [ 1.38492099e-02 -1.12724648e-04 9.99904089e-01 4.23396211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.405336195 meters 0.015445249011283696 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.13, Z:0.01 [[ 9.99826106e-01 1.23798171e-02 -1.39462856e-02 2.41161811e+00] [-1.23792840e-02 9.99923366e-01 1.24557445e-04 -1.26422690e-01] [ 1.39467589e-02 4.81092451e-05 9.99902738e-01 7.29759802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.465336195 meters 0.020797186585164308 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.12, Z:0.01 [[ 9.99801334e-01 1.65362747e-02 -1.11285432e-02 2.47006875e+00] [-1.65362105e-02 9.99863263e-01 9.77840789e-05 -1.17190693e-01] [ 1.11286385e-02 8.62592807e-05 9.99938071e-01 1.04284130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.525336195 meters 0.012709022528579235 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.10, Z:0.01 [[ 9.99798971e-01 1.51647814e-02 -1.31166479e-02 2.52753895e+00] [-1.51645990e-02 9.99885004e-01 1.13370679e-04 -1.04499990e-01] [ 1.31168588e-02 8.55608169e-05 9.99913967e-01 5.17741764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.585336195 meters 0.018054994899235136 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.10, Z:0.01 [[ 9.99866500e-01 1.24219040e-02 -1.06150534e-02 2.58526640e+00] [-1.24216371e-02 9.99922844e-01 9.10735839e-05 -9.54925176e-02] [ 1.06153656e-02 4.07949153e-05 9.99943655e-01 1.11108507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6453361949999996 meters 0.018683642389365984 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.10, Z:0.01 [[ 9.99914404e-01 3.52738370e-03 -1.25993332e-02 2.64381908e+00] [-3.52631107e-03 9.99993777e-01 1.07348408e-04 -9.88882712e-02] [ 1.25996335e-02 -6.29100514e-05 9.99920619e-01 5.63163001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7053361949999997 meters 0.029093187734248523 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.10, Z:0.01 [[ 9.99882056e-01 -9.63115554e-03 -1.19630335e-02 2.70365567e+00] [ 9.63305959e-03 9.99953596e-01 1.01547858e-04 -1.01972883e-01] [ 1.19615003e-02 -2.16776496e-04 9.99928435e-01 7.02816399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7653361949999997 meters 0.0373487015942184 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.10, Z:0.01 [[ 9.99757012e-01 -1.73048167e-02 -1.36550525e-02 2.76329749e+00] [ 1.73080117e-02 9.99850198e-01 1.15824018e-04 -1.03268644e-01] [ 1.36510027e-02 -3.52137682e-04 9.99906759e-01 8.78102044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8253361949999998 meters 0.036400845461785285 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.11, Z:0.01 [[ 9.99610028e-01 -2.40556687e-02 -1.41815894e-02 2.82361208e+00] [ 2.40597939e-02 9.99710514e-01 1.20316872e-04 -1.05406860e-01] [ 1.41745897e-02 -4.61476069e-04 9.99899429e-01 8.42039359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.885336195 meters 0.04953219324312208 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.12, Z:0.01 [[ 9.99394701e-01 -3.21577038e-02 -1.32707542e-02 2.88258388e+00] [ 3.21620310e-02 9.99482662e-01 1.12722549e-04 -1.17870396e-01] [ 1.32602638e-02 -5.39468726e-04 9.99911933e-01 8.40507677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.945336195 meters 0.049345691866626164 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.12, Z:0.01 [[ 9.99122666e-01 -4.02990093e-02 -1.13968642e-02 2.94273362e+00] [ 4.03027305e-02 9.99187510e-01 9.69396655e-05 -1.24333779e-01] [ 1.13836978e-02 -5.56179365e-04 9.99935049e-01 1.21400654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.005336195 meters 0.05641940838003242 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.13, Z:0.02 [[ 9.98686633e-01 -4.96168215e-02 -1.27741641e-02 3.00377189e+00] [ 4.96222576e-02 9.98768051e-01 1.08758731e-04 -1.27096999e-01] [ 1.27530307e-02 -7.42498752e-04 9.99918401e-01 1.55051809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.065336195 meters 0.060496237190969325 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.14, Z:0.01 [[ 9.98777342e-01 -4.78439956e-02 -1.24407928e-02 3.06321428e+00] [ 4.78490149e-02 9.98854574e-01 1.05946915e-04 -1.38961782e-01] [ 1.24214739e-02 -7.01097061e-04 9.99922605e-01 7.22388390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.125336195 meters 0.053159723093077135 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.13, Z:0.00 [[ 9.98907145e-01 -4.44932880e-02 -1.43130031e-02 3.12351147e+00] [ 4.44995878e-02 9.99009395e-01 1.21813207e-04 -1.32405840e-01] [ 1.42934047e-02 -7.58602823e-04 9.99897556e-01 4.17892156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1853361949999996 meters 0.049149174808112685 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.11, Z:0.01 [[ 9.99147588e-01 -3.73207442e-02 -1.76425522e-02 3.18360921e+00] [ 3.73292000e-02 9.99303011e-01 1.50095256e-04 -1.10367204e-01] [ 1.76246539e-02 -8.08549674e-04 9.99844347e-01 9.15650666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2453361949999997 meters 0.04316889223970577 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.10, Z:0.01 [[ 9.99409949e-01 -3.03180913e-02 -1.61420754e-02 3.24478797e+00] [ 3.03242590e-02 9.99540104e-01 1.37403483e-04 -9.70738096e-02] [ 1.61304859e-02 -6.26818883e-04 9.99869699e-01 9.95859543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3053361949999998 meters 0.03251641746623744 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.09, Z:0.01 [[ 9.99716523e-01 -1.99662885e-02 -1.29699786e-02 3.30497615e+00] [ 1.99694007e-02 9.99800586e-01 1.10480050e-04 -8.66271628e-02] [ 1.29651863e-02 -3.69451431e-04 9.99915880e-01 9.92648955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.365336195 meters 0.02459758530122599 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.07, Z:0.01 [[ 9.99766203e-01 -1.75067344e-02 -1.26906684e-02 3.36685778e+00] [ 1.75095186e-02 9.99846691e-01 1.08303905e-04 -7.38836066e-02] [ 1.26868268e-02 -3.30486078e-04 9.99919464e-01 1.46216595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.425336195 meters 0.03225217437815877 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.08, Z:0.01 [[ 9.99644219e-01 -2.27382057e-02 -1.39430486e-02 3.42744219e+00] [ 2.27420792e-02 9.99741358e-01 1.19290546e-04 -8.22852886e-02] [ 1.39367299e-02 -4.36342020e-04 9.99902784e-01 1.33700380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.485336195 meters 0.039996931658494446 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.10, Z:0.01 [[ 9.99453041e-01 -2.83353326e-02 -1.70507629e-02 3.48708457e+00] [ 2.83419377e-02 9.99598276e-01 1.45810575e-04 -9.99934895e-02] [ 1.70397816e-02 -6.28982483e-04 9.99854615e-01 5.19985972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.545336195 meters 0.052181721485159774 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.12, Z:0.01 [[ 9.99068180e-01 -3.97526623e-02 -1.68076398e-02 3.54611184e+00] [ 3.97606939e-02 9.99209221e-01 1.43825788e-04 -1.24832381e-01] [ 1.67886312e-02 -8.11975191e-04 9.99858731e-01 6.39125181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6053361949999996 meters 0.052339887663988095 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.14, Z:0.01 [[ 9.98764898e-01 -4.81351919e-02 -1.23159219e-02 3.60682312e+00] [ 4.81401402e-02 9.98840586e-01 1.05473936e-04 -1.44361848e-01] [ 1.22965657e-02 -6.98233873e-04 9.99924151e-01 1.34922856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6653361949999996 meters 0.05413235434320708 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.16, Z:0.01 [[ 9.98753395e-01 -4.85463554e-02 -1.16149498e-02 3.66880369e+00] [ 4.85507865e-02 9.98820710e-01 9.96788423e-05 -1.57375984e-01] [ 1.15964134e-02 -6.63469532e-04 9.99932539e-01 1.35758860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7253361949999997 meters 0.04463154746798489 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.16, Z:0.01 [[ 9.99168391e-01 -3.80999132e-02 -1.45231765e-02 3.72833344e+00] [ 3.81057455e-02 9.99273705e-01 1.24976377e-04 -1.64267256e-01] [ 1.45078668e-02 -6.78288914e-04 9.99894525e-01 9.81724555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7853361949999997 meters 0.04250265976454415 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.16, Z:0.01 [[ 9.99548780e-01 -2.50205582e-02 -1.66195373e-02 3.78861940e+00] [ 2.50263901e-02 9.99686781e-01 1.42988540e-04 -1.58948192e-01] [ 1.66107541e-02 -5.58851045e-04 9.99861876e-01 8.41644572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.845336195 meters 0.02297714432423797 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.13, Z:0.02 [[ 9.99888747e-01 -6.66935332e-04 -1.49012821e-02 3.84928189e+00] [ 6.68918909e-04 9.99999768e-01 1.28130781e-04 -1.29874867e-01] [ 1.49011932e-02 -1.38084275e-04 9.99888962e-01 1.69432641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.905336195 meters 0.017856184283106227 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.10, Z:0.02 [[ 9.99658173e-01 2.38795607e-02 -1.06444010e-02 3.90725731e+00] [-2.38799467e-02 9.99714829e-01 9.08593066e-05 -1.04729049e-01] [ 1.06435352e-02 1.63359480e-04 9.99943343e-01 1.61992955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.965336195 meters 0.028436108466503667 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.09, Z:0.02 [[ 9.99326686e-01 3.56407316e-02 -8.71275035e-03 3.96818890e+00] [-3.56414452e-02 9.99364639e-01 7.34002550e-05 -9.01748015e-02] [ 8.70983065e-03 2.37184180e-04 9.99962041e-01 1.53984556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0253361949999995 meters 0.02614502947301741 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.08, Z:0.02 [[ 9.99412079e-01 3.27138150e-02 -1.02617314e-02 4.02730284e+00] [-3.27146523e-02 9.99464729e-01 8.63031446e-05 -7.56984035e-02] [ 1.02590619e-02 2.49456569e-04 9.99947343e-01 2.03899813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.085336195 meters 0.01921021075736115 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.10, Z:0.01 [[ 9.99770261e-01 1.53012076e-02 -1.50099063e-02 4.08699237e+00] [-1.53010462e-02 9.99882924e-01 1.25596520e-04 -9.97963234e-02] [ 1.50100707e-02 1.04099604e-04 9.99887337e-01 1.00654296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.145336195 meters 0.011687352689066175 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.13, Z:0.00 [[ 9.99884618e-01 1.87380430e-03 -1.50744504e-02 4.14608097e+00] [-1.87212315e-03 9.99998240e-01 1.25633414e-04 -1.25228410e-01] [ 1.50746593e-02 -9.73976907e-05 9.99886366e-01 3.51149264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.205336195 meters 0.02789130763253054 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.15, Z:0.01 [[ 9.99767036e-01 -1.68858964e-02 -1.34439505e-02 4.20565089e+00] [ 1.68889238e-02 9.99857366e-01 1.11684606e-04 -1.50565597e-01] [ 1.34401471e-02 -3.38712444e-04 9.99909620e-01 1.10221111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.265336195 meters 0.036415336913020686 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.16, Z:0.02 [[ 9.99541589e-01 -2.67525023e-02 -1.41745000e-02 4.26617645e+00] [ 2.67568577e-02 9.99641964e-01 1.17684691e-04 -1.58735536e-01] [ 1.41662767e-02 -4.96895824e-04 9.99899530e-01 1.58077631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.325336195 meters 0.047463281116711255 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.18, Z:0.01 [[ 9.99148320e-01 -3.74960528e-02 -1.72244126e-02 4.32606240e+00] [ 3.75040775e-02 9.99296464e-01 1.42995234e-04 -1.81868039e-01] [ 1.72069329e-02 -7.88859152e-04 9.99851639e-01 8.96275013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.385336195 meters 0.04724730886074758 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.19, Z:0.02 [[ 9.99090333e-01 -4.09991723e-02 -1.17291924e-02 4.38691473e+00] [ 4.10031343e-02 9.99159013e-01 9.74174788e-05 -1.94625707e-01] [ 1.17153342e-02 -5.78262511e-04 9.99931206e-01 1.53945077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.445336194999999 meters 0.0444242541338209 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.18, Z:0.03 [[ 9.99245858e-01 -3.76638172e-02 -9.44205477e-03 4.44734536e+00] [ 3.76662368e-02 9.99290372e-01 7.84949120e-05 -1.83269715e-01] [ 9.43239801e-03 -4.34082386e-04 9.99955420e-01 2.59379515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.505336195 meters 0.03612261272208127 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.18, Z:0.02 [[ 9.99498769e-01 -2.94343934e-02 -1.16545202e-02 4.50811848e+00] [ 2.94375218e-02 9.99566618e-01 9.69377386e-05 -1.75903257e-01] [ 1.16466161e-02 -4.39969344e-04 9.99932079e-01 1.98846914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5653361949999995 meters 0.027854969249506405 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.18, Z:0.01 [[ 9.99673712e-01 -2.06051599e-02 -1.50962688e-02 4.56925060e+00] [ 2.06094053e-02 9.99787596e-01 1.25690547e-04 -1.77585510e-01] [ 1.50904724e-02 -4.36774659e-04 9.99886037e-01 9.26078281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.625336195 meters 0.022164510856434026 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.16, Z:0.02 [[ 9.99767125e-01 -1.23002875e-02 -1.77313002e-02 4.62921174e+00] [ 1.23048383e-02 9.99924282e-01 1.47570322e-04 -1.59594248e-01] [ 1.77281425e-02 -3.65716738e-04 9.99842777e-01 1.55650014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.685336195 meters 0.015625599154090637 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.16, Z:0.01 [[ 9.99845786e-01 -5.04614414e-03 -1.68208445e-02 4.68875187e+00] [ 5.04920774e-03 9.99987243e-01 1.39666552e-04 -1.56402225e-01] [ 1.68199251e-02 -2.24576951e-04 9.99858510e-01 1.33017507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.745336195 meters 0.011300328763298043 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.15, Z:0.01 [[ 9.99882315e-01 1.53558842e-03 -1.52642776e-02 4.74794031e+00] [-1.53385429e-03 9.99998816e-01 1.25313687e-04 -1.54179935e-01] [ 1.52644519e-02 -1.01885761e-04 9.99883486e-01 1.24577378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.805336195 meters 0.010623692374900996 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.15, Z:0.01 [[ 9.99876996e-01 3.81874428e-03 -1.52121389e-02 4.80683484e+00] [-3.81732372e-03 9.99992707e-01 1.22418936e-04 -1.48132483e-01] [ 1.52124954e-02 -6.43342198e-05 9.99884281e-01 1.43776449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.865336194999999 meters 0.012277830147890767 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.12, Z:0.02 [[ 9.99806037e-01 1.55648259e-02 -1.20674636e-02 4.86496428e+00] [-1.55648104e-02 9.99878856e-01 9.52104504e-05 -1.21879223e-01] [ 1.20674836e-02 9.26357993e-05 9.99927181e-01 2.43831362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.925336195 meters 0.013006071895107324 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.12, Z:0.02 [[ 9.99802639e-01 1.62433618e-02 -1.14383821e-02 4.92296389e+00] [-1.62434100e-02 9.99868063e-01 8.86989149e-05 -1.22907316e-01] [ 1.14383137e-02 9.71169208e-05 9.99934576e-01 1.87200634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9853361949999995 meters 0.023374103074364667 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.11, Z:0.03 [[ 9.99807953e-01 1.68089706e-02 -1.00754597e-02 4.98084443e+00] [-1.68090461e-02 9.99858715e-01 7.71927013e-05 -1.09991353e-01] [ 1.00753337e-02 9.21809896e-05 9.99949238e-01 2.52766007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.045336195 meters 0.01470210402735878 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.10, Z:0.02 [[ 9.99744907e-01 1.82317127e-02 -1.33313750e-02 5.03948155e+00] [-1.82320090e-02 9.99833778e-01 9.93175730e-05 -9.61390135e-02] [ 1.33309698e-02 1.43765512e-04 9.99911128e-01 2.02085633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.105336195 meters 0.01714370613613811 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.10, Z:0.01 [[ 9.99767498e-01 1.40359486e-02 -1.63689571e-02 5.09862667e+00] [-1.40358646e-02 9.99901485e-01 1.20022830e-04 -9.71024619e-02] [ 1.63690292e-02 1.09757540e-04 9.99866012e-01 1.44895231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.165336195 meters 0.010398941401216963 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.10, Z:0.02 [[ 9.99866620e-01 2.83741040e-03 -1.60838605e-02 5.15612884e+00] [-2.83589480e-03 9.99995972e-01 1.17037869e-04 -9.61353811e-02] [ 1.60841278e-02 -7.14101220e-05 9.99870640e-01 1.82982487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.225336195 meters 0.016709527318775504 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.11, Z:0.02 [[ 9.99883578e-01 -7.78881946e-03 -1.31211360e-02 5.21488269e+00] [ 7.79073541e-03 9.99969647e-01 9.49122456e-05 -1.05342848e-01] [ 1.31199985e-02 -1.97124494e-04 9.99913910e-01 1.97641193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.285336194999999 meters 0.026502011850791995 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.12, Z:0.03 [[ 9.99754148e-01 -2.05757608e-02 -8.26330993e-03 5.27515345e+00] [ 2.05769559e-02 9.99788270e-01 5.96166780e-05 -1.15584732e-01] [ 8.26033368e-03 -2.29635785e-04 9.99965856e-01 2.97031952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.345336195 meters 0.03678070300257041 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.12, Z:0.03 [[ 9.99438214e-01 -3.20084971e-02 -9.93544952e-03 5.33591714e+00] [ 3.20107890e-02 9.99487521e-01 7.16932289e-05 -1.20900514e-01] [ 9.92806301e-03 -3.89694530e-04 9.99950640e-01 3.02988238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.405336194999999 meters 0.03648348940749099 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.13, Z:0.02 [[ 9.99336062e-01 -3.42325682e-02 -1.24726661e-02 5.39753282e+00] [ 3.42363548e-02 9.99413760e-01 9.01436250e-05 -1.30801934e-01] [ 1.24622683e-02 -5.17102397e-04 9.99922209e-01 1.66195179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.465336195 meters 0.03613902147602216 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.12, Z:0.02 [[ 9.99518919e-01 -2.76720840e-02 -1.40066620e-02 5.45757642e+00] [ 2.76762187e-02 9.99616935e-01 1.01412498e-04 -1.17111886e-01] [ 1.39984903e-02 -4.89015152e-04 9.99901897e-01 2.20631877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5253361949999995 meters 0.032819490488152574 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.11, Z:0.03 [[ 9.99637273e-01 -2.38120944e-02 -1.25820225e-02 5.51839595e+00] [ 2.38151260e-02 9.99716376e-01 9.11559973e-05 -1.08658667e-01] [ 1.25762833e-02 -3.90765384e-04 9.99920839e-01 2.73947054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.585336195 meters 0.02771996798800151 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.11, Z:0.02 [[ 9.99717662e-01 -2.04121584e-02 -1.21630323e-02 5.57978666e+00] [ 2.04147424e-02 9.99791594e-01 8.83140729e-05 -1.09150596e-01] [ 1.21586948e-02 -3.36594309e-04 9.99926024e-01 2.32368417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.645336195 meters 0.022237456540122432 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.09, Z:0.02 [[ 9.99790371e-01 -1.30022438e-02 -1.58163226e-02 5.63934960e+00] [ 1.30056962e-02 9.99915416e-01 1.15440708e-04 -9.46864472e-02] [ 1.58134838e-02 -3.21118795e-04 9.99874907e-01 1.94814580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.705336195 meters 0.020571001407501014 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.08, Z:0.03 [[ 9.99903909e-01 -5.67330978e-03 -1.26485816e-02 5.69973923e+00] [ 5.67493381e-03 9.99983893e-01 9.25080863e-05 -7.53705670e-02] [ 1.26478530e-02 -1.64279060e-04 9.99919999e-01 2.68612660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.765336195 meters 0.022592372550849255 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.07, Z:0.03 [[ 9.99933342e-01 -5.05325487e-03 -1.03815588e-02 5.75890529e+00] [ 5.05430903e-03 9.99987224e-01 7.53080587e-05 -6.70254373e-02] [ 1.03810456e-02 -1.27774645e-04 9.99946107e-01 3.12783494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.825336194999999 meters 0.017856673802421726 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.06, Z:0.03 [[ 9.99869358e-01 -8.43804929e-03 -1.37864455e-02 5.81840671e+00] [ 8.44020628e-03 9.99964376e-01 9.82810462e-05 -6.17998543e-02] [ 1.37851251e-02 -2.14628651e-04 9.99904958e-01 2.61685490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885336195 meters 0.022954694621583113 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.06, Z:0.02 [[ 9.99805430e-01 -9.36539588e-03 -1.73606193e-02 5.87579729e+00] [ 9.36894004e-03 9.99956103e-01 1.22827357e-04 -6.40444219e-02] [ 1.73587069e-02 -2.85454060e-04 9.99849286e-01 1.97731952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.945336194999999 meters 0.02094941159743931 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.06, Z:0.02 [[ 9.99727569e-01 -1.32079325e-02 -1.92441651e-02 5.93556571e+00] [ 1.32129831e-02 9.99912696e-01 1.35319370e-04 -6.23277270e-02] [ 1.92406977e-02 -3.89555334e-04 9.99814805e-01 1.85554728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.005336195 meters 0.030568751278356156 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.07, Z:0.03 [[ 9.99788776e-01 -1.53816896e-02 -1.36310976e-02 5.99440773e+00] [ 1.53844089e-02 9.99881648e-01 9.46485256e-05 -6.59846093e-02] [ 1.36280285e-02 -3.04334913e-04 9.99907088e-01 2.86422280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0653361949999995 meters 0.027822395856328876 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.08, Z:0.03 [[ 9.99716379e-01 -2.04831625e-02 -1.21491005e-02 6.05446619e+00] [ 2.04856865e-02 9.99790143e-01 8.33291316e-05 -7.56772974e-02] [ 1.21448441e-02 -3.32188161e-04 9.99926193e-01 3.05235899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.125336195 meters 0.02609861520293043 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.08, Z:0.02 [[ 9.99665871e-01 -2.11777118e-02 -1.48206199e-02 6.11647475e+00] [ 2.11815501e-02 9.99775641e-01 1.02042563e-04 -8.16596287e-02] [ 1.48151337e-02 -4.15932170e-04 9.99890163e-01 2.40194330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.185336195 meters 0.03372652729089872 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.08, Z:0.02 [[ 9.99690753e-01 -1.68578044e-02 -1.82815131e-02 6.17676130e+00] [ 1.68629331e-02 9.99857803e-01 1.26413131e-04 -7.75369693e-02] [ 1.82767824e-02 -4.34653969e-04 9.99832871e-01 2.37060028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.245336195 meters 0.023456347477639066 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.06, Z:0.02 [[ 9.99825622e-01 -4.81712395e-03 -1.80422168e-02 6.23767341e+00] [ 4.82016051e-03 9.99988375e-01 1.24819951e-04 -5.82285998e-02] [ 1.80414058e-02 -2.11764566e-04 9.99837218e-01 2.43967723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.305336195 meters 0.010661771366457393 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.04, Z:0.02 [[ 9.99820452e-01 9.72041204e-03 -1.62658638e-02 6.29629893e+00] [-9.71987306e-03 9.99952755e-01 1.12193832e-04 -3.56495225e-02] [ 1.62661858e-02 4.59284431e-05 9.99867696e-01 2.03849738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.365336194999999 meters 0.013413555805184435 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.01, Z:0.03 [[ 9.99767052e-01 1.55624941e-02 -1.49549717e-02 6.35540463e+00] [-1.55627146e-02 9.99878888e-01 1.01640328e-04 -9.11297073e-03] [ 1.49547423e-02 1.31123305e-04 9.99888163e-01 2.69208818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.425336195 meters 0.012106709954808914 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.01, Z:0.02 [[ 9.99741794e-01 1.28254108e-02 -1.87577863e-02 6.41427353e+00] [-1.28253400e-02 9.99917744e-01 1.24075601e-04 -7.58741897e-03] [ 1.87578347e-02 1.16531423e-04 9.99824050e-01 1.86234471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4853361949999995 meters 0.013839622508306068 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.00, Z:0.03 [[ 9.99827155e-01 3.35482947e-03 -1.82867251e-02 6.47186805e+00] [-3.35321165e-03 9.99994371e-01 1.19131347e-04 -1.79710817e-03] [ 1.82870219e-02 -5.77914957e-05 9.99832777e-01 2.72824270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.545336195 meters 0.024566602059918636 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.01, Z:0.03 [[ 9.99780564e-01 -1.12396201e-02 -1.76775186e-02 6.53219141e+00] [ 1.12434032e-02 9.99936784e-01 1.14630324e-04 -1.13713606e-02] [ 1.76751127e-02 -3.13360640e-04 9.99843734e-01 2.86030980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.605336195 meters 0.03157011011027126 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.02, Z:0.03 [[ 9.99562335e-01 -2.56459266e-02 -1.47453372e-02 6.59181149e+00] [ 2.56501235e-02 9.99670977e-01 9.55425812e-05 -2.43827775e-02] [ 1.47380354e-02 -4.73720486e-04 9.99891277e-01 3.09035954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.665336195 meters 0.03817270914436916 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.04, Z:0.03 [[ 9.99373857e-01 -3.18706062e-02 -1.53674500e-02 6.65320672e+00] [ 3.18759016e-02 9.99491829e-01 9.97083213e-05 -3.55624328e-02] [ 1.53564629e-02 -5.89497213e-04 9.99881909e-01 2.76632048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.725336195 meters 0.046275327375656046 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.04, Z:0.03 [[ 9.99300032e-01 -3.47476619e-02 -1.38580331e-02 6.71305915e+00] [ 3.47522504e-02 9.99395954e-01 9.03614368e-05 -4.30057854e-02] [ 1.38465224e-02 -5.71896023e-04 9.99903969e-01 3.19305138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.785336194999999 meters 0.04621771937142411 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.04, Z:0.04 [[ 9.99263620e-01 -3.54516077e-02 -1.46765301e-02 6.77554806e+00] [ 3.54568405e-02 9.99371204e-01 9.64091877e-05 -3.80935992e-02] [ 1.46638837e-02 -6.16721580e-04 9.99892289e-01 4.00430232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.845336195 meters 0.03794137762894806 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.04, Z:0.03 [[ 9.99361044e-01 -3.19776317e-02 -1.59666847e-02 6.83623268e+00] [ 3.19833894e-02 9.99488395e-01 1.05322588e-04 -3.79799770e-02] [ 1.59551481e-02 -6.15923984e-04 9.99872519e-01 3.25337417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.905336194999999 meters 0.02968421027750037 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.02, Z:0.03 [[ 9.99593672e-01 -2.17932943e-02 -1.83723630e-02 6.89664989e+00] [ 2.17992024e-02 9.99762362e-01 1.21345096e-04 -2.40965777e-02] [ 1.83653525e-02 -5.21798650e-04 9.99831207e-01 3.04185627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.965336195 meters 0.023457265052246115 Centerline is valid? [True, True] Translation: X:6.96, Y:0.00, Z:0.04 [[ 9.99839171e-01 -1.19384424e-02 -1.33830099e-02 6.95692417e+00] [ 1.19406949e-02 9.99928703e-01 8.84137264e-05 1.39246661e-04] [ 1.33810002e-02 -2.48201945e-04 9.99910440e-01 4.48764723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0253361949999995 meters 0.013108830380146132 Centerline is valid? [True, True] Translation: X:7.02, Y:0.01, Z:0.04 [[ 9.99928416e-01 -4.94708705e-03 -1.08944391e-02 7.01738842e+00] [ 4.94816423e-03 9.99987755e-01 7.19222143e-05 7.24754364e-03] [ 1.08939499e-02 -1.25824540e-04 9.99940651e-01 4.24758624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.085336195 meters 0.012405898932996977 Centerline is valid? [True, True] Translation: X:7.08, Y:0.01, Z:0.04 [[ 9.99926964e-01 -2.74027292e-03 -1.17710486e-02 7.07543614e+00] [ 2.74137327e-03 9.99996239e-01 7.73449590e-05 1.21312387e-02] [ 1.17707924e-02 -1.09608148e-04 9.99930716e-01 4.27386583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.145336195 meters 0.012083292457011398 Centerline is valid? [True, True] Translation: X:7.13, Y:0.02, Z:0.04 [[ 9.99877483e-01 -1.97193218e-03 -1.55283962e-02 7.13407076e+00] [ 1.97372455e-03 9.99998047e-01 1.00101169e-04 1.84120500e-02] [ 1.55281685e-02 -1.30737682e-04 9.99879422e-01 3.97741901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.205336194999999 meters 0.010407569011647619 Centerline is valid? [True, True] Translation: X:7.19, Y:0.02, Z:0.03 [[ 9.99869181e-01 8.52426531e-04 -1.61522297e-02 7.19257332e+00] [-8.50899609e-04 9.99999633e-01 1.01405333e-04 1.68019955e-02] [ 1.61523102e-02 -8.76481417e-05 9.99869539e-01 3.49471843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.265336195 meters 0.011024488520180656 Centerline is valid? [True, True] Translation: X:7.25, Y:0.02, Z:0.05 [[ 9.99922835e-01 -6.47527550e-05 -1.24225147e-02 7.25064690e+00] [ 6.57114848e-05 9.99999995e-01 7.67686421e-05 2.18409137e-02] [ 1.24225097e-02 -7.75790202e-05 9.99922835e-01 4.75515758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.325336194999999 meters 0.011526256615352042 Centerline is valid? [True, True] Translation: X:7.31, Y:0.02, Z:0.05 [[ 9.99934558e-01 -9.54490777e-04 -1.14003565e-02 7.30786248e+00] [ 9.55347742e-04 9.99999541e-01 6.97244113e-05 2.38073275e-02] [ 1.14002847e-02 -8.06111533e-05 9.99935011e-01 4.86436402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.385336195 meters 0.009772894351536126 Centerline is valid? [True, True] Translation: X:7.37, Y:0.03, Z:0.04 [[ 9.99936301e-01 1.39154507e-03 -1.12007507e-02 7.36655156e+00] [-1.39087892e-03 9.99999030e-01 6.72633572e-05 2.76499843e-02] [ 1.12008335e-02 -5.16801846e-05 9.99937267e-01 4.31390120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.445336194999999 meters 0.009173832388392244 Centerline is valid? [True, True] Translation: X:7.42, Y:0.05, Z:0.05 [[ 9.99916020e-01 3.98570513e-03 -1.23315537e-02 7.42333227e+00] [-3.98511630e-03 9.99992057e-01 7.23214224e-05 4.74054637e-02] [ 1.23317440e-02 -2.31726729e-05 9.99923961e-01 4.64500273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.505336195 meters 0.009438484663274922 Centerline is valid? [True, True] Translation: X:7.48, Y:0.05, Z:0.04 [[ 9.99926534e-01 1.91562906e-03 -1.19690325e-02 7.48212328e+00] [-1.91493560e-03 9.99998164e-01 6.93976928e-05 4.64438412e-02] [ 1.19691434e-02 -4.64726680e-05 9.99928366e-01 4.38958080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5653361949999995 meters 0.01944244828482084 Centerline is valid? [True, True] Translation: X:7.54, Y:0.04, Z:0.05 [[ 9.99884008e-01 -7.81885828e-03 -1.30704001e-02 7.54169765e+00] [ 7.82051018e-03 9.99969417e-01 7.52782144e-05 4.40663973e-02] [ 1.30694117e-02 -1.77486679e-04 9.99914576e-01 4.52969212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625336195 meters 0.018940486324221753 Centerline is valid? [True, True] Translation: X:7.60, Y:0.04, Z:0.04 [[ 9.99828427e-01 -1.33483221e-02 -1.28428683e-02 7.59973994e+00] [ 1.33503674e-02 9.99910877e-01 7.35344011e-05 4.15477818e-02] [ 1.28407421e-02 -2.44978795e-04 9.99917524e-01 4.19625594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.685336195 meters 0.022160152642323808 Centerline is valid? [True, True] Translation: X:7.66, Y:0.04, Z:0.04 [[ 9.99780526e-01 -1.54644564e-02 -1.41333389e-02 7.66010613e+00] [ 1.54671408e-02 9.99880373e-01 8.06404445e-05 4.30492536e-02] [ 1.41304011e-02 -2.99225088e-04 9.99900116e-01 4.02579869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.745336194999999 meters 0.019880764609797517 Centerline is valid? [True, True] Translation: X:7.72, Y:0.06, Z:0.05 [[ 9.99869101e-01 -1.29360445e-02 -9.71799468e-03 7.72139927e+00] [ 1.29371953e-02 9.99916309e-01 5.55635857e-05 5.50587375e-02] [ 9.71646260e-03 -1.81279907e-04 9.99952778e-01 4.91161946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.805336195 meters 0.017077303345562546 Centerline is valid? [True, True] Translation: X:7.78, Y:0.06, Z:0.04 [[ 9.99898184e-01 -9.55094763e-03 -1.06019351e-02 7.78262621e+00] [ 9.55212980e-03 9.99954376e-01 6.08728964e-05 6.24778745e-02] [ 1.06008700e-02 -1.62137759e-04 9.99943796e-01 4.43790770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.865336194999999 meters 0.015866681296933586 Centerline is valid? [True, True] Translation: X:7.84, Y:0.08, Z:0.05 [[ 9.99924746e-01 -7.88875174e-03 -9.39524421e-03 7.84329651e+00] [ 7.88960809e-03 9.99968875e-01 5.40864934e-05 7.80534483e-02] [ 9.39452511e-03 -1.28207218e-04 9.99955862e-01 5.08506328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925336195 meters 0.016001605807480515 Centerline is valid? [True, True] Translation: X:7.90, Y:0.08, Z:0.04 [[ 9.99913299e-01 -8.18288936e-03 -1.03166763e-02 7.90368460e+00] [ 8.18393758e-03 9.99966509e-01 5.93909887e-05 7.93445943e-02] [ 1.03158448e-02 -1.43816874e-04 9.99946780e-01 4.34092216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9853361949999995 meters 0.019254374459287276 Centerline is valid? [True, True] Translation: X:7.96, Y:0.08, Z:0.04 [[ 9.99851131e-01 -1.15391128e-02 -1.28282844e-02 7.96289861e+00] [ 1.15410080e-02 9.99933398e-01 7.37214303e-05 7.84096231e-02] [ 1.28265793e-02 -2.21761789e-04 9.99917711e-01 3.89836495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.045336194999999 meters 0.02524919892242433 Centerline is valid? [True, True] Translation: X:8.02, Y:0.07, Z:0.04 [[ 9.99726626e-01 -1.84367352e-02 -1.43791677e-02 8.02303399e+00] [ 1.84398273e-02 9.99829969e-01 8.24760191e-05 7.21105715e-02] [ 1.43752022e-02 -3.47602841e-04 9.99896611e-01 3.95186116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.105336195 meters 0.039756262517406604 Centerline is valid? [True, True] Translation: X:8.08, Y:0.05, Z:0.05 [[ 9.99513318e-01 -2.90656416e-02 -1.13276477e-02 8.08245002e+00] [ 2.90682432e-02 9.99577427e-01 6.50547959e-05 5.01507690e-02] [ 1.13209701e-02 -3.94297954e-04 9.99935838e-01 4.56338557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.165336195 meters 0.0395107363010014 Centerline is valid? [True, True] Translation: X:8.14, Y:0.03, Z:0.04 [[ 9.99286079e-01 -3.66133026e-02 -9.31657409e-03 8.14271178e+00] [ 3.66153909e-02 9.99329430e-01 5.36204152e-05 3.24444571e-02] [ 9.30836346e-03 -3.94712137e-04 9.99956598e-01 4.40442353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.225336194999999 meters 0.042527314260548156 Centerline is valid? [True, True] Translation: X:8.20, Y:0.02, Z:0.04 [[ 9.99359819e-01 -3.39996804e-02 -1.11343654e-02 8.20317084e+00] [ 3.40025032e-02 9.99421746e-01 6.42610305e-05 1.95303757e-02] [ 1.11257421e-02 -4.42816188e-04 9.99938009e-01 4.38610737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.285336195 meters 0.026332967331087528 Centerline is valid? [True, True] Translation: X:8.26, Y:0.03, Z:0.04 [[ 9.99708881e-01 -2.02210592e-02 -1.31628923e-02 8.26393516e+00] [ 2.02238141e-02 9.99795475e-01 7.62022535e-05 3.37722718e-02] [ 1.31586592e-02 -3.42383955e-04 9.99913362e-01 4.06796899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.345336195 meters 0.011447885341157694 Centerline is valid? [True, True] Translation: X:8.32, Y:0.06, Z:0.04 [[ 9.99855843e-01 2.50475306e-04 -1.69773604e-02 8.32492629e+00] [-2.48841511e-04 9.99999964e-01 9.83461537e-05 6.40413584e-02] [ 1.69773844e-02 -9.41073044e-05 9.99855869e-01 4.12698388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.405336195 meters 0.016800049367566877 Centerline is valid? [True, True] Translation: X:8.38, Y:0.09, Z:0.04 [[ 9.99719493e-01 1.85771407e-02 -1.46909668e-02 8.38314182e+00] [-1.85779140e-02 9.99827412e-01 8.38421300e-05 8.66794052e-02] [ 1.46899888e-02 1.89108905e-04 9.99892078e-01 3.91016130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.465336194999999 meters 0.021024618283186317 Centerline is valid? [True, True] Translation: X:8.44, Y:0.10, Z:0.04 [[ 9.99621114e-01 2.45934566e-02 -1.23608216e-02 8.44225948e+00] [-2.45944782e-02 9.99697508e-01 6.93789152e-05 9.64484362e-02] [ 1.23587888e-02 2.34655329e-04 9.99923600e-01 4.35977632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.525336195 meters 0.011032108178088989 Centerline is valid? [True, True] Translation: X:8.50, Y:0.08, Z:0.04 [[ 9.99837254e-01 1.02660918e-02 -1.48348574e-02 8.50203051e+00] [-1.02659928e-02 9.99947300e-01 8.28259747e-05 8.21729398e-02] [ 1.48349259e-02 6.94820442e-05 9.99889954e-01 3.93025825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.585336195 meters 0.009622164944141202 Centerline is valid? [True, True] Translation: X:8.56, Y:0.07, Z:0.04 [[ 9.99867048e-01 4.58697780e-03 -1.56475262e-02 8.56107842e+00] [-4.58618063e-03 9.99989480e-01 8.68288148e-05 7.12209916e-02] [ 1.56477599e-02 -1.50548891e-05 9.99877566e-01 3.66151064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.645336195 meters 0.019636346998433238 Centerline is valid? [True, True] Translation: X:8.62, Y:0.05, Z:0.05 [[ 9.99785549e-01 -1.44925459e-02 -1.47926062e-02 8.62181703e+00] [ 1.44953413e-02 9.99894934e-01 8.17673619e-05 4.82885672e-02] [ 1.47898669e-02 -2.96173702e-04 9.99890580e-01 4.61584851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.705336195 meters 0.032646094765199384 Centerline is valid? [True, True] Translation: X:8.68, Y:0.02, Z:0.05 [[ 9.99497679e-01 -2.84929380e-02 -1.38759620e-02 8.68078157e+00] [ 2.84967488e-02 9.99593882e-01 7.69513381e-05 2.05436542e-02] [ 1.38681341e-02 -4.72332488e-04 9.99903721e-01 4.52778103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.765336195 meters 0.0343360745022658 Centerline is valid? [True, True] Translation: X:8.74, Y:0.01, Z:0.05 [[ 9.99489226e-01 -2.95165009e-02 -1.22500303e-02 8.74183909e+00] [ 2.95195557e-02 9.99564201e-01 6.85959327e-05 1.32011989e-02] [ 1.22426670e-02 -4.30176347e-04 9.99924963e-01 5.01930109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.825336195 meters 0.026250563373175075 Centerline is valid? [True, True] Translation: X:8.80, Y:0.02, Z:0.05 [[ 9.99677229e-01 -2.04991719e-02 -1.50073706e-02 8.80277489e+00] [ 2.05027536e-02 9.99789793e-01 8.48303941e-05 2.35104992e-02] [ 1.50024770e-02 -3.92495434e-04 9.99887379e-01 4.73255302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.885336194999999 meters 0.014527460513960993 Centerline is valid? [True, True] Translation: X:8.86, Y:0.04, Z:0.04 [[ 9.99876192e-01 -5.20752215e-03 -1.48486601e-02 8.86234449e+00] [ 5.20934238e-03 9.99986428e-01 8.39098321e-05 3.63854098e-02] [ 1.48480216e-02 -1.61251197e-04 9.99889749e-01 4.18302755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.945336195 meters 0.009531070214864006 Centerline is valid? [True, True] Translation: X:8.92, Y:0.07, Z:0.06 [[ 9.99902078e-01 7.56941030e-03 -1.17702207e-02 8.92207684e+00] [-7.56915384e-03 9.99971351e-01 6.63368599e-05 6.88946334e-02] [ 1.17703857e-02 2.27602474e-05 9.99930726e-01 5.72004466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.005336195 meters 0.010062247739918118 Centerline is valid? [True, True] Translation: X:8.98, Y:0.08, Z:0.06 [[ 9.99908938e-01 1.10626462e-02 -7.72868598e-03 8.97994054e+00] [-1.10626418e-02 9.99938806e-01 4.33304522e-05 7.66153539e-02] [ 7.72869238e-03 4.21731779e-05 9.99970132e-01 5.97854912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.065336195 meters 0.009911254761403147 Centerline is valid? [True, True] Translation: X:9.04, Y:0.07, Z:0.05 [[ 9.99916173e-01 1.56992559e-03 -1.28523533e-02 9.03745219e+00] [-1.56916167e-03 9.99998766e-01 6.95223465e-05 6.96216656e-02] [ 1.28524466e-02 -4.93490984e-05 9.99917403e-01 5.04119002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.125336195 meters 0.011019989472836 Centerline is valid? [True, True] Translation: X:9.10, Y:0.07, Z:0.05 [[ 9.99875155e-01 -8.01041874e-04 -1.57807609e-02 9.09653751e+00] [ 8.02474678e-04 9.99999674e-01 8.44623533e-05 7.01475865e-02] [ 1.57806881e-02 -9.71154696e-05 9.99875472e-01 4.73181542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185336195 meters 0.011378238872386015 Centerline is valid? [True, True] Translation: X:9.15, Y:0.07, Z:0.05 [[ 9.99910336e-01 -1.49474712e-03 -1.33073787e-02 9.15475773e+00] [ 1.49581997e-03 9.99998879e-01 7.06683846e-05 7.37096051e-02] [ 1.33072581e-02 -9.05674910e-05 9.99911450e-01 5.42384494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.245336195 meters 0.010486763661929993 Centerline is valid? [True, True] Translation: X:9.21, Y:0.07, Z:0.06 [[ 9.99979044e-01 -1.52644615e-03 -6.29144972e-03 9.21327870e+00] [ 1.52668640e-03 9.99998834e-01 3.33837364e-05 7.24928727e-02] [ 6.29139143e-03 -4.29881075e-05 9.99980208e-01 6.23740834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.305336194999999 meters 0.011881803099565238 Centerline is valid? [True, True] Translation: X:9.27, Y:0.08, Z:0.06 [[ 9.99968932e-01 -2.94015745e-03 -7.31372152e-03 9.27175307e+00] [ 2.94051030e-03 9.99995676e-01 3.74924337e-05 7.98868645e-02] [ 7.31357966e-03 -5.89973423e-05 9.99973254e-01 6.34019928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.365336195 meters 0.012912191917231551 Centerline is valid? [True, True] Translation: X:9.33, Y:0.08, Z:0.06 [[ 9.99951563e-01 -4.67717689e-03 -8.65999235e-03 9.33099598e+00] [ 4.67773286e-03 9.99989058e-01 4.39452480e-05 8.03078065e-02] [ 8.65969205e-03 -8.44522502e-05 9.99962501e-01 5.85972744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.425336195 meters 0.017631516358486067 Centerline is valid? [True, True] Translation: X:9.39, Y:0.07, Z:0.05 [[ 9.99878189e-01 -1.15300160e-02 -1.05197502e-02 9.39009041e+00] [ 1.15312103e-02 9.99933512e-01 5.28775927e-05 7.34833239e-02] [ 1.05184411e-02 -1.74176604e-04 9.99944664e-01 5.30511354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.485336195 meters 0.02990645309201094 Centerline is valid? [True, True] Translation: X:9.45, Y:0.07, Z:0.06 [[ 9.99638424e-01 -2.55198898e-02 -8.47092938e-03 9.45108012e+00] [ 2.55211645e-02 9.99674281e-01 4.24021962e-05 6.50667049e-02] [ 8.46708814e-03 -2.58574847e-04 9.99964120e-01 6.34950798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.545336194999999 meters 0.043573829166210824 Centerline is valid? [True, True] Translation: X:9.51, Y:0.04, Z:0.05 [[ 9.99240957e-01 -3.71274643e-02 -1.17924462e-02 9.51019318e+00] [ 3.71307445e-02 9.99310414e-01 5.92688871e-05 4.21446685e-02] [ 1.17821138e-02 -4.97086206e-04 9.99930465e-01 4.97351206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.605336195 meters 0.0411650865282709 Centerline is valid? [True, True] Translation: X:9.57, Y:0.04, Z:0.05 [[ 9.99193932e-01 -3.79672600e-02 -1.30374212e-02 9.57199390e+00] [ 3.79713495e-02 9.99278826e-01 6.61889749e-05 3.84141384e-02] [ 1.30255060e-02 -5.61184100e-04 9.99915007e-01 4.97966576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.665336195 meters 0.035375747905840374 Centerline is valid? [True, True] Translation: X:9.63, Y:0.05, Z:0.06 [[ 9.99413497e-01 -3.27154398e-02 -1.01173638e-02 9.63212343e+00] [ 3.27176381e-02 9.99464633e-01 5.17966238e-05 4.92412302e-02] [ 1.01102528e-02 -3.82782493e-04 9.99948817e-01 6.10178120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.725336194999999 meters 0.03641151630156607 Centerline is valid? [True, True] Translation: X:9.69, Y:0.04, Z:0.05 [[ 9.99558124e-01 -2.75716842e-02 -1.11066843e-02 9.69218153e+00] [ 2.75740162e-02 9.99619763e-01 5.68642169e-05 3.91745838e-02] [ 1.11008933e-02 -3.63094983e-04 9.99938317e-01 5.34699217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.785336195 meters 0.030746764508488702 Centerline is valid? [True, True] Translation: X:9.75, Y:0.04, Z:0.06 [[ 9.99622552e-01 -2.48073974e-02 -1.18045194e-02 9.75379356e+00] [ 2.48098413e-02 9.99692187e-01 6.06147889e-05 4.09303691e-02] [ 1.17993821e-02 -3.53460164e-04 9.99930322e-01 5.71942540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845336195 meters 0.023215514988229394 Centerline is valid? [True, True] Translation: X:9.81, Y:0.04, Z:0.06 [[ 9.99752755e-01 -1.78889189e-02 -1.32066487e-02 9.81313834e+00] [ 1.78913776e-02 9.99839934e-01 6.80346192e-05 4.29878914e-02] [ 1.32033177e-02 -3.04302936e-04 9.99912786e-01 5.54514010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.905336195 meters 0.009848706436266041 Centerline is valid? [True, True] Translation: X:9.87, Y:0.06, Z:0.05 [[ 9.99927697e-01 8.47405986e-04 -1.19950934e-02 9.87417008e+00] [-8.46727134e-04 9.99999640e-01 6.16725005e-05 5.69967647e-02] [ 1.19951414e-02 -5.15114703e-05 9.99928054e-01 4.76364706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.965336194999999 meters 0.011196357768903006 Centerline is valid? [True, True] Translation: X:9.93, Y:0.08, Z:0.06 [[ 9.99881184e-01 1.01598751e-02 -1.15928513e-02 9.93151190e+00] [-1.01598744e-02 9.99948385e-01 5.89512267e-05 7.63493290e-02] [ 1.15928519e-02 5.88376908e-05 9.99932799e-01 5.60224316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025336195 meters 0.011384527359457924 Centerline is valid? [True, True] Translation: X:9.99, Y:0.09, Z:0.06 [[ 9.99864014e-01 1.12651241e-02 -1.20437114e-02 9.99018573e+00] [-1.12652175e-02 9.99936544e-01 6.00892391e-05 8.93689222e-02] [ 1.20436240e-02 7.55939604e-05 9.99927470e-01 6.01112393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.085336195 meters 0.009767891243991321 Centerline is valid? [True, True] Translation: X:10.05, Y:0.08, Z:0.05 [[ 9.99901864e-01 6.98641866e-03 -1.21430246e-02 1.00493524e+01] [-6.98621133e-03 9.99975594e-01 5.94934810e-05 8.09071695e-02] [ 1.21431439e-02 2.53460937e-05 9.99926269e-01 5.15010193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.145336194999999 meters 0.012008097300677078 Centerline is valid? [True, True] Translation: X:10.11, Y:0.08, Z:0.05 [[ 9.99849127e-01 -2.37625514e-03 -1.72068737e-02 1.01083414e+01] [ 2.37802568e-03 9.99997169e-01 8.24370586e-05 7.89066720e-02] [ 1.72066291e-02 -1.23343008e-04 9.99851947e-01 4.70455097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205336195 meters 0.022253635887698978 Centerline is valid? [True, True] Translation: X:10.17, Y:0.06, Z:0.05 [[ 9.99787510e-01 -1.74160338e-02 -1.10280292e-02 1.01686800e+01] [ 1.74176737e-02 9.99848299e-01 5.26714532e-05 5.84527813e-02] [ 1.10254389e-02 -2.44742875e-04 9.99939188e-01 5.28464177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265336195 meters 0.030093750183109558 Centerline is valid? [True, True] Translation: X:10.23, Y:0.05, Z:0.06 [[ 9.99508036e-01 -2.97211773e-02 -1.00168804e-02 1.02293895e+01] [ 2.97231474e-02 9.99558169e-01 4.78364140e-05 5.46911462e-02] [ 1.00110329e-02 -3.45546095e-04 9.99949829e-01 6.23368160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.325336195 meters 0.04166003518818231 Centerline is valid? [True, True] Translation: X:10.29, Y:0.04, Z:0.05 [[ 9.99061301e-01 -3.98529166e-02 -1.69782956e-02 1.02891319e+01] [ 3.98600389e-02 9.99205270e-01 8.11661033e-05 3.59754348e-02] [ 1.69615677e-02 -7.57845436e-04 9.99855855e-01 5.04211560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.385336194999999 meters 0.044792456937148964 Centerline is valid? [True, True] Translation: X:10.35, Y:0.01, Z:0.04 [[ 9.98968775e-01 -4.18931242e-02 -1.75029554e-02 1.03493539e+01] [ 4.19010089e-02 9.99121764e-01 8.38365047e-05 1.47136956e-02] [ 1.74840715e-02 -8.17141539e-04 9.99846808e-01 4.21131436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.445336195 meters 0.03868790427188468 Centerline is valid? [True, True] Translation: X:10.41, Y:0.02, Z:0.05 [[ 9.99165008e-01 -3.79315174e-02 -1.51818196e-02 1.04095699e+01] [ 3.79369938e-02 9.99280130e-01 7.27874979e-05 2.10297097e-02] [ 1.51681297e-02 -6.48679317e-04 9.99884747e-01 5.28268203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.505336195 meters 0.032134434186599455 Centerline is valid? [True, True] Translation: X:10.47, Y:0.04, Z:0.07 [[ 9.99600152e-01 -2.70589983e-02 -8.20655161e-03 1.04693163e+01] [ 2.70602324e-02 9.99633804e-01 3.93524758e-05 3.63139995e-02] [ 8.20248157e-03 -2.61407934e-04 9.99966325e-01 7.11709921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.565336194999999 meters 0.020355321004200976 Centerline is valid? [True, True] Translation: X:10.53, Y:0.04, Z:0.06 [[ 9.99823185e-01 -1.56357807e-02 -1.04461501e-02 1.05302979e+01] [ 1.56371580e-02 9.99877731e-01 5.01824076e-05 4.18862933e-02] [ 1.04440882e-02 -2.13521634e-04 9.99945436e-01 5.94046438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.625336195 meters 0.01520896204920724 Centerline is valid? [True, True] Translation: X:10.59, Y:0.06, Z:0.06 [[ 9.99839815e-01 -8.15224117e-03 -1.59337589e-02 1.05905815e+01] [ 8.15449936e-03 9.99966749e-01 7.67577282e-05 5.74985519e-02] [ 1.59326034e-02 -2.06677260e-04 9.99873047e-01 6.09597078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685336195 meters 0.014867957029160456 Centerline is valid? [True, True] Translation: X:10.65, Y:0.06, Z:0.06 [[ 9.99852068e-01 -9.57879363e-03 -1.42859388e-02 1.06481103e+01] [ 9.58073608e-03 9.99954101e-01 6.75352227e-05 5.86141852e-02] [ 1.42846362e-02 -2.04395042e-04 9.99897948e-01 6.44304122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.745336195 meters 0.018079577198199196 Centerline is valid? [True, True] Translation: X:10.71, Y:0.04, Z:0.05 [[ 9.99805113e-01 -1.22689274e-02 -1.54663954e-02 1.07057269e+01] [ 1.22714961e-02 9.99924700e-01 7.11844487e-05 4.09326045e-02] [ 1.54643574e-02 -2.60966386e-04 9.99880386e-01 5.26275099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805336194999999 meters 0.025688358847553317 Centerline is valid? [True, True] Translation: X:10.77, Y:0.04, Z:0.06 [[ 9.99718367e-01 -1.48470415e-02 -1.85135660e-02 1.07654580e+01] [ 1.48511502e-02 9.99889712e-01 8.44541193e-05 4.25784894e-02] [ 1.85102703e-02 -3.59378083e-04 9.99828606e-01 5.70702415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865336195 meters 0.02392468087389076 Centerline is valid? [True, True] Translation: X:10.83, Y:0.02, Z:0.06 [[ 9.99700423e-01 -1.97999516e-02 -1.43883996e-02 1.08252459e+01] [ 1.98029415e-02 9.99803900e-01 6.53433735e-05 2.16590227e-02] [ 1.43842843e-02 -3.50256434e-04 9.99896479e-01 5.84247130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925336195 meters 0.038493375019564346 Centerline is valid? [True, True] Translation: X:10.89, Y:0.00, Z:0.07 [[ 9.99493608e-01 -2.88339968e-02 -1.34583818e-02 1.08861849e+01] [ 2.88374303e-02 9.99584113e-01 6.10876378e-05 2.11734740e-03] [ 1.34510232e-02 -4.49161849e-04 9.99909430e-01 6.53994743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.985336195 meters 0.03693490890528766 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.01, Z:0.07 [[ 9.99353160e-01 -3.31780028e-02 -1.38737880e-02 1.09470152e+01] [ 3.31820720e-02 9.99449321e-01 6.31520290e-05 -8.39928363e-03] [ 1.38640528e-02 -5.23472213e-04 9.99903752e-01 6.92778878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.045336194999999 meters 0.026877624499605103 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.01, Z:0.06 [[ 9.99567625e-01 -2.22530882e-02 -1.92188333e-02 1.10082627e+01] [ 2.22588837e-02 9.99752237e-01 8.76651323e-05 -1.16048267e-02] [ 1.92121207e-02 -5.15417002e-04 9.99815297e-01 5.65685416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.105336195 meters 0.0173671056794965 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.00, Z:0.06 [[ 9.99782023e-01 -1.12338954e-02 -1.75984540e-02 1.10685268e+01] [ 1.12370492e-02 9.99936859e-01 8.03280824e-05 -7.09254978e-04] [ 1.75964404e-02 -2.78065266e-04 9.99845132e-01 6.25304528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.165336195 meters 0.012954773642641035 Centerline is valid? [True, True] Translation: X:11.13, Y:0.00, Z:0.07 [[ 9.99887612e-01 -5.40192420e-03 -1.39850738e-02 1.11285606e+01] [ 5.40334417e-03 9.99985400e-01 6.37515952e-05 8.08997556e-04] [ 1.39845253e-02 -1.39310597e-04 9.99902202e-01 6.88539025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.225336194999999 meters 0.010366737463672346 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.00, Z:0.07 [[ 9.99923635e-01 -1.53175040e-03 -1.22628857e-02 1.11874469e+01] [ 1.53254026e-03 9.99998824e-01 5.50141423e-05 -1.89204417e-03] [ 1.22627870e-02 -7.38033072e-05 9.99924806e-01 6.95964756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285336195 meters 0.009670611823550111 Centerline is valid? [True, True] Translation: X:11.25, Y:0.00, Z:0.07 [[ 9.99846143e-01 4.05242697e-03 -1.70666076e-02 1.12461002e+01] [-4.05176403e-03 9.99991789e-01 7.34218637e-05 1.48143637e-03] [ 1.70667650e-02 -4.26070052e-06 9.99854352e-01 6.52196401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.345336195 meters 0.011467598058386106 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.00, Z:0.06 [[ 9.99839311e-01 4.49212524e-03 -1.73543315e-02 1.13026833e+01] [-4.49154794e-03 9.99989910e-01 7.22422380e-05 -2.31161901e-03] [ 1.73544809e-02 5.71718240e-06 9.99849400e-01 6.49209790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.405336195 meters 0.01054632985704371 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.02, Z:0.07 [[ 9.99896879e-01 -2.97101184e-03 -1.40500845e-02 1.13613200e+01] [ 2.97211242e-03 9.99995582e-01 5.74523480e-05 -2.10623170e-02] [ 1.40498518e-02 -9.92048541e-05 9.99901291e-01 6.93170110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.465336194999999 meters 0.018622033721276517 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.04, Z:0.08 [[ 9.99851449e-01 -1.28169704e-02 -1.15241132e-02 1.14192655e+01] [ 1.28183591e-02 9.99917840e-01 4.66516174e-05 -3.81107467e-02] [ 1.15225684e-02 -1.94364909e-04 9.99933594e-01 7.60012070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525336195 meters 0.015335631275173844 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.04, Z:0.07 [[ 9.99860015e-01 -1.06804934e-02 -1.28793808e-02 1.14808392e+01] [ 1.06820480e-02 9.99942944e-01 5.19174265e-05 -4.26847085e-02] [ 1.28780914e-02 -1.89488322e-04 9.99917056e-01 7.22796500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.585336195 meters 0.012406853732331047 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.03, Z:0.07 [[ 9.99896042e-01 -4.72239295e-03 -1.36236902e-02 1.15401174e+01] [ 4.72357981e-03 9.99988842e-01 5.49412528e-05 -3.10364411e-02] [ 1.36232787e-02 -1.19288129e-04 9.99907192e-01 7.37694359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.645336194999999 meters 0.010759628345118621 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.03, Z:0.07 [[ 9.99908238e-01 -1.74406222e-03 -1.34340494e-02 1.15994139e+01] [ 1.74493776e-03 9.99998476e-01 5.34523340e-05 -2.85102852e-02] [ 1.34339357e-02 -7.68890092e-05 9.99909758e-01 7.26214378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.705336195 meters 0.010093272283569764 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.02, Z:0.07 [[ 9.99883487e-01 -1.36351848e-03 -1.52037541e-02 1.16568069e+01] [ 1.36457812e-03 9.99999067e-01 5.93224787e-05 -2.38595525e-02] [ 1.52036591e-02 -8.00622771e-05 9.99884414e-01 6.81480510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765336195 meters 0.010873711681955693 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.02, Z:0.07 [[ 9.99878815e-01 -4.26543892e-03 -1.49720459e-02 1.17152243e+01] [ 4.26678023e-03 9.99990896e-01 5.76454631e-05 -2.37753886e-02] [ 1.49716637e-02 -1.21520907e-04 9.99887911e-01 6.97026560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.825336195 meters 0.020544755250237804 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.04, Z:0.07 [[ 9.99736877e-01 -1.57725218e-02 -1.66554725e-02 1.17742057e+01] [ 1.57757718e-02 9.99875553e-01 6.37578634e-05 -3.80513497e-02] [ 1.66523942e-02 -3.26494022e-04 9.99861286e-01 6.88822782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.885336194999999 meters 0.031762719996293466 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.06, Z:0.06 [[ 9.99419874e-01 -2.78693579e-02 -1.95758427e-02 1.18345822e+01] [ 2.78761655e-02 9.99611381e-01 7.49122887e-05 -6.08270216e-02] [ 1.95661474e-02 -6.20568261e-04 9.99808372e-01 5.96248104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.945336195 meters 0.03607441562646229 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.07, Z:0.07 [[ 9.99375447e-01 -3.23466907e-02 -1.42270165e-02 1.18953560e+01] [ 3.23507400e-02 9.99476576e-01 5.45114214e-05 -6.83110959e-02] [ 1.42178064e-02 -5.14731886e-04 9.99898789e-01 7.35893294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005336195 meters 0.02628590614558933 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.06, Z:0.07 [[ 9.99615300e-01 -2.43270098e-02 -1.33210006e-02 1.19563743e+01] [ 2.43298501e-02 9.99703984e-01 5.11804554e-05 -6.27304763e-02] [ 1.33158123e-02 -3.75258714e-04 9.99911270e-01 7.10229632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.065336194999999 meters 0.030149745697472714 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.06, Z:0.07 [[ 9.99671600e-01 -2.04872267e-02 -1.53936748e-02 1.20170516e+01] [ 2.04905691e-02 9.99790044e-01 5.94217894e-05 -6.28850220e-02] [ 1.53892254e-02 -3.74827432e-04 9.99881509e-01 7.22744173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.125336195 meters 0.021751638631741288 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.06, Z:0.07 [[ 9.99735288e-01 -1.64883974e-02 -1.60463805e-02 1.20788883e+01] [ 1.64915220e-02 9.99864004e-01 6.24119877e-05 -5.82049667e-02] [ 1.60431692e-02 -3.27024704e-04 9.99871247e-01 7.41940061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185336195 meters 0.015766047887441455 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.06, Z:0.07 [[ 9.99854944e-01 -1.02053018e-02 -1.36360857e-02 1.21388396e+01] [ 1.02069757e-02 9.99947906e-01 5.31646619e-05 -5.57667131e-02] [ 1.36348327e-02 -1.92340145e-04 9.99907023e-01 7.49128717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.245336195 meters 0.014825419281293915 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.05, Z:0.07 [[ 9.99850527e-01 -8.95127105e-03 -1.47918509e-02 1.21974301e+01] [ 8.95308424e-03 9.99959919e-01 5.63638240e-05 -5.25818876e-02] [ 1.47907535e-02 -1.88788086e-04 9.99890593e-01 7.49317274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.305336194999999 meters 0.017645350034382782 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.05, Z:0.08 [[ 9.99834467e-01 -9.00461774e-03 -1.58099957e-02 1.22565755e+01] [ 9.00665496e-03 9.99959438e-01 5.76579624e-05 -5.02975275e-02] [ 1.58088352e-02 -2.00043594e-04 9.99875013e-01 7.73585623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365336195 meters 0.015296341501169215 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.05, Z:0.07 [[ 9.99821215e-01 -8.97436883e-03 -1.66432804e-02 1.23151453e+01] [ 8.97657740e-03 9.99959708e-01 5.79984361e-05 -5.12602957e-02] [ 1.66420894e-02 -2.07387762e-04 9.99861489e-01 7.41315927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425336195 meters 0.012361980036866643 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.06, Z:0.07 [[ 9.99876960e-01 -6.98817959e-03 -1.40438328e-02 1.23738563e+01] [ 6.98952699e-03 9.99975572e-01 4.68617701e-05 -5.70807703e-02] [ 1.40431622e-02 -1.45015752e-04 9.99901379e-01 7.12906489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.485336195 meters 0.0107889288072943 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.04, Z:0.08 [[ 9.99874099e-01 -4.40603365e-03 -1.52437750e-02 1.24325559e+01] [ 4.40728145e-03 9.99990287e-01 4.82634932e-05 -4.10198548e-02] [ 1.52434142e-02 -1.15441023e-04 9.99883806e-01 7.87991176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.545336194999999 meters 0.010249730996403042 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.03, Z:0.08 [[ 9.99898606e-01 -3.64481571e-03 -1.37656496e-02 1.24907070e+01] [ 3.64574113e-03 9.99993353e-01 4.21333701e-05 -3.46812567e-02] [ 1.37654045e-02 -9.23150928e-05 9.99905248e-01 7.99178254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605336195 meters 0.012830015309681371 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.04, Z:0.07 [[ 9.99859478e-01 -7.72608425e-03 -1.48772131e-02 1.25498915e+01] [ 7.72760472e-03 9.99970141e-01 4.47178131e-05 -3.73265626e-02] [ 1.48764234e-02 -1.59676752e-04 9.99889327e-01 7.02208845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.665336195 meters 0.020552822511112803 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.03, Z:0.08 [[ 9.99719144e-01 -1.67364105e-02 -1.67787388e-02 1.26091828e+01] [ 1.67396048e-02 9.99859882e-01 4.99401279e-05 -3.47810444e-02] [ 1.67755520e-02 -3.30795559e-04 9.99859226e-01 7.76504677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.725336194999999 meters 0.027457391894079784 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.04, Z:0.08 [[ 9.99513223e-01 -2.76398892e-02 -1.44690824e-02 1.26690308e+01] [ 2.76434038e-02 9.99617847e-01 4.29197541e-05 -4.18811296e-02] [ 1.44623667e-02 -4.42873549e-04 9.99895316e-01 8.15215491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.785336195 meters 0.03333604348598072 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.05, Z:0.08 [[ 9.99430046e-01 -3.09210543e-02 -1.35451961e-02 1.27289615e+01] [ 3.09244391e-02 9.99521724e-01 4.04641726e-05 -5.09108818e-02] [ 1.35374666e-02 -4.59318703e-04 9.99908259e-01 7.74096684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.845336195 meters 0.02902750753317975 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.04, Z:0.08 [[ 9.99433112e-01 -2.93257210e-02 -1.65364972e-02 1.27913068e+01] [ 2.93305632e-02 9.99569765e-01 5.03127215e-05 -3.71967695e-02] [ 1.65279072e-02 -5.35308976e-04 9.99863262e-01 7.77561457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.905336195 meters 0.035592130026156396 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.04, Z:0.07 [[ 9.99262688e-01 -3.33290581e-02 -1.90592067e-02 1.28508290e+01] [ 3.33362287e-02 9.99444192e-01 5.85532482e-05 -4.49555739e-02] [ 1.90466620e-02 -6.93872150e-04 9.99818355e-01 7.31879641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.965336194999999 meters 0.04016167159097965 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.06, Z:0.07 [[ 9.98981595e-01 -4.23014948e-02 -1.56957251e-02 1.29114738e+01] [ 4.23074642e-02 9.99104637e-01 4.83200967e-05 -6.37701065e-02] [ 1.56796277e-02 -7.12317214e-04 9.99876813e-01 7.41649189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.025336195 meters 0.044659963818228565 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.07, Z:0.08 [[ 9.98818642e-01 -4.62573324e-02 -1.48855584e-02 1.29707004e+01] [ 4.62631408e-02 9.98929287e-01 4.59125506e-05 -6.81046821e-02] [ 1.48674965e-02 -7.34510997e-04 9.99889203e-01 8.42193735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085336195 meters 0.04271094485855297 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.07, Z:0.08 [[ 9.99190118e-01 -3.68191617e-02 -1.62313703e-02 1.30307995e+01] [ 3.68248269e-02 9.99321735e-01 5.01827272e-05 -7.16916390e-02] [ 1.62185134e-02 -6.47859486e-04 9.99868261e-01 8.05088692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.145336194999999 meters 0.023625734718812005 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.06, Z:0.08 [[ 9.99718316e-01 -1.91604449e-02 -1.40059254e-02 1.30913233e+01] [ 1.91629312e-02 9.99816373e-01 4.33209544e-05 -6.05587448e-02] [ 1.40025235e-02 -3.11703336e-04 9.99901911e-01 7.65404516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205336195 meters 0.015071771984297766 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.04, Z:0.08 [[ 9.99846103e-01 -7.53980307e-03 -1.58404950e-02 1.31519759e+01] [ 7.54152547e-03 9.99971561e-01 4.90012210e-05 -4.02878786e-02] [ 1.58396751e-02 -1.68455176e-04 9.99874530e-01 8.32149610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265336195 meters 0.008581596737914 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.03, Z:0.09 [[ 9.99941673e-01 -4.04962059e-04 -1.07928670e-02 1.32114759e+01] [ 4.05345170e-04 9.99999917e-01 3.33092785e-05 -3.15416908e-02] [ 1.07928526e-02 -3.76821722e-05 9.99941755e-01 8.88969053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.325336195 meters 0.009388551994880819 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.04, Z:0.08 [[ 9.99905679e-01 1.12139479e-03 -1.36885117e-02 1.32694948e+01] [-1.12092965e-03 9.99999371e-01 4.16522409e-05 -4.19921531e-02] [ 1.36885498e-02 -2.63044535e-05 9.99906307e-01 7.85501414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.385336194999999 meters 0.009447108235843752 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.03, Z:0.09 [[ 9.99874187e-01 -9.19656368e-04 -1.58355732e-02 1.33283714e+01] [ 9.20520841e-04 9.99999575e-01 4.73017108e-05 -3.14906897e-02] [ 1.58355229e-02 -6.18727347e-05 9.99874608e-01 8.61357984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445336195 meters 0.012124289051479505 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.05, Z:0.08 [[ 9.99853610e-01 -5.73097343e-03 -1.61218610e-02 1.33864400e+01] [ 5.73247709e-03 9.99983568e-01 4.70570883e-05 -4.52085187e-02] [ 1.61213264e-02 -1.39468398e-04 9.99870033e-01 8.05722019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505336195 meters 0.017915260954937763 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.06, Z:0.09 [[ 9.99816729e-01 -1.47578872e-02 -1.21947972e-02 1.34453294e+01] [ 1.47594110e-02 9.99891073e-01 3.49637525e-05 -6.06499491e-02] [ 1.21929529e-02 -2.14945369e-04 9.99925640e-01 8.66470422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.565336194999999 meters 0.023107251724953957 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.07, Z:0.09 [[ 9.99761919e-01 -1.86690955e-02 -1.12946671e-02 1.35059577e+01] [ 1.86706501e-02 9.99825688e-01 3.22024047e-05 -6.58883821e-02] [ 1.12920971e-02 -2.43073516e-04 9.99936213e-01 8.82621976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.625336195 meters 0.018958241721683734 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.07, Z:0.08 [[ 9.99803542e-01 -1.52043009e-02 -1.27164289e-02 1.35672748e+01] [ 1.52059942e-02 9.99884382e-01 3.64754500e-05 -6.76835418e-02] [ 1.27144041e-02 -2.29834228e-04 9.99919142e-01 8.22978939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685336195 meters 0.012807208921134317 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.06, Z:0.09 [[ 9.99882622e-01 -8.77330444e-03 -1.25607411e-02 1.36284635e+01] [ 8.77445198e-03 9.99961503e-01 3.62523428e-05 -5.61686647e-02] [ 1.25599395e-02 -1.46461707e-04 9.99921110e-01 8.62057328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.745336195 meters 0.010215127033019663 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.05, Z:0.09 [[ 9.99921185e-01 -4.26277536e-03 -1.18090109e-02 1.36864188e+01] [ 4.26347277e-03 9.99990911e-01 3.38835840e-05 -4.64188796e-02] [ 1.18087591e-02 -8.42283099e-05 9.99930271e-01 8.65555985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.805336194999999 meters 0.012642148678379497 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.05, Z:0.08 [[ 9.99859036e-01 -7.34926972e-03 -1.50962052e-02 1.37440605e+01] [ 7.35074619e-03 9.99972982e-01 4.23183978e-05 -5.17477739e-02] [ 1.50954863e-02 -1.53280805e-04 9.99886045e-01 7.96193162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865336195 meters 0.014178986557421253 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.05, Z:0.08 [[ 9.99858420e-01 -9.62076596e-03 -1.38050890e-02 1.38027435e+01] [ 9.62219716e-03 9.99953705e-01 3.72532624e-05 -4.62192865e-02] [ 1.38040915e-02 -1.70083276e-04 9.99904705e-01 8.45337152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925336195 meters 0.013709294084566608 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.05, Z:0.08 [[ 9.99891255e-01 -1.01094175e-02 -1.07367384e-02 1.38612488e+01] [ 1.01102955e-02 9.99948889e-01 2.75011830e-05 -4.72625423e-02] [ 1.07359116e-02 -1.36049790e-04 9.99942359e-01 8.47186298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.985336194999999 meters 0.017793196160022916 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.04, Z:0.10 [[ 9.99877115e-01 -1.42651690e-02 -6.50075418e-03 1.39209302e+01] [ 1.42655741e-02 9.99898241e-01 1.59520058e-05 -4.26776645e-02] [ 6.49986512e-03 -1.08687036e-04 9.99978870e-01 9.54355648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.045336194999999 meters 0.018003254755627723 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.04, Z:0.09 [[ 9.99796442e-01 -1.58997745e-02 -1.24206012e-02 1.39828078e+01] [ 1.59013819e-02 9.99873565e-01 3.06660403e-05 -3.72934419e-02] [ 1.24185432e-02 -2.28164521e-04 9.99922861e-01 8.57777864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105336195 meters 0.022460636683284227 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.04, Z:0.08 [[ 9.99661115e-01 -2.01655271e-02 -1.64622710e-02 1.40434014e+01] [ 2.01689364e-02 9.99796585e-01 4.10821670e-05 -4.15202716e-02] [ 1.64580939e-02 -3.73094743e-04 9.99864487e-01 7.73659145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165336195 meters 0.027249765018642937 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.04, Z:0.08 [[ 9.99489851e-01 -2.81429000e-02 -1.51001576e-02 1.41040507e+01] [ 2.81466792e-02 9.99603803e-01 3.77703976e-05 -4.11525629e-02] [ 1.50931120e-02 -4.62770423e-04 9.99885985e-01 8.25889683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.225336194999999 meters 0.036943196581816384 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.06, Z:0.08 [[ 9.99316206e-01 -3.49799169e-02 -1.19802047e-02 1.41635279e+01] [ 3.49827866e-02 9.99387915e-01 2.99948056e-05 -5.50210813e-02] [ 1.19718226e-02 -4.49075240e-04 9.99928234e-01 8.48085438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.285336195 meters 0.03948791702999034 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.06, Z:0.09 [[ 9.99220774e-01 -3.75532894e-02 -1.21488886e-02 1.42246865e+01] [ 3.75564314e-02 9.99294508e-01 3.05019880e-05 -5.67900791e-02] [ 1.21391722e-02 -4.86747121e-04 9.99926199e-01 8.78212818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345336195 meters 0.03727481203934554 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.05, Z:0.09 [[ 9.99313912e-01 -3.46915736e-02 -1.29692036e-02 1.42855848e+01] [ 3.46949155e-02 9.99397950e-01 3.27101987e-05 -5.20568112e-02] [ 1.29602608e-02 -4.82653181e-04 9.99915896e-01 8.52008167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.405336194999999 meters 0.0329628413843954 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.05, Z:0.08 [[ 9.99501088e-01 -2.97856136e-02 -1.05067707e-02 1.43462294e+01] [ 2.97875368e-02 9.99556253e-01 2.65656026e-05 -5.26038887e-02] [ 1.05013171e-02 -3.39523167e-04 9.99944802e-01 8.46556961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.465336194999999 meters 0.02905110897350955 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.04, Z:0.09 [[ 9.99582653e-01 -2.60971634e-02 -1.23878282e-02 1.44066691e+01] [ 2.60995541e-02 9.99659348e-01 3.13284651e-05 -3.84632131e-02] [ 1.23827907e-02 -3.54632182e-04 9.99923267e-01 8.73804848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525336195 meters 0.026772484062093743 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.04, Z:0.07 [[ 9.99584566e-01 -2.20887592e-02 -1.85143545e-02 1.44676300e+01] [ 2.20934198e-02 9.99755909e-01 4.71986941e-05 -3.66116987e-02] [ 1.85087927e-02 -4.56224492e-04 9.99828594e-01 7.19115689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585336195 meters 0.023389832078547 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.02, Z:0.08 [[ 9.99645598e-01 -2.10000907e-02 -1.63607712e-02 1.45290872e+01] [ 2.10035910e-02 9.99779399e-01 4.21276657e-05 -2.10363650e-02] [ 1.63562773e-02 -3.85747683e-04 9.99866153e-01 8.29882433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.645336194999999 meters 0.023259659066833523 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.02, Z:0.09 [[ 9.99681422e-01 -2.26167763e-02 -1.12042493e-02 1.45916734e+01] [ 2.26185226e-02 9.99744168e-01 2.91549911e-05 -1.77923707e-02] [ 1.12007235e-02 -2.82569270e-04 9.99937230e-01 8.97498349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705336195 meters 0.032813133629951974 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.03, Z:0.09 [[ 9.99483233e-01 -3.08049556e-02 -9.18269971e-03 1.46518430e+01] [ 3.08064764e-02 9.99525368e-01 2.41790553e-05 -3.42683999e-02] [ 9.17759647e-03 -3.07053182e-04 9.99957838e-01 8.86595534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.765336195 meters 0.03992891065100722 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.05, Z:0.08 [[ 9.99176775e-01 -3.78337100e-02 -1.46418335e-02 1.47123961e+01] [ 3.78383321e-02 9.99283873e-01 3.86858966e-05 -5.01621585e-02] [ 1.46298845e-02 -5.92676609e-04 9.99892802e-01 7.96166615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.825336195 meters 0.037886724434841236 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.05, Z:0.08 [[ 9.98981720e-01 -4.20518282e-02 -1.63452701e-02 1.47724361e+01] [ 4.20581517e-02 9.99115164e-01 4.31642225e-05 -5.24088318e-02] [ 1.63289920e-02 -7.30572117e-04 9.99866406e-01 8.40220145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.885336194999999 meters 0.04503616957067011 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.07, Z:0.08 [[ 9.99064124e-01 -4.05047250e-02 -1.51737501e-02 1.48327356e+01] [ 4.05099968e-02 9.99179132e-01 4.01005019e-05 -6.87991809e-02] [ 1.51596702e-02 -6.54751540e-04 9.99884871e-01 8.49120213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.945336195 meters 0.029629391258219326 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.05, Z:0.09 [[ 9.99579173e-01 -2.73942220e-02 -9.54117594e-03 1.48936563e+01] [ 2.73957101e-02 9.99624667e-01 2.52762330e-05 -5.33846693e-02] [ 9.53690240e-03 -2.86652886e-04 9.99954482e-01 9.37455994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005336195 meters 0.0164968797234192 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.03, Z:0.09 [[ 9.99854490e-01 -1.18779123e-02 -1.22439226e-02 1.49531670e+01] [ 1.18792004e-02 9.99929439e-01 3.24818551e-05 -3.09190117e-02] [ 1.22426729e-02 -1.77925139e-04 9.99925040e-01 9.02264472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.065336194999999 meters 0.008505736932832983 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.00, Z:0.09 [[ 9.99926154e-01 3.13502941e-04 -1.21485718e-02 1.50133568e+01] [-3.13135014e-04 9.99999950e-01 3.21877059e-05 -2.79204896e-03] [ 1.21485812e-02 -2.83811858e-05 9.99926203e-01 9.38641224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.125336195 meters 0.010327643010237059 Centerline is valid? [True, True] Translation: X:15.07, Y:0.01, Z:0.08 [[ 9.99879113e-01 6.46299396e-03 -1.41417643e-02 1.50712281e+01] [-6.46311752e-03 9.99979113e-01 3.69653559e-05 1.26966816e-02] [ 1.41417078e-02 5.44389971e-05 9.99900000e-01 8.39744262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.185336195 meters 0.010540834656894581 Centerline is valid? [True, True] Translation: X:15.13, Y:0.02, Z:0.08 [[ 9.99842747e-01 5.25401192e-03 -1.69374612e-02 1.51303389e+01] [-5.25403160e-03 9.99986197e-01 4.33362591e-05 2.32962686e-02] [ 1.69374551e-02 4.56605122e-05 9.99856550e-01 7.92700742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.245336195 meters 0.011855749372610762 Centerline is valid? [True, True] Translation: X:15.19, Y:0.03, Z:0.08 [[ 9.99831757e-01 -6.46684649e-03 -1.71649943e-02 1.51890864e+01] [ 6.46853973e-03 9.99979078e-01 4.31254984e-05 3.02084464e-02] [ 1.71643563e-02 -1.54150691e-04 9.99852670e-01 8.44593166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.305336194999999 meters 0.018481629871651938 Centerline is valid? [True, True] Translation: X:15.25, Y:0.02, Z:0.09 [[ 9.99806616e-01 -1.47709039e-02 -1.29826919e-02 1.52485843e+01] [ 1.47725673e-02 9.99890879e-01 3.22344015e-05 2.10056414e-02] [ 1.29807991e-02 -2.24015858e-04 9.99915721e-01 8.64203467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365336195 meters 0.02872255558922363 Centerline is valid? [True, True] Translation: X:15.31, Y:0.01, Z:0.09 [[ 9.99600709e-01 -2.60443498e-02 -1.09596643e-02 1.53082096e+01] [ 2.60462129e-02 9.99660739e-01 2.72745074e-05 1.38111386e-02] [ 1.09552358e-02 -3.12721366e-04 9.99939941e-01 9.03980993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425336195 meters 0.03148404832697546 Centerline is valid? [True, True] Translation: X:15.37, Y:0.02, Z:0.10 [[ 9.99422400e-01 -3.30117067e-02 -8.06811702e-03 1.53683877e+01] [ 3.30129453e-02 9.99454924e-01 2.03490010e-05 2.19250679e-02] [ 8.06304753e-03 -2.86689553e-04 9.99967452e-01 1.01157540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.485336194999999 meters 0.029696904841257834 Centerline is valid? [True, True] Translation: X:15.43, Y:0.03, Z:0.09 [[ 9.99513312e-01 -2.93369826e-02 -1.06057100e-02 1.54277604e+01] [ 2.93389160e-02 9.99569521e-01 2.67264126e-05 2.82494250e-02] [ 1.06003604e-02 -3.37873442e-04 9.99943758e-01 9.41803763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.545336194999999 meters 0.02512295979911325 Centerline is valid? [True, True] Translation: X:15.49, Y:0.04, Z:0.10 [[ 9.99624305e-01 -2.56236103e-02 -9.73035142e-03 1.54885728e+01] [ 2.56250615e-02 9.99671624e-01 2.44790709e-05 4.15122635e-02] [ 9.72652896e-03 -2.73810727e-04 9.99952659e-01 9.63093808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605336195 meters 0.02552549261277482 Centerline is valid? [True, True] Translation: X:15.55, Y:0.05, Z:0.10 [[ 9.99659777e-01 -2.42000101e-02 -9.73085684e-03 1.55494040e+01] [ 2.42013959e-02 9.99707103e-01 2.46618818e-05 5.05448299e-02] [ 9.72740988e-03 -2.60153810e-04 9.99952654e-01 9.64206892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665336195 meters 0.02846772081432821 Centerline is valid? [True, True] Translation: X:15.61, Y:0.05, Z:0.09 [[ 9.99543652e-01 -2.70392222e-02 -1.34673158e-02 1.56100280e+01] [ 2.70421397e-02 9.99634294e-01 3.45461080e-05 4.59496491e-02] [ 1.34614566e-02 -3.98715378e-04 9.99909311e-01 8.73490181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.725336194999999 meters 0.031779988245962114 Centerline is valid? [True, True] Translation: X:15.67, Y:0.04, Z:0.08 [[ 9.99380481e-01 -3.08678437e-02 -1.69065377e-02 1.56707581e+01] [ 3.08729916e-02 9.99523315e-01 4.35173098e-05 4.23783487e-02] [ 1.68971353e-02 -5.65445746e-04 9.99857073e-01 8.45549929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.785336195 meters 0.034613201669501686 Centerline is valid? [True, True] Translation: X:15.73, Y:0.04, Z:0.09 [[ 9.99337844e-01 -3.28325971e-02 -1.56810009e-02 1.57314762e+01] [ 3.28372707e-02 9.99460711e-01 4.05894951e-05 3.85255779e-02] [ 1.56712116e-02 -5.55483889e-04 9.99877045e-01 9.03581148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.845336195 meters 0.03067766045108062 Centerline is valid? [True, True] Translation: X:15.79, Y:0.04, Z:0.09 [[ 9.99438907e-01 -3.04179612e-02 -1.40220978e-02 1.57926552e+01] [ 3.04214650e-02 9.99537159e-01 3.65981042e-05 4.39280728e-02] [ 1.40144946e-02 -4.63150328e-04 9.99901685e-01 9.30360649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905336194999999 meters 0.02860762230683672 Centerline is valid? [True, True] Translation: X:15.85, Y:0.04, Z:0.09 [[ 9.99604454e-01 -2.57284857e-02 -1.13569178e-02 1.58519947e+01] [ 2.57304828e-02 9.99668916e-01 2.97504273e-05 4.38256517e-02] [ 1.13523923e-02 -3.21957638e-04 9.99935508e-01 9.28884987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.965336194999999 meters 0.026225512219967585 Centerline is valid? [True, True] Translation: X:15.91, Y:0.04, Z:0.09 [[ 9.99642940e-01 -2.34159962e-02 -1.28717957e-02 1.59131483e+01] [ 2.34183713e-02 9.99725752e-01 3.38054758e-05 4.30126891e-02] [ 1.28674740e-02 -3.35229896e-04 9.99917154e-01 8.87093154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.025336195 meters 0.026058468133608962 Centerline is valid? [True, True] Translation: X:15.97, Y:0.04, Z:0.09 [[ 9.99595449e-01 -2.45176522e-02 -1.44160826e-02 1.59748175e+01] [ 2.45207521e-02 9.99699320e-01 3.82929531e-05 4.26751809e-02] [ 1.44108091e-02 -3.91770650e-04 9.99896082e-01 9.08442258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085336195 meters 0.03131864481331306 Centerline is valid? [True, True] Translation: X:16.04, Y:0.03, Z:0.09 [[ 9.99512272e-01 -2.74528897e-02 -1.48847830e-02 1.60350047e+01] [ 2.74565248e-02 9.99622998e-01 3.98799450e-05 3.40482802e-02] [ 1.48780766e-02 -4.48544908e-04 9.99889215e-01 9.36577711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145336195000002 meters 0.026937669215599022 Centerline is valid? [True, True] Translation: X:16.10, Y:0.03, Z:0.09 [[ 9.99579496e-01 -2.53102635e-02 -1.41499660e-02 1.60970429e+01] [ 2.53133385e-02 9.99679565e-01 3.82292667e-05 3.11708017e-02] [ 1.41444642e-02 -3.96396070e-04 9.99899883e-01 8.89279055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.205336195 meters 0.026532908611419166 Centerline is valid? [True, True] Translation: X:16.16, Y:0.03, Z:0.09 [[ 9.99644492e-01 -2.24211220e-02 -1.44285341e-02 1.61580569e+01] [ 2.24240245e-02 9.99748549e-01 3.93934503e-05 2.88103503e-02] [ 1.44240227e-02 -3.62925247e-04 9.99895903e-01 8.55251770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.265336195 meters 0.02260052277537791 Centerline is valid? [True, True] Translation: X:16.22, Y:0.04, Z:0.09 [[ 9.99725001e-01 -1.92923565e-02 -1.33314282e-02 1.62200422e+01] [ 1.92945611e-02 9.99813842e-01 3.67564993e-05 4.00429500e-02] [ 1.33282373e-02 -2.93970447e-04 9.99911132e-01 9.38771475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325336195000002 meters 0.023136555585381212 Centerline is valid? [True, True] Translation: X:16.28, Y:0.04, Z:0.09 [[ 9.99685884e-01 -1.99676449e-02 -1.51468448e-02 1.62819547e+01] [ 1.99705780e-02 9.99800567e-01 4.23966958e-05 4.21530686e-02] [ 1.51429775e-02 -3.44874625e-04 9.99885279e-01 9.42125591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.385336195 meters 0.023983913084294376 Centerline is valid? [True, True] Translation: X:16.34, Y:0.03, Z:0.09 [[ 9.99682865e-01 -2.12605893e-02 -1.34965351e-02 1.63444842e+01] [ 2.12630435e-02 9.99773915e-01 3.83542274e-05 3.49818423e-02] [ 1.34926683e-02 -3.25319478e-04 9.99908917e-01 9.03617255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.445336195 meters 0.023142887670944585 Centerline is valid? [True, True] Translation: X:16.41, Y:0.04, Z:0.09 [[ 9.99649734e-01 -2.17864366e-02 -1.50253196e-02 1.64063400e+01] [ 2.17895486e-02 9.99762579e-01 4.34277897e-05 3.90242216e-02] [ 1.50208061e-02 -3.70807510e-04 9.99887113e-01 9.11766900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.505336195 meters 0.027998532163164877 Centerline is valid? [True, True] Translation: X:16.47, Y:0.03, Z:0.09 [[ 9.99553020e-01 -2.51684545e-02 -1.61340958e-02 1.64667700e+01] [ 2.51724931e-02 9.99683121e-01 4.72474723e-05 3.32123683e-02] [ 1.61277941e-02 -4.53361768e-04 9.99869836e-01 9.13083319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.565336195 meters 0.03376468980765784 Centerline is valid? [True, True] Translation: X:16.53, Y:0.01, Z:0.08 [[ 9.99474407e-01 -2.84138157e-02 -1.56065865e-02 1.65270667e+01] [ 2.84179942e-02 9.99596126e-01 4.59954313e-05 1.35573637e-02] [ 1.55989765e-02 -4.89479142e-04 9.99878209e-01 8.42891244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625336195000003 meters 0.03957713229474001 Centerline is valid? [True, True] Translation: X:16.59, Y:0.01, Z:0.09 [[ 9.99318059e-01 -3.40162590e-02 -1.43635653e-02 1.65877486e+01] [ 3.40203775e-02 9.99421139e-01 4.24172634e-05 5.47785515e-03] [ 1.43538079e-02 -5.31042252e-04 9.99896838e-01 9.33169181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.685336195 meters 0.037135838067572986 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.00, Z:0.10 [[ 9.99215446e-01 -3.72697666e-02 -1.33961813e-02 1.66485984e+01] [ 3.72736420e-02 9.99305096e-01 3.96441028e-05 -1.62187661e-03] [ 1.33853947e-02 -5.38937466e-04 9.99910266e-01 9.61555724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.745336195 meters 0.03283061454853013 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.00, Z:0.09 [[ 9.99463533e-01 -2.97979479e-02 -1.35914872e-02 1.67085731e+01] [ 2.98012488e-02 9.99555843e-01 4.03511735e-05 -3.43043496e-03] [ 1.35842480e-02 -4.45372818e-04 9.99907631e-01 9.33325621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805336195000002 meters 0.017806624751342714 Centerline is valid? [True, True] Translation: X:16.77, Y:0.02, Z:0.09 [[ 9.99816020e-01 -1.36275224e-02 -1.34987510e-02 1.67693693e+01] [ 1.36293062e-02 9.99907116e-01 4.01518695e-05 1.56284597e-02] [ 1.34969500e-02 -2.24123093e-04 9.99908887e-01 9.38318238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865336195 meters 0.009481372513729705 Centerline is valid? [True, True] Translation: X:16.83, Y:0.03, Z:0.09 [[ 9.99880885e-01 1.17824379e-03 -1.53891843e-02 1.68298882e+01] [-1.17767832e-03 9.99999305e-01 4.58065139e-05 3.48294488e-02] [ 1.53892276e-02 -2.76775489e-05 9.99881578e-01 9.17025254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.925336195 meters 0.010042157141331963 Centerline is valid? [True, True] Translation: X:16.89, Y:0.04, Z:0.09 [[ 9.99873558e-01 5.04210305e-03 -1.50813090e-02 1.68881344e+01] [-5.04202150e-03 9.99987288e-01 4.34301854e-05 4.00439078e-02] [ 1.50813363e-02 3.26155901e-05 9.99886270e-01 9.01103381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.985336195000002 meters 0.009752864373414423 Centerline is valid? [True, True] Translation: X:16.95, Y:0.04, Z:0.09 [[ 9.99886982e-01 2.50158400e-03 -1.48244595e-02 1.69472828e+01] [-2.50125020e-03 9.99996871e-01 4.10577041e-05 3.64155776e-02] [ 1.48245158e-02 -3.97338161e-06 9.99890111e-01 9.25453306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.045336195 meters 0.010663646857403604 Centerline is valid? [True, True] Translation: X:17.01, Y:0.03, Z:0.09 [[ 9.99870061e-01 -3.04961661e-03 -1.58291236e-02 1.70051999e+01] [ 3.05067909e-03 9.99995346e-01 4.29758059e-05 3.05720753e-02] [ 1.58289188e-02 -9.12597979e-05 9.99874711e-01 9.15797957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105336195 meters 0.017149625009313014 Centerline is valid? [True, True] Translation: X:17.07, Y:0.02, Z:0.09 [[ 9.99774289e-01 -1.34134919e-02 -1.64757272e-02 1.70653536e+01] [ 1.34160407e-02 9.99910000e-01 4.41780521e-05 2.21575073e-02] [ 1.64736518e-02 -2.65207108e-04 9.99864265e-01 9.49324599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.165336195000002 meters 0.036752403433057114 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.02, Z:0.09 [[ 9.99271394e-01 -3.40870628e-02 -1.71683591e-02 1.71245361e+01] [ 3.40928760e-02 9.99418668e-01 4.59468592e-05 -2.08753505e-02] [ 1.71568124e-02 -6.31232121e-04 9.99852612e-01 8.70761895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.225336195 meters 0.040333946155345704 Centerline is valid? [True, True] Translation: X:17.19, Y:-0.03, Z:0.09 [[ 9.99032039e-01 -4.11850839e-02 -1.54523020e-02 1.71854081e+01] [ 4.11906434e-02 9.99151304e-01 4.15579211e-05 -3.43333166e-02] [ 1.54374761e-02 -6.78007954e-04 9.99880605e-01 9.41232470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.285336195000003 meters 0.03902932625739732 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.05, Z:0.09 [[ 9.99118952e-01 -3.87869423e-02 -1.60278918e-02 1.72456960e+01] [ 3.87926283e-02 9.99247282e-01 4.38885848e-05 -4.56011097e-02] [ 1.60141250e-02 -6.65613965e-04 9.99871544e-01 9.42176930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.345336195 meters 0.033010670120089916 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.05, Z:0.09 [[ 9.99507943e-01 -2.78662537e-02 -1.43994242e-02 1.73053565e+01] [ 2.78697156e-02 9.99611563e-01 3.97722601e-05 -5.47678701e-02] [ 1.43927226e-02 -4.41060548e-04 9.99896322e-01 9.16490842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405336195 meters 0.0187266470475915 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.04, Z:0.09 [[ 9.99760775e-01 -1.40312182e-02 -1.67784781e-02 1.73660429e+01] [ 1.40339716e-02 9.99901518e-01 4.63655597e-05 -4.33862209e-02] [ 1.67761751e-02 -2.81823152e-04 9.99859230e-01 9.14882786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465336195000003 meters 0.010866798627437672 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.04, Z:0.09 [[ 9.99871871e-01 -2.01736904e-03 -1.58799246e-02 1.74259867e+01] [ 2.01832017e-03 9.99997962e-01 4.38685958e-05 -3.87009326e-02] [ 1.58798037e-02 -7.59137470e-05 9.99873905e-01 9.16948139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.525336195 meters 0.010152848457201174 Centerline is valid? [True, True] Translation: X:17.48, Y:-0.03, Z:0.10 [[ 9.99904222e-01 4.07626399e-03 -1.32261652e-02 1.74847017e+01] [-4.07615099e-03 9.99991692e-01 3.55005657e-05 -3.20619473e-02] [ 1.32262000e-02 1.84146809e-05 9.99912530e-01 9.85714776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.585336195 meters 0.010380642704748174 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.04, Z:0.09 [[ 9.99885181e-01 4.85919773e-03 -1.43531576e-02 1.75431797e+01] [-4.85916749e-03 9.99988193e-01 3.69805649e-05 -3.96363432e-02] [ 1.43531679e-02 3.27680782e-05 9.99896987e-01 9.09214974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.645336195000002 meters 0.00976842627097629 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.04, Z:0.09 [[ 9.99906315e-01 1.24204215e-03 -1.36315377e-02 1.76021596e+01] [-1.24168705e-03 9.99999229e-01 3.45139589e-05 -4.42465209e-02] [ 1.36315701e-02 -1.75846217e-05 9.99907086e-01 9.45960804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705336195 meters 0.012737145967315755 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.05, Z:0.10 [[ 9.99859761e-01 -6.17873542e-03 -1.55653692e-02 1.76609355e+01] [ 6.18008578e-03 9.99980902e-01 3.86545663e-05 -4.90747624e-02] [ 1.55648331e-02 -1.34844462e-04 9.99878852e-01 9.66441089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765336195 meters 0.015573325360245735 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.06, Z:0.09 [[ 9.99788344e-01 -1.10285466e-02 -1.73677434e-02 1.77201424e+01] [ 1.10309470e-02 9.99939156e-01 4.24124666e-05 -6.30390655e-02] [ 1.73662189e-02 -2.33986146e-04 9.99849168e-01 8.86520430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825336195000002 meters 0.017079159141934513 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.06, Z:0.09 [[ 9.99821019e-01 -1.06013030e-02 -1.56698000e-02 1.77774934e+01] [ 1.06031931e-02 9.99943784e-01 3.75487678e-05 -6.37004103e-02] [ 1.56685211e-02 -2.03691964e-04 9.99877220e-01 9.24093608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885336195 meters 0.01199543676833569 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.04, Z:0.09 [[ 9.99853713e-01 -3.15856377e-03 -1.68100198e-02 1.78360942e+01] [ 3.15967291e-03 9.99995007e-01 3.94225630e-05 -4.32149974e-02] [ 1.68098114e-02 -9.25309603e-05 9.99858701e-01 9.21459292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945336195 meters 0.010746144897178758 Centerline is valid? [True, True] Translation: X:17.90, Y:-0.04, Z:0.09 [[ 9.99864012e-01 1.30519703e-03 -1.64394151e-02 1.78950615e+01] [-1.30476895e-03 9.99999148e-01 3.67656891e-05 -3.56500350e-02] [ 1.64394491e-02 -1.53110510e-05 9.99864863e-01 8.79953231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.005336195 meters 0.011324226280478548 Centerline is valid? [True, True] Translation: X:17.95, Y:-0.02, Z:0.09 [[ 9.99869695e-01 2.60792252e-03 -1.59308184e-02 1.79522743e+01] [-2.60772063e-03 9.99996599e-01 3.34462896e-05 -2.46274600e-02] [ 1.59308515e-02 8.10119246e-06 9.99873096e-01 8.81658169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.065336195 meters 0.010237800145699314 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.02, Z:0.09 [[ 9.99887726e-01 1.59290750e-03 -1.48995808e-02 1.80107317e+01] [-1.59263569e-03 9.99998731e-01 3.01083983e-05 -2.30558026e-02] [ 1.48996099e-02 -6.37541378e-06 9.99888995e-01 9.18768479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125336195000003 meters 0.017259844435109337 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.03, Z:0.10 [[ 9.99816535e-01 -1.30520075e-02 -1.40193072e-02 1.80708003e+01] [ 1.30536821e-02 9.99914797e-01 2.79451543e-05 -3.03022404e-02] [ 1.40177480e-02 -2.10943607e-04 9.99901724e-01 9.57246593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.185336195 meters 0.028088647462572724 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.05, Z:0.09 [[ 9.99567903e-01 -2.59944311e-02 -1.37221298e-02 1.81311881e+01] [ 2.59972520e-02 9.99662014e-01 2.72077441e-05 -4.55169895e-02] [ 1.37167847e-02 -3.83933654e-04 9.99905847e-01 9.34421341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245336195 meters 0.036387991878458585 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.06, Z:0.09 [[ 9.99266874e-01 -3.44091600e-02 -1.67846251e-02 1.81921153e+01] [ 3.44145665e-02 9.99407643e-01 3.32964138e-05 -5.72618625e-02] [ 1.67735369e-02 -6.10907600e-04 9.99859128e-01 8.93615018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.305336195000002 meters 0.03649926211735966 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.05, Z:0.09 [[ 9.99199715e-01 -3.52236351e-02 -1.89532343e-02 1.82542366e+01] [ 3.52306873e-02 9.99379206e-01 3.82139751e-05 -5.40260701e-02] [ 1.89401222e-02 -7.05918865e-04 9.99820371e-01 8.88724536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.365336195 meters 0.037172258017406104 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.06, Z:0.09 [[ 9.99243134e-01 -3.63869698e-02 -1.37530706e-02 1.83168652e+01] [ 3.63908000e-02 9.99337635e-01 2.82613148e-05 -6.33088566e-02] [ 1.37429327e-02 -5.28725167e-04 9.99905422e-01 9.45618937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.425336195 meters 0.03776878923506096 Centerline is valid? [True, True] Translation: X:18.38, Y:-0.06, Z:0.10 [[ 9.99230695e-01 -3.64826917e-02 -1.43886193e-02 1.83791548e+01] [ 3.64869035e-02 9.99334131e-01 3.02297810e-05 -6.13486437e-02] [ 1.43779355e-02 -5.55202688e-04 9.99896478e-01 9.69142536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.485336195000002 meters 0.03180694181435907 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.07, Z:0.08 [[ 9.99369910e-01 -3.00304436e-02 -1.89196908e-02 1.84402607e+01] [ 3.00365822e-02 9.99548799e-01 4.03104141e-05 -7.01215562e-02] [ 1.89099436e-02 -6.08567862e-04 9.99821006e-01 8.24781305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545336195 meters 0.028151392613365727 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.08, Z:0.08 [[ 9.99508922e-01 -2.59548479e-02 -1.75573379e-02 1.85008534e+01] [ 2.59595100e-02 9.99662994e-01 3.76401740e-05 -7.52556294e-02] [ 1.75504440e-02 -4.93401578e-04 9.99845857e-01 8.48865596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605336195 meters 0.02557742751762779 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.08, Z:0.09 [[ 9.99518275e-01 -2.50160050e-02 -1.83689377e-02 1.85634760e+01] [ 2.50209638e-02 9.99686926e-01 4.01490929e-05 -8.36165706e-02] [ 1.83621825e-02 -4.99738278e-04 9.99831276e-01 9.10339671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.665336195000002 meters 0.02805729468621224 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.11, Z:0.08 [[ 9.99517763e-01 -2.39848340e-02 -1.97223206e-02 1.86237946e+01] [ 2.39903694e-02 9.99712189e-01 4.40818755e-05 -1.05334392e-01] [ 1.97155870e-02 -5.17206375e-04 9.99805495e-01 8.28363589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725336195 meters 0.018480689544370623 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.10, Z:0.08 [[ 9.99723779e-01 -1.30919680e-02 -1.95183390e-02 1.86845183e+01] [ 1.30953201e-02 9.99914252e-01 4.39357934e-05 -1.01573269e-01] [ 1.95160901e-02 -2.99522554e-04 9.99809498e-01 8.28475315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785336195 meters 0.012696936492849817 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.08, Z:0.09 [[ 9.99788325e-01 4.58930007e-03 -2.00560185e-02 1.87444238e+01] [-4.58933111e-03 9.99989468e-01 4.44787097e-05 -8.11056258e-02] [ 2.00560114e-02 4.75744150e-05 9.99798857e-01 8.60410318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.845336195 meters 0.019991292965576554 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.06, Z:0.09 [[ 9.99622494e-01 1.77615187e-02 -2.09617975e-02 1.88050375e+01] [-1.77644557e-02 9.99842199e-01 4.61016409e-05 -5.75147785e-02] [ 2.09593086e-02 3.26290687e-04 9.99780276e-01 8.77487188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.905336195 meters 0.02140023546334401 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.06, Z:0.09 [[ 9.99659685e-01 1.92646456e-02 -1.75894117e-02 1.88624200e+01] [-1.92669569e-02 9.99814374e-01 3.80626694e-05 -5.65974926e-02] [ 1.75868799e-02 3.00844721e-04 9.99845294e-01 8.60568789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.965336195000003 meters 0.013803401075945363 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.06, Z:0.09 [[ 9.99816054e-01 9.31102607e-03 -1.67679147e-02 1.89227183e+01] [-9.31173766e-03 9.99956644e-01 3.56380077e-05 -6.32269805e-02] [ 1.67675195e-02 1.20506971e-04 9.99859408e-01 8.89513614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.025336195 meters 0.01278767065828716 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.07, Z:0.08 [[ 9.99800886e-01 -3.02983231e-03 -1.97233089e-02 1.89808836e+01] [ 3.03123003e-03 9.99995405e-01 4.09708619e-05 -7.37689033e-02] [ 1.97230942e-02 -1.00748590e-04 9.99805476e-01 8.40870559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085336195 meters 0.021127872991216358 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.09, Z:0.08 [[ 9.99642166e-01 -1.55096494e-02 -2.17942921e-02 1.90400894e+01] [ 1.55143064e-02 9.99879645e-01 4.46058290e-05 -8.67773252e-02] [ 2.17909772e-02 -3.82713192e-04 9.99762475e-01 7.95677784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145336195000002 meters 0.026282840420313532 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.10, Z:0.08 [[ 9.99508830e-01 -2.30770297e-02 -2.12025747e-02 1.91002320e+01] [ 2.30831317e-02 9.99733548e-01 4.30687750e-05 -9.58110711e-02] [ 2.11959313e-02 -5.32469445e-04 9.99775199e-01 8.08979818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.205336195 meters 0.0336348410055187 Centerline is valid? [True, True] Translation: X:19.16, Y:-0.10, Z:0.09 [[ 9.99357399e-01 -3.05255804e-02 -1.87877312e-02 1.91598575e+01] [ 3.05316815e-02 9.99533799e-01 3.79167028e-05 -9.74033050e-02] [ 1.87778149e-02 -6.11513361e-04 9.99823494e-01 9.13240870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265336195 meters 0.02900275402000064 Centerline is valid? [True, True] Translation: X:19.22, Y:-0.10, Z:0.09 [[ 9.99454071e-01 -2.81184089e-02 -1.73469244e-02 1.92216759e+01] [ 2.81232524e-02 9.99604462e-01 3.52856725e-05 -9.75718672e-02] [ 1.73390708e-02 -5.23118342e-04 9.99849530e-01 9.17787858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325336195000002 meters 0.02464685700760782 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.09, Z:0.09 [[ 9.99721456e-01 -1.69559697e-02 -1.64166175e-02 1.92817873e+01] [ 1.69588069e-02 9.99856189e-01 3.36177781e-05 -8.87618984e-02] [ 1.64136866e-02 -3.12014660e-04 9.99865238e-01 9.09409321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385336195 meters 0.01295852182940396 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.06, Z:0.10 [[ 9.99869600e-01 -4.94220866e-03 -1.53739093e-02 1.93420691e+01] [ 4.94327647e-03 9.99987781e-01 3.14553600e-05 -6.03187765e-02] [ 1.53735660e-02 -1.07448742e-04 9.99881814e-01 9.64313611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.445336195 meters 0.012550476431898177 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.06, Z:0.09 [[ 9.99853685e-01 -1.01292105e-03 -1.70757768e-02 1.93995168e+01] [ 1.01365534e-03 9.99999486e-01 3.43469463e-05 -6.38268766e-02] [ 1.70757333e-02 -5.16508731e-05 9.99854198e-01 8.69392751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.505336195 meters 0.014411837221294124 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.06, Z:0.08 [[ 9.99736483e-01 -1.92881292e-03 -2.28745306e-02 1.94576774e+01] [ 1.93034173e-03 9.99998136e-01 4.47541131e-05 -6.25638266e-02] [ 2.28744016e-02 -8.88979806e-05 9.99738343e-01 7.83562384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565336195 meters 0.014567842319629374 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.06, Z:0.08 [[ 9.99733729e-01 -6.00484694e-04 -2.30675150e-02 1.95157715e+01] [ 6.01611327e-04 9.99999818e-01 4.19009318e-05 -5.63279438e-02] [ 2.30674857e-02 -5.57674531e-05 9.99733909e-01 8.16812582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625336195000003 meters 0.012712871282007227 Centerline is valid? [True, True] Translation: X:19.57, Y:-0.05, Z:0.09 [[ 9.99804799e-01 1.00280443e-03 -1.97321493e-02 1.95747211e+01] [-1.00232565e-03 9.99999497e-01 3.41539227e-05 -5.30112183e-02] [ 1.97321736e-02 -1.43692164e-05 9.99805302e-01 8.51918261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.685336195 meters 0.013595884201647632 Centerline is valid? [True, True] Translation: X:19.63, Y:-0.04, Z:0.09 [[ 9.99784645e-01 4.32328171e-03 -2.02971057e-02 1.96331946e+01] [-4.32351000e-03 9.99990653e-01 3.26346702e-05 -3.91105875e-02] [ 2.02970570e-02 5.51270972e-05 9.99793992e-01 8.60665013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.745336195 meters 0.013964367189959042 Centerline is valid? [True, True] Translation: X:19.69, Y:-0.03, Z:0.08 [[ 9.99769636e-01 4.52643500e-03 -2.09806051e-02 1.96904951e+01] [-4.52677838e-03 9.99989754e-01 3.11258635e-05 -3.35098576e-02] [ 2.09805310e-02 6.38558564e-05 9.99779882e-01 8.00106229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.805336195000002 meters 0.014974630509650911 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.03, Z:0.07 [[ 9.99626282e-01 -1.51876528e-03 -2.72944853e-02 1.97512293e+01] [ 1.52041142e-03 9.99998843e-01 3.95571307e-05 -3.41518102e-02] [ 2.72943936e-02 -8.10411947e-05 9.99627435e-01 7.29968117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.865336195 meters 0.018197640980422605 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.04, Z:0.07 [[ 9.99570034e-01 -1.09930721e-02 -2.71827106e-02 1.98093608e+01] [ 1.09981818e-02 9.99939517e-01 3.84690230e-05 -3.84900997e-02] [ 2.71806436e-02 -3.37412875e-04 9.99630481e-01 7.35147734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925336195 meters 0.030955036137501786 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.06, Z:0.07 [[ 9.99399500e-01 -2.51847506e-02 -2.37984743e-02 1.98683006e+01] [ 2.51926893e-02 9.99682613e-01 3.37749208e-05 -6.32058049e-02] [ 2.37900704e-02 -6.33302209e-04 9.99716776e-01 7.12267961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985336195000002 meters 0.034873924237611424 Centerline is valid? [True, True] Translation: X:19.93, Y:-0.06, Z:0.08 [[ 9.99071246e-01 -3.57117250e-02 -2.41105347e-02 1.99281587e+01] [ 3.57229363e-02 9.99361732e-01 3.43066447e-05 -6.21919183e-02] [ 2.40939206e-02 -8.95573879e-04 9.99709298e-01 8.12710865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.045336195 meters 0.03924179958245142 Centerline is valid? [True, True] Translation: X:19.99, Y:-0.07, Z:0.08 [[ 9.99008680e-01 -3.72909693e-02 -2.43113461e-02 1.99893007e+01] [ 3.73028599e-02 9.99304005e-01 3.56108448e-05 -6.91794493e-02] [ 2.42930975e-02 -9.42458278e-04 9.99704435e-01 7.96286462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.105336195 meters 0.0428799305377826 Centerline is valid? [True, True] Translation: X:20.05, Y:-0.08, Z:0.07 [[ 9.98910331e-01 -3.85328622e-02 -2.63318869e-02 2.00498834e+01] [ 3.85472609e-02 9.99256777e-01 3.92507085e-05 -8.41969564e-02] [ 2.63108040e-02 -1.05423005e-03 9.99653255e-01 7.17685747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.165336195000002 meters 0.03333158275259375 Centerline is valid? [True, True] Translation: X:20.11, Y:-0.07, Z:0.08 [[ 9.99160764e-01 -3.22978021e-02 -2.51916636e-02 2.01106305e+01] [ 3.23090079e-02 9.99477927e-01 3.78169683e-05 -7.22015031e-02] [ 2.51772903e-02 -8.51702889e-04 9.99682639e-01 8.10289156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225336195 meters 0.02554223501753041 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.06, Z:0.09 [[ 9.99485142e-01 -2.41334713e-02 -2.11430125e-02 2.01718000e+01] [ 2.41395427e-02 9.99708598e-01 3.19483515e-05 -6.05861456e-02] [ 2.11360803e-02 -5.42314556e-04 9.99776461e-01 8.83601481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.285336195 meters 0.02170614002068805 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.06, Z:0.08 [[ 9.99594555e-01 -1.65076108e-02 -2.31996658e-02 2.02320296e+01] [ 1.65128702e-02 9.99863653e-01 3.51369695e-05 -6.12571694e-02] [ 2.31959226e-02 -4.18215794e-04 9.99730851e-01 7.81739749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.345336195 meters 0.015805513642248862 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.04, Z:0.07 [[ 9.99650411e-01 -3.40281680e-03 -2.62197825e-02 2.02919695e+01] [ 3.40501385e-03 9.99994202e-01 3.91470354e-05 -3.97904695e-02] [ 2.62194973e-02 -1.28412073e-04 9.99656202e-01 7.46458915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.405336195 meters 0.016905732600319832 Centerline is valid? [True, True] Translation: X:20.35, Y:-0.03, Z:0.07 [[ 9.99587137e-01 4.89664303e-03 -2.83121741e-02 2.03506071e+01] [-4.89751394e-03 9.99988006e-01 3.85828234e-05 -2.58529292e-02] [ 2.83120234e-02 1.00092373e-04 9.99599129e-01 7.18409555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.465336195000003 meters 0.01789384616906709 Centerline is valid? [True, True] Translation: X:20.41, Y:-0.02, Z:0.07 [[ 9.99584529e-01 6.05104340e-03 -2.81807270e-02 2.04083680e+01] [-6.05243174e-03 9.99981683e-01 3.60327184e-05 -1.74171650e-02] [ 2.81804289e-02 1.34544179e-04 9.99602844e-01 7.09889664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.525336195 meters 0.01596905309012713 Centerline is valid? [True, True] Translation: X:20.47, Y:-0.02, Z:0.07 [[ 9.99651583e-01 3.37109870e-03 -2.61791488e-02 2.04668125e+01] [-3.37146633e-03 9.99994316e-01 3.00959030e-05 -2.20860946e-02] [ 2.61791015e-02 5.81767016e-05 9.99657267e-01 7.23968739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.585336195 meters 0.016588126634161322 Centerline is valid? [True, True] Translation: X:20.53, Y:-0.02, Z:0.07 [[ 9.99577731e-01 -3.83704767e-03 -2.88033989e-02 2.05263054e+01] [ 3.83954492e-03 9.99992628e-01 3.13928378e-05 -2.47121767e-02] [ 2.88030662e-02 -1.41971526e-04 9.99585096e-01 7.13929631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645336195000002 meters 0.020017934919163604 Centerline is valid? [True, True] Translation: X:20.59, Y:-0.03, Z:0.07 [[ 9.99496615e-01 -1.20421747e-02 -2.93513496e-02 2.05856024e+01] [ 1.20482677e-02 9.99927417e-01 3.07376400e-05 -3.49659798e-02] [ 2.93488490e-02 -3.84355085e-04 9.99569156e-01 7.06166147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.705336195 meters 0.02303056198889144 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.04, Z:0.08 [[ 9.99421540e-01 -1.86088196e-02 -2.84657323e-02 2.06449266e+01] [ 1.86171728e-02 9.99826685e-01 2.84242910e-05 -4.38934806e-02] [ 2.84602698e-02 -5.58359306e-04 9.99594769e-01 7.55321490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765336195 meters 0.025364435460278223 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.05, Z:0.07 [[ 9.99347313e-01 -2.10788413e-02 -2.93365093e-02 2.07046903e+01] [ 2.10887520e-02 9.99777607e-01 2.84331488e-05 -5.17260918e-02] [ 2.93293857e-02 -6.47084960e-04 9.99569592e-01 7.29112657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825336195000002 meters 0.01993786033456917 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.05, Z:0.07 [[ 9.99534827e-01 -1.42506435e-02 -2.69638490e-02 2.07651737e+01] [ 1.42565265e-02 9.99898370e-01 2.59412330e-05 -5.26385706e-02] [ 2.69607390e-02 -4.10339992e-04 9.99636409e-01 7.26668319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.885336195 meters 0.017834682452983416 Centerline is valid? [True, True] Translation: X:20.82, Y:-0.04, Z:0.07 [[ 9.99493513e-01 -7.19572355e-03 -3.09990131e-02 2.08235268e+01] [ 7.19997186e-03 9.99974080e-01 2.54242617e-05 -4.17726086e-02] [ 3.09980266e-02 -2.48603406e-04 9.99519415e-01 7.14053312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.945336195 meters 0.016387033634053912 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.04, Z:0.08 [[ 9.99603813e-01 -4.63380392e-03 -2.77622822e-02 2.08837222e+01] [ 4.63618421e-03 9.99989253e-01 2.13705857e-05 -3.51784136e-02] [ 2.77618848e-02 -1.50073173e-04 9.99614553e-01 8.11989666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.005336195 meters 0.015278178405753635 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.05, Z:0.08 [[ 9.99642110e-01 -3.50288277e-03 -2.65213547e-02 2.09420377e+01] [ 3.50457130e-03 9.99993859e-01 1.71855622e-05 -4.88482368e-02] [ 2.65211316e-02 -1.10125390e-04 9.99648247e-01 7.69540310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.065336195 meters 0.01596399774065304 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.04, Z:0.08 [[ 9.99627097e-01 -1.21507889e-03 -2.72798504e-02 2.09995833e+01] [ 1.21594996e-03 9.99999261e-01 1.53420608e-05 -4.25057071e-02] [ 2.72798116e-02 -4.85072725e-05 9.99627836e-01 7.84627702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125336195 meters 0.01703078602292083 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.04, Z:0.08 [[ 9.99604105e-01 1.93278215e-03 -2.80695224e-02 2.10572455e+01] [-1.93314555e-03 9.99998131e-01 1.41902064e-05 -4.21612416e-02] [ 2.80694974e-02 4.00778837e-05 9.99605973e-01 7.55680940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185336195 meters 0.018926898385679347 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.05, Z:0.07 [[ 9.99523404e-01 6.18238937e-04 -3.08639335e-02 2.11161456e+01] [-6.18089715e-04 9.99999809e-01 1.43754424e-05 -5.15757099e-02] [ 3.08639365e-02 4.70808869e-06 9.99523595e-01 6.76342472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245336195 meters 0.017049738187511102 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.05, Z:0.07 [[ 9.99550149e-01 7.29832498e-04 -2.99827911e-02 2.11751082e+01] [-7.29859035e-04 9.99999734e-01 1.00589657e-05 -5.12703201e-02] [ 2.99827905e-02 1.18287704e-05 9.99550415e-01 7.39894363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305336195000002 meters 0.01618639046415479 Centerline is valid? [True, True] Translation: X:21.23, Y:-0.05, Z:0.08 [[ 9.99625607e-01 7.70100784e-04 -2.73505613e-02 2.12328484e+01] [-7.70197784e-04 9.99999703e-01 6.98808967e-06 -5.30211719e-02] [ 2.73505586e-02 1.40798684e-05 9.99625903e-01 7.67184152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365336195 meters 0.017075136729341852 Centerline is valid? [True, True] Translation: X:21.29, Y:-0.04, Z:0.08 [[ 9.99599525e-01 2.64817500e-03 -2.81740548e-02 2.12919776e+01] [-2.64912986e-03 9.99996491e-01 3.43438392e-06 -4.33237580e-02] [ 2.81739650e-02 7.12037212e-05 9.99603033e-01 7.65563200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.425336195 meters 0.016208449998050125 Centerline is valid? [True, True] Translation: X:21.35, Y:-0.05, Z:0.08 [[ 9.99558226e-01 1.04335555e-03 -2.97029221e-02 2.13501830e+01] [-1.04380351e-03 9.99999455e-01 4.24009336e-07 -4.55299576e-02] [ 2.97029063e-02 3.05801923e-05 9.99558771e-01 7.53736433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485336195000002 meters 0.017263460937244304 Centerline is valid? [True, True] Translation: X:21.41, Y:-0.05, Z:0.07 [[ 9.99505209e-01 -4.71869494e-03 -3.10977823e-02 2.14075532e+01] [ 4.72091903e-03 9.99988856e-01 -1.90333118e-06 -4.58752366e-02] [ 3.10974447e-02 -1.44907723e-04 9.99516347e-01 7.44459128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545336195 meters 0.016213605226861248 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.05, Z:0.08 [[ 9.99581810e-01 -7.23390634e-03 -2.79977952e-02 2.14663224e+01] [ 7.23665567e-03 9.99973815e-01 -3.12728047e-06 -4.82635751e-02] [ 2.79970847e-02 -1.99484431e-04 9.99607985e-01 7.81179885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605336195 meters 0.015988383634028953 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.04, Z:0.08 [[ 9.99624127e-01 -6.12007054e-03 -2.67235709e-02 2.15244505e+01] [ 6.12213908e-03 9.99981260e-01 -4.41229313e-06 -4.21130542e-02] [ 2.67230971e-02 -1.59194783e-04 9.99642862e-01 7.91268399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.665336195000002 meters 0.015999814258400996 Centerline is valid? [True, True] Translation: X:21.58, Y:-0.02, Z:0.08 [[ 9.99615960e-01 -2.02042042e-03 -2.76378395e-02 2.15820274e+01] [ 2.02095181e-03 9.99997958e-01 -8.70606094e-06 -2.03307357e-02] [ 2.76378007e-02 -4.71520242e-05 9.99618002e-01 8.34621770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725336195 meters 0.018015986126131266 Centerline is valid? [True, True] Translation: X:21.64, Y:-0.02, Z:0.07 [[ 9.99548069e-01 -2.79089757e-03 -2.99310806e-02 2.16397643e+01] [ 2.79178629e-03 9.99996103e-01 -1.20977795e-05 -2.10482709e-02] [ 2.99309977e-02 -7.14688684e-05 9.99551965e-01 7.14433938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.785336195 meters 0.01693420229872014 Centerline is valid? [True, True] Translation: X:21.70, Y:-0.01, Z:0.09 [[ 9.99571588e-01 -1.00245578e-02 -2.74981638e-02 2.16983685e+01] [ 1.00279446e-02 9.99949719e-01 -1.47363560e-05 -1.46630410e-02] [ 2.74969288e-02 -2.61020020e-04 9.99621854e-01 8.64700052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.845336195 meters 0.02352099801873487 Centerline is valid? [True, True] Translation: X:21.76, Y:-0.03, Z:0.08 [[ 9.99482929e-01 -1.92829236e-02 -2.57302207e-02 2.17569083e+01] [ 1.92889117e-02 9.99813952e-01 -1.54737757e-05 -2.83888242e-02] [ 2.57257320e-02 -4.80842179e-04 9.99668923e-01 8.09265515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905336195 meters 0.023995346344335887 Centerline is valid? [True, True] Translation: X:21.82, Y:-0.04, Z:0.08 [[ 9.99392455e-01 -2.22620281e-02 -2.68164783e-02 2.18159266e+01] [ 2.22695799e-02 9.99752002e-01 -1.70454584e-05 -3.52398865e-02] [ 2.68102074e-02 -5.80156604e-04 9.99640373e-01 7.70584267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965336195000003 meters 0.029694097678150237 Centerline is valid? [True, True] Translation: X:21.88, Y:-0.05, Z:0.07 [[ 9.99076644e-01 -2.81415386e-02 -3.24640152e-02 2.18761612e+01] [ 2.81556919e-02 9.99603550e-01 -2.11839558e-05 -4.54518591e-02] [ 3.24517410e-02 -8.92882414e-04 9.99472905e-01 7.14603891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025336195 meters 0.030409657210466637 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.04, Z:0.07 [[ 9.98931383e-01 -2.67079010e-02 -3.77197670e-02 2.19358085e+01] [ 2.67259753e-02 9.99642797e-01 -2.50628928e-05 -3.79561877e-02] [ 3.77069628e-02 -9.83061451e-04 9.99288356e-01 7.19068137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.085336195 meters 0.025059570421801892 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.04, Z:0.07 [[ 9.99202053e-01 -2.15943849e-02 -3.35997142e-02 2.19962599e+01] [ 2.16058260e-02 9.99766567e-01 -2.25711868e-05 -4.03410146e-02] [ 3.35923583e-02 -7.03396403e-04 9.99435370e-01 7.48018466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145336195000002 meters 0.018761191556049262 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.04, Z:0.08 [[ 9.99452509e-01 -1.51630118e-02 -2.94068801e-02 2.20566814e+01] [ 1.51689888e-02 9.99884944e-01 -1.98358375e-05 -3.70666862e-02] [ 2.94037974e-02 -4.26247657e-04 9.99567524e-01 8.32202330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.205336195 meters 0.0170876473179982 Centerline is valid? [True, True] Translation: X:22.11, Y:-0.02, Z:0.09 [[ 9.99529919e-01 -8.31698523e-03 -2.95087821e-02 2.21145242e+01] [ 8.31998211e-03 9.99965388e-01 -2.12248446e-05 -2.27717806e-02] [ 2.95079373e-02 -2.24297672e-04 9.99564521e-01 8.82435411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.265336195 meters 0.016813453768524566 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.02, Z:0.08 [[ 9.99537215e-01 1.30688817e-03 -3.03915812e-02 2.21727752e+01] [-1.30830078e-03 9.99999144e-01 -2.65951566e-05 -1.53362298e-02] [ 3.03915204e-02 6.63441781e-05 9.99538069e-01 8.20085758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325336195000002 meters 0.01665040257644492 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.01, Z:0.09 [[ 9.99581195e-01 4.38240073e-03 -2.86047210e-02 2.22313832e+01] [-4.38504922e-03 9.99990385e-01 -2.98600857e-05 -1.32697121e-02] [ 2.86043151e-02 1.55280689e-04 9.99590801e-01 8.80766831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385336195 meters 0.015969786354262334 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.01, Z:0.09 [[ 9.99604291e-01 1.08793628e-03 -2.81083290e-02 2.22890243e+01] [-1.08925900e-03 9.99999406e-01 -3.17461164e-05 -7.92248727e-03] [ 2.81082777e-02 6.23508043e-05 9.99604882e-01 9.11636015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445336195 meters 0.015115241598251061 Centerline is valid? [True, True] Translation: X:22.35, Y:-0.02, Z:0.09 [[ 9.99572202e-01 -4.70052175e-03 -2.88672351e-02 2.23480599e+01] [ 4.70142344e-03 9.99988948e-01 -3.66374491e-05 -2.17741935e-02] [ 2.88670883e-02 -9.90953201e-05 9.99583254e-01 8.52119009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.505336195 meters 0.0164231569509731 Centerline is valid? [True, True] Translation: X:22.41, Y:-0.03, Z:0.09 [[ 9.99550864e-01 -1.05464274e-02 -2.80507118e-02 2.24054394e+01] [ 1.05495138e-02 9.99944352e-01 -3.79628189e-05 -3.13780141e-02] [ 2.80495512e-02 -2.57975601e-04 9.99606501e-01 8.62784260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565336195 meters 0.018625773639750903 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.04, Z:0.09 [[ 9.99433482e-01 -1.53879320e-02 -2.99320427e-02 2.24649481e+01] [ 1.53935878e-02 9.99881511e-01 -4.14825592e-05 -3.77449510e-02] [ 2.99291344e-02 -4.19302468e-04 9.99551935e-01 8.92624719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625336195 meters 0.020873436447625977 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.04, Z:0.09 [[ 9.99350488e-01 -1.83787484e-02 -3.09971673e-02 2.25239842e+01] [ 1.83862210e-02 9.99830958e-01 -4.39610494e-05 -4.32910691e-02] [ 3.09927354e-02 -5.25988272e-04 9.99519471e-01 8.60227487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685336195 meters 0.021430779063105865 Centerline is valid? [True, True] Translation: X:22.58, Y:-0.05, Z:0.08 [[ 9.99342436e-01 -1.80431090e-02 -3.14506274e-02 2.25818056e+01] [ 1.80505841e-02 9.99837074e-01 -4.62522079e-05 -4.80324053e-02] [ 3.14463378e-02 -5.21480401e-04 9.99505306e-01 8.49869742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745336195 meters 0.01843613823357422 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.04, Z:0.09 [[ 9.99472091e-01 -1.37706503e-02 -2.94263340e-02 2.26416130e+01] [ 1.37753237e-02 9.99905115e-01 -4.39096259e-05 -4.25657861e-02] [ 2.94241465e-02 -3.61470830e-04 9.99566951e-01 8.92826879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805336195000002 meters 0.01524355696712138 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.04, Z:0.09 [[ 9.99597920e-01 -7.33449873e-03 -2.73898371e-02 2.27002806e+01] [ 7.33611698e-03 9.99973089e-01 -4.14049050e-05 -3.87605032e-02] [ 2.73894037e-02 -1.59546792e-04 9.99624827e-01 8.78661268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.865336195 meters 0.01599979537444366 Centerline is valid? [True, True] Translation: X:22.76, Y:-0.03, Z:0.09 [[ 9.99483455e-01 -6.32316472e-03 -3.15093809e-02 2.27596531e+01] [ 6.32477160e-03 9.99979997e-01 -4.86732419e-05 -3.35053312e-02] [ 3.15090584e-02 -1.50641538e-04 9.99503455e-01 8.74204562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.925336195 meters 0.015751806279049332 Centerline is valid? [True, True] Translation: X:22.82, Y:-0.03, Z:0.09 [[ 9.99526227e-01 -5.75892639e-03 -3.02350323e-02 2.28173497e+01] [ 5.76008057e-03 9.99983409e-01 -4.89249889e-05 -3.10351952e-02] [ 3.02348125e-02 -1.25254413e-04 9.99542816e-01 9.08282670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985336195000002 meters 0.016663287008103093 Centerline is valid? [True, True] Translation: X:22.88, Y:-0.05, Z:0.09 [[ 9.99508608e-01 -9.54135880e-03 -2.98580760e-02 2.28751663e+01] [ 9.54411484e-03 9.99954453e-01 -5.02133759e-05 -4.50531032e-02] [ 2.98571952e-02 -2.34780205e-04 9.99554147e-01 8.51031178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.045336195 meters 0.018545491864049843 Centerline is valid? [True, True] Translation: X:22.93, Y:-0.05, Z:0.09 [[ 9.99473693e-01 -1.32536419e-02 -2.96087427e-02 2.29336481e+01] [ 1.32578628e-02 9.99912109e-01 -5.37663466e-05 -4.63166337e-02] [ 2.96068530e-02 -3.38810599e-04 9.99561564e-01 8.93774754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105336195 meters 0.01853980745645999 Centerline is valid? [True, True] Translation: X:22.99, Y:-0.05, Z:0.09 [[ 9.99452758e-01 -1.37597727e-02 -3.00807789e-02 2.29923145e+01] [ 1.37642144e-02 9.99905267e-01 -5.94113068e-05 -5.10724907e-02] [ 3.00787468e-02 -3.54659497e-04 9.99547469e-01 8.74957269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.165336195000002 meters 0.01930882152371766 Centerline is valid? [True, True] Translation: X:23.05, Y:-0.05, Z:0.09 [[ 9.99407642e-01 -1.51088046e-02 -3.09207071e-02 2.30512548e+01] [ 1.51139905e-02 9.99885775e-01 -6.60155428e-05 -5.27050440e-02] [ 3.09181726e-02 -4.01358835e-04 9.99521838e-01 8.93410250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225336195 meters 0.018734708478584963 Centerline is valid? [True, True] Translation: X:23.11, Y:-0.05, Z:0.10 [[ 9.99446120e-01 -1.63393082e-02 -2.89910198e-02 2.31101189e+01] [ 1.63442510e-02 9.99866422e-01 -6.64836293e-05 -5.26044775e-02] [ 2.89882335e-02 -4.07389698e-04 9.99579670e-01 9.59251709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.285336195 meters 0.016884145549189742 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.05, Z:0.09 [[ 9.99484935e-01 -1.36080898e-02 -2.90634525e-02 2.31686674e+01] [ 1.36117644e-02 9.99907353e-01 -7.14150055e-05 -5.43386698e-02] [ 2.90617316e-02 -3.24226646e-04 9.99577566e-01 9.37230939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.345336195 meters 0.01393725965574977 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.05, Z:0.10 [[ 9.99645087e-01 -6.90131187e-03 -2.57307763e-02 2.32285271e+01] [ 6.90193805e-03 9.99976179e-01 -6.44760635e-05 -4.55744618e-02] [ 2.57306084e-02 -1.13139044e-04 9.99668907e-01 1.00292140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405336195 meters 0.01573754441315145 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.04, Z:0.09 [[ 9.99582333e-01 -2.40451790e-03 -2.87989169e-02 2.32864235e+01] [ 2.40339746e-03 9.99997109e-01 -7.35205640e-05 -3.87719906e-02] [ 2.87990105e-02 4.27461316e-06 9.99585222e-01 9.35605519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465336195000003 meters 0.015492895027132282 Centerline is valid? [True, True] Translation: X:23.34, Y:-0.05, Z:0.09 [[ 9.99566035e-01 -2.96644160e-03 -2.93077161e-02 2.33449159e+01] [ 2.96540494e-03 9.99995600e-01 -7.88356067e-05 -4.64684440e-02] [ 2.93078210e-02 -8.10785107e-06 9.99570434e-01 9.05401661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.525336195 meters 0.015863946892959443 Centerline is valid? [True, True] Translation: X:23.40, Y:-0.05, Z:0.10 [[ 9.99530534e-01 -1.13035102e-02 -2.84770386e-02 2.34033254e+01] [ 1.13057827e-02 9.99936084e-01 -8.12125016e-05 -5.25395727e-02] [ 2.84761364e-02 -2.40780834e-04 9.99594444e-01 9.81236862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.585336195 meters 0.017992524977218274 Centerline is valid? [True, True] Translation: X:23.46, Y:-0.07, Z:0.10 [[ 9.99516242e-01 -1.57968514e-02 -2.67906966e-02 2.34610081e+01] [ 1.58004166e-02 9.99875163e-01 -7.86218274e-05 -6.77038802e-02] [ 2.67885941e-02 -3.44720372e-04 9.99641062e-01 9.58978161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645336195000002 meters 0.017256666197887748 Centerline is valid? [True, True] Translation: X:23.52, Y:-0.07, Z:0.10 [[ 9.99491164e-01 -1.52697107e-02 -2.80044368e-02 2.35193232e+01] [ 1.52733536e-02 9.99883352e-01 -8.38292233e-05 -6.86406056e-02] [ 2.80024502e-02 -3.43935097e-04 9.99607795e-01 9.76604809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705336195 meters 0.01715644598189178 Centerline is valid? [True, True] Translation: X:23.58, Y:-0.06, Z:0.10 [[ 9.99526772e-01 -1.12017646e-02 -2.86487805e-02 2.35775673e+01] [ 1.12037947e-02 9.99937232e-01 -8.96618685e-05 -5.81229848e-02] [ 2.86479867e-02 -2.31355617e-04 9.99589535e-01 9.80840034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765336195 meters 0.016392530356255118 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.06, Z:0.09 [[ 9.99521346e-01 -8.47515677e-03 -2.97531502e-02 2.36348947e+01] [ 8.47604136e-03 9.99964073e-01 -9.63933501e-05 -6.09269556e-02] [ 2.97528982e-02 -1.55841721e-04 9.99557272e-01 9.04436737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825336195000002 meters 0.015227380960392908 Centerline is valid? [True, True] Translation: X:23.69, Y:-0.06, Z:0.09 [[ 9.99496909e-01 -8.68166391e-03 -3.05050315e-02 2.36931416e+01] [ 8.68262685e-03 9.99962300e-01 -1.00898381e-04 -6.24915073e-02] [ 3.05047574e-02 -1.64016186e-04 9.99534608e-01 9.32300110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885336195 meters 0.018497472315299555 Centerline is valid? [True, True] Translation: X:23.75, Y:-0.06, Z:0.09 [[ 9.99412545e-01 -1.19982955e-02 -3.21030453e-02 2.37518139e+01] [ 1.20010297e-02 9.99927979e-01 -1.07519059e-04 -6.18444134e-02] [ 3.21020232e-02 -2.77813704e-04 9.99484559e-01 9.19328111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945336195 meters 0.016894092416779652 Centerline is valid? [True, True] Translation: X:23.81, Y:-0.07, Z:0.10 [[ 9.99518707e-01 -1.31039124e-02 -2.81183417e-02 2.38112395e+01] [ 1.31064272e-02 9.99914103e-01 -9.48727497e-05 -6.57807472e-02] [ 2.81171696e-02 -2.73703910e-04 9.99604597e-01 9.67143193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005336195 meters 0.015095008881896174 Centerline is valid? [True, True] Translation: X:23.87, Y:-0.07, Z:0.10 [[ 9.99614528e-01 -1.28444844e-02 -2.46133184e-02 2.38698675e+01] [ 1.28463086e-02 9.99917479e-01 -8.40100443e-05 -6.86126017e-02] [ 2.46123663e-02 -2.32212622e-04 9.99697043e-01 1.01055720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065336195 meters 0.017732262661465194 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.06, Z:0.10 [[ 9.99498141e-01 -1.54773943e-02 -2.76390357e-02 2.39282828e+01] [ 1.54806712e-02 9.99880163e-01 -9.54239946e-05 -5.79885031e-02] [ 2.76372005e-02 -3.32494720e-04 9.99617964e-01 1.02214251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125336195 meters 0.019771717931343687 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.07, Z:0.09 [[ 9.99292352e-01 -1.82584677e-02 -3.28849963e-02 2.39884934e+01] [ 1.82645941e-02 9.99833182e-01 -1.14117346e-04 -6.88992457e-02] [ 3.28815941e-02 -4.86594517e-04 9.99459136e-01 9.19541477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.185336195 meters 0.021336212333232855 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.07, Z:0.09 [[ 9.99303728e-01 -1.76023865e-02 -3.28970424e-02 2.40461578e+01] [ 1.76081100e-02 9.99844959e-01 -1.15737084e-04 -6.73088027e-02] [ 3.28939793e-02 -4.63598242e-04 9.99458739e-01 9.05049025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.245336195 meters 0.01723552491410939 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.05, Z:0.10 [[ 9.99519992e-01 -1.46386901e-02 -2.73037467e-02 2.41064981e+01] [ 1.46415154e-02 9.99892803e-01 -9.64501799e-05 -5.44587321e-02] [ 2.73022317e-02 -3.03364345e-04 9.99627179e-01 1.03511943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305336195000002 meters 0.016049292778571103 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.06, Z:0.10 [[ 9.99592978e-01 -1.37708134e-02 -2.49848491e-02 2.41651102e+01] [ 1.37728871e-02 9.99905145e-01 -8.90913145e-05 -5.81997094e-02] [ 2.49837060e-02 -2.55058453e-04 9.99687826e-01 1.00295413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365336195 meters 0.01511171122894324 Centerline is valid? [True, True] Translation: X:24.22, Y:-0.04, Z:0.10 [[ 9.99556834e-01 -1.08418126e-02 -2.77234760e-02 2.42232848e+01] [ 1.08431965e-02 9.99941206e-01 -1.00419471e-04 -4.39094306e-02] [ 2.77229347e-02 -2.00236130e-04 9.99615626e-01 1.03220135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.425336195 meters 0.017079759450463593 Centerline is valid? [True, True] Translation: X:24.28, Y:-0.04, Z:0.10 [[ 9.99461584e-01 -1.16154616e-02 -3.06858772e-02 2.42818340e+01] [ 1.16174721e-02 9.99932509e-01 -1.12773939e-04 -3.50703949e-02] [ 3.06851161e-02 -2.43779104e-04 9.99529071e-01 9.99884975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485336195000002 meters 0.016546464762405254 Centerline is valid? [True, True] Translation: X:24.34, Y:-0.03, Z:0.10 [[ 9.99497804e-01 -1.13393819e-02 -2.95898344e-02 2.43403644e+01] [ 1.13410144e-02 9.99935682e-01 -1.12658170e-04 -3.23163641e-02] [ 2.95892087e-02 -2.22977145e-04 9.99562119e-01 9.81583295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545336195 meters 0.014669958428287586 Centerline is valid? [True, True] Translation: X:24.40, Y:-0.02, Z:0.10 [[ 9.99578603e-01 -1.04105055e-02 -2.70968240e-02 2.43992757e+01] [ 1.04114798e-02 9.99945794e-01 -1.05134621e-04 -2.34376980e-02] [ 2.70964497e-02 -1.77027717e-04 9.99632808e-01 1.03658449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.605336195 meters 0.014111525847698843 Centerline is valid? [True, True] Translation: X:24.46, Y:-0.01, Z:0.11 [[ 9.99656457e-01 -9.31635583e-03 -2.44984485e-02 2.44570337e+01] [ 9.31678181e-03 9.99956593e-01 -9.67548502e-05 -1.31700687e-02] [ 2.44982865e-02 -1.31525089e-04 9.99699863e-01 1.06815414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.665336195000002 meters 0.01486924356099892 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.01, Z:0.10 [[ 9.99635449e-01 -1.13259920e-02 -2.45089854e-02 2.45143321e+01] [ 1.13269793e-02 9.99935843e-01 -9.85459843e-05 -1.02436889e-02] [ 2.45085291e-02 -1.79102712e-04 9.99699605e-01 1.04562674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.725336195 meters 0.019529329367725314 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.02, Z:0.10 [[ 9.99453041e-01 -1.88809142e-02 -2.71501261e-02 2.45749214e+01] [ 1.88848980e-02 9.99821658e-01 -1.09696132e-04 -1.81696495e-02] [ 2.71473553e-02 -4.03091228e-04 9.99631361e-01 1.00381915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.785336195 meters 0.024149235521238772 Centerline is valid? [True, True] Translation: X:24.64, Y:-0.02, Z:0.11 [[ 9.99138864e-01 -2.90525459e-02 -2.96222763e-02 2.46354874e+01] [ 2.90617558e-02 9.99577611e-01 -1.19667417e-04 -1.98663809e-02] [ 2.96132408e-02 -7.41310992e-04 9.99561157e-01 1.07520039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845336195 meters 0.02911290199578015 Centerline is valid? [True, True] Translation: X:24.70, Y:-0.04, Z:0.11 [[ 9.99036634e-01 -3.59923055e-02 -2.51069313e-02 2.46950860e+01] [ 3.60010985e-02 9.99351745e-01 -1.01844637e-04 -3.70385934e-02] [ 2.50943213e-02 -8.02130585e-04 9.99684766e-01 1.06906377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905336195 meters 0.028448350137453914 Centerline is valid? [True, True] Translation: X:24.76, Y:-0.04, Z:0.11 [[ 9.99055163e-01 -3.50641198e-02 -2.56766242e-02 2.47574317e+01] [ 3.50730287e-02 9.99384747e-01 -1.03445201e-04 -3.78789441e-02] [ 2.56644538e-02 -7.97209514e-04 9.99670296e-01 1.06677777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965336195000003 meters 0.026762386763066925 Centerline is valid? [True, True] Translation: X:24.82, Y:-0.03, Z:0.11 [[ 9.99093684e-01 -3.24660955e-02 -2.75275154e-02 2.48200390e+01] [ 3.24753939e-02 9.99472529e-01 -1.09332743e-04 -2.87001553e-02] [ 2.75165450e-02 -7.84733253e-04 9.99621040e-01 1.11877971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025336195 meters 0.023048176551418754 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.03, Z:0.11 [[ 9.99320298e-01 -2.67925402e-02 -2.53199984e-02 2.48793695e+01] [ 2.67985912e-02 9.99640848e-01 -1.00373947e-04 -3.47304552e-02] [ 2.53135939e-02 -5.78234563e-04 9.99679392e-01 1.08201940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085336195 meters 0.020327299815786796 Centerline is valid? [True, True] Translation: X:24.94, Y:-0.02, Z:0.11 [[ 9.99350791e-01 -2.33822799e-02 -2.74092329e-02 2.49392421e+01] [ 2.33880737e-02 9.99726456e-01 -1.09225473e-04 -2.48429624e-02] [ 2.74042891e-02 -5.31894596e-04 9.99624290e-01 1.10444655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145336195000002 meters 0.020385467417746928 Centerline is valid? [True, True] Translation: X:25.00, Y:-0.02, Z:0.11 [[ 9.99419467e-01 -1.97917157e-02 -2.77311432e-02 2.49970949e+01] [ 1.97962262e-02 9.99804029e-01 -1.11905625e-04 -2.44566316e-02] [ 2.77279235e-02 -4.37131323e-04 9.99615412e-01 1.06101073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205336195 meters 0.02002039009440601 Centerline is valid? [True, True] Translation: X:25.06, Y:-0.03, Z:0.10 [[ 9.99359976e-01 -1.94147794e-02 -3.00450364e-02 2.50555183e+01] [ 1.94198509e-02 9.99811409e-01 -1.23020480e-04 -3.29420361e-02] [ 3.00417586e-02 -4.60528384e-04 9.99548538e-01 1.01221819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265336195 meters 0.018917929642282665 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.03, Z:0.11 [[ 9.99329645e-01 -1.94525131e-02 -3.10138592e-02 2.51140363e+01] [ 1.94577980e-02 9.99810670e-01 -1.31418194e-04 -2.80738038e-02] [ 3.10105437e-02 -4.72131309e-04 9.99518946e-01 1.07954481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325336195000002 meters 0.021706168426971834 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.04, Z:0.10 [[ 9.99312650e-01 -2.23877836e-02 -2.95468354e-02 2.51713882e+01] [ 2.23937819e-02 9.99749220e-01 -1.27920591e-04 -4.37983047e-02] [ 2.95422895e-02 -5.33832722e-04 9.99563389e-01 1.04792493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385336195 meters 0.02369883190369624 Centerline is valid? [True, True] Translation: X:25.23, Y:-0.06, Z:0.11 [[ 9.99242936e-01 -2.65388181e-02 -2.84472615e-02 2.52308128e+01] [ 2.65460309e-02 9.99647584e-01 -1.24142804e-04 -5.69864001e-02] [ 2.84405308e-02 -6.31113063e-04 9.99595287e-01 1.08274870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445336195 meters 0.026851885790132073 Centerline is valid? [True, True] Translation: X:25.29, Y:-0.07, Z:0.11 [[ 9.99205507e-01 -2.78591517e-02 -2.84995177e-02 2.52888627e+01] [ 2.78668877e-02 9.99611635e-01 -1.25775178e-04 -7.16274572e-02] [ 2.84919535e-02 -6.68517610e-04 9.99593798e-01 1.05501617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505336195 meters 0.025520162226636712 Centerline is valid? [True, True] Translation: X:25.35, Y:-0.07, Z:0.11 [[ 9.99183069e-01 -2.62760901e-02 -3.07044293e-02 2.53477551e+01] [ 2.62841956e-02 9.99654501e-01 -1.39670702e-04 -7.45454883e-02] [ 3.06974909e-02 -6.67484622e-04 9.99528498e-01 1.05094980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565336195 meters 0.021245628340354237 Centerline is valid? [True, True] Translation: X:25.41, Y:-0.08, Z:0.11 [[ 9.99277184e-01 -2.25286231e-02 -3.06197656e-02 2.54070751e+01] [ 2.25347802e-02 9.99746049e-01 -1.44031412e-04 -8.34375626e-02] [ 3.06152345e-02 -5.46082383e-04 9.99531095e-01 1.05116762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625336195 meters 0.02105672816422065 Centerline is valid? [True, True] Translation: X:25.47, Y:-0.08, Z:0.11 [[ 9.99381275e-01 -2.01451983e-02 -2.88312100e-02 2.54654938e+01] [ 2.01496134e-02 9.99796966e-01 -1.37415933e-04 -8.44802100e-02] [ 2.88281245e-02 -4.43606824e-04 9.99584285e-01 1.10203423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685336195 meters 0.018378544930430854 Centerline is valid? [True, True] Translation: X:25.52, Y:-0.08, Z:0.11 [[ 9.99465764e-01 -1.53017978e-02 -2.88797844e-02 2.55245411e+01] [ 1.53041077e-02 9.99882875e-01 -1.41066240e-04 -8.44597531e-02] [ 2.88785604e-02 -3.00988452e-04 9.99582882e-01 1.08714579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745336195 meters 0.016420251879113286 Centerline is valid? [True, True] Translation: X:25.58, Y:-0.08, Z:0.11 [[ 9.99474572e-01 -1.25979590e-02 -2.98642080e-02 2.55819698e+01] [ 1.25990620e-02 9.99920617e-01 -1.51246389e-04 -8.25535074e-02] [ 2.98637426e-02 -2.25094088e-04 9.99553954e-01 1.08421175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805336195000002 meters 0.017896468142964427 Centerline is valid? [True, True] Translation: X:25.64, Y:-0.07, Z:0.10 [[ 9.99518782e-01 -1.53294281e-03 -3.09815305e-02 2.56393282e+01] [ 1.52872908e-03 9.99998819e-01 -1.59694412e-04 -7.14027261e-02] [ 3.09817387e-02 1.12255197e-04 9.99519944e-01 1.04665574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865336195 meters 0.019814741877120266 Centerline is valid? [True, True] Translation: X:25.70, Y:-0.05, Z:0.12 [[ 9.99537697e-01 6.26332412e-03 -2.97517018e-02 2.56974537e+01] [-6.27071537e-03 9.99980327e-01 -1.55133672e-04 -4.87380117e-02] [ 2.97501449e-02 3.41626407e-04 9.99557308e-01 1.15345925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.925336195 meters 0.02200399317632272 Centerline is valid? [True, True] Translation: X:25.76, Y:-0.04, Z:0.11 [[ 9.99470763e-01 7.10632914e-03 -3.17442118e-02 2.57559891e+01] [-7.11522125e-03 9.99974673e-01 -1.67162834e-04 -4.49875023e-02] [ 3.17422199e-02 3.92941456e-04 9.99496012e-01 1.06793042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.985336195000002 meters 0.02108646401779314 Centerline is valid? [True, True] Translation: X:25.81, Y:-0.05, Z:0.11 [[ 9.99485558e-01 7.00167340e-03 -3.12984869e-02 2.58146347e+01] [-7.01040567e-03 9.99975412e-01 -1.69272781e-04 -4.70580693e-02] [ 3.12965322e-02 3.88600790e-04 9.99510068e-01 1.05086475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.045336195 meters 0.02017415821709754 Centerline is valid? [True, True] Translation: X:25.87, Y:-0.03, Z:0.12 [[ 9.99520759e-01 6.06342105e-03 -3.03560001e-02 2.58730673e+01] [-6.07135916e-03 9.99981555e-01 -1.69334441e-04 -3.00183402e-02] [ 3.03544134e-02 3.53555469e-04 9.99539136e-01 1.16088801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.105336195 meters 0.019061320168804675 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.03, Z:0.11 [[ 9.99570201e-01 3.36606975e-03 -2.91218538e-02 2.59308586e+01] [-3.37230351e-03 9.99994300e-01 -1.64945988e-04 -3.00030146e-02] [ 2.91211326e-02 2.63082824e-04 9.99575855e-01 1.11883421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165336195000002 meters 0.01709644607700351 Centerline is valid? [True, True] Translation: X:25.99, Y:-0.03, Z:0.11 [[ 9.99486846e-01 -7.58860428e-03 -3.11200477e-02 2.59883334e+01] [ 7.58673571e-03 9.99971204e-01 -1.78123666e-04 -3.33053113e-02] [ 3.11205033e-02 -5.80673159e-05 9.99515638e-01 1.12660563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225336195 meters 0.020549454705592832 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.05, Z:0.11 [[ 9.99280814e-01 -2.15458003e-02 -3.12030939e-02 2.60486690e+01] [ 2.15507003e-02 9.99767741e-01 -1.79300946e-04 -5.03828714e-02] [ 3.11997099e-02 -4.93276532e-04 9.99513049e-01 1.12563801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285336195 meters 0.023888684713326967 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.06, Z:0.12 [[ 9.99184819e-01 -2.72437865e-02 -2.97905011e-02 2.61084976e+01] [ 2.72507649e-02 9.99628614e-01 -1.71799140e-04 -5.71225470e-02] [ 2.97841178e-02 -6.40154850e-04 9.99556150e-01 1.18460326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345336195 meters 0.024454030219854966 Centerline is valid? [True, True] Translation: X:26.17, Y:-0.06, Z:0.12 [[ 9.99089592e-01 -2.87369561e-02 -3.15305392e-02 2.61682422e+01] [ 2.87454934e-02 9.99586746e-01 -1.82590828e-04 -5.52292456e-02] [ 3.15227562e-02 -7.23936310e-04 9.99502772e-01 1.18320574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405336195 meters 0.024242947372716945 Centerline is valid? [True, True] Translation: X:26.23, Y:-0.07, Z:0.12 [[ 9.99182614e-01 -2.92688092e-02 -2.78826371e-02 2.62269031e+01] [ 2.92756592e-02 9.99571363e-01 -1.62603228e-04 -6.54092481e-02] [ 2.78754448e-02 -6.53812263e-04 9.99611190e-01 1.21750905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465336195 meters 0.024643522034881935 Centerline is valid? [True, True] Translation: X:26.29, Y:-0.06, Z:0.12 [[ 9.99154194e-01 -2.81377084e-02 -2.99860918e-02 2.62851417e+01] [ 2.81450877e-02 9.99603833e-01 -1.76040047e-04 -6.22538578e-02] [ 2.99791657e-02 -6.68070032e-04 9.99550301e-01 1.24069335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525336195 meters 0.020652221582553875 Centerline is valid? [True, True] Translation: X:26.34, Y:-0.06, Z:0.12 [[ 9.99307034e-01 -2.25824578e-02 -2.95886003e-02 2.63448255e+01] [ 2.25871856e-02 9.99744862e-01 -1.74486074e-04 -6.28420474e-02] [ 2.95849915e-02 -4.93958044e-04 9.99562146e-01 1.22186172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585336195 meters 0.018721772450236512 Centerline is valid? [True, True] Translation: X:26.40, Y:-0.06, Z:0.12 [[ 9.99360444e-01 -1.64105667e-02 -3.17709844e-02 2.64032345e+01] [ 1.64127656e-02 9.99865283e-01 -1.91598023e-04 -6.37629429e-02] [ 3.17698486e-02 -3.29974234e-04 9.99495156e-01 1.17051705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645336195000002 meters 0.017543564960119436 Centerline is valid? [True, True] Translation: X:26.46, Y:-0.05, Z:0.12 [[ 9.99438005e-01 -9.24612171e-03 -3.22208663e-02 2.64620221e+01] [ 9.24448956e-03 9.99957249e-01 -1.99629114e-04 -5.09379546e-02] [ 3.22213347e-02 -9.83485389e-05 9.99480753e-01 1.24512803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705336195 meters 0.01797007438042471 Centerline is valid? [True, True] Translation: X:26.52, Y:-0.05, Z:0.12 [[ 9.99648558e-01 6.33015262e-04 -2.65020607e-02 2.65207637e+01] [-6.37627894e-04 9.99999783e-01 -1.65597712e-04 -5.19762771e-02] [ 2.65019501e-02 1.82437967e-04 9.99648745e-01 1.24863560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765336195 meters 0.020444630836624074 Centerline is valid? [True, True] Translation: X:26.58, Y:-0.04, Z:0.13 [[ 9.99567388e-01 5.14182867e-03 -2.89585745e-02 2.65799209e+01] [-5.14925606e-03 9.99986726e-01 -1.81915321e-04 -4.11851264e-02] [ 2.89572547e-02 3.30951737e-04 9.99580596e-01 1.30480566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825336195000002 meters 0.018957815053987966 Centerline is valid? [True, True] Translation: X:26.64, Y:-0.04, Z:0.13 [[ 9.99538418e-01 6.74981805e-04 -3.03725964e-02 2.66384195e+01] [-6.81218570e-04 9.99999749e-01 -1.94994742e-04 -4.38007554e-02] [ 3.03724572e-02 2.15595112e-04 9.99538627e-01 1.30708909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885336195 meters 0.016221481846009436 Centerline is valid? [True, True] Translation: X:26.70, Y:-0.07, Z:0.13 [[ 9.99580184e-01 -6.86298680e-03 -2.81487988e-02 2.66964595e+01] [ 6.86055207e-03 9.99976449e-01 -1.83072591e-04 -6.54926628e-02] [ 2.81493923e-02 -1.01205655e-05 9.99603727e-01 1.26843602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945336195 meters 0.016805652328242715 Centerline is valid? [True, True] Translation: X:26.76, Y:-0.07, Z:0.13 [[ 9.99512336e-01 -1.34620197e-02 -2.81755949e-02 2.67555223e+01] [ 1.34620915e-02 9.99909364e-01 -1.87147436e-04 -7.44085563e-02] [ 2.81755606e-02 -1.92246266e-04 9.99602972e-01 1.31478502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005336195 meters 0.016893423328894427 Centerline is valid? [True, True] Translation: X:26.81, Y:-0.07, Z:0.14 [[ 9.99521478e-01 -1.55131732e-02 -2.67610978e-02 2.68138542e+01] [ 1.55138553e-02 9.99879636e-01 -1.82144662e-04 -6.99090914e-02] [ 2.67607024e-02 -2.33110297e-04 9.99641841e-01 1.41022916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065336195 meters 0.01671855114474349 Centerline is valid? [True, True] Translation: X:26.87, Y:-0.08, Z:0.13 [[ 9.99513132e-01 -1.49167424e-02 -2.74042078e-02 2.68727484e+01] [ 1.49171079e-02 9.99888715e-01 -1.91104989e-04 -7.83014071e-02] [ 2.74040088e-02 -2.17779580e-04 9.99624416e-01 1.33824638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125336195 meters 0.016848948652550627 Centerline is valid? [True, True] Translation: X:26.93, Y:-0.08, Z:0.14 [[ 9.99541292e-01 -1.47974581e-02 -2.64242524e-02 2.69305603e+01] [ 1.47976963e-02 9.99890491e-01 -1.86538834e-04 -7.85684398e-02] [ 2.64241190e-02 -2.04564796e-04 9.99650801e-01 1.36269470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185336195 meters 0.017384304138351063 Centerline is valid? [True, True] Translation: X:26.99, Y:-0.07, Z:0.14 [[ 9.99421135e-01 -1.48786547e-02 -3.05944588e-02 2.69898282e+01] [ 1.48789718e-02 9.99889278e-01 -2.17306575e-04 -7.05643547e-02] [ 3.05943046e-02 -2.38033307e-04 9.99531856e-01 1.35021935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245336195 meters 0.018000583179992664 Centerline is valid? [True, True] Translation: X:27.05, Y:-0.08, Z:0.13 [[ 9.99381222e-01 -1.50499859e-02 -3.17910501e-02 2.70485766e+01] [ 1.50502755e-02 9.99886712e-01 -2.30197667e-04 -7.50375271e-02] [ 3.17909130e-02 -2.48408837e-04 9.99494510e-01 1.29705163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305336195000002 meters 0.018383945517930232 Centerline is valid? [True, True] Translation: X:27.11, Y:-0.07, Z:0.13 [[ 9.99315741e-01 -1.53332860e-02 -3.36591615e-02 2.71072840e+01] [ 1.53335791e-02 9.99882403e-01 -2.49438012e-04 -7.04928403e-02] [ 3.36590279e-02 -2.66848081e-04 9.99433339e-01 1.29259219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365336195 meters 0.018971250332714983 Centerline is valid? [True, True] Translation: X:27.17, Y:-0.07, Z:0.13 [[ 9.99318296e-01 -1.79550417e-02 -3.22577103e-02 2.71664182e+01] [ 1.79565044e-02 9.99838739e-01 -2.44373091e-04 -7.02621479e-02] [ 3.22568961e-02 -3.35029216e-04 9.99479555e-01 1.32765270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425336195 meters 0.020995319986837607 Centerline is valid? [True, True] Translation: X:27.22, Y:-0.07, Z:0.14 [[ 9.99294263e-01 -2.46803820e-02 -2.83170415e-02 2.72245005e+01] [ 2.46840636e-02 9.99695278e-01 -2.19591101e-04 -7.48159304e-02] [ 2.83138323e-02 -4.79543528e-04 9.99598968e-01 1.41365371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485336195000002 meters 0.021562837949424728 Centerline is valid? [True, True] Translation: X:27.28, Y:-0.07, Z:0.14 [[ 9.99247113e-01 -2.46682256e-02 -2.99447054e-02 2.72832750e+01] [ 2.46721824e-02 9.99695567e-01 -2.37395457e-04 -6.85860061e-02] [ 2.99414454e-02 -5.01584510e-04 9.99551529e-01 1.39045768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545336195 meters 0.0226624814572377 Centerline is valid? [True, True] Translation: X:27.34, Y:-0.07, Z:0.14 [[ 9.99169111e-01 -2.64820965e-02 -3.09804293e-02 2.73419798e+01] [ 2.64870436e-02 9.99649125e-01 -2.50764722e-04 -7.19567993e-02] [ 3.09761998e-02 -5.70023618e-04 9.99519960e-01 1.36592404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605336195 meters 0.02141285836219761 Centerline is valid? [True, True] Translation: X:27.40, Y:-0.06, Z:0.14 [[ 9.99120021e-01 -2.74901847e-02 -3.16776503e-02 2.74005068e+01] [ 2.74956909e-02 9.99621888e-01 -2.61856508e-04 -6.48332848e-02] [ 3.16728710e-02 -6.09372801e-04 9.99498103e-01 1.42937150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665336195000002 meters 0.023247904363009813 Centerline is valid? [True, True] Translation: X:27.46, Y:-0.07, Z:0.14 [[ 9.99059883e-01 -2.76798753e-02 -3.33642757e-02 2.74583840e+01] [ 2.76859935e-02 9.99616631e-01 -2.78688421e-04 -6.91868312e-02] [ 3.33591990e-02 -6.45296702e-04 9.99443219e-01 1.36134284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725336195 meters 0.022458584247525667 Centerline is valid? [True, True] Translation: X:27.52, Y:-0.07, Z:0.14 [[ 9.99142539e-01 -2.58693137e-02 -3.23259289e-02 2.75160102e+01] [ 2.58740478e-02 9.99665174e-01 -2.71922263e-04 -6.60102346e-02] [ 3.23221398e-02 -5.64713531e-04 9.99477344e-01 1.40419004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785336195 meters 0.0202850471353809 Centerline is valid? [True, True] Translation: X:27.57, Y:-0.06, Z:0.14 [[ 9.99340616e-01 -1.97389062e-02 -3.04747396e-02 2.75746914e+01] [ 1.97402427e-02 9.99805109e-01 -2.57029900e-04 -6.32359818e-02] [ 3.04738739e-02 -3.44718339e-04 9.99535504e-01 1.37836968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845336195 meters 0.01607881992885396 Centerline is valid? [True, True] Translation: X:27.63, Y:-0.06, Z:0.14 [[ 9.99523407e-01 -1.15394521e-02 -2.86321543e-02 2.76345360e+01] [ 1.15372581e-02 9.99933414e-01 -2.41833817e-04 -5.52743211e-02] [ 2.86330385e-02 -8.86179937e-05 9.99589987e-01 1.43625669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905336195 meters 0.018467510380803697 Centerline is valid? [True, True] Translation: X:27.69, Y:-0.04, Z:0.14 [[ 9.99589197e-01 -4.49900863e-03 -2.83054122e-02 2.76908356e+01] [ 4.49398846e-03 9.99989873e-01 -2.40969656e-04 -3.69558448e-02] [ 2.83062097e-02 1.13666469e-04 9.99599293e-01 1.44686135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965336195 meters 0.02295554796439819 Centerline is valid? [True, True] Translation: X:27.75, Y:-0.03, Z:0.13 [[ 9.99407278e-01 3.46090672e-03 -3.42507574e-02 2.77508294e+01] [-3.47296756e-03 9.99993926e-01 -2.92646175e-04 -2.60508414e-02] [ 3.42495366e-02 4.11424486e-04 9.99413228e-01 1.33428751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025336195 meters 0.02338661517069244 Centerline is valid? [True, True] Translation: X:27.81, Y:-0.02, Z:0.14 [[ 9.99415915e-01 3.98759608e-03 -3.39400612e-02 2.78087392e+01] [-3.99992115e-03 9.99991957e-01 -2.95251331e-04 -1.79591233e-02] [ 3.39386108e-02 4.30836448e-04 9.99423827e-01 1.36224369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085336195 meters 0.020808156681611848 Centerline is valid? [True, True] Translation: X:27.87, Y:-0.01, Z:0.14 [[ 9.99473688e-01 5.63145269e-04 -3.24349992e-02 2.78679846e+01] [-5.72770976e-04 9.99999795e-01 -2.87478547e-04 -1.13818118e-02] [ 3.24348307e-02 3.05905070e-04 9.99473806e-01 1.43096527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145336195000002 meters 0.018526248337413686 Centerline is valid? [True, True] Translation: X:27.93, Y:-0.01, Z:0.14 [[ 9.99495067e-01 -6.71530437e-03 -3.10566547e-02 2.79264030e+01] [ 6.70992317e-03 9.99977450e-01 -2.77487209e-04 -7.66506989e-03] [ 3.10578178e-02 6.89593290e-05 9.99517587e-01 1.43286322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205336195 meters 0.017239581695917494 Centerline is valid? [True, True] Translation: X:27.99, Y:-0.02, Z:0.14 [[ 9.99453318e-01 -1.41688889e-02 -2.98715126e-02 2.79850723e+01] [ 1.41671156e-02 9.99899605e-01 -2.71019300e-04 -1.61352248e-02] [ 2.98723537e-02 -1.52322033e-04 9.99553710e-01 1.43387180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265336195 meters 0.022758053996915047 Centerline is valid? [True, True] Translation: X:28.04, Y:-0.03, Z:0.14 [[ 9.99211092e-01 -2.38812027e-02 -3.17313939e-02 2.80444372e+01] [ 2.38840383e-02 9.99714694e-01 -2.89721989e-04 -2.71371388e-02] [ 3.17292596e-02 -4.68380400e-04 9.99496391e-01 1.38739586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325336195000002 meters 0.030061792852220444 Centerline is valid? [True, True] Translation: X:28.11, Y:-0.04, Z:0.14 [[ 9.98886534e-01 -3.53780325e-02 -3.12103645e-02 2.81050606e+01] [ 3.53863769e-02 9.99373665e-01 -2.85115554e-04 -4.00351597e-02] [ 3.12009032e-02 -8.19623635e-04 9.99512797e-01 1.44564533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385336195 meters 0.031657341235491854 Centerline is valid? [True, True] Translation: X:28.17, Y:-0.05, Z:0.15 [[ 9.98728433e-01 -4.14035217e-02 -2.87622137e-02 2.81656944e+01] [ 4.14131029e-02 9.99142075e-01 -2.62747727e-04 -4.82499672e-02] [ 2.87484166e-02 -9.28718889e-04 9.99586247e-01 1.51047571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445336195 meters 0.03287211526618743 Centerline is valid? [True, True] Translation: X:28.23, Y:-0.06, Z:0.14 [[ 9.98652236e-01 -4.15611141e-02 -3.10867366e-02 2.82265038e+01] [ 4.15724017e-02 9.99135454e-01 -2.83422016e-04 -5.69120363e-02] [ 3.10716400e-02 -1.00931027e-03 9.99516650e-01 1.44411246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505336195 meters 0.03255775583533826 Centerline is valid? [True, True] Translation: X:28.29, Y:-0.06, Z:0.14 [[ 9.98791368e-01 -3.78505216e-02 -3.13550672e-02 2.82866343e+01] [ 3.78601838e-02 9.99283005e-01 -2.85701787e-04 -5.92162967e-02] [ 3.13433997e-02 -9.01752128e-04 9.99508268e-01 1.43875106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565336195 meters 0.027373387276812256 Centerline is valid? [True, True] Translation: X:28.35, Y:-0.05, Z:0.16 [[ 9.99053520e-01 -3.31469871e-02 -2.81663136e-02 2.83465806e+01] [ 3.31529138e-02 9.99450258e-01 -2.56675996e-04 -4.62749433e-02] [ 2.81593375e-02 -6.77362309e-04 9.99603218e-01 1.56149143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625336195 meters 0.022591256666756848 Centerline is valid? [True, True] Translation: X:28.41, Y:-0.06, Z:0.15 [[ 9.99268459e-01 -2.79846791e-02 -2.60653959e-02 2.84064597e+01] [ 2.79879897e-02 9.99608231e-01 -2.37873071e-04 -5.51950405e-02] [ 2.60618410e-02 -4.91818975e-04 9.99660212e-01 1.48141507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685336195 meters 0.020531946197948202 Centerline is valid? [True, True] Translation: X:28.47, Y:-0.04, Z:0.15 [[ 9.99373756e-01 -2.18582777e-02 -2.78264482e-02 2.84655728e+01] [ 2.18596600e-02 9.99761017e-01 -2.54557479e-04 -4.34102600e-02] [ 2.78253624e-02 -3.53878634e-04 9.99612737e-01 1.50289070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745336195 meters 0.021201405558810567 Centerline is valid? [True, True] Translation: X:28.53, Y:-0.04, Z:0.15 [[ 9.99217602e-01 -2.12170547e-02 -3.33769509e-02 2.85255413e+01] [ 2.12186706e-02 9.99774812e-01 -3.05830995e-04 -3.70757060e-02] [ 3.33759236e-02 -4.02622812e-04 9.99442788e-01 1.45596863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805336195 meters 0.02112797255942886 Centerline is valid? [True, True] Translation: X:28.58, Y:-0.05, Z:0.14 [[ 9.99204196e-01 -2.22936611e-02 -3.30751867e-02 2.85839798e+01] [ 2.22956749e-02 9.99751373e-01 -3.07976756e-04 -5.21802084e-02] [ 3.30738293e-02 -4.29701944e-04 9.99452819e-01 1.41331155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865336195 meters 0.020405757051281632 Centerline is valid? [True, True] Translation: X:28.64, Y:-0.05, Z:0.16 [[ 9.99306378e-01 -2.47063133e-02 -2.78632555e-02 2.86438184e+01] [ 2.47086282e-02 9.99694661e-01 -2.61268010e-04 -5.01040026e-02] [ 2.78612028e-02 -4.27376032e-04 9.99611710e-01 1.58975589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925336195 meters 0.018155882023450174 Centerline is valid? [True, True] Translation: X:28.70, Y:-0.06, Z:0.16 [[ 9.99482317e-01 -2.17746705e-02 -2.36846495e-02 2.87036038e+01] [ 2.17755055e-02 9.99762861e-01 -2.22685874e-04 -5.83599831e-02] [ 2.36838818e-02 -2.93174620e-04 9.99719455e-01 1.60165886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985336195000002 meters 0.018828747604552172 Centerline is valid? [True, True] Translation: X:28.76, Y:-0.06, Z:0.16 [[ 9.99390945e-01 -2.08781509e-02 -2.79614276e-02 2.87634979e+01] [ 2.08789451e-02 9.99781976e-01 -2.63590066e-04 -5.60023562e-02] [ 2.79608346e-02 -3.20375585e-04 9.99608968e-01 1.57803704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045336195 meters 0.018640314865772268 Centerline is valid? [True, True] Translation: X:28.82, Y:-0.06, Z:0.16 [[ 9.99377321e-01 -2.12557935e-02 -2.81631402e-02 2.88223066e+01] [ 2.12566439e-02 9.99774016e-01 -2.69223513e-04 -5.98108060e-02] [ 2.81624983e-02 -3.29597969e-04 9.99603304e-01 1.56381110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105336195 meters 0.019093189023972584 Centerline is valid? [True, True] Translation: X:28.88, Y:-0.07, Z:0.16 [[ 9.99371606e-01 -2.25851483e-02 -2.73185547e-02 2.88802677e+01] [ 2.25863071e-02 9.99744861e-01 -2.66191576e-04 -6.84318188e-02] [ 2.73175966e-02 -3.51000962e-04 9.99626743e-01 1.55921676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165336195000002 meters 0.020603783176970515 Centerline is valid? [True, True] Translation: X:28.94, Y:-0.07, Z:0.16 [[ 9.99329727e-01 -2.42957345e-02 -2.73827348e-02 2.89380616e+01] [ 2.42974706e-02 9.99704737e-01 -2.69375657e-04 -6.91866797e-02] [ 2.73811944e-02 -3.96136091e-04 9.99624986e-01 1.59708246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225336195 meters 0.020253065438699227 Centerline is valid? [True, True] Translation: X:29.00, Y:-0.08, Z:0.16 [[ 9.99314065e-01 -2.52365923e-02 -2.71019134e-02 2.89966826e+01] [ 2.52385368e-02 9.99681421e-01 -2.70374923e-04 -7.92659380e-02] [ 2.71001026e-02 -4.13823173e-04 9.99632639e-01 1.57071471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285336195 meters 0.023865085954597895 Centerline is valid? [True, True] Translation: X:29.06, Y:-0.09, Z:0.15 [[ 9.99112089e-01 -2.93086777e-02 -3.02660626e-02 2.90556861e+01] [ 2.93129230e-02 9.99570238e-01 -3.03515404e-04 -9.31380716e-02] [ 3.02619510e-02 -5.83940852e-04 9.99541832e-01 1.51839414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345336195 meters 0.02894257123515799 Centerline is valid? [True, True] Translation: X:29.12, Y:-0.11, Z:0.15 [[ 9.98853438e-01 -3.59329316e-02 -3.16327924e-02 2.91158697e+01] [ 3.59408829e-02 9.99353867e-01 -3.17382208e-04 -1.07547852e-01] [ 3.16237579e-02 -8.19892177e-04 9.99499508e-01 1.52193670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405336195 meters 0.026947422602680297 Centerline is valid? [True, True] Translation: X:29.18, Y:-0.11, Z:0.16 [[ 9.98932272e-01 -3.67793772e-02 -2.79569922e-02 2.91751825e+01] [ 3.67858672e-02 9.99323131e-01 -2.82308685e-04 -1.14090633e-01] [ 2.79484521e-02 -7.46414946e-04 9.99609087e-01 1.61914880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465336195 meters 0.022904879313008854 Centerline is valid? [True, True] Translation: X:29.23, Y:-0.11, Z:0.16 [[ 9.99259197e-01 -2.84505086e-02 -2.59157255e-02 2.92342292e+01] [ 2.84532635e-02 9.99595089e-01 -2.62519644e-04 -1.11001405e-01] [ 2.59127008e-02 -4.75061798e-04 9.99664097e-01 1.61629424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525336195 meters 0.026932688781204996 Centerline is valid? [True, True] Translation: X:29.29, Y:-0.10, Z:0.16 [[ 9.99378786e-01 -2.47696021e-02 -2.50700630e-02 2.92931938e+01] [ 2.47709991e-02 9.99693119e-01 -2.54877332e-04 -1.04456222e-01] [ 2.50686827e-02 -3.66291510e-04 9.99685664e-01 1.64560525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585336195 meters 0.017125301171439265 Centerline is valid? [True, True] Translation: X:29.35, Y:-0.10, Z:0.15 [[ 9.99507268e-01 -1.33778428e-02 -2.83946300e-02 2.93517930e+01] [ 1.33749279e-02 9.99910509e-01 -2.92588101e-04 -9.66265676e-02] [ 2.83960031e-02 -8.73321953e-05 9.99596748e-01 1.54370434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645336195000002 meters 0.017501156318433145 Centerline is valid? [True, True] Translation: X:29.41, Y:-0.10, Z:0.16 [[ 9.99511883e-01 -1.22706493e-02 -2.87302587e-02 2.94100516e+01] [ 1.22670559e-02 9.99924711e-01 -3.01332145e-04 -9.50971657e-02] [ 2.87317932e-02 -5.12506305e-05 9.99587155e-01 1.58036636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705336195 meters 0.01672021232637376 Centerline is valid? [True, True] Translation: X:29.47, Y:-0.10, Z:0.17 [[ 9.99567033e-01 -1.38466884e-02 -2.59617958e-02 2.94690483e+01] [ 1.38442309e-02 9.99904126e-01 -2.74405400e-04 -9.76552888e-02] [ 2.59631063e-02 -8.51345028e-05 9.99662898e-01 1.65005085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765336195 meters 0.015607270700516625 Centerline is valid? [True, True] Translation: X:29.53, Y:-0.10, Z:0.17 [[ 9.99661113e-01 -1.42471815e-02 -2.17870978e-02 2.95283123e+01] [ 1.42454896e-02 9.99898501e-01 -2.32865339e-04 -1.04598634e-01] [ 2.17882041e-02 -7.75814505e-05 9.99762606e-01 1.69993225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825336195000002 meters 0.015697784118232996 Centerline is valid? [True, True] Translation: X:29.59, Y:-0.10, Z:0.17 [[ 9.99684785e-01 -1.16698629e-02 -2.22293597e-02 2.95859644e+01] [ 1.16673750e-02 9.99931905e-01 -2.41614927e-04 -9.69475445e-02] [ 2.22306656e-02 -1.78195111e-05 9.99752868e-01 1.72013535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885336195 meters 0.017780862111195964 Centerline is valid? [True, True] Translation: X:29.65, Y:-0.10, Z:0.16 [[ 9.99587661e-01 -7.49450463e-03 -2.77189436e-02 2.96452575e+01] [ 7.48896373e-03 9.99971911e-01 -3.03704994e-04 -9.79521699e-02] [ 2.77204411e-02 9.59936017e-05 9.99615710e-01 1.57500750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945336195 meters 0.01820681380018981 Centerline is valid? [True, True] Translation: X:29.70, Y:-0.09, Z:0.16 [[ 9.99606717e-01 -6.76598249e-03 -2.72145799e-02 2.97033720e+01] [ 6.76025914e-03 9.99977103e-01 -3.02306026e-04 -9.31169091e-02] [ 2.72160021e-02 1.18209522e-04 9.99629569e-01 1.59034569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005336195 meters 0.017903344415376644 Centerline is valid? [True, True] Translation: X:29.76, Y:-0.08, Z:0.17 [[ 9.99566892e-01 -9.06239397e-03 -2.79982263e-02 2.97623457e+01] [ 9.05709804e-03 9.99958934e-01 -3.15965635e-04 -8.17512235e-02] [ 2.79999399e-02 6.22461072e-05 9.99607923e-01 1.65810401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065336195 meters 0.017516207621866373 Centerline is valid? [True, True] Translation: X:29.82, Y:-0.09, Z:0.17 [[ 9.99648709e-01 -1.23273478e-02 -2.34626176e-02 2.98225460e+01] [ 1.23244999e-02 9.99924015e-01 -2.65984225e-04 -8.62201607e-02] [ 2.34641137e-02 -2.32742418e-05 9.99724680e-01 1.66818391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125336195 meters 0.016913267667053637 Centerline is valid? [True, True] Translation: X:29.88, Y:-0.08, Z:0.16 [[ 9.99565918e-01 -1.55578262e-02 -2.50185891e-02 2.98797178e+01] [ 1.55555657e-02 9.99878964e-01 -2.84983104e-04 -7.99851405e-02] [ 2.50199947e-02 -1.04318909e-04 9.99686945e-01 1.64827371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185336195 meters 0.01947060376371319 Centerline is valid? [True, True] Translation: X:29.94, Y:-0.08, Z:0.17 [[ 9.99373491e-01 -2.36424567e-02 -2.63374034e-02 2.99390404e+01] [ 2.36427260e-02 9.99720426e-01 -3.01215060e-04 -7.83609505e-02] [ 2.63371616e-02 -3.21661665e-04 9.99653065e-01 1.68154512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245336195 meters 0.02531807723954267 Centerline is valid? [True, True] Translation: X:30.00, Y:-0.09, Z:0.17 [[ 9.99061261e-01 -3.37369913e-02 -2.71737319e-02 2.99995582e+01] [ 3.37410014e-02 9.99430562e-01 -3.11063900e-04 -8.67862849e-02] [ 2.71687525e-02 -6.06097031e-04 9.99630678e-01 1.65209702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305336195 meters 0.03400071409979946 Centerline is valid? [True, True] Translation: X:30.06, Y:-0.10, Z:0.16 [[ 9.98749373e-01 -4.25458965e-02 -2.62590422e-02 3.00595695e+01] [ 4.25526758e-02 9.99094179e-01 -3.00823093e-04 -1.02196458e-01] [ 2.62480551e-02 -8.16945636e-04 9.99655127e-01 1.62757960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365336195 meters 0.03552983703696268 Centerline is valid? [True, True] Translation: X:30.12, Y:-0.10, Z:0.17 [[ 9.98476911e-01 -4.80746163e-02 -2.70682281e-02 3.01201571e+01] [ 4.80838473e-02 9.98843255e-01 -3.10136598e-04 -9.96730540e-02] [ 2.70518267e-02 -9.91880314e-04 9.99633540e-01 1.69225488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425336195 meters 0.03728775065140267 Centerline is valid? [True, True] Translation: X:30.18, Y:-0.10, Z:0.17 [[ 9.98463015e-01 -4.86640985e-02 -2.65219466e-02 3.01817146e+01] [ 4.86731866e-02 9.98814712e-01 -3.03179861e-04 -1.04550963e-01] [ 2.65052645e-02 -9.88193779e-04 9.99648185e-01 1.67193950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485336195000002 meters 0.031135973359558377 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.10, Z:0.17 [[ 9.98770770e-01 -4.21846351e-02 -2.60270138e-02 3.02420910e+01] [ 4.21911954e-02 9.99109511e-01 -2.97286202e-04 -9.95143865e-02] [ 2.60163780e-02 -8.01190056e-04 9.99661196e-01 1.68084942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545336195 meters 0.02917966536049963 Centerline is valid? [True, True] Translation: X:30.30, Y:-0.08, Z:0.17 [[ 9.99124942e-01 -3.21759276e-02 -2.67219027e-02 3.03010768e+01] [ 3.21792586e-02 9.99482067e-01 -3.05470469e-04 -8.20450141e-02] [ 2.67178913e-02 -5.54687854e-04 9.99642860e-01 1.71047473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605336195 meters 0.020393043144613827 Centerline is valid? [True, True] Translation: X:30.36, Y:-0.08, Z:0.17 [[ 9.99338911e-01 -2.52938484e-02 -2.61143872e-02 3.03607954e+01] [ 2.52946723e-02 9.99679994e-01 -2.98835082e-04 -7.75757928e-02] [ 2.61135891e-02 -3.61917340e-04 9.99658917e-01 1.66821401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665336195000002 meters 0.02028970181476264 Centerline is valid? [True, True] Translation: X:30.42, Y:-0.07, Z:0.17 [[ 9.99345446e-01 -2.43876956e-02 -2.67192606e-02 3.04177090e+01] [ 2.43881894e-02 9.99702517e-01 -3.07441375e-04 -7.44913859e-02] [ 2.67188098e-02 -3.44394249e-04 9.99642930e-01 1.66314881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725336195 meters 0.022440317058902332 Centerline is valid? [True, True] Translation: X:30.48, Y:-0.08, Z:0.17 [[ 9.99310925e-01 -2.80803234e-02 -2.42728223e-02 3.04755989e+01] [ 2.80817828e-02 9.99605590e-01 -2.80805209e-04 -7.87201148e-02] [ 2.42711340e-02 -4.01012411e-04 9.99705332e-01 1.71933005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785336195 meters 0.022610147003261742 Centerline is valid? [True, True] Translation: X:30.53, Y:-0.08, Z:0.17 [[ 9.99366562e-01 -2.83502091e-02 -2.15113828e-02 3.05339601e+01] [ 2.83513992e-02 9.99597987e-01 -2.49709888e-04 -7.98443975e-02] [ 2.15098143e-02 -3.60326090e-04 9.99768572e-01 1.74826990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845336195 meters 0.02256335187506215 Centerline is valid? [True, True] Translation: X:30.59, Y:-0.08, Z:0.17 [[ 9.99344511e-01 -2.84564391e-02 -2.23781010e-02 3.05943267e+01] [ 2.84577481e-02 9.99594962e-01 -2.60020861e-04 -8.08401034e-02] [ 2.23764363e-02 -3.76979940e-04 9.99749545e-01 1.70571044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905336195 meters 0.03080158472006939 Centerline is valid? [True, True] Translation: X:30.65, Y:-0.09, Z:0.16 [[ 9.98882588e-01 -3.59256102e-02 -3.07070918e-02 3.06535676e+01] [ 3.59316003e-02 9.99354188e-01 -3.56890221e-04 -9.13628956e-02] [ 3.07000823e-02 -7.46863523e-04 9.99528362e-01 1.59529555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965336195 meters 0.032829694877926086 Centerline is valid? [True, True] Translation: X:30.71, Y:-0.10, Z:0.17 [[ 9.98804811e-01 -3.98969471e-02 -2.82344345e-02 3.07126135e+01] [ 3.99035006e-02 9.99203483e-01 -3.31514681e-04 -1.01562049e-01] [ 2.82251717e-02 -7.95534315e-04 9.99601274e-01 1.65667281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025336195 meters 0.026772075606674613 Centerline is valid? [True, True] Translation: X:30.77, Y:-0.10, Z:0.17 [[ 9.99048055e-01 -3.58292252e-02 -2.48847364e-02 3.07732553e+01] [ 3.58330292e-02 9.99357748e-01 -2.93177483e-04 -1.04537095e-01] [ 2.48792585e-02 -5.98797093e-04 9.99690284e-01 1.70144329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085336195 meters 0.02242260046608387 Centerline is valid? [True, True] Translation: X:30.83, Y:-0.09, Z:0.18 [[ 9.99434024e-01 -2.61903597e-02 -2.11115478e-02 3.08329388e+01] [ 2.61909467e-02 9.99656927e-01 -2.48739731e-04 -9.01874926e-02] [ 2.11108196e-02 -3.04332473e-04 9.99777095e-01 1.77294637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145336195000002 meters 0.017645551544871553 Centerline is valid? [True, True] Translation: X:30.89, Y:-0.08, Z:0.17 [[ 9.99600337e-01 -1.54143045e-02 -2.36973689e-02 3.08913497e+01] [ 1.54119614e-02 9.99881189e-01 -2.81521266e-04 -8.08435750e-02] [ 2.36988929e-02 -8.38141832e-05 9.99719138e-01 1.68078070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205336195 meters 0.019120526827436216 Centerline is valid? [True, True] Translation: X:30.95, Y:-0.07, Z:0.16 [[ 9.99475284e-01 -9.94034282e-03 -3.08276745e-02 3.09514147e+01] [ 9.93372603e-03 9.99950592e-01 -3.67787656e-04 -7.10689570e-02] [ 3.08298073e-02 6.13609997e-05 9.99524647e-01 1.64687852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265336195 meters 0.0207511218888588 Centerline is valid? [True, True] Translation: X:31.01, Y:-0.06, Z:0.16 [[ 9.99462633e-01 -5.75251625e-03 -3.22700157e-02 3.10097091e+01] [ 5.74303171e-03 9.99983434e-01 -3.86593185e-04 -5.82774848e-02] [ 3.22717050e-02 2.01057720e-04 9.99479113e-01 1.63860997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325336195000002 meters 0.021395692349944723 Centerline is valid? [True, True] Translation: X:31.07, Y:-0.07, Z:0.16 [[ 9.99565958e-01 -3.64134132e-03 -2.92341755e-02 3.10674381e+01] [ 3.63260549e-03 9.99993340e-01 -3.51926614e-04 -6.67781868e-02] [ 2.92352623e-02 2.45577636e-04 9.99572528e-01 1.58029358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385336195 meters 0.01806542505936185 Centerline is valid? [True, True] Translation: X:31.13, Y:-0.06, Z:0.17 [[ 9.99684296e-01 -7.07652179e-03 -2.41087272e-02 3.11272916e+01] [ 7.07156681e-03 9.99974954e-01 -2.90776758e-04 -6.47996457e-02] [ 2.41101811e-02 1.20198483e-04 9.99709300e-01 1.74625963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445336195 meters 0.01670398600971208 Centerline is valid? [True, True] Translation: X:31.19, Y:-0.07, Z:0.18 [[ 9.99674917e-01 -1.21904556e-02 -2.23931461e-02 3.11854921e+01] [ 1.21874457e-02 9.99925694e-01 -2.70886963e-04 -6.60137108e-02] [ 2.23947844e-02 -2.11634980e-06 9.99749205e-01 1.78791072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505336195 meters 0.01809709360356355 Centerline is valid? [True, True] Translation: X:31.25, Y:-0.09, Z:0.17 [[ 9.99490715e-01 -2.18609587e-02 -2.32467219e-02 3.12451423e+01] [ 2.18603126e-02 9.99760995e-01 -2.81944259e-04 -8.72702996e-02] [ 2.32473294e-02 -2.26379939e-04 9.99729719e-01 1.73821314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565336195 meters 0.02039471322422005 Centerline is valid? [True, True] Translation: X:31.31, Y:-0.09, Z:0.17 [[ 9.99255063e-01 -2.63074136e-02 -2.82354254e-02 3.13054025e+01] [ 2.63082222e-02 9.99653820e-01 -3.42910951e-04 -9.16044161e-02] [ 2.82346720e-02 -4.00168343e-04 9.99601242e-01 1.69323739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625336195 meters 0.021495110568160076 Centerline is valid? [True, True] Translation: X:31.36, Y:-0.08, Z:0.17 [[ 9.99340881e-01 -2.11897935e-02 -2.94753366e-02 3.13635996e+01] [ 2.11883345e-02 9.99775437e-01 -3.61867934e-04 -7.85468668e-02] [ 2.94763854e-02 -2.62903872e-04 9.99565442e-01 1.71053337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685336195 meters 0.01876781624988195 Centerline is valid? [True, True] Translation: X:31.42, Y:-0.08, Z:0.16 [[ 9.99465530e-01 -1.46526300e-02 -2.92224962e-02 3.14212906e+01] [ 1.46483282e-02 9.99892642e-01 -3.61291418e-04 -7.72009064e-02] [ 2.92246529e-02 -6.69623972e-05 9.99572866e-01 1.61972855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745336195 meters 0.016978038325818182 Centerline is valid? [True, True] Translation: X:31.48, Y:-0.06, Z:0.18 [[ 9.99577505e-01 -1.44792676e-02 -2.52024437e-02 3.14811946e+01] [ 1.44759873e-02 9.99895169e-01 -3.12607905e-04 -6.29801221e-02] [ 2.52043280e-02 -5.23544261e-05 9.99682319e-01 1.77696374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805336195 meters 0.01716847860982651 Centerline is valid? [True, True] Translation: X:31.54, Y:-0.06, Z:0.18 [[ 9.99518773e-01 -1.83653168e-02 -2.49987375e-02 3.15400887e+01] [ 1.83632225e-02 9.99831333e-01 -3.13359017e-04 -6.21638502e-02] [ 2.50002760e-02 -1.45849158e-04 9.99687434e-01 1.77197459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865336195 meters 0.02474384656193323 Centerline is valid? [True, True] Translation: X:31.60, Y:-0.07, Z:0.17 [[ 9.99371837e-01 -2.40598383e-02 -2.60202811e-02 3.15992662e+01] [ 2.40594488e-02 9.99710476e-01 -3.28085863e-04 -7.14060616e-02] [ 2.60206413e-02 -2.98153850e-04 9.99661361e-01 1.68255147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925336195 meters 0.022904042767022063 Centerline is valid? [True, True] Translation: X:31.66, Y:-0.07, Z:0.17 [[ 9.99146752e-01 -2.97125933e-02 -2.86867685e-02 3.16593424e+01] [ 2.97144333e-02 9.99558363e-01 -3.62243303e-04 -6.82187895e-02] [ 2.86848625e-02 -4.90476851e-04 9.99588384e-01 1.70722084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985336195000002 meters 0.026653492925851348 Centerline is valid? [True, True] Translation: X:31.72, Y:-0.07, Z:0.17 [[ 9.98941786e-01 -3.64573355e-02 -2.80387329e-02 3.17191688e+01] [ 3.64617386e-02 9.99334987e-01 -3.54390361e-04 -7.12768656e-02] [ 2.80330069e-02 -6.68325608e-04 9.99606775e-01 1.73056130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.045336195 meters 0.029515092043684334 Centerline is valid? [True, True] Translation: X:31.78, Y:-0.08, Z:0.17 [[ 9.98793105e-01 -4.17157163e-02 -2.59255025e-02 3.17791384e+01] [ 4.17212418e-02 9.99129236e-01 -3.27983322e-04 -8.12230872e-02] [ 2.59166095e-02 -7.54056675e-04 9.99663824e-01 1.74210260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.105336195 meters 0.03347379577251949 Centerline is valid? [True, True] Translation: X:31.84, Y:-0.07, Z:0.17 [[ 9.98877974e-01 -3.82272163e-02 -2.79548441e-02 3.18393309e+01] [ 3.82322807e-02 9.99268817e-01 -3.53501890e-04 -6.58478068e-02] [ 2.79479173e-02 -7.15672194e-04 9.99609124e-01 1.74045467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.165336194999995 meters 0.02420861055256679 Centerline is valid? [True, True] Translation: X:31.90, Y:-0.05, Z:0.18 [[ 9.99159324e-01 -3.16336482e-02 -2.60759821e-02 3.19000293e+01] [ 3.16358103e-02 9.99499408e-01 -3.29718537e-04 -5.20572829e-02] [ 2.60733589e-02 -4.95493474e-04 9.99659909e-01 1.75307654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.225336195 meters 0.025410108824327617 Centerline is valid? [True, True] Translation: X:31.96, Y:-0.05, Z:0.17 [[ 9.99144655e-01 -3.17357272e-02 -2.65104169e-02 3.19584606e+01] [ 3.17379799e-02 9.99496167e-01 -3.35893745e-04 -5.20587153e-02] [ 2.65077199e-02 -5.05780640e-04 9.99648481e-01 1.73124206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.285336195 meters 0.02456124370071432 Centerline is valid? [True, True] Translation: X:32.02, Y:-0.04, Z:0.18 [[ 9.99141116e-01 -3.40797339e-02 -2.35712176e-02 3.20187555e+01] [ 3.40821612e-02 9.99418990e-01 -2.98867577e-04 -4.39045036e-02] [ 2.35677078e-02 -5.04747153e-04 9.99722116e-01 1.83469450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.345336194999994 meters 0.02926245930939828 Centerline is valid? [True, True] Translation: X:32.08, Y:-0.05, Z:0.18 [[ 9.98877440e-01 -4.10020437e-02 -2.37211241e-02 3.20793508e+01] [ 4.10064528e-02 9.99158836e-01 -3.00729863e-04 -5.45032494e-02] [ 2.37135013e-02 -6.72326880e-04 9.99718569e-01 1.79754446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405336195 meters 0.03013653300178249 Centerline is valid? [True, True] Translation: X:32.14, Y:-0.05, Z:0.18 [[ 9.98789301e-01 -4.12287439e-02 -2.68350887e-02 3.21415155e+01] [ 4.12344947e-02 9.99149439e-01 -3.39263847e-04 -4.99473707e-02] [ 2.68262512e-02 -7.67678222e-04 9.99639817e-01 1.78981424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.465336195 meters 0.02681322059219751 Centerline is valid? [True, True] Translation: X:32.20, Y:-0.04, Z:0.18 [[ 9.98932618e-01 -3.74422429e-02 -2.70499942e-02 3.22031741e+01] [ 3.74467273e-02 9.99298567e-01 -3.40936834e-04 -4.14226694e-02] [ 2.70437859e-02 -6.72360830e-04 9.99634024e-01 1.76820513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.525336194999994 meters 0.028537559478198766 Centerline is valid? [True, True] Translation: X:32.26, Y:-0.04, Z:0.17 [[ 9.98976855e-01 -3.53525374e-02 -2.82035643e-02 3.22632837e+01] [ 3.53565950e-02 9.99374697e-01 -3.54966447e-04 -4.07662269e-02] [ 2.81984775e-02 -6.42578736e-04 9.99602137e-01 1.71619672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.585336195 meters 0.028273766729459124 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.04, Z:0.18 [[ 9.98994534e-01 -3.57727418e-02 -2.70227917e-02 3.23238878e+01] [ 3.57766222e-02 9.99359754e-01 -3.40025901e-04 -3.83724508e-02] [ 2.70176541e-02 -6.27100193e-04 9.99634760e-01 1.75232558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.645336195 meters 0.027322164670328847 Centerline is valid? [True, True] Translation: X:32.38, Y:-0.04, Z:0.19 [[ 9.99124345e-01 -3.58954828e-02 -2.14955052e-02 3.23847845e+01] [ 3.58979691e-02 9.99355424e-01 -2.70312743e-04 -3.60228963e-02] [ 2.14913527e-02 -5.01568940e-04 9.99768908e-01 1.85951825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.705336194999994 meters 0.025096310366530032 Centerline is valid? [True, True] Translation: X:32.45, Y:-0.03, Z:0.18 [[ 9.99122150e-01 -3.36425565e-02 -2.49621420e-02 3.24473345e+01] [ 3.36452305e-02 9.99433790e-01 -3.12985574e-04 -3.03524990e-02] [ 2.49585378e-02 -5.27146202e-04 9.99688348e-01 1.83083218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.765336194999996 meters 0.02192281243917533 Centerline is valid? [True, True] Translation: X:32.51, Y:-0.02, Z:0.19 [[ 9.99319297e-01 -2.86476858e-02 -2.32433524e-02 3.25099960e+01] [ 2.84592062e-02 9.99559662e-01 -8.39970181e-03 -1.64967225e-02] [ 2.34737495e-02 7.73249675e-03 9.99694549e-01 1.87421058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.825336195 meters 0.02208595171689479 Centerline is valid? [True, True] Translation: X:32.57, Y:-0.03, Z:0.17 [[ 9.99154233e-01 -2.77181744e-02 -3.03730296e-02 3.25674461e+01] [ 2.79678399e-02 9.99578187e-01 7.82612419e-03 -3.48721653e-02] [ 3.01432920e-02 -8.66897314e-03 9.99507994e-01 1.66044623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.885336194999994 meters 0.021082444460603256 Centerline is valid? [True, True] Translation: X:32.63, Y:-0.02, Z:0.18 [[ 9.99288270e-01 -2.56638483e-02 -2.76463527e-02 3.26283349e+01] [ 2.54898675e-02 9.99653113e-01 -6.62728498e-03 -1.72494919e-02] [ 2.78068442e-02 5.91786628e-03 9.99595797e-01 1.82426078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.945336194999996 meters 0.019315812508950012 Centerline is valid? [True, True] Translation: X:32.69, Y:-0.02, Z:0.18 [[ 9.99294414e-01 -2.35733975e-02 -2.92398555e-02 3.26851072e+01] [ 2.37453091e-02 9.99702656e-01 5.54608372e-03 -2.31752528e-02] [ 2.91004212e-02 -6.23647989e-03 9.99557038e-01 1.77355840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.005336195 meters 0.01797430009634258 Centerline is valid? [True, True] Translation: X:32.74, Y:-0.02, Z:0.18 [[ 9.99443759e-01 -1.91723297e-02 -2.72872564e-02 3.27428381e+01] [ 1.91698155e-02 9.99816180e-01 -3.53753128e-04 -2.17273425e-02] [ 2.72890227e-02 -1.69535314e-04 9.99627571e-01 1.79275747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.065336195 meters 0.017748370646461047 Centerline is valid? [True, True] Translation: X:32.80, Y:-0.01, Z:0.18 [[ 9.99492574e-01 -1.55801601e-02 -2.77822408e-02 3.28005253e+01] [ 1.55760405e-02 9.99878620e-01 -3.64698855e-04 -8.54009128e-03] [ 2.77845506e-02 -6.82235089e-05 9.99613933e-01 1.82810391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.125336194999996 meters 0.017766462323743248 Centerline is valid? [True, True] Translation: X:32.86, Y:0.00, Z:0.18 [[ 9.99689363e-01 -8.54923898e-03 -2.34112947e-02 3.28590966e+01] [ 8.53048744e-03 9.99963209e-01 -9.00714619e-04 2.95855039e-03] [ 2.34181338e-02 7.00725068e-04 9.99725512e-01 1.83425438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.185336195 meters 0.01820622920308418 Centerline is valid? [True, True] Translation: X:32.92, Y:0.01, Z:0.18 [[ 9.99596959e-01 -9.34563244e-03 -2.68063268e-02 3.29163460e+01] [ 9.35560654e-03 9.99956205e-01 2.46684171e-04 7.32510576e-03] [ 2.68028474e-02 -4.97374193e-04 9.99640615e-01 1.82551183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.245336195 meters 0.017230087493761977 Centerline is valid? [True, True] Translation: X:32.97, Y:0.02, Z:0.19 [[ 9.99600111e-01 -1.27549578e-02 -2.52374525e-02 3.29745664e+01] [ 1.27504342e-02 9.99918652e-01 -3.40158705e-04 1.70394086e-02] [ 2.52397382e-02 1.82342011e-05 9.99681427e-01 1.87393641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.305336194999995 meters 0.016172328153221515 Centerline is valid? [True, True] Translation: X:33.03, Y:0.02, Z:0.19 [[ 9.99669580e-01 -1.48259260e-02 -2.09981686e-02 3.30343496e+01] [ 1.47213006e-02 9.99878484e-01 -5.12844863e-03 1.99690895e-02] [ 2.10716510e-02 4.81763374e-03 9.99766361e-01 1.91253774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.365336195 meters 0.017563952737864996 Centerline is valid? [True, True] Translation: X:33.09, Y:0.02, Z:0.19 [[ 9.99449169e-01 -2.26949912e-02 -2.42135633e-02 3.30930592e+01] [ 2.27906160e-02 9.99733485e-01 3.68056292e-03 1.73416682e-02] [ 2.41235797e-02 -4.23037757e-03 9.99700033e-01 1.87959856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.425336195 meters 0.020788089814291838 Centerline is valid? [True, True] Translation: X:33.15, Y:0.03, Z:0.19 [[ 9.99305472e-01 -2.80295733e-02 -2.45543457e-02 3.31518268e+01] [ 2.80297241e-02 9.99607033e-01 -3.38102805e-04 2.55736442e-02] [ 2.45541735e-02 -3.50383551e-04 9.99698439e-01 1.88721289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.485336194999995 meters 0.024249580382242612 Centerline is valid? [True, True] Translation: X:33.21, Y:0.02, Z:0.18 [[ 9.99098646e-01 -3.24196223e-02 -2.74019048e-02 3.32112279e+01] [ 3.24214401e-02 9.99474215e-01 -3.78064380e-04 2.22212728e-02] [ 2.73997540e-02 -5.10685604e-04 9.99624426e-01 1.79669694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.545336195 meters 0.027150536175214592 Centerline is valid? [True, True] Translation: X:33.27, Y:0.04, Z:0.18 [[ 9.98885908e-01 -3.55344083e-02 -3.10523474e-02 3.32716271e+01] [ 3.55382430e-02 9.99368225e-01 -4.28577759e-04 3.54719959e-02] [ 3.10479585e-02 -6.75445583e-04 9.99517668e-01 1.81232756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.605336195 meters 0.02791819930232373 Centerline is valid? [True, True] Translation: X:33.33, Y:0.04, Z:0.19 [[ 9.98872562e-01 -3.81247540e-02 -2.82861889e-02 3.33316930e+01] [ 3.81289732e-02 9.99272750e-01 -3.90388401e-04 3.98831967e-02] [ 2.82805013e-02 -6.88575077e-04 9.99599789e-01 1.86158225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.665336194999995 meters 0.028311770595472123 Centerline is valid? [True, True] Translation: X:33.39, Y:0.04, Z:0.18 [[ 9.98891045e-01 -3.88567756e-02 -2.65862883e-02 3.33938703e+01] [ 3.88607860e-02 9.99244567e-01 -3.66009260e-04 4.25028598e-02] [ 2.65804261e-02 -6.67560687e-04 9.99646455e-01 1.84588672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.725336195 meters 0.027091522074445203 Centerline is valid? [True, True] Translation: X:33.46, Y:0.06, Z:0.19 [[ 9.98941373e-01 -3.85336437e-02 -2.51255317e-02 3.34551808e+01] [ 3.85371471e-02 9.99257109e-01 -3.44940296e-04 5.63081865e-02] [ 2.51201579e-02 -6.23691176e-04 9.99684244e-01 1.92189893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.785336195 meters 0.027001248651478214 Centerline is valid? [True, True] Translation: X:33.52, Y:0.07, Z:0.19 [[ 9.98849990e-01 -3.95620955e-02 -2.70839111e-02 3.35169276e+01] [ 3.95665712e-02 9.99216868e-01 -3.70842921e-04 6.54717899e-02] [ 2.70773721e-02 -7.01201049e-04 9.99633095e-01 1.92451991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.845336194999994 meters 0.031119698300143963 Centerline is valid? [True, True] Translation: X:33.58, Y:0.05, Z:0.18 [[ 9.98706169e-01 -4.22401020e-02 -2.83153980e-02 3.35773723e+01] [ 4.22461103e-02 9.99107160e-01 -3.86268417e-04 5.12301917e-02] [ 2.83064329e-02 -8.10446776e-04 9.99598964e-01 1.80823192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.905336195 meters 0.03467630872378665 Centerline is valid? [True, True] Translation: X:33.64, Y:0.05, Z:0.18 [[ 9.98566079e-01 -4.45897985e-02 -2.96232352e-02 3.36372460e+01] [ 4.45974205e-02 9.99004959e-01 -4.03684717e-04 5.40487202e-02] [ 2.96117591e-02 -9.18014012e-04 9.99561054e-01 1.84468570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.965336195 meters 0.027459428765248765 Centerline is valid? [True, True] Translation: X:33.70, Y:0.06, Z:0.19 [[ 9.98847727e-01 -3.93422859e-02 -2.74845884e-02 3.36977984e+01] [ 3.93468615e-02 9.99225542e-01 -3.74527632e-04 6.27102595e-02] [ 2.74780375e-02 -7.07336220e-04 9.99622157e-01 1.90214098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.025336194999994 meters 0.023220250339980812 Centerline is valid? [True, True] Translation: X:33.76, Y:0.08, Z:0.19 [[ 9.99142004e-01 -3.13468717e-02 -2.70671332e-02 3.37568254e+01] [ 3.13483712e-02 9.99508451e-01 -3.69039084e-04 7.73181480e-02] [ 2.70653966e-02 -4.79788088e-04 9.99633550e-01 1.92239431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.085336195 meters 0.018538669190631137 Centerline is valid? [True, True] Translation: X:33.82, Y:0.09, Z:0.19 [[ 9.99372638e-01 -2.31523208e-02 -2.68011194e-02 3.38171842e+01] [ 2.31508425e-02 9.99731917e-01 -3.65487406e-04 8.88207191e-02] [ 2.68023964e-02 -2.55210382e-04 9.99640719e-01 1.89003129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.145336195 meters 0.017667452557877068 Centerline is valid? [True, True] Translation: X:33.88, Y:0.10, Z:0.19 [[ 9.99478601e-01 -2.10014839e-02 -2.45247567e-02 3.38751598e+01] [ 2.09995742e-02 9.99779428e-01 -3.35435631e-04 9.56735185e-02] [ 2.45263919e-02 -1.79748714e-04 9.99699167e-01 1.91321379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.205336194999994 meters 0.01988772163108705 Centerline is valid? [True, True] Translation: X:33.93, Y:0.10, Z:0.19 [[ 9.99293461e-01 -2.58737468e-02 -2.72603814e-02 3.39341937e+01] [ 2.58731681e-02 9.99665164e-01 -3.74008873e-04 9.51711413e-02] [ 2.72609306e-02 -3.31567809e-04 9.99628297e-01 1.90251301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.265336194999996 meters 0.02411194024546475 Centerline is valid? [True, True] Translation: X:33.99, Y:0.08, Z:0.19 [[ 9.99125003e-01 -3.39310383e-02 -2.44522553e-02 3.39939826e+01] [ 3.39329686e-02 9.99424054e-01 -3.36102013e-04 8.24884636e-02] [ 2.44495764e-02 -4.93929688e-04 9.99700942e-01 1.92534689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.325336195 meters 0.02956610491700394 Centerline is valid? [True, True] Translation: X:34.05, Y:0.07, Z:0.19 [[ 9.98824875e-01 -3.98472831e-02 -2.75873768e-02 3.40540382e+01] [ 3.98519937e-02 9.99205522e-01 -3.79256256e-04 6.93638124e-02] [ 2.75805716e-02 -7.20601386e-04 9.99619324e-01 1.88558985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.385336194999994 meters 0.02912582507227071 Centerline is valid? [True, True] Translation: X:34.12, Y:0.08, Z:0.20 [[ 9.98806346e-01 -4.06388152e-02 -2.70992426e-02 3.41163993e+01] [ 4.06436773e-02 9.99173635e-01 -3.71594988e-04 7.50436064e-02] [ 2.70919500e-02 -7.30261440e-04 9.99632679e-01 1.95974026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.445336194999996 meters 0.024775486305115047 Centerline is valid? [True, True] Translation: X:34.18, Y:0.08, Z:0.19 [[ 9.98985032e-01 -3.52725238e-02 -2.80134933e-02 3.41768243e+01] [ 3.52756208e-02 9.99377548e-01 -3.83785015e-04 7.95185794e-02] [ 2.80095933e-02 -6.04797880e-04 9.99607471e-01 1.93205488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.505336195 meters 0.021911299465377943 Centerline is valid? [True, True] Translation: X:34.24, Y:0.08, Z:0.19 [[ 9.99118999e-01 -3.10875464e-02 -2.81920237e-02 3.42378717e+01] [ 3.10890317e-02 9.99516545e-01 -3.85738582e-04 8.40813153e-02] [ 2.81903858e-02 -4.91063972e-04 9.99602451e-01 1.94427367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.565336195 meters 0.019098396911444677 Centerline is valid? [True, True] Translation: X:34.30, Y:0.10, Z:0.20 [[ 9.99290561e-01 -2.68686668e-02 -2.63903283e-02 3.42981271e+01] [ 2.68685015e-02 9.99638911e-01 -3.60925054e-04 9.94042499e-02] [ 2.63904967e-02 -3.48399576e-04 9.99651649e-01 2.02007436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.625336194999996 meters 0.01745238118840239 Centerline is valid? [True, True] Translation: X:34.36, Y:0.10, Z:0.19 [[ 9.99396930e-01 -2.03400182e-02 -2.81435667e-02 3.43576514e+01] [ 2.03372466e-02 9.99793103e-01 -3.84744012e-04 1.04486655e-01] [ 2.81455696e-02 -1.87850673e-04 9.99603817e-01 1.92012220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.685336195 meters 0.02229294311203488 Centerline is valid? [True, True] Translation: X:34.42, Y:0.12, Z:0.19 [[ 9.99468743e-01 -1.47935700e-02 -2.90410514e-02 3.44151236e+01] [ 1.47881580e-02 9.99890569e-01 -4.01136868e-04 1.15994642e-01] [ 2.90438077e-02 -2.85398944e-05 9.99578139e-01 1.90628290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.745336195 meters 0.017966474780449944 Centerline is valid? [True, True] Translation: X:34.47, Y:0.13, Z:0.19 [[ 9.99485780e-01 -1.22489228e-02 -2.96334171e-02 3.44729670e+01] [ 1.22420874e-02 9.99924978e-01 -4.12089185e-04 1.30279802e-01] [ 2.96362416e-02 4.91024000e-05 9.99560749e-01 1.93663822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.805336194999995 meters 0.01773460988299708 Centerline is valid? [True, True] Translation: X:34.53, Y:0.13, Z:0.19 [[ 9.99423181e-01 -1.26534211e-02 -3.15150309e-02 3.45315931e+01] [ 1.26457461e-02 9.99919941e-01 -4.42844559e-04 1.32149153e-01] [ 3.15181113e-02 4.40580377e-05 9.99503180e-01 1.92147003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.865336195 meters 0.016271570573235153 Centerline is valid? [True, True] Translation: X:34.59, Y:0.14, Z:0.20 [[ 9.99522546e-01 -1.58380524e-02 -2.65299205e-02 3.45900980e+01] [ 1.58336892e-02 9.99874569e-01 -3.74538921e-04 1.36417550e-01] [ 2.65325248e-02 -4.57064182e-05 9.99647950e-01 1.99825386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.925336195 meters 0.01650157648532376 Centerline is valid? [True, True] Translation: X:34.65, Y:0.14, Z:0.20 [[ 9.99426140e-01 -2.09460203e-02 -2.66205720e-02 3.46483814e+01] [ 2.09433451e-02 9.99780592e-01 -3.79333051e-04 1.39086431e-01] [ 2.66226768e-02 -1.78408459e-04 9.99645538e-01 1.99567562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.985336194999995 meters 0.018043382128241008 Centerline is valid? [True, True] Translation: X:34.71, Y:0.15, Z:0.20 [[ 9.99307374e-01 -2.47059277e-02 -2.78278675e-02 3.47066615e+01] [ 2.47044055e-02 9.99694720e-01 -3.98553665e-04 1.46626623e-01] [ 2.78292188e-02 -2.89193305e-04 9.99612650e-01 1.97906948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.045336195 meters 0.023124536952966394 Centerline is valid? [True, True] Translation: X:34.77, Y:0.15, Z:0.19 [[ 9.98983025e-01 -3.26113218e-02 -3.11354608e-02 3.47673908e+01] [ 3.26132438e-02 9.99467947e-01 -4.46238977e-04 1.46889258e-01] [ 3.11334475e-02 -5.69643210e-04 9.99515074e-01 1.91792826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.105336195 meters 0.02869523442717064 Centerline is valid? [True, True] Translation: X:34.83, Y:0.14, Z:0.19 [[ 9.98564693e-01 -4.47202265e-02 -2.94729733e-02 3.48287233e+01] [ 4.47272279e-02 9.98999148e-01 -4.21997428e-04 1.39252201e-01] [ 2.94623471e-02 -8.96852664e-04 9.99565488e-01 1.94393786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.165336194999995 meters 0.035140525751529345 Centerline is valid? [True, True] Translation: X:34.89, Y:0.13, Z:0.20 [[ 9.98142067e-01 -5.31996317e-02 -2.97020907e-02 3.48895924e+01] [ 5.32104999e-02 9.98583227e-01 -4.24938904e-04 1.34448349e-01] [ 2.96826162e-02 -1.15631370e-03 9.99558705e-01 1.97100209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.225336195 meters 0.04148200100728531 Centerline is valid? [True, True] Translation: X:34.95, Y:0.13, Z:0.20 [[ 9.98058354e-01 -5.61504879e-02 -2.69563528e-02 3.49508641e+01] [ 5.61605326e-02 9.98421678e-01 -3.84903538e-04 1.28846191e-01] [ 2.69354195e-02 -1.12972694e-03 9.99636537e-01 1.97844692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.285336195 meters 0.04018896091528571 Centerline is valid? [True, True] Translation: X:35.01, Y:0.13, Z:0.20 [[ 9.98043275e-01 -5.58544129e-02 -2.81052702e-02 3.50128053e+01] [ 5.58652497e-02 9.98438237e-01 -4.00094549e-04 1.31491972e-01] [ 2.80837235e-02 -1.17079627e-03 9.99604889e-01 1.98482843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.345336194999994 meters 0.03743897240453591 Centerline is valid? [True, True] Translation: X:35.08, Y:0.14, Z:0.19 [[ 9.98073808e-01 -5.31467248e-02 -3.20015633e-02 3.50754560e+01] [ 5.31594458e-02 9.98585934e-01 -4.53767011e-04 1.35363313e-01] [ 3.19804272e-02 -1.24829240e-03 9.99487716e-01 1.93504702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.405336195 meters 0.034332501356801486 Centerline is valid? [True, True] Translation: X:35.13, Y:0.14, Z:0.19 [[ 9.98326250e-01 -4.64075172e-02 -3.45114630e-02 3.51348149e+01] [ 4.64182995e-02 9.98921970e-01 -4.89161416e-04 1.43520320e-01] [ 3.44969594e-02 -1.11362075e-03 9.99404182e-01 1.88667303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.465336195 meters 0.02686717630790091 Centerline is valid? [True, True] Translation: X:35.20, Y:0.15, Z:0.19 [[ 9.98685211e-01 -3.83355587e-02 -3.40328392e-02 3.51956211e+01] [ 3.83413622e-02 9.99264583e-01 -4.82319300e-04 1.52991318e-01] [ 3.40263008e-02 -8.23180260e-04 9.99420599e-01 1.89243131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.525336194999994 meters 0.02305453144997827 Centerline is valid? [True, True] Translation: X:35.26, Y:0.16, Z:0.20 [[ 9.98875025e-01 -3.42351175e-02 -3.28122159e-02 3.52562697e+01] [ 3.42383127e-02 9.99413589e-01 -4.64650356e-04 1.64889329e-01] [ 3.28088818e-02 -6.59307274e-04 9.99461426e-01 1.97987441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.585336195 meters 0.021637615711873493 Centerline is valid? [True, True] Translation: X:35.32, Y:0.17, Z:0.20 [[ 9.99040556e-01 -3.05006059e-02 -3.14273870e-02 3.53155901e+01] [ 3.05017138e-02 9.99534616e-01 -4.44270340e-04 1.70985839e-01] [ 3.14263118e-02 -5.14745079e-04 9.99505939e-01 1.97543364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.645336195 meters 0.01962896337521345 Centerline is valid? [True, True] Translation: X:35.38, Y:0.17, Z:0.20 [[ 9.99121690e-01 -2.94650736e-02 -2.97935971e-02 3.53762969e+01] [ 2.94656146e-02 9.99565706e-01 -4.20979414e-04 1.70811838e-01] [ 2.97930621e-02 -4.57276985e-04 9.99555984e-01 1.97471399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.705336194999994 meters 0.021381937521484214 Centerline is valid? [True, True] Translation: X:35.44, Y:0.17, Z:0.20 [[ 9.99127516e-01 -3.05040139e-02 -2.85256193e-02 3.54353732e+01] [ 3.05049257e-02 9.99534535e-01 -4.03314023e-04 1.68201548e-01] [ 2.85246444e-02 -4.67209760e-04 9.99592980e-01 1.95858561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.765336194999996 meters 0.023312429635646028 Centerline is valid? [True, True] Translation: X:35.50, Y:0.17, Z:0.20 [[ 9.98981089e-01 -3.49160585e-02 -2.85946133e-02 3.54960855e+01] [ 3.49187855e-02 9.99390072e-01 -4.04126560e-04 1.67367451e-01] [ 2.85912832e-02 -5.94774378e-04 9.99591009e-01 2.02215826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.825336195 meters 0.023798845252484244 Centerline is valid? [True, True] Translation: X:35.56, Y:0.16, Z:0.20 [[ 9.98934833e-01 -3.61127267e-02 -2.87240531e-02 3.55586927e+01] [ 3.61160045e-02 9.99347522e-01 -4.04857059e-04 1.61850431e-01] [ 2.87199318e-02 -6.32972210e-04 9.99587297e-01 2.00039077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.885336194999994 meters 0.023287204954986027 Centerline is valid? [True, True] Translation: X:35.62, Y:0.17, Z:0.21 [[ 9.98927435e-01 -3.62541169e-02 -2.88031148e-02 3.56202070e+01] [ 3.62575037e-02 9.99342399e-01 -4.04849869e-04 1.71783284e-01] [ 2.87988513e-02 -6.39913400e-04 9.99585022e-01 2.09560577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.945336194999996 meters 0.021799395264252234 Centerline is valid? [True, True] Translation: X:35.68, Y:0.17, Z:0.20 [[ 9.99026886e-01 -3.28147136e-02 -2.94699028e-02 3.56808054e+01] [ 3.28167793e-02 9.99461299e-01 -4.13689599e-04 1.72613166e-01] [ 2.94676024e-02 -5.53820265e-04 9.99565582e-01 2.02311339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.005336195 meters 0.022814538719039715 Centerline is valid? [True, True] Translation: X:35.74, Y:0.17, Z:0.20 [[ 9.99090861e-01 -3.29032788e-02 -2.71076811e-02 3.57418688e+01] [ 3.29050733e-02 9.99458409e-01 -3.79990253e-04 1.66827022e-01] [ 2.71055028e-02 -5.12335445e-04 9.99632447e-01 2.01018774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06533619499999 meters 0.026587126108159907 Centerline is valid? [True, True] Translation: X:35.80, Y:0.17, Z:0.21 [[ 9.98959425e-01 -3.85181458e-02 -2.44217186e-02 3.58038273e+01] [ 3.85213012e-02 9.99257721e-01 -3.41405221e-04 1.70298874e-01] [ 2.44167412e-02 -5.99706416e-04 9.99701687e-01 2.14848969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.125336194999996 meters 0.02846251306550902 Centerline is valid? [True, True] Translation: X:35.87, Y:0.17, Z:0.21 [[ 9.98988385e-01 -3.88861879e-02 -2.25847527e-02 3.58665137e+01] [ 3.88890032e-02 9.99243487e-01 -3.14704756e-04 1.67141145e-01] [ 2.25799047e-02 -5.63912125e-04 9.99744882e-01 2.14821089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.185336195 meters 0.02357946703238908 Centerline is valid? [True, True] Translation: X:35.93, Y:0.17, Z:0.21 [[ 9.99009369e-01 -3.55593520e-02 -2.67546825e-02 3.59289912e+01] [ 3.55621467e-02 9.99367398e-01 -3.71500638e-04 1.72070665e-01] [ 2.67509678e-02 -5.80321325e-04 9.99641960e-01 2.06814422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.245336195 meters 0.019621250741280228 Centerline is valid? [True, True] Translation: X:35.99, Y:0.19, Z:0.21 [[ 9.99152056e-01 -2.91541346e-02 -2.90724203e-02 3.59905439e+01] [ 2.91547577e-02 9.99574829e-01 -4.02544407e-04 1.86220318e-01] [ 2.90717954e-02 -4.45396300e-04 9.99577227e-01 2.06407454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.305336194999995 meters 0.019157569953093034 Centerline is valid? [True, True] Translation: X:36.05, Y:0.19, Z:0.21 [[ 9.99209894e-01 -2.67027365e-02 -2.94372427e-02 3.60512136e+01] [ 2.67023350e-02 9.99643346e-01 -4.06815650e-04 1.93565263e-01] [ 2.94376069e-02 -3.79548894e-04 9.99566548e-01 2.07755729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.365336195 meters 0.021418962907113523 Centerline is valid? [True, True] Translation: X:36.11, Y:0.19, Z:0.21 [[ 9.99124704e-01 -3.18047884e-02 -2.71713393e-02 3.61115042e+01] [ 3.18063359e-02 9.99493980e-01 -3.75342983e-04 1.92355170e-01] [ 2.71695278e-02 -4.89206299e-04 9.99630721e-01 2.12731749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.425336195 meters 0.026047171145539158 Centerline is valid? [True, True] Translation: X:36.17, Y:0.18, Z:0.21 [[ 9.98938840e-01 -3.79060762e-02 -2.61595711e-02 3.61713896e+01] [ 3.79096252e-02 9.99281107e-01 -3.60430726e-04 1.80955116e-01] [ 2.61544276e-02 -6.31651284e-04 9.99657715e-01 2.09032365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.485336194999995 meters 0.029237116430194 Centerline is valid? [True, True] Translation: X:36.23, Y:0.18, Z:0.21 [[ 9.98697418e-01 -4.22209164e-02 -2.86506905e-02 3.62321320e+01] [ 4.22269610e-02 9.99107966e-01 -3.94301713e-04 1.75959038e-01] [ 2.86417809e-02 -8.16043489e-04 9.99589407e-01 2.07162571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.545336195 meters 0.03282465184736008 Centerline is valid? [True, True] Translation: X:36.29, Y:0.18, Z:0.21 [[ 9.98548429e-01 -4.42994255e-02 -3.06365116e-02 3.62935747e+01] [ 4.43073326e-02 9.99017859e-01 -4.21062942e-04 1.79040904e-01] [ 3.06250751e-02 -9.36970368e-04 9.99530503e-01 2.11022117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.605336195 meters 0.030403993475979718 Centerline is valid? [True, True] Translation: X:36.35, Y:0.17, Z:0.21 [[ 9.98630408e-01 -4.31139652e-02 -2.96394189e-02 3.63542177e+01] [ 4.31208565e-02 9.99069780e-01 -4.06932327e-04 1.74371514e-01] [ 2.96293922e-02 -8.71702131e-04 9.99560573e-01 2.08194611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.665336194999995 meters 0.03187131369845081 Centerline is valid? [True, True] Translation: X:36.42, Y:0.17, Z:0.21 [[ 9.98618884e-01 -4.46535356e-02 -2.76836834e-02 3.64167822e+01] [ 4.46601665e-02 9.99002165e-01 -3.79036557e-04 1.67243643e-01] [ 2.76729850e-02 -8.57844847e-04 9.99616662e-01 2.08555378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.725336195 meters 0.029099444518863572 Centerline is valid? [True, True] Translation: X:36.48, Y:0.17, Z:0.21 [[ 9.98533925e-01 -4.52157685e-02 -2.97579416e-02 3.64790999e+01] [ 4.52237236e-02 9.98976802e-01 -4.05992852e-04 1.68069954e-01] [ 2.97458506e-02 -9.40367291e-04 9.99557052e-01 2.13105759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.785336195 meters 0.028434276015547745 Centerline is valid? [True, True] Translation: X:36.54, Y:0.16, Z:0.21 [[ 9.98662771e-01 -4.06939889e-02 -3.18852357e-02 3.65397938e+01] [ 4.07008421e-02 9.99171283e-01 -4.34350327e-04 1.63663270e-01] [ 3.18764873e-02 -8.63986441e-04 9.99491442e-01 2.05683872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.845336194999994 meters 0.021994305601890113 Centerline is valid? [True, True] Translation: X:36.60, Y:0.17, Z:0.21 [[ 9.99110275e-01 -3.07634914e-02 -2.88490273e-02 3.66006415e+01] [ 3.07649710e-02 9.99526569e-01 -3.92678007e-04 1.73634232e-01] [ 2.88474494e-02 -4.95210855e-04 9.99583703e-01 2.12416455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.905336195 meters 0.017008947072924684 Centerline is valid? [True, True] Translation: X:36.66, Y:0.18, Z:0.21 [[ 9.99262414e-01 -2.45584998e-02 -2.95213094e-02 3.66617827e+01] [ 2.45573603e-02 9.99698342e-01 -4.01215782e-04 1.81419661e-01] [ 2.95222573e-02 -3.24045581e-04 9.99564071e-01 2.14039012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.965336195 meters 0.016941810187871664 Centerline is valid? [True, True] Translation: X:36.72, Y:0.19, Z:0.22 [[ 9.99325430e-01 -2.25091761e-02 -2.90176153e-02 3.67195450e+01] [ 2.25071789e-02 9.99746603e-01 -3.95485210e-04 1.86365963e-01] [ 2.90191643e-02 -2.57886232e-04 9.99578822e-01 2.17502488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.025336194999994 meters 0.01700250197338689 Centerline is valid? [True, True] Translation: X:36.78, Y:0.17, Z:0.21 [[ 9.99311614e-01 -2.30569294e-02 -2.90633131e-02 3.67778840e+01] [ 2.30550292e-02 9.99734117e-01 -4.00524714e-04 1.74521345e-01] [ 2.90648205e-02 -2.69806533e-04 9.99577492e-01 2.07667476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.085336195 meters 0.01567751139152905 Centerline is valid? [True, True] Translation: X:36.84, Y:0.18, Z:0.22 [[ 9.99402919e-01 -2.31762453e-02 -2.56255023e-02 3.68371190e+01] [ 2.31747061e-02 9.99731367e-01 -3.57084633e-04 1.78579392e-01] [ 2.56268943e-02 -2.36992059e-04 9.99671549e-01 2.18867159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.145336195 meters 0.017316300461422098 Centerline is valid? [True, True] Translation: X:36.90, Y:0.18, Z:0.21 [[ 9.99302988e-01 -2.39949891e-02 -2.85968204e-02 3.68958453e+01] [ 2.39933516e-02 9.99712038e-01 -4.00448715e-04 1.80102003e-01] [ 2.85981943e-02 -2.85963967e-04 9.99590947e-01 2.13783674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.205336194999994 meters 0.018811174210448395 Centerline is valid? [True, True] Translation: X:36.95, Y:0.17, Z:0.22 [[ 9.99194224e-01 -2.92679954e-02 -2.74643063e-02 3.69542440e+01] [ 2.92684369e-02 9.99571513e-01 -3.86003938e-04 1.71802965e-01] [ 2.74638358e-02 -4.18144412e-04 9.99622710e-01 2.15866938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.265336194999996 meters 0.023210034488352852 Centerline is valid? [True, True] Translation: X:37.01, Y:0.17, Z:0.22 [[ 9.98977029e-01 -3.49249030e-02 -2.87253738e-02 3.70142256e+01] [ 3.49277278e-02 9.99389759e-01 -4.03567926e-04 1.66425481e-01] [ 2.87219390e-02 -6.00156949e-04 9.99587260e-01 2.16446538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.325336195 meters 0.02341998379420649 Centerline is valid? [True, True] Translation: X:37.08, Y:0.16, Z:0.22 [[ 9.98908601e-01 -3.71756110e-02 -2.82768662e-02 3.70765347e+01] [ 3.71792832e-02 9.99308533e-01 -3.96067744e-04 1.64045879e-01] [ 2.82720378e-02 -6.55678141e-04 9.99600051e-01 2.15884027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.385336194999994 meters 0.023288876454713312 Centerline is valid? [True, True] Translation: X:37.14, Y:0.17, Z:0.22 [[ 9.98960978e-01 -3.66165689e-02 -2.71328424e-02 3.71374248e+01] [ 3.66197716e-02 9.99329199e-01 -3.79010235e-04 1.65691256e-01] [ 2.71285197e-02 -6.14982054e-04 9.99631765e-01 2.16926529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.445336194999996 meters 0.022547260071229418 Centerline is valid? [True, True] Translation: X:37.20, Y:0.18, Z:0.22 [[ 9.98937121e-01 -3.45045203e-02 -3.05625101e-02 3.71990617e+01] [ 3.45076531e-02 9.99404343e-01 -4.25089502e-04 1.79162668e-01] [ 3.05589728e-02 -6.30002812e-04 9.99532767e-01 2.17248142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.505336195 meters 0.021377579893024783 Centerline is valid? [True, True] Translation: X:37.26, Y:0.18, Z:0.21 [[ 9.98973980e-01 -3.48129351e-02 -2.89663144e-02 3.72610275e+01] [ 3.48159216e-02 9.99393661e-01 -4.01393067e-04 1.77922139e-01] [ 2.89627247e-02 -6.07507705e-04 9.99580308e-01 2.14933482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56533619499999 meters 0.020681030171235747 Centerline is valid? [True, True] Translation: X:37.32, Y:0.18, Z:0.21 [[ 9.98941978e-01 -3.40308598e-02 -3.09326030e-02 3.73234253e+01] [ 3.40339385e-02 9.99420586e-01 -4.27123555e-04 1.82956459e-01] [ 3.09292156e-02 -6.26086660e-04 9.99521381e-01 2.13890019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.625336194999996 meters 0.01963331949502602 Centerline is valid? [True, True] Translation: X:37.39, Y:0.19, Z:0.22 [[ 9.99064462e-01 -3.19359094e-02 -2.91598802e-02 3.73852233e+01] [ 3.19377855e-02 9.99489778e-01 -4.01527774e-04 1.93068316e-01] [ 2.91578253e-02 -5.30149868e-04 9.99574680e-01 2.19570431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.685336195 meters 0.019853164775200865 Centerline is valid? [True, True] Translation: X:37.45, Y:0.20, Z:0.23 [[ 9.99137951e-01 -3.27896090e-02 -2.54597193e-02 3.74459795e+01] [ 3.27913324e-02 9.99462158e-01 -3.49915592e-04 1.98023172e-01] [ 2.54574996e-02 -4.85244171e-04 9.99675788e-01 2.26375061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.745336195 meters 0.022288706144321064 Centerline is valid? [True, True] Translation: X:37.51, Y:0.19, Z:0.22 [[ 9.99049763e-01 -3.44028541e-02 -2.67584562e-02 3.75072155e+01] [ 3.44053748e-02 9.99407893e-01 -3.66326605e-04 1.91061048e-01] [ 2.67552150e-02 -5.54656206e-04 9.99641861e-01 2.19023176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.805336194999995 meters 0.020323237639026458 Centerline is valid? [True, True] Translation: X:37.57, Y:0.20, Z:0.22 [[ 9.99091699e-01 -3.10539413e-02 -2.91792563e-02 3.75692876e+01] [ 3.10555563e-02 9.99517581e-01 -3.97945654e-04 2.01870622e-01] [ 2.91775374e-02 -5.08593837e-04 9.99574116e-01 2.20610931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.865336195 meters 0.01673927760227957 Centerline is valid? [True, True] Translation: X:37.63, Y:0.21, Z:0.22 [[ 9.99244437e-01 -2.34483480e-02 -3.09956344e-02 3.76309836e+01] [ 2.34465494e-02 9.99725003e-01 -4.21534599e-04 2.11467743e-01] [ 3.09969949e-02 -3.05524567e-04 9.99519431e-01 2.15900071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.925336195 meters 0.014722486698709032 Centerline is valid? [True, True] Translation: X:37.69, Y:0.23, Z:0.22 [[ 9.99360829e-01 -1.86993300e-02 -3.04675065e-02 3.76893139e+01] [ 1.86952770e-02 9.99825141e-01 -4.17910647e-04 2.27006749e-01] [ 3.04699936e-02 -1.51954944e-04 9.99535670e-01 2.19148149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.985336194999995 meters 0.014025696200941339 Centerline is valid? [True, True] Translation: X:37.75, Y:0.24, Z:0.23 [[ 9.99478569e-01 -1.68846030e-02 -2.75227113e-02 3.77473006e+01] [ 1.68805516e-02 9.99857441e-01 -3.79554529e-04 2.39017914e-01] [ 2.75251963e-02 -8.52419302e-05 9.99621106e-01 2.25083339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.045336195 meters 0.013939047743173151 Centerline is valid? [True, True] Translation: X:37.81, Y:0.24, Z:0.22 [[ 9.99407672e-01 -1.97387191e-02 -2.81902151e-02 3.78061226e+01] [ 1.97354955e-02 9.99805159e-01 -3.92603154e-04 2.39409114e-01] [ 2.81924720e-02 -1.63977260e-04 9.99602500e-01 2.24407827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.105336195 meters 0.015620321690250528 Centerline is valid? [True, True] Translation: X:37.86, Y:0.24, Z:0.22 [[ 9.99342454e-01 -2.46784215e-02 -2.65637825e-02 3.78635464e+01] [ 2.46772426e-02 9.99695401e-01 -3.72244086e-04 2.36627988e-01] [ 2.65648776e-02 -2.83521588e-04 9.99647051e-01 2.24496834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.165336194999995 meters 0.01887172031546057 Centerline is valid? [True, True] Translation: X:37.92, Y:0.23, Z:0.23 [[ 9.99136437e-01 -3.23344735e-02 -2.60933232e-02 3.79243021e+01] [ 3.23359401e-02 9.99476990e-01 -3.65850807e-04 2.34350500e-01] [ 2.60915057e-02 -4.78217262e-04 9.99659444e-01 2.29171849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.225336195 meters 0.022642384335328367 Centerline is valid? [True, True] Translation: X:37.98, Y:0.23, Z:0.22 [[ 9.98963777e-01 -3.65955179e-02 -2.70580867e-02 3.79845417e+01] [ 3.65986595e-02 9.99329973e-01 -3.79286183e-04 2.27340966e-01] [ 2.70538372e-02 -6.11396543e-04 9.99633791e-01 2.23906132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.285336195 meters 0.02526620358568242 Centerline is valid? [True, True] Translation: X:38.05, Y:0.23, Z:0.23 [[ 9.98753092e-01 -4.13358439e-02 -2.79930318e-02 3.80453827e+01] [ 4.13410735e-02 9.99145015e-01 -3.92148165e-04 2.28780894e-01] [ 2.79853079e-02 -7.65602790e-04 9.99608041e-01 2.27556414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.345336194999994 meters 0.028538475000642462 Centerline is valid? [True, True] Translation: X:38.11, Y:0.22, Z:0.22 [[ 9.98689613e-01 -4.26812291e-02 -2.82377486e-02 3.81064529e+01] [ 4.26871370e-02 9.99088411e-01 -3.93837160e-04 2.20233914e-01] [ 2.82288168e-02 -8.12067562e-04 9.99601158e-01 2.20981758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.405336195 meters 0.027512592478471674 Centerline is valid? [True, True] Translation: X:38.17, Y:0.22, Z:0.23 [[ 9.98684419e-01 -4.46757577e-02 -2.51695676e-02 3.81699275e+01] [ 4.46811283e-02 9.99001239e-01 -3.49255223e-04 2.21175152e-01] [ 2.51600325e-02 -7.75808931e-04 9.99683135e-01 2.29134231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.465336195 meters 0.029150399919913743 Centerline is valid? [True, True] Translation: X:38.23, Y:0.22, Z:0.23 [[ 9.98677692e-01 -4.45228133e-02 -2.57018611e-02 3.82310362e+01] [ 4.45283934e-02 9.99008056e-01 -3.55461225e-04 2.18381145e-01] [ 2.56921924e-02 -7.89471386e-04 9.99669589e-01 2.28023144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.525336194999994 meters 0.028189936046289884 Centerline is valid? [True, True] Translation: X:38.29, Y:0.22, Z:0.22 [[ 9.98850540e-01 -3.95343358e-02 -2.71041542e-02 3.82907886e+01] [ 3.95387141e-02 9.99217969e-01 -3.74583536e-04 2.16093535e-01] [ 2.70977668e-02 -6.97510437e-04 9.99632545e-01 2.22983144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.585336195 meters 0.01865506120281382 Centerline is valid? [True, True] Translation: X:38.35, Y:0.23, Z:0.23 [[ 9.99133201e-01 -3.11146947e-02 -2.76536077e-02 3.83509046e+01] [ 3.11160310e-02 9.99515706e-01 -3.82098537e-04 2.31865245e-01] [ 2.76521041e-02 -4.78703181e-04 9.99617493e-01 2.29056285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.645336195 meters 0.014586176841209882 Centerline is valid? [True, True] Translation: X:38.41, Y:0.24, Z:0.23 [[ 9.99358107e-01 -2.22844053e-02 -2.80495748e-02 3.84114932e+01] [ 2.22823167e-02 9.99751643e-01 -3.87065115e-04 2.43347724e-01] [ 2.80512340e-02 -2.38192848e-04 9.99606458e-01 2.27512462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.705336194999994 meters 0.014501916493437397 Centerline is valid? [True, True] Translation: X:38.47, Y:0.24, Z:0.23 [[ 9.99421174e-01 -1.99781927e-02 -2.75352291e-02 3.84692731e+01] [ 1.99752638e-02 9.99800402e-01 -3.81453575e-04 2.44926658e-01] [ 2.75373539e-02 -1.68790687e-04 9.99620761e-01 2.25492026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.765336194999996 meters 0.014352226026073892 Centerline is valid? [True, True] Translation: X:38.53, Y:0.24, Z:0.23 [[ 9.99395030e-01 -2.40079841e-02 -2.51632691e-02 3.85282724e+01] [ 2.40067278e-02 9.99711735e-01 -3.52061423e-04 2.35540843e-01] [ 2.51644677e-02 -2.52239315e-04 9.99683293e-01 2.30452500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.825336195 meters 0.017651099051221066 Centerline is valid? [True, True] Translation: X:38.59, Y:0.23, Z:0.23 [[ 9.99277712e-01 -2.85464791e-02 -2.50829103e-02 3.85881602e+01] [ 2.85466299e-02 9.99592400e-01 -3.52132494e-04 2.30069769e-01] [ 2.50827386e-02 -3.64154404e-04 9.99685312e-01 2.34234651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.885336194999994 meters 0.016995597572845314 Centerline is valid? [True, True] Translation: X:38.65, Y:0.22, Z:0.23 [[ 9.99322296e-01 -2.86886867e-02 -2.30631245e-02 3.86505851e+01] [ 2.86888685e-02 9.99588337e-01 -3.23054902e-04 2.23023337e-01] [ 2.30628983e-02 -3.38818979e-04 9.99733959e-01 2.34203990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.945336194999996 meters 0.016889099443826616 Centerline is valid? [True, True] Translation: X:38.71, Y:0.22, Z:0.23 [[ 9.99307086e-01 -2.74019249e-02 -2.51889532e-02 3.87129157e+01] [ 2.74017634e-02 9.99624439e-01 -3.51644439e-04 2.21512977e-01] [ 2.51891289e-02 -3.38820953e-04 9.99682646e-01 2.31328956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.005336195 meters 0.014685020592137606 Centerline is valid? [True, True] Translation: X:38.77, Y:0.22, Z:0.23 [[ 9.99382724e-01 -2.38064740e-02 -2.58345363e-02 3.87738501e+01] [ 2.38051229e-02 9.99716553e-01 -3.59885966e-04 2.23937223e-01] [ 2.58357812e-02 -2.55330496e-04 9.99666168e-01 2.29126845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06533619499999 meters 0.015263651394170654 Centerline is valid? [True, True] Translation: X:38.83, Y:0.22, Z:0.23 [[ 9.99330075e-01 -2.38896617e-02 -2.77251597e-02 3.88347393e+01] [ 2.38881429e-02 9.99714563e-01 -3.86042285e-04 2.23822960e-01] [ 2.77264684e-02 -2.76518912e-04 9.99615509e-01 2.26495018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.125336194999996 meters 0.016124036578598323 Centerline is valid? [True, True] Translation: X:38.89, Y:0.22, Z:0.23 [[ 9.99317644e-01 -2.59707627e-02 -2.62633947e-02 3.88935781e+01] [ 2.59700379e-02 9.99662654e-01 -3.68744372e-04 2.18047279e-01] [ 2.62641114e-02 -3.13568599e-04 9.99654990e-01 2.26753085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.185336195 meters 0.025166504067594905 Centerline is valid? [True, True] Translation: X:38.95, Y:0.21, Z:0.23 [[ 9.99013916e-01 -3.41983455e-02 -2.83137436e-02 3.89541437e+01] [ 3.42007705e-02 9.99414903e-01 -3.98760845e-04 2.10035418e-01] [ 2.83108143e-02 -5.69984215e-04 9.99599006e-01 2.30872144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.245336195 meters 0.02708547967503897 Centerline is valid? [True, True] Translation: X:39.01, Y:0.20, Z:0.23 [[ 9.98701608e-01 -4.21805090e-02 -2.85640113e-02 3.90146291e+01] [ 4.21862401e-02 9.99109683e-01 -4.02224846e-04 1.96905411e-01] [ 2.85555464e-02 -8.03305640e-04 9.99591884e-01 2.30084506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.305336194999995 meters 0.029010278164299783 Centerline is valid? [True, True] Translation: X:39.08, Y:0.19, Z:0.23 [[ 9.98672575e-01 -4.30843878e-02 -2.82280523e-02 3.90761491e+01] [ 4.30903664e-02 9.99071100e-01 -3.96751682e-04 1.90919739e-01] [ 2.82189251e-02 -8.20132093e-04 9.99601430e-01 2.31203968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.365336195 meters 0.025927104123981144 Centerline is valid? [True, True] Translation: X:39.14, Y:0.19, Z:0.22 [[ 9.98835527e-01 -3.87079358e-02 -2.87973334e-02 3.91362144e+01] [ 3.87123482e-02 9.99250314e-01 -4.04493163e-04 1.89366389e-01] [ 2.87914015e-02 -7.10790255e-04 9.99585189e-01 2.24525498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.425336195 meters 0.022074537433483112 Centerline is valid? [True, True] Translation: X:39.20, Y:0.19, Z:0.23 [[ 9.98994713e-01 -3.43211770e-02 -2.88378426e-02 3.91979844e+01] [ 3.43237964e-02 9.99410683e-01 -4.04325352e-04 1.93318162e-01] [ 2.88347249e-02 -5.85905348e-04 9.99584021e-01 2.25537963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.485336194999995 meters 0.019240939005410334 Centerline is valid? [True, True] Translation: X:39.26, Y:0.20, Z:0.23 [[ 9.99125266e-01 -3.03485981e-02 -2.87691592e-02 3.92590978e+01] [ 3.03495803e-02 9.99539264e-01 -4.02617469e-04 2.00161896e-01] [ 2.87681231e-02 -4.70866622e-04 9.99586001e-01 2.31166924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.545336195 meters 0.01674884180252522 Centerline is valid? [True, True] Translation: X:39.32, Y:0.20, Z:0.23 [[ 9.99224140e-01 -2.60378898e-02 -2.95490473e-02 3.93199378e+01] [ 2.60370545e-02 9.99660893e-01 -4.13102183e-04 2.03486860e-01] [ 2.95497834e-02 -3.56588482e-04 9.99563246e-01 2.31674974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.605336195 meters 0.016803826958078347 Centerline is valid? [True, True] Translation: X:39.38, Y:0.21, Z:0.23 [[ 9.99280375e-01 -2.30585009e-02 -3.01170502e-02 3.93785372e+01] [ 2.30562573e-02 9.99734080e-01 -4.21811326e-04 2.06233125e-01] [ 3.01187678e-02 -2.72878679e-04 9.99546290e-01 2.25801939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.665336194999995 meters 0.013954490688072595 Centerline is valid? [True, True] Translation: X:39.44, Y:0.21, Z:0.23 [[ 9.99349789e-01 -1.91536406e-02 -3.05472889e-02 3.94369751e+01] [ 1.91493822e-02 9.99816540e-01 -4.31973341e-04 2.11369111e-01] [ 3.05499586e-02 -1.53269242e-04 9.99533229e-01 2.28381787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.725336195 meters 0.014105712690556335 Centerline is valid? [True, True] Translation: X:39.50, Y:0.22, Z:0.23 [[ 9.99374711e-01 -1.74821538e-02 -3.07337303e-02 3.94950675e+01] [ 1.74768783e-02 9.99847171e-01 -4.40290578e-04 2.17943983e-01] [ 3.07367305e-02 -9.71143950e-05 9.99527510e-01 2.30910796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.785336195 meters 0.013646144866284066 Centerline is valid? [True, True] Translation: X:39.55, Y:0.21, Z:0.23 [[ 9.99456307e-01 -1.65833620e-02 -2.84970454e-02 3.95535060e+01] [ 1.65783959e-02 9.99862485e-01 -4.10540150e-04 2.14790789e-01] [ 2.84999347e-02 -6.21183588e-05 9.99593792e-01 2.31689450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.845336194999994 meters 0.013265936876555463 Centerline is valid? [True, True] Translation: X:39.61, Y:0.21, Z:0.24 [[ 9.99398428e-01 -1.95804144e-02 -2.86249668e-02 3.96123299e+01] [ 1.95765204e-02 9.99808275e-01 -4.16300558e-04 2.12310845e-01] [ 2.86276301e-02 -1.44327123e-04 9.99590135e-01 2.35113656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.905336195 meters 0.013453932168320014 Centerline is valid? [True, True] Translation: X:39.67, Y:0.21, Z:0.23 [[ 9.99390973e-01 -2.13781481e-02 -2.75800209e-02 3.96708605e+01] [ 2.13750911e-02 9.99771444e-01 -4.05688284e-04 2.05439700e-01] [ 2.75823902e-02 -1.84084251e-04 9.99619517e-01 2.34760145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.965336195 meters 0.013827390943855832 Centerline is valid? [True, True] Translation: X:39.73, Y:0.21, Z:0.23 [[ 9.99319975e-01 -2.07139134e-02 -3.05044586e-02 3.97298475e+01] [ 2.07097873e-02 9.99785428e-01 -4.51236537e-04 2.08328775e-01] [ 3.05072601e-02 -1.80811163e-04 9.99534529e-01 2.33911833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.025336194999994 meters 0.015793036161378646 Centerline is valid? [True, True] Translation: X:39.79, Y:0.20, Z:0.22 [[ 9.99287826e-01 -2.05502542e-02 -3.16469361e-02 3.97875146e+01] [ 2.05456731e-02 9.99788805e-01 -4.69969555e-04 2.03042659e-01] [ 3.16499105e-02 -1.80572750e-04 9.99499000e-01 2.23818086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.085336195 meters 0.014888268043000547 Centerline is valid? [True, True] Translation: X:39.85, Y:0.21, Z:0.23 [[ 9.99322615e-01 -2.03433365e-02 -3.06669070e-02 3.98461872e+01] [ 2.03388071e-02 9.99793039e-01 -4.59657477e-04 2.06408988e-01] [ 3.06699111e-02 -1.64382195e-04 9.99529554e-01 2.31081157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.145336195 meters 0.015499792348682848 Centerline is valid? [True, True] Translation: X:39.90, Y:0.20, Z:0.23 [[ 9.99294632e-01 -2.23942358e-02 -3.01452722e-02 3.99032167e+01] [ 2.23907009e-02 9.99749193e-01 -4.54862677e-04 2.04399243e-01] [ 3.01478979e-02 -2.20431942e-04 9.99545425e-01 2.31702051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.205336194999994 meters 0.014629531346456866 Centerline is valid? [True, True] Translation: X:39.96, Y:0.20, Z:0.24 [[ 9.99312448e-01 -2.50801665e-02 -2.73059697e-02 3.99624996e+01] [ 2.50782061e-02 9.99685406e-01 -4.14303337e-04 2.00512776e-01] [ 2.73077702e-02 -2.70766253e-04 9.99627037e-01 2.38104281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.265336194999996 meters 0.01920392769670958 Centerline is valid? [True, True] Translation: X:40.02, Y:0.19, Z:0.24 [[ 9.99076437e-01 -3.28736012e-02 -2.76694510e-02 4.00233352e+01] [ 3.28745573e-02 9.99459397e-01 -4.20466957e-04 1.86178478e-01] [ 2.76683151e-02 -4.89542322e-04 9.99617039e-01 2.38352822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.325336195 meters 0.02159793531266108 Centerline is valid? [True, True] Translation: X:40.08, Y:0.18, Z:0.24 [[ 9.99006518e-01 -3.45793133e-02 -2.81113654e-02 4.00840249e+01] [ 3.45809888e-02 9.99401808e-01 -4.26696598e-04 1.83931894e-01] [ 2.81093043e-02 -5.45846131e-04 9.99604706e-01 2.39252494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.385336194999994 meters 0.02082494332970344 Centerline is valid? [True, True] Translation: X:40.14, Y:0.18, Z:0.24 [[ 9.99092228e-01 -3.27322309e-02 -2.72639178e-02 4.01443652e+01] [ 3.27331300e-02 9.99464042e-01 -4.13440815e-04 1.79241068e-01] [ 2.72628383e-02 -4.79367860e-04 9.99628185e-01 2.35540607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.445336194999996 meters 0.017549347182148987 Centerline is valid? [True, True] Translation: X:40.21, Y:0.19, Z:0.24 [[ 9.99180552e-01 -2.76389578e-02 -2.95687629e-02 4.02054691e+01] [ 2.76378041e-02 9.99617903e-01 -4.47791350e-04 1.85980103e-01] [ 2.95698412e-02 -3.69791266e-04 9.99562648e-01 2.36698773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.505336195 meters 0.015784709964319427 Centerline is valid? [True, True] Translation: X:40.27, Y:0.19, Z:0.23 [[ 9.99226285e-01 -2.41314187e-02 -3.10564925e-02 4.02651624e+01] [ 2.41284407e-02 9.99708756e-01 -4.70703289e-04 1.89928061e-01] [ 3.10588063e-02 -2.79005640e-04 9.99517520e-01 2.33867647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56533619499999 meters 0.014832155134095523 Centerline is valid? [True, True] Translation: X:40.32, Y:0.19, Z:0.24 [[ 9.99285312e-01 -2.43296714e-02 -2.89297707e-02 4.03237510e+01] [ 2.43270601e-02 9.99703955e-01 -4.42273518e-04 1.90012580e-01] [ 2.89319666e-02 -2.61818842e-04 9.99581349e-01 2.40230984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.625336194999996 meters 0.014977271942149263 Centerline is valid? [True, True] Translation: X:40.38, Y:0.19, Z:0.24 [[ 9.99280210e-01 -2.32750706e-02 -2.99555279e-02 4.03826881e+01] [ 2.32716457e-02 9.99729071e-01 -4.63010623e-04 1.86971269e-01] [ 2.99581887e-02 -2.34437080e-04 9.99551125e-01 2.37504408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.685336195 meters 0.015315429594408403 Centerline is valid? [True, True] Translation: X:40.44, Y:0.18, Z:0.24 [[ 9.99361630e-01 -2.41526762e-02 -2.63245283e-02 4.04405850e+01] [ 2.41502776e-02 9.99708256e-01 -4.09086372e-04 1.81700620e-01] [ 2.63267288e-02 -2.26919441e-04 9.99653366e-01 2.41604679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.745336195 meters 0.015060823301524202 Centerline is valid? [True, True] Translation: X:40.50, Y:0.18, Z:0.24 [[ 9.99311317e-01 -2.45090369e-02 -2.78603495e-02 4.04996507e+01] [ 2.45063812e-02 9.99699578e-01 -4.36812785e-04 1.79590714e-01] [ 2.78626855e-02 -2.46244385e-04 9.99611730e-01 2.40444341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.805336194999995 meters 0.016004016938680733 Centerline is valid? [True, True] Translation: X:40.56, Y:0.18, Z:0.24 [[ 9.99312533e-01 -2.29896195e-02 -2.90850220e-02 4.05574239e+01] [ 2.29860081e-02 9.99735682e-01 -4.58549776e-04 1.79894055e-01] [ 2.90878762e-02 -2.10314012e-04 9.99576836e-01 2.38629209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.865336195 meters 0.015671421774542126 Centerline is valid? [True, True] Translation: X:40.62, Y:0.19, Z:0.24 [[ 9.99315853e-01 -1.93178285e-02 -3.15380379e-02 4.06160540e+01] [ 1.93116139e-02 9.99813388e-01 -5.01667494e-04 1.87862834e-01] [ 3.15418437e-02 -1.07726132e-04 9.99502426e-01 2.38687166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.925336195 meters 0.015181952969367448 Centerline is valid? [True, True] Translation: X:40.67, Y:0.19, Z:0.24 [[ 9.99457011e-01 -1.61036751e-02 -2.87463967e-02 4.06736460e+01] [ 1.60971156e-02 9.99870327e-01 -4.59598792e-04 1.88795271e-01] [ 2.87500703e-02 -3.38483610e-06 9.99586631e-01 2.37061628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.985336194999995 meters 0.014426574501384987 Centerline is valid? [True, True] Translation: X:40.73, Y:0.20, Z:0.25 [[ 9.99496168e-01 -1.48174316e-02 -2.80687292e-02 4.07326398e+01] [ 1.48105691e-02 9.99890215e-01 -4.52382744e-04 1.99631669e-01] [ 2.80723508e-02 3.64409668e-05 9.99605893e-01 2.46401591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.045336195 meters 0.014772079995352915 Centerline is valid? [True, True] Translation: X:40.79, Y:0.20, Z:0.24 [[ 9.99473322e-01 -1.71492236e-02 -2.75496266e-02 4.07908027e+01] [ 1.71434350e-02 9.99852941e-01 -4.46314717e-04 2.01597697e-01] [ 2.75532291e-02 -2.62155782e-05 9.99620337e-01 2.43767167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.105336195 meters 0.016485230250254113 Centerline is valid? [True, True] Translation: X:40.85, Y:0.20, Z:0.23 [[ 9.99243242e-01 -2.11341429e-02 -3.26541172e-02 4.08513091e+01] [ 2.11281105e-02 9.99776636e-01 -5.29815314e-04 1.95572552e-01] [ 3.26580207e-02 -1.60505424e-04 9.99466572e-01 2.32246784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.165336194999995 meters 0.01824482201154937 Centerline is valid? [True, True] Translation: X:40.91, Y:0.20, Z:0.24 [[ 9.99211568e-01 -2.52822819e-02 -3.06112451e-02 4.09093735e+01] [ 2.52788084e-02 9.99680315e-01 -5.00527194e-04 1.99287825e-01] [ 3.06141136e-02 -2.73683236e-04 9.99531241e-01 2.37488459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.225336195 meters 0.01911831213454907 Centerline is valid? [True, True] Translation: X:40.97, Y:0.19, Z:0.24 [[ 9.99114423e-01 -2.82804165e-02 -3.11542598e-02 4.09679189e+01] [ 2.82781199e-02 9.99599962e-01 -5.14403534e-04 1.94950817e-01] [ 3.11563444e-02 -3.67035903e-04 9.99514456e-01 2.35456986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.285336195 meters 0.018362975870279883 Centerline is valid? [True, True] Translation: X:41.03, Y:0.20, Z:0.25 [[ 9.99142249e-01 -2.92220770e-02 -2.93400147e-02 4.10264668e+01] [ 2.92203091e-02 9.99572876e-01 -4.89101644e-04 2.03732333e-01] [ 2.93417754e-02 -3.68642180e-04 9.99569369e-01 2.45342169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.345336194999994 meters 0.018010408377339145 Centerline is valid? [True, True] Translation: X:41.09, Y:0.21, Z:0.24 [[ 9.99128892e-01 -2.68208671e-02 -3.19702847e-02 4.10861292e+01] [ 2.68174799e-02 9.99640204e-01 -5.34813281e-04 2.14131935e-01] [ 3.19731260e-02 -3.23015065e-04 9.99488677e-01 2.42202436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.405336195 meters 0.018409502678880554 Centerline is valid? [True, True] Translation: X:41.14, Y:0.22, Z:0.23 [[ 9.99165112e-01 -2.56418984e-02 -3.18052227e-02 4.11437414e+01] [ 2.56378985e-02 9.99671153e-01 -5.33637880e-04 2.15163792e-01] [ 3.18084471e-02 -2.82226718e-04 9.99493943e-01 2.33624640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.465336195 meters 0.016880638756121332 Centerline is valid? [True, True] Translation: X:41.20, Y:0.23, Z:0.25 [[ 9.99243763e-01 -2.67849558e-02 -2.81862961e-02 4.12023402e+01] [ 2.67822304e-02 9.99641179e-01 -4.74277751e-04 2.26213596e-01] [ 2.81888857e-02 -2.80972790e-04 9.99602575e-01 2.47414898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.525336194999994 meters 0.016439043957581993 Centerline is valid? [True, True] Translation: X:41.26, Y:0.24, Z:0.26 [[ 9.99296105e-01 -2.67245695e-02 -2.63266287e-02 4.12622576e+01] [ 2.67221623e-02 9.99642801e-01 -4.43308652e-04 2.39407559e-01] [ 2.63290720e-02 -2.60507834e-04 9.99653296e-01 2.56238098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.585336195 meters 0.01693163516472086 Centerline is valid? [True, True] Translation: X:41.32, Y:0.24, Z:0.25 [[ 9.99261382e-01 -2.67600358e-02 -2.75788036e-02 4.13229426e+01] [ 2.67574078e-02 9.99641849e-01 -4.64393767e-04 2.39752973e-01] [ 2.75813534e-02 -2.73886536e-04 9.99619525e-01 2.46651451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.645336195 meters 0.019884527034537487 Centerline is valid? [True, True] Translation: X:41.38, Y:0.25, Z:0.25 [[ 9.99100395e-01 -3.04062254e-02 -2.95611748e-02 4.13823063e+01] [ 3.04047937e-02 9.99537543e-01 -4.98035375e-04 2.49290911e-01] [ 2.95626474e-02 -4.01214081e-04 9.99562849e-01 2.48434885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.705336194999994 meters 0.020815308233461043 Centerline is valid? [True, True] Translation: X:41.44, Y:0.25, Z:0.25 [[ 9.98945491e-01 -3.39097966e-02 -3.09520735e-02 4.14435597e+01] [ 3.39099226e-02 9.99424757e-01 -5.20996549e-04 2.52030476e-01] [ 3.09519354e-02 -5.29135262e-04 9.99520734e-01 2.47467822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.765336194999996 meters 0.02722253827942007 Centerline is valid? [True, True] Translation: X:41.51, Y:0.24, Z:0.24 [[ 9.98888256e-01 -3.85720330e-02 -2.71007430e-02 4.15053350e+01] [ 3.85738666e-02 9.99255648e-01 -4.55318139e-04 2.37097252e-01] [ 2.70981330e-02 -5.90568502e-04 9.99632604e-01 2.41857577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.825336195 meters 0.027857035946578845 Centerline is valid? [True, True] Translation: X:41.56, Y:0.25, Z:0.26 [[ 9.98704707e-01 -3.99369487e-02 -3.15269387e-02 4.15627611e+01] [ 3.96060623e-02 9.99154257e-01 -1.10512300e-02 2.49678534e-01] [ 3.19416274e-02 9.78825753e-03 9.99441805e-01 2.60415263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.885336194999994 meters 0.029675171042682663 Centerline is valid? [True, True] Translation: X:41.63, Y:0.23, Z:0.24 [[ 9.98614771e-01 -4.46421126e-02 -2.78499739e-02 4.16280723e+01] [ 4.49264654e-02 9.98943503e-01 9.66907905e-03 2.29506182e-01] [ 2.73889023e-02 -1.09068861e-02 9.99565349e-01 2.44965880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.945336194999996 meters 0.02840083917903518 Centerline is valid? [True, True] Translation: X:41.69, Y:0.23, Z:0.25 [[ 9.98736391e-01 -4.24380522e-02 -2.69190025e-02 4.16891445e+01] [ 4.24414137e-02 9.99098857e-01 -4.46712731e-04 2.28045259e-01] [ 2.69137022e-02 -6.96332260e-04 9.99637518e-01 2.48158224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.005336195 meters 0.02302703893654053 Centerline is valid? [True, True] Translation: X:41.75, Y:0.24, Z:0.26 [[ 9.99010473e-01 -3.67087928e-02 -2.51105585e-02 4.17496479e+01] [ 3.67099152e-02 9.99325877e-01 -4.16429760e-04 2.41060773e-01] [ 2.51089175e-02 -5.05788783e-04 9.99684593e-01 2.61255198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06533619499999 meters 0.018655967510577395 Centerline is valid? [True, True] Translation: X:41.81, Y:0.25, Z:0.25 [[ 9.99267647e-01 -2.75512228e-02 -2.65537223e-02 4.18089585e+01] [ 2.75492411e-02 9.99620351e-01 -4.40528206e-04 2.47651865e-01] [ 2.65557782e-02 -2.91329313e-04 9.99647291e-01 2.53426648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.125336194999996 meters 0.01735621337420128 Centerline is valid? [True, True] Translation: X:41.87, Y:0.26, Z:0.25 [[ 9.99472786e-01 -1.60543011e-02 -2.82207285e-02 4.18696561e+01] [ 1.60474841e-02 9.99871121e-01 -4.68039788e-04 2.59170325e-01] [ 2.82246055e-02 1.49213391e-05 9.99601606e-01 2.46715778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.185336195 meters 0.017204066158103472 Centerline is valid? [True, True] Translation: X:41.93, Y:0.27, Z:0.25 [[ 9.99571238e-01 -1.29829718e-02 -2.62446774e-02 4.19283208e+01] [ 1.29759405e-02 9.99915713e-01 -4.38207469e-04 2.68015614e-01] [ 2.62481546e-02 9.74702101e-05 9.99655453e-01 2.54420179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24533619499999 meters 0.016188595190142912 Centerline is valid? [True, True] Translation: X:41.99, Y:0.27, Z:0.26 [[ 9.99544379e-01 -1.57780022e-02 -2.57311085e-02 4.19869664e+01] [ 1.57720626e-02 9.99875519e-01 -4.33778217e-04 2.72945825e-01] [ 2.57347496e-02 2.77479237e-05 9.99668806e-01 2.62421331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.305336194999995 meters 0.017245908934756582 Centerline is valid? [True, True] Translation: X:42.05, Y:0.26, Z:0.25 [[ 9.99402079e-01 -2.24826629e-02 -2.62681193e-02 4.20453044e+01] [ 2.24787271e-02 9.99747222e-01 -4.45147998e-04 2.59094557e-01] [ 2.62714874e-02 -1.45592050e-04 9.99654834e-01 2.52988928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.365336195 meters 0.020506716355047565 Centerline is valid? [True, True] Translation: X:42.11, Y:0.24, Z:0.24 [[ 9.99124574e-01 -2.98958502e-02 -2.92629974e-02 4.21060662e+01] [ 2.98941297e-02 9.99552947e-01 -4.96379196e-04 2.44843691e-01] [ 2.92647550e-02 -3.78847188e-04 9.99571624e-01 2.43552885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.425336195 meters 0.023326777578864463 Centerline is valid? [True, True] Translation: X:42.17, Y:0.24, Z:0.26 [[ 9.98941638e-01 -3.59640878e-02 -2.86738341e-02 4.21672449e+01] [ 3.59649482e-02 9.99352934e-01 -4.85894363e-04 2.43767422e-01] [ 2.86727550e-02 -5.45872847e-04 9.99588703e-01 2.55042394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.485336194999995 meters 0.022113103705507016 Centerline is valid? [True, True] Translation: X:42.23, Y:0.25, Z:0.26 [[ 9.99042732e-01 -3.51094830e-02 -2.60948993e-02 4.22290984e+01] [ 3.51099250e-02 9.99383359e-01 -4.41376569e-04 2.47980065e-01] [ 2.60943046e-02 -4.75235903e-04 9.99659373e-01 2.60501861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.545336195 meters 0.02015418648284407 Centerline is valid? [True, True] Translation: X:42.29, Y:0.25, Z:0.25 [[ 9.99237756e-01 -2.95788088e-02 -2.54755086e-02 4.22897237e+01] [ 2.95774503e-02 9.99562399e-01 -4.30218433e-04 2.49681967e-01] [ 2.54770859e-02 -3.23610087e-04 9.99675354e-01 2.54412368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.605336195 meters 0.01758864740525432 Centerline is valid? [True, True] Translation: X:42.35, Y:0.26, Z:0.26 [[ 9.99394575e-01 -2.55600487e-02 -2.36043727e-02 4.23508572e+01] [ 2.55577744e-02 9.99673267e-01 -3.98078083e-04 2.61418490e-01] [ 2.36068353e-02 -2.05438155e-04 9.99721299e-01 2.62123891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.665336194999995 meters 0.018366572501572573 Centerline is valid? [True, True] Translation: X:42.41, Y:0.27, Z:0.26 [[ 9.99286983e-01 -2.48976337e-02 -2.83836677e-02 4.24114964e+01] [ 2.48940911e-02 9.99689980e-01 -4.78223153e-04 2.70687368e-01] [ 2.83867748e-02 -2.28703439e-04 9.99596988e-01 2.58467326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.725336195 meters 0.01936081380860362 Centerline is valid? [True, True] Translation: X:42.47, Y:0.27, Z:0.25 [[ 9.99231359e-01 -2.67659229e-02 -2.86404842e-02 4.24700429e+01] [ 2.67630648e-02 9.99641688e-01 -4.83189559e-04 2.69615591e-01] [ 2.86431550e-02 -2.83688976e-04 9.99589660e-01 2.51174506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.785336195 meters 0.02016245022344575 Centerline is valid? [True, True] Translation: X:42.53, Y:0.27, Z:0.25 [[ 9.99209392e-01 -3.01029099e-02 -2.59693184e-02 4.25307440e+01] [ 3.01016803e-02 9.99546746e-01 -4.38360898e-04 2.68831021e-01] [ 2.59707437e-02 -3.43705796e-04 9.99662644e-01 2.53038525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.845336194999994 meters 0.020963547507391392 Centerline is valid? [True, True] Translation: X:42.59, Y:0.27, Z:0.25 [[ 9.99162605e-01 -3.12869400e-02 -2.63669443e-02 4.25924159e+01] [ 3.12861018e-02 9.99510371e-01 -4.44423353e-04 2.68646397e-01] [ 2.63679390e-02 -3.80867708e-04 9.99652233e-01 2.53615137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.905336195 meters 0.02326310429770562 Centerline is valid? [True, True] Translation: X:42.65, Y:0.27, Z:0.26 [[ 9.99054240e-01 -3.45980555e-02 -2.63362890e-02 4.26545161e+01] [ 3.45983984e-02 9.99401198e-01 -4.42789765e-04 2.71612523e-01] [ 2.63358384e-02 -4.68822427e-04 9.99653042e-01 2.60899346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.965336195 meters 0.025808902486747897 Centerline is valid? [True, True] Translation: X:42.72, Y:0.27, Z:0.26 [[ 9.98934453e-01 -3.83957000e-02 -2.56072063e-02 4.27170988e+01] [ 3.83973008e-02 9.99262459e-01 -4.29368616e-04 2.67555370e-01] [ 2.56048058e-02 -5.54336497e-04 9.99671990e-01 2.62415550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.025336194999994 meters 0.02545544577970891 Centerline is valid? [True, True] Translation: X:42.78, Y:0.27, Z:0.26 [[ 9.99011806e-01 -3.76147347e-02 -2.36757930e-02 4.27788476e+01] [ 3.76159085e-02 9.99292193e-01 -3.95933839e-04 2.68923341e-01] [ 2.36739280e-02 -4.95043883e-04 9.99719611e-01 2.64953616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.085336195 meters 0.022886967677323077 Centerline is valid? [True, True] Translation: X:42.84, Y:0.28, Z:0.26 [[ 9.99118056e-01 -3.31561388e-02 -2.57639427e-02 4.28407294e+01] [ 3.31560781e-02 9.99450094e-01 -4.29660207e-04 2.78201429e-01] [ 2.57640208e-02 -4.24950024e-04 9.99667962e-01 2.61612980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.145336195 meters 0.02024851446253515 Centerline is valid? [True, True] Translation: X:42.90, Y:0.29, Z:0.26 [[ 9.99221057e-01 -2.86981235e-02 -2.70868266e-02 4.29029798e+01] [ 2.86964532e-02 9.99588070e-01 -4.50463607e-04 2.85418981e-01] [ 2.70885962e-02 -3.27183129e-04 9.99632983e-01 2.60913518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.205336194999994 meters 0.021335938006194866 Centerline is valid? [True, True] Translation: X:42.96, Y:0.28, Z:0.26 [[ 9.99118266e-01 -3.11049664e-02 -2.81988023e-02 4.29639741e+01] [ 3.11041407e-02 9.99516040e-01 -4.68025050e-04 2.81592436e-01] [ 2.81997131e-02 -4.09487139e-04 9.99602225e-01 2.59227071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.265336194999996 meters 0.021930982755019972 Centerline is valid? [True, True] Translation: X:43.03, Y:0.28, Z:0.26 [[ 9.99131306e-01 -3.23560767e-02 -2.62624619e-02 4.30252958e+01] [ 3.23558088e-02 9.99476319e-01 -4.35257738e-04 2.77975468e-01] [ 2.62627919e-02 -4.14863561e-04 9.99654987e-01 2.61336617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.325336195 meters 0.021314965636799 Centerline is valid? [True, True] Translation: X:43.09, Y:0.28, Z:0.26 [[ 9.99211772e-01 -3.02467157e-02 -2.57093523e-02 4.30864131e+01] [ 3.02458063e-02 9.99542401e-01 -4.24326252e-04 2.80213413e-01] [ 2.57104221e-02 -3.53608302e-04 9.99669370e-01 2.61098122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.385336194999994 meters 0.020120219223228396 Centerline is valid? [True, True] Translation: X:43.15, Y:0.29, Z:0.27 [[ 9.99270623e-01 -2.79246559e-02 -2.60467833e-02 4.31482931e+01] [ 2.79229735e-02 9.99609986e-01 -4.28373458e-04 2.88095949e-01] [ 2.60485869e-02 -2.99242627e-04 9.99660633e-01 2.65034319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.445336194999996 meters 0.020110732828871252 Centerline is valid? [True, True] Translation: X:43.21, Y:0.29, Z:0.26 [[ 9.99212167e-01 -2.63807850e-02 -2.96496114e-02 4.32091894e+01] [ 2.63779454e-02 9.99651923e-01 -4.86968059e-04 2.89261458e-01] [ 2.96521376e-02 -2.95511421e-04 9.99560235e-01 2.57298906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.505336195 meters 0.019941160720584973 Centerline is valid? [True, True] Translation: X:43.27, Y:0.29, Z:0.26 [[ 9.99156035e-01 -2.78027804e-02 -3.02361118e-02 4.32685322e+01] [ 2.78004644e-02 9.99613369e-01 -4.97061594e-04 2.88817334e-01] [ 3.02382412e-02 -3.43935855e-04 9.99542661e-01 2.58949135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56533619499999 meters 0.021502910991037565 Centerline is valid? [True, True] Translation: X:43.33, Y:0.29, Z:0.27 [[ 9.99139817e-01 -3.12506445e-02 -2.72584538e-02 4.33278082e+01] [ 3.12500335e-02 9.99511498e-01 -4.48513281e-04 2.90759391e-01] [ 2.72591543e-02 -4.03700117e-04 9.99628319e-01 2.67916485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.625336194999996 meters 0.022044782249204833 Centerline is valid? [True, True] Translation: X:43.39, Y:0.28, Z:0.26 [[ 9.99140247e-01 -3.21945502e-02 -2.61204493e-02 4.33900629e+01] [ 3.21943321e-02 9.99481536e-01 -4.28996301e-04 2.78418133e-01] [ 2.61207182e-02 -4.12302951e-04 9.99658711e-01 2.58778278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.685336195 meters 0.022820476336443733 Centerline is valid? [True, True] Translation: X:43.45, Y:0.28, Z:0.27 [[ 9.99109192e-01 -3.36380268e-02 -2.54814822e-02 4.34514594e+01] [ 3.36383133e-02 9.99433985e-01 -4.17522329e-04 2.81913694e-01] [ 2.54811039e-02 -4.40003686e-04 9.99675207e-01 2.67244002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74533619499999 meters 0.025670009937096953 Centerline is valid? [True, True] Translation: X:43.51, Y:0.28, Z:0.26 [[ 9.98920457e-01 -3.63604089e-02 -2.89109133e-02 4.35116309e+01] [ 3.63619266e-02 9.99338574e-01 -4.73413239e-04 2.77420761e-01] [ 2.89090044e-02 -5.78354338e-04 9.99581880e-01 2.62862331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.805336194999995 meters 0.02708456827434062 Centerline is valid? [True, True] Translation: X:43.57, Y:0.27, Z:0.26 [[ 9.98882178e-01 -3.86153706e-02 -2.72625826e-02 4.35739845e+01] [ 3.86175837e-02 9.99253964e-01 -4.45520932e-04 2.68447706e-01] [ 2.72594476e-02 -6.07792146e-04 9.99628207e-01 2.63852742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.865336195 meters 0.02545025087408551 Centerline is valid? [True, True] Translation: X:43.64, Y:0.28, Z:0.27 [[ 9.99026609e-01 -3.49737966e-02 -2.68824816e-02 4.36353339e+01] [ 3.49746518e-02 9.99388104e-01 -4.38520461e-04 2.77275792e-01] [ 2.68813690e-02 -5.02111824e-04 9.99638505e-01 2.73266914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.925336195 meters 0.023548622825536266 Centerline is valid? [True, True] Translation: X:43.70, Y:0.27, Z:0.27 [[ 9.99108016e-01 -3.33283586e-02 -2.59305587e-02 4.36978513e+01] [ 3.33286265e-02 9.99444358e-01 -4.21976704e-04 2.69224130e-01] [ 2.59302144e-02 -4.42629600e-04 9.99663657e-01 2.66780659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.985336194999995 meters 0.02152610527733649 Centerline is valid? [True, True] Translation: X:43.76, Y:0.27, Z:0.27 [[ 9.99199641e-01 -3.11509335e-02 -2.50937689e-02 4.37605548e+01] [ 3.11505372e-02 9.99514621e-01 -4.06793977e-04 2.72149593e-01] [ 2.50942610e-02 -3.75215986e-04 9.99685019e-01 2.70224612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.045336195 meters 0.020116652893218425 Centerline is valid? [True, True] Translation: X:43.82, Y:0.28, Z:0.27 [[ 9.99275696e-01 -2.69606774e-02 -2.68552514e-02 4.38223531e+01] [ 2.69587505e-02 9.99636453e-01 -4.33872501e-04 2.81843879e-01] [ 2.68571857e-02 -2.90425777e-04 9.99639239e-01 2.72890484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.105336195 meters 0.019747937356624355 Centerline is valid? [True, True] Translation: X:43.88, Y:0.28, Z:0.26 [[ 9.99356669e-01 -2.07838208e-02 -2.92280876e-02 4.38829169e+01] [ 2.07789085e-02 9.99783984e-01 -4.71820379e-04 2.83111321e-01] [ 2.92315801e-02 -1.35810915e-04 9.99572657e-01 2.62126404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.165336194999995 meters 0.020047922316990596 Centerline is valid? [True, True] Translation: X:43.94, Y:0.29, Z:0.26 [[ 9.99346373e-01 -1.76256853e-02 -3.15620272e-02 4.39412328e+01] [ 1.76183144e-02 9.99844655e-01 -5.11647451e-04 2.88558953e-01] [ 3.15661423e-02 -4.47566951e-05 9.99501664e-01 2.60954314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.225336195 meters 0.01917536523991172 Centerline is valid? [True, True] Translation: X:44.00, Y:0.30, Z:0.27 [[ 9.99474782e-01 -1.59917764e-02 -2.81855081e-02 4.40004073e+01] [ 1.59851417e-02 9.99872123e-01 -4.60711750e-04 2.96083318e-01] [ 2.81892714e-02 9.92043656e-06 9.99602603e-01 2.72123022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.285336195 meters 0.019499430124994412 Centerline is valid? [True, True] Translation: X:44.06, Y:0.29, Z:0.27 [[ 9.99379179e-01 -1.87634890e-02 -2.98192598e-02 4.40589671e+01] [ 1.87571474e-02 9.99823948e-01 -4.92402765e-04 2.87450639e-01] [ 2.98232493e-02 -6.72271813e-05 9.99555186e-01 2.69028332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.345336194999994 meters 0.020666476895204827 Centerline is valid? [True, True] Translation: X:44.12, Y:0.28, Z:0.27 [[ 9.99213182e-01 -2.45411573e-02 -3.11568330e-02 4.41174285e+01] [ 2.45369643e-02 9.99698790e-01 -5.16964935e-04 2.83496189e-01] [ 3.11601352e-02 -2.47935923e-04 9.99514374e-01 2.71083515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.405336195 meters 0.021659287449109034 Centerline is valid? [True, True] Translation: X:44.18, Y:0.27, Z:0.26 [[ 9.99233672e-01 -2.61269595e-02 -2.91453287e-02 4.41757052e+01] [ 2.61239180e-02 9.99658594e-01 -4.85194123e-04 2.68415764e-01] [ 2.91480550e-02 -2.76567871e-04 9.99575067e-01 2.62393785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.465336195 meters 0.019939572644971003 Centerline is valid? [True, True] Translation: X:44.23, Y:0.27, Z:0.27 [[ 9.99358651e-01 -2.39546713e-02 -2.66169332e-02 4.42346229e+01] [ 2.39512772e-02 9.99713027e-01 -4.46365773e-04 2.71868260e-01] [ 2.66199874e-02 -1.91430048e-04 9.99645607e-01 2.69217619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.525336194999994 meters 0.019747101640394667 Centerline is valid? [True, True] Translation: X:44.29, Y:0.28, Z:0.28 [[ 9.99364261e-01 -2.28725068e-02 -2.73481816e-02 4.42939127e+01] [ 2.28684742e-02 9.99738376e-01 -4.60249299e-04 2.79366366e-01] [ 2.73515537e-02 -1.65454484e-04 9.99625863e-01 2.75117118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.585336195 meters 0.022075907179960254 Centerline is valid? [True, True] Translation: X:44.35, Y:0.27, Z:0.26 [[ 9.99148829e-01 -2.46734785e-02 -3.30580731e-02 4.43539532e+01] [ 2.46685551e-02 9.99695530e-01 -5.56846603e-04 2.73808728e-01] [ 3.30617472e-02 -2.59122265e-04 9.99453277e-01 2.60887405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.645336195 meters 0.022654006080751698 Centerline is valid? [True, True] Translation: X:44.41, Y:0.27, Z:0.26 [[ 9.99202668e-01 -2.42924347e-02 -3.16844711e-02 4.44120247e+01] [ 2.42876536e-02 9.99704868e-01 -5.35812952e-04 2.74372794e-01] [ 3.16881362e-02 -2.34155729e-04 9.99497777e-01 2.62582576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.705336194999994 meters 0.021632825171424067 Centerline is valid? [True, True] Translation: X:44.47, Y:0.28, Z:0.26 [[ 9.99212147e-01 -2.29841198e-02 -3.23545227e-02 4.44706844e+01] [ 2.29782993e-02 9.99735812e-01 -5.51760713e-04 2.76455344e-01] [ 3.23586568e-02 -1.92125898e-04 9.99476303e-01 2.61999306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.765336194999996 meters 0.019995853616985797 Centerline is valid? [True, True] Translation: X:44.53, Y:0.28, Z:0.27 [[ 9.99312035e-01 -2.32637576e-02 -2.88834757e-02 4.45301677e+01] [ 2.32591900e-02 9.99729346e-01 -4.94150534e-04 2.80240351e-01] [ 2.88871541e-02 -1.77995672e-04 9.99582663e-01 2.72479580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.825336195 meters 0.021892001491423313 Centerline is valid? [True, True] Translation: X:44.59, Y:0.27, Z:0.27 [[ 9.99186990e-01 -2.88992565e-02 -2.81103603e-02 4.45877296e+01] [ 2.88971207e-02 9.99582275e-01 -4.82298124e-04 2.72167556e-01] [ 2.81125560e-02 -3.30402464e-04 9.99604709e-01 2.72305400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.885336194999994 meters 0.023827209424186726 Centerline is valid? [True, True] Translation: X:44.65, Y:0.27, Z:0.28 [[ 9.99026306e-01 -3.38870659e-02 -2.82507947e-02 4.46487953e+01] [ 3.38868961e-02 9.99425557e-01 -4.84908922e-04 2.68188100e-01] [ 2.82509983e-02 -4.72894976e-04 9.99600749e-01 2.77698591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.945336194999996 meters 0.026716045643658384 Centerline is valid? [True, True] Translation: X:44.71, Y:0.26, Z:0.27 [[ 9.98849171e-01 -3.63677605e-02 -3.12684927e-02 4.47087432e+01] [ 3.63687977e-02 9.99338293e-01 -5.35755480e-04 2.57024036e-01] [ 3.12672864e-02 -6.02058569e-04 9.99510878e-01 2.67188667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.005336195 meters 0.026934665109952797 Centerline is valid? [True, True] Translation: X:44.77, Y:0.25, Z:0.27 [[ 9.98905190e-01 -3.37522991e-02 -3.23914237e-02 4.47690387e+01] [ 3.37520563e-02 9.99430083e-01 -5.54434615e-04 2.52659199e-01] [ 3.23916767e-02 -5.39449540e-04 9.99475106e-01 2.66630604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06533619499999 meters 0.02243098715406284 Centerline is valid? [True, True] Translation: X:44.83, Y:0.27, Z:0.28 [[ 9.99125325e-01 -2.70114385e-02 -3.19212746e-02 4.48286518e+01] [ 2.70077567e-02 9.99635075e-01 -5.46585657e-04 2.66918343e-01] [ 3.19243898e-02 -3.16014445e-04 9.99490237e-01 2.76377672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.125336194999996 meters 0.020719834223068688 Centerline is valid? [True, True] Translation: X:44.89, Y:0.27, Z:0.27 [[ 9.99265417e-01 -2.38586539e-02 -2.99898400e-02 4.48877025e+01] [ 2.38538787e-02 9.99715322e-01 -5.17034513e-04 2.66407625e-01] [ 2.99936383e-02 -1.98719299e-04 9.99550070e-01 2.73052559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.185336195 meters 0.020109572459776556 Centerline is valid? [True, True] Translation: X:44.95, Y:0.27, Z:0.28 [[ 9.99326091e-01 -2.46976151e-02 -2.71549604e-02 4.49467905e+01] [ 2.46939362e-02 9.99694947e-01 -4.70865400e-04 2.65733306e-01] [ 2.71583060e-02 -2.00014781e-04 9.99631125e-01 2.78452662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24533619499999 meters 0.021391411124612732 Centerline is valid? [True, True] Translation: X:45.01, Y:0.27, Z:0.28 [[ 9.99195155e-01 -2.68675626e-02 -2.97855042e-02 4.50059623e+01] [ 2.68640560e-02 9.99638962e-01 -5.17960918e-04 2.65676075e-01] [ 2.97886669e-02 -2.82615415e-04 9.99556179e-01 2.78279151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.305336194999995 meters 0.021419520760903758 Centerline is valid? [True, True] Translation: X:45.06, Y:0.26, Z:0.28 [[ 9.99107077e-01 -2.90303455e-02 -3.06967078e-02 4.50648375e+01] [ 2.90275124e-02 9.99578468e-01 -5.38012697e-04 2.59109371e-01] [ 3.06993868e-02 -3.53516773e-04 9.99528600e-01 2.75719865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.365336195 meters 0.02263108340662788 Centerline is valid? [True, True] Translation: X:45.12, Y:0.26, Z:0.27 [[ 9.99127259e-01 -2.86275192e-02 -3.04168641e-02 4.51231251e+01] [ 2.86244872e-02 9.99590092e-01 -5.35200443e-04 2.57219593e-01] [ 3.04197175e-02 -3.35933787e-04 9.99537157e-01 2.73704616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.425336195 meters 0.02096168434156224 Centerline is valid? [True, True] Translation: X:45.18, Y:0.26, Z:0.28 [[ 9.99182613e-01 -2.73678489e-02 -2.97507338e-02 4.51823271e+01] [ 2.73643231e-02 9.99625389e-01 -5.25725077e-04 2.57767811e-01] [ 2.97539768e-02 -2.88813336e-04 9.99557211e-01 2.77976925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.485336194999995 meters 0.022792201557151157 Centerline is valid? [True, True] Translation: X:45.24, Y:0.26, Z:0.28 [[ 9.99244822e-01 -2.51832071e-02 -2.95903872e-02 4.52409376e+01] [ 2.51787167e-02 9.99682828e-01 -5.24406478e-04 2.60053801e-01] [ 2.95942082e-02 -2.21037518e-04 9.99561971e-01 2.81016200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.545336195 meters 0.02036561959089878 Centerline is valid? [True, True] Translation: X:45.30, Y:0.26, Z:0.28 [[ 9.99245247e-01 -2.68511170e-02 -2.80705180e-02 4.52999910e+01] [ 2.68476299e-02 9.99639412e-01 -5.01175019e-04 2.55525473e-01] [ 2.80738532e-02 -2.52830122e-04 9.99605820e-01 2.83146792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.605336195 meters 0.021388462216781187 Centerline is valid? [True, True] Translation: X:45.36, Y:0.26, Z:0.29 [[ 9.99165971e-01 -2.92461348e-02 -2.84960800e-02 4.53584213e+01] [ 2.92434501e-02 9.99572188e-01 -5.11044535e-04 2.57056843e-01] [ 2.84988352e-02 -3.22705384e-04 9.99593774e-01 2.85935196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.665336194999995 meters 0.02213296074966692 Centerline is valid? [True, True] Translation: X:45.42, Y:0.25, Z:0.28 [[ 9.99204205e-01 -3.02580731e-02 -2.59885713e-02 4.54184368e+01] [ 3.02561736e-02 9.99542068e-01 -4.66400924e-04 2.52713589e-01] [ 2.59907827e-02 -3.20284959e-04 9.99662131e-01 2.84020100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.725336195 meters 0.02394487987376047 Centerline is valid? [True, True] Translation: X:45.48, Y:0.25, Z:0.28 [[ 9.99102100e-01 -3.19956302e-02 -2.77718077e-02 4.54797508e+01] [ 3.19941450e-02 9.99487932e-01 -4.97943843e-04 2.52985878e-01] [ 2.77735187e-02 -3.91038505e-04 9.99614165e-01 2.82770264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.785336195 meters 0.02424268204501317 Centerline is valid? [True, True] Translation: X:45.54, Y:0.26, Z:0.28 [[ 9.99013243e-01 -3.30351380e-02 -2.96853493e-02 4.55406893e+01] [ 3.30339242e-02 9.99454090e-01 -5.31440215e-04 2.55018235e-01] [ 2.96867000e-02 -4.49707769e-04 9.99559152e-01 2.78590491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.845336194999994 meters 0.026558091465168545 Centerline is valid? [True, True] Translation: X:45.60, Y:0.24, Z:0.27 [[ 9.98751248e-01 -3.76797747e-02 -3.28051728e-02 4.56016156e+01] [ 3.76808004e-02 9.99289654e-01 -5.87179509e-04 2.42906280e-01] [ 3.28039946e-02 -6.49678904e-04 9.99461593e-01 2.71262024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.905336195 meters 0.027943219278863143 Centerline is valid? [True, True] Translation: X:45.66, Y:0.24, Z:0.28 [[ 9.98632689e-01 -4.25388458e-02 -3.03841778e-02 4.56631402e+01] [ 4.25419876e-02 9.99094532e-01 -5.43334981e-04 2.39965713e-01] [ 3.03797788e-02 -7.50011243e-04 9.99538147e-01 2.82577475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.965336195 meters 0.027353974274597743 Centerline is valid? [True, True] Translation: X:45.72, Y:0.24, Z:0.28 [[ 9.98694334e-01 -4.05280276e-02 -3.10983212e-02 4.57248590e+01] [ 4.05304136e-02 9.99178152e-01 -5.53896212e-04 2.35705814e-01] [ 3.10952114e-02 -7.07254812e-04 9.99516177e-01 2.83563771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.025336194999994 meters 0.02453758724749721 Centerline is valid? [True, True] Translation: X:45.79, Y:0.24, Z:0.28 [[ 9.98896656e-01 -3.31157037e-02 -3.32989608e-02 4.57855781e+01] [ 3.31143665e-02 9.99451394e-01 -5.91796273e-04 2.39598995e-01] [ 3.33002905e-02 -5.11530674e-04 9.99445261e-01 2.78859911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.085336195 meters 0.02155452296717525 Centerline is valid? [True, True] Translation: X:45.84, Y:0.25, Z:0.28 [[ 9.99049639e-01 -2.75034111e-02 -3.38139278e-02 4.58445554e+01] [ 2.74986868e-02 9.99621657e-01 -6.04846122e-04 2.46043218e-01] [ 3.38177699e-02 -3.25567310e-04 9.99427963e-01 2.79386731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.145336195 meters 0.020793374885824556 Centerline is valid? [True, True] Translation: X:45.90, Y:0.25, Z:0.28 [[ 9.99174603e-01 -2.23764305e-02 -3.39029234e-02 4.59038113e+01] [ 2.23686117e-02 9.99749605e-01 -6.09940786e-04 2.49091589e-01] [ 3.39080826e-02 -1.48923988e-04 9.99424945e-01 2.78921451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.205336194999994 meters 0.020147549110537157 Centerline is valid? [True, True] Translation: X:45.96, Y:0.24, Z:0.28 [[ 9.99218927e-01 -2.45830170e-02 -3.09388341e-02 4.59624733e+01] [ 2.45775090e-02 9.99697771e-01 -5.58363111e-04 2.38918601e-01] [ 3.09432097e-02 -2.02472487e-04 9.99521124e-01 2.80471022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.265336194999996 meters 0.02360312766694396 Centerline is valid? [True, True] Translation: X:46.02, Y:0.23, Z:0.28 [[ 9.99036562e-01 -2.93677864e-02 -3.26110454e-02 4.60213087e+01] [ 2.93641728e-02 9.99568606e-01 -5.89832226e-04 2.31135127e-01] [ 3.26142992e-02 -3.68332413e-04 9.99467944e-01 2.77134519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.325336195 meters 0.021768711410260405 Centerline is valid? [True, True] Translation: X:46.08, Y:0.23, Z:0.28 [[ 9.99013082e-01 -2.88359445e-02 -3.37838704e-02 4.60803329e+01] [ 2.88316030e-02 9.99584093e-01 -6.15761241e-04 2.30153579e-01] [ 3.37875755e-02 -3.58889605e-04 9.99428972e-01 2.78970962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.385336194999994 meters 0.022951874592621834 Centerline is valid? [True, True] Translation: X:46.14, Y:0.22, Z:0.27 [[ 9.99060407e-01 -2.65228028e-02 -3.42760026e-02 4.61382232e+01] [ 2.65168739e-02 9.99648169e-01 -6.27624753e-04 2.21747163e-01] [ 3.42805896e-02 -2.81857398e-04 9.99412208e-01 2.69686921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.445336194999996 meters 0.020199230553430616 Centerline is valid? [True, True] Translation: X:46.20, Y:0.23, Z:0.29 [[ 9.99226395e-01 -2.40572991e-02 -3.11104137e-02 4.61982281e+01] [ 2.40511985e-02 9.99710565e-01 -5.70348040e-04 2.30798697e-01] [ 3.11151304e-02 -1.78335920e-04 9.99515791e-01 2.85919312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.505336195 meters 0.019802888505440614 Centerline is valid? [True, True] Translation: X:46.26, Y:0.23, Z:0.29 [[ 9.99275886e-01 -2.37228653e-02 -2.97477652e-02 4.62565563e+01] [ 2.37170270e-02 9.99718561e-01 -5.49135228e-04 2.30934396e-01] [ 2.97524201e-02 -1.56790959e-04 9.99557286e-01 2.88549012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56533619499999 meters 0.02058307866273867 Centerline is valid? [True, True] Translation: X:46.31, Y:0.22, Z:0.28 [[ 9.99309889e-01 -2.28874443e-02 -2.92559581e-02 4.63143569e+01] [ 2.28813662e-02 9.99738040e-01 -5.42563790e-04 2.21600945e-01] [ 2.92607122e-02 -1.27226931e-04 9.99571806e-01 2.78119653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.625336194999996 meters 0.020079844806887636 Centerline is valid? [True, True] Translation: X:46.38, Y:0.22, Z:0.28 [[ 9.99281740e-01 -2.32802030e-02 -2.99004543e-02 4.63762683e+01] [ 2.37085602e-02 9.99620146e-01 1.40523386e-02 2.21849882e-01] [ 2.95619552e-02 -1.47511421e-02 9.99454098e-01 2.78149552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.685336195 meters 0.0191234814680334 Centerline is valid? [True, True] Translation: X:46.43, Y:0.25, Z:0.30 [[ 9.99448336e-01 -1.83637401e-02 -2.76730232e-02 4.64310835e+01] [ 1.79553678e-02 9.99727253e-01 -1.49340027e-02 2.54720978e-01] [ 2.79397196e-02 1.44288849e-02 9.99505467e-01 3.03901402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74533619499999 meters 0.021086180184932166 Centerline is valid? [True, True] Translation: X:46.49, Y:0.25, Z:0.28 [[ 9.99393481e-01 -1.46924508e-02 -3.15721766e-02 4.64905308e+01] [ 1.46811232e-02 9.99892052e-01 -5.90579472e-04 2.48482231e-01] [ 3.15774455e-02 1.26706258e-04 9.99501300e-01 2.82686113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.805336194999995 meters 0.019463179832297856 Centerline is valid? [True, True] Translation: X:46.55, Y:0.25, Z:0.29 [[ 9.99488805e-01 -1.56700639e-02 -2.78671341e-02 4.65498706e+01] [ 1.56615996e-02 9.99877213e-01 -5.21989649e-04 2.50647108e-01] [ 2.78718920e-02 8.52789152e-05 9.99611500e-01 2.89539443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.865336195 meters 0.018293789748946073 Centerline is valid? [True, True] Translation: X:46.61, Y:0.26, Z:0.30 [[ 9.99489457e-01 -1.91757674e-02 -2.55561089e-02 4.66081301e+01] [ 1.91697155e-02 9.99816128e-01 -4.81801315e-04 2.59250386e-01] [ 2.55606487e-02 -8.34800125e-06 9.99673273e-01 3.00603427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.925336195 meters 0.018963491509934167 Centerline is valid? [True, True] Translation: X:46.67, Y:0.25, Z:0.29 [[ 9.99450149e-01 -1.82874795e-02 -2.76580606e-02 4.66670263e+01] [ 1.82799205e-02 9.99832770e-01 -5.26139089e-04 2.54446531e-01] [ 2.76630571e-02 2.02626416e-05 9.99617304e-01 2.91480196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.985336194999995 meters 0.020133133690772815 Centerline is valid? [True, True] Translation: X:46.72, Y:0.26, Z:0.29 [[ 9.99483941e-01 -1.48970816e-02 -2.84592606e-02 4.67243357e+01] [ 1.48876316e-02 9.99889025e-01 -5.43924151e-04 2.64681392e-01] [ 2.84642052e-02 1.19952465e-04 9.99594805e-01 2.90961362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.045336195 meters 0.022175933601279698 Centerline is valid? [True, True] Translation: X:46.78, Y:0.28, Z:0.29 [[ 9.99418412e-01 -1.13761136e-02 -3.21468920e-02 4.67831213e+01] [ 1.13621900e-02 9.99935259e-01 -6.15775409e-04 2.75965564e-01] [ 3.21518159e-02 2.50158187e-04 9.99482965e-01 2.88598276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.105336195 meters 0.022325800322464603 Centerline is valid? [True, True] Translation: X:46.84, Y:0.28, Z:0.29 [[ 9.99471440e-01 -1.13761931e-02 -3.04536114e-02 4.68408952e+01] [ 1.13636497e-02 9.99935261e-01 -5.84931273e-04 2.76337600e-01] [ 3.04582941e-02 2.38557930e-04 9.99536010e-01 2.86037528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.165336194999995 meters 0.019664353234325593 Centerline is valid? [True, True] Translation: X:46.90, Y:0.27, Z:0.29 [[ 9.99582789e-01 -1.33956673e-02 -2.55891237e-02 4.69004873e+01] [ 1.33874533e-02 9.99910263e-01 -4.92289575e-04 2.72207265e-01] [ 2.55934220e-02 1.49510988e-04 9.99672424e-01 2.93252380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.225336195 meters 0.01916518448018677 Centerline is valid? [True, True] Translation: X:46.96, Y:0.27, Z:0.30 [[ 9.99442761e-01 -1.79750508e-02 -2.81258710e-02 4.69595113e+01] [ 1.79668405e-02 9.99838435e-01 -5.44624623e-04 2.72038219e-01] [ 2.81311165e-02 3.89880995e-05 9.99604241e-01 2.96917463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.285336195 meters 0.0189031615633228 Centerline is valid? [True, True] Translation: X:47.02, Y:0.27, Z:0.30 [[ 9.99335578e-01 -2.22793641e-02 -2.88449592e-02 4.70182492e+01] [ 2.22723828e-02 9.99751781e-01 -5.63334105e-04 2.66834593e-01] [ 2.88503500e-02 -7.94861590e-05 9.99583739e-01 2.97135982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.345336194999994 meters 0.019481817149050975 Centerline is valid? [True, True] Translation: X:47.08, Y:0.26, Z:0.29 [[ 9.99354944e-01 -1.97943796e-02 -2.99646041e-02 4.70761170e+01] [ 1.97856507e-02 9.99804072e-01 -5.87809620e-04 2.64007667e-01] [ 2.99703685e-02 -5.43874136e-06 9.99550788e-01 2.90841142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.405336195 meters 0.020275527714865176 Centerline is valid? [True, True] Translation: X:47.13, Y:0.28, Z:0.30 [[ 9.99451977e-01 -1.49655719e-02 -2.95258890e-02 4.71335972e+01] [ 1.49548565e-02 9.99887999e-01 -5.83720080e-04 2.77019528e-01] [ 2.95313178e-02 1.41844756e-04 9.99563845e-01 2.95133109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.465336195 meters 0.019933721114055624 Centerline is valid? [True, True] Translation: X:47.19, Y:0.29, Z:0.31 [[ 9.99565960e-01 -1.17356685e-02 -2.70215807e-02 4.71916140e+01] [ 1.17253910e-02 9.99931110e-01 -5.38767837e-04 2.94333697e-01] [ 2.70260419e-02 2.21695392e-04 9.99634705e-01 3.07420533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.525336194999994 meters 0.020594384530503884 Centerline is valid? [True, True] Translation: X:47.25, Y:0.29, Z:0.30 [[ 9.99519030e-01 -1.23232324e-02 -2.84578099e-02 4.72500976e+01] [ 1.23119341e-02 9.99924042e-01 -5.72213721e-04 2.89865418e-01] [ 2.84626998e-02 2.21567824e-04 9.99594831e-01 2.97197367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.585336195 meters 0.020199929071562824 Centerline is valid? [True, True] Translation: X:47.31, Y:0.29, Z:0.29 [[ 9.99465231e-01 -1.46670369e-02 -2.92254945e-02 4.73082727e+01] [ 1.46559650e-02 9.99892420e-01 -5.93028615e-04 2.87963714e-01] [ 2.92310484e-02 1.64383656e-04 9.99572668e-01 2.93364891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.645336195 meters 0.019012539653849206 Centerline is valid? [True, True] Translation: X:47.37, Y:0.29, Z:0.30 [[ 9.99445784e-01 -1.82588689e-02 -2.78341291e-02 4.73659466e+01] [ 1.82501482e-02 9.99833291e-01 -5.67334867e-04 2.89076168e-01] [ 2.78398478e-02 5.90434588e-05 9.99612395e-01 2.98498661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.705336194999994 meters 0.018282684457976605 Centerline is valid? [True, True] Translation: X:47.42, Y:0.28, Z:0.30 [[ 9.99334809e-01 -2.36868045e-02 -2.77285954e-02 4.74240343e+01] [ 2.36801198e-02 9.99719424e-01 -5.69466636e-04 2.82462779e-01] [ 2.77343043e-02 -8.75286303e-05 9.99615326e-01 3.00336254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.765336194999996 meters 0.01954224483735287 Centerline is valid? [True, True] Translation: X:47.48, Y:0.28, Z:0.29 [[ 9.99119131e-01 -2.76395869e-02 -3.15755404e-02 4.74838365e+01] [ 2.76328218e-02 9.99617929e-01 -6.50686203e-04 2.76444673e-01] [ 3.15814610e-02 -2.22408247e-04 9.99501157e-01 2.93941732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.825336195 meters 0.020454960539205504 Centerline is valid? [True, True] Translation: X:47.54, Y:0.28, Z:0.30 [[ 9.99018150e-01 -3.04030229e-02 -3.22240994e-02 4.75414183e+01] [ 3.03973346e-02 9.99537672e-01 -6.66512639e-04 2.77806062e-01] [ 3.22294653e-02 -3.13668506e-04 9.99480447e-01 2.96799466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.885336194999994 meters 0.019117273808424193 Centerline is valid? [True, True] Translation: X:47.60, Y:0.28, Z:0.30 [[ 9.99189122e-01 -3.00887736e-02 -2.67537620e-02 4.76009167e+01] [ 3.00847123e-02 9.99547199e-01 -5.54394065e-04 2.76374775e-01] [ 2.67583289e-02 -2.50934712e-04 9.99641900e-01 3.04292839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.945336194999996 meters 0.018907337796778712 Centerline is valid? [True, True] Translation: X:47.66, Y:0.27, Z:0.31 [[ 9.99222859e-01 -2.99734275e-02 -2.55982691e-02 4.76620068e+01] [ 2.99696725e-02 9.99550668e-01 -5.30408595e-04 2.74604608e-01] [ 2.56026651e-02 -2.37175350e-04 9.99672170e-01 3.05593780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.005336195 meters 0.017433228033708777 Centerline is valid? [True, True] Translation: X:47.72, Y:0.28, Z:0.30 [[ 9.99389291e-01 -2.49637377e-02 -2.44510912e-02 4.77226546e+01] [ 2.49588146e-02 9.99688352e-01 -5.06554378e-04 2.79579324e-01] [ 2.44561166e-02 -1.04025232e-04 9.99700899e-01 3.03891557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06533619499999 meters 0.01749126343063727 Centerline is valid? [True, True] Translation: X:47.78, Y:0.29, Z:0.30 [[ 9.99452100e-01 -1.92281708e-02 -2.69402573e-02 4.77815914e+01] [ 1.92200920e-02 9.99815121e-01 -5.58814838e-04 2.88287817e-01] [ 2.69460216e-02 4.07144398e-05 9.99636889e-01 3.04688697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.125336194999996 meters 0.019662409821597247 Centerline is valid? [True, True] Translation: X:47.84, Y:0.30, Z:0.30 [[ 9.99517011e-01 -1.35936004e-02 -2.79456360e-02 4.78391496e+01] [ 1.35826459e-02 9.99907582e-01 -5.81790024e-04 3.02231149e-01] [ 2.79509620e-02 2.01933349e-04 9.99609275e-01 3.04324581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.185336195 meters 0.02280682727930975 Centerline is valid? [True, True] Translation: X:47.90, Y:0.31, Z:0.30 [[ 9.99560450e-01 -9.11270472e-03 -2.82110906e-02 4.78968050e+01] [ 9.09970353e-03 9.99958423e-01 -5.89204296e-04 3.05630366e-01] [ 2.82152869e-02 3.32232750e-04 9.99601814e-01 2.96444074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24533619499999 meters 0.025005302195120732 Centerline is valid? [True, True] Translation: X:47.95, Y:0.32, Z:0.30 [[ 9.99625931e-01 -4.77672821e-03 -2.69291903e-02 4.79549927e+01] [ 4.76321340e-03 9.99988496e-01 -5.65988927e-04 3.17741913e-01] [ 2.69315841e-02 4.37507728e-04 9.99637183e-01 3.03415288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.305336194999995 meters 0.024627406411193566 Centerline is valid? [True, True] Translation: X:48.01, Y:0.33, Z:0.31 [[ 9.99640889e-01 -3.27252595e-03 -2.65966962e-02 4.80131628e+01] [ 3.25869369e-03 9.99994532e-01 -5.63401037e-04 3.27796764e-01] [ 2.65983945e-02 4.76528228e-04 9.99646087e-01 3.08687850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.365336195 meters 0.023283993409375384 Centerline is valid? [True, True] Translation: X:48.07, Y:0.33, Z:0.31 [[ 9.99680682e-01 -5.33719600e-03 -2.46991594e-02 4.80707545e+01] [ 5.32584333e-03 9.99985680e-01 -5.25397230e-04 3.31979380e-01] [ 2.47016099e-02 3.93685608e-04 9.99694791e-01 3.10090434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.425336195 meters 0.023454798996723928 Centerline is valid? [True, True] Translation: X:48.13, Y:0.33, Z:0.30 [[ 9.99576795e-01 -7.11570123e-03 -2.82063534e-02 4.81296640e+01] [ 7.10149086e-03 9.99974602e-01 -6.03943194e-04 3.31188497e-01] [ 2.82099345e-02 4.03380441e-04 9.99601939e-01 2.99060567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.485336194999995 meters 0.022812130236180412 Centerline is valid? [True, True] Translation: X:48.19, Y:0.34, Z:0.30 [[ 9.99588482e-01 -9.03464510e-03 -2.72257550e-02 4.81875934e+01] [ 9.02199631e-03 9.99959128e-01 -5.87393896e-04 3.37350093e-01] [ 2.72299491e-02 3.41521512e-04 9.99629138e-01 3.03039584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.545336195 meters 0.021604130914869353 Centerline is valid? [True, True] Translation: X:48.25, Y:0.34, Z:0.31 [[ 9.99580315e-01 -9.39397141e-03 -2.74034180e-02 4.82456237e+01] [ 9.38115479e-03 9.99955818e-01 -5.96228774e-04 3.40455250e-01] [ 2.74078082e-02 3.38902839e-04 9.99624278e-01 3.07405360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.605336195 meters 0.02211378092494522 Centerline is valid? [True, True] Translation: X:48.30, Y:0.35, Z:0.31 [[ 9.99648163e-01 -8.37802203e-03 -2.51666365e-02 4.83031649e+01] [ 8.36683200e-03 9.99964846e-01 -5.49905805e-04 3.45117256e-01] [ 2.51703590e-02 3.39147307e-04 9.99683119e-01 3.08131276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.665336194999995 meters 0.022517777459134018 Centerline is valid? [True, True] Translation: X:48.36, Y:0.35, Z:0.31 [[ 9.99721603e-01 -6.88094449e-03 -2.25691921e-02 4.83614806e+01] [ 6.87150008e-03 9.99976268e-01 -4.95990940e-04 3.47334881e-01] [ 2.25720694e-02 3.40768652e-04 9.99745160e-01 3.09983243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.725336195 meters 0.02184908628833142 Centerline is valid? [True, True] Translation: X:48.42, Y:0.36, Z:0.32 [[ 9.99698909e-01 -8.18651050e-03 -2.31316403e-02 4.84187751e+01] [ 8.17688888e-03 9.99966438e-01 -5.10506867e-04 3.55093233e-01] [ 2.31350433e-02 3.21208306e-04 9.99732297e-01 3.15035435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.785336195 meters 0.022311148589445145 Centerline is valid? [True, True] Translation: X:48.48, Y:0.36, Z:0.31 [[ 9.99652775e-01 -6.90683039e-03 -2.54288061e-02 4.84778804e+01] [ 6.89476004e-03 9.99976073e-01 -5.62319730e-04 3.59003900e-01] [ 2.54320815e-02 3.86798962e-04 9.99676477e-01 3.08482292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.845336194999994 meters 0.027346993579698026 Centerline is valid? [True, True] Translation: X:48.54, Y:0.37, Z:0.30 [[ 9.99685126e-01 -2.02876949e-03 -2.50106625e-02 4.85363425e+01] [ 2.01554487e-03 9.99997815e-01 -5.53956708e-04 3.68633848e-01] [ 2.50117317e-02 5.03372169e-04 9.99687031e-01 3.02250052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.905336195 meters 0.025829882752633013 Centerline is valid? [True, True] Translation: X:48.59, Y:0.38, Z:0.31 [[ 9.99638861e-01 -2.63359932e-03 -2.67434352e-02 4.85944275e+01] [ 2.61865640e-03 9.99996395e-01 -5.93757822e-04 3.79137126e-01] [ 2.67449025e-02 5.23511526e-04 9.99642154e-01 3.06844990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.965336195 meters 0.021663109926960803 Centerline is valid? [True, True] Translation: X:48.65, Y:0.38, Z:0.30 [[ 9.99541616e-01 -1.05382185e-02 -2.83814060e-02 4.86536933e+01] [ 1.05245459e-02 9.99944416e-01 -6.31084793e-04 3.75285727e-01] [ 2.83864790e-02 3.32094103e-04 9.99596968e-01 3.02612346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.025336194999994 meters 0.017731076339969506 Centerline is valid? [True, True] Translation: X:48.71, Y:0.37, Z:0.30 [[ 9.99490375e-01 -1.71602410e-02 -2.69168343e-02 4.87140187e+01] [ 1.71503335e-02 9.99852743e-01 -5.98911466e-04 3.73068345e-01] [ 2.69231481e-02 1.36973561e-04 9.99637497e-01 3.02671325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.085336195 meters 0.018725940389498826 Centerline is valid? [True, True] Translation: X:48.77, Y:0.37, Z:0.29 [[ 9.99413712e-01 -1.92316680e-02 -2.83262265e-02 4.87716984e+01] [ 1.92214909e-02 9.99815051e-01 -6.31557095e-04 3.74591067e-01] [ 2.83331335e-02 8.67145176e-05 9.99598532e-01 2.94050946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.145336195 meters 0.0170889853926421 Centerline is valid? [True, True] Translation: X:48.83, Y:0.38, Z:0.30 [[ 9.99407109e-01 -2.00713664e-02 -2.79744559e-02 4.88305831e+01] [ 2.00616644e-02 9.99798548e-01 -6.27465166e-04 3.82393468e-01] [ 2.79814144e-02 6.58790034e-05 9.99608441e-01 2.99639105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.205336194999994 meters 0.01760981458798271 Centerline is valid? [True, True] Translation: X:48.89, Y:0.39, Z:0.30 [[ 9.99341172e-01 -2.14954000e-02 -2.92432749e-02 4.88881678e+01] [ 2.14853333e-02 9.99768947e-01 -6.58450161e-04 3.90522516e-01] [ 2.92506718e-02 2.97148457e-05 9.99572107e-01 3.00726483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.265336194999996 meters 0.01660869856910543 Centerline is valid? [True, True] Translation: X:48.95, Y:0.39, Z:0.30 [[ 9.99295519e-01 -2.43562747e-02 -2.85523686e-02 4.89473889e+01] [ 2.43477356e-02 9.99703341e-01 -6.46745657e-04 3.85888571e-01] [ 2.85596506e-02 -4.88954852e-05 9.99592089e-01 2.99000640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.325336195 meters 0.017820861345438796 Centerline is valid? [True, True] Translation: X:49.01, Y:0.39, Z:0.30 [[ 9.99242386e-01 -2.57665145e-02 -2.91674566e-02 4.90056064e+01] [ 2.57581308e-02 9.99667984e-01 -6.63186617e-04 3.87402614e-01] [ 2.91748605e-02 -8.86149844e-05 9.99574319e-01 2.95707133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.385336194999994 meters 0.016548883025553796 Centerline is valid? [True, True] Translation: X:49.07, Y:0.40, Z:0.30 [[ 9.99296755e-01 -2.40939196e-02 -2.87311336e-02 4.90651681e+01] [ 2.40850672e-02 9.99709699e-01 -6.54189356e-04 3.97016354e-01] [ 2.87385549e-02 -3.82619825e-05 9.99586962e-01 3.02084475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.445336194999996 meters 0.016611216143295776 Centerline is valid? [True, True] Translation: X:49.12, Y:0.41, Z:0.31 [[ 9.99449355e-01 -1.95566411e-02 -2.68052922e-02 4.91239137e+01] [ 1.95472153e-02 9.99808747e-01 -6.13650295e-04 4.11003787e-01] [ 2.68121666e-02 8.93435724e-05 9.99640485e-01 3.05072102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.505336195 meters 0.019115462665771982 Centerline is valid? [True, True] Translation: X:49.18, Y:0.42, Z:0.30 [[ 9.99517039e-01 -1.29581707e-02 -2.82449181e-02 4.91828560e+01] [ 1.29450128e-02 9.99915999e-01 -6.48661835e-04 4.20840795e-01] [ 2.82509510e-02 2.82717731e-04 9.99600822e-01 3.00814885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56533619499999 meters 0.017298658558645496 Centerline is valid? [True, True] Translation: X:49.24, Y:0.42, Z:0.30 [[ 9.99449131e-01 -1.74776975e-02 -2.82128353e-02 4.92406047e+01] [ 1.74663267e-02 9.99847241e-01 -6.49441903e-04 4.24258730e-01] [ 2.82198763e-02 1.56309548e-04 9.99601728e-01 3.03777018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.625336194999996 meters 0.01622631527136127 Centerline is valid? [True, True] Translation: X:49.30, Y:0.42, Z:0.31 [[ 9.99209157e-01 -2.66714803e-02 -2.94905429e-02 4.92998633e+01] [ 2.66630135e-02 9.99644247e-01 -6.80372317e-04 4.21893288e-01] [ 2.94981981e-02 -1.06472496e-04 9.99564828e-01 3.06185894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.685336195 meters 0.01880101757422877 Centerline is valid? [True, True] Translation: X:49.36, Y:0.42, Z:0.30 [[ 9.98971516e-01 -3.21348719e-02 -3.19884489e-02 4.93587497e+01] [ 3.21276696e-02 9.99483500e-01 -7.39248594e-04 4.17258500e-01] [ 3.19956825e-02 -2.89226029e-04 9.99487965e-01 2.96065953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74533619499999 meters 0.017896828140664022 Centerline is valid? [True, True] Translation: X:49.42, Y:0.42, Z:0.30 [[ 9.98976237e-01 -3.23336146e-02 -3.16388336e-02 4.94195399e+01] [ 3.23266602e-02 9.99477089e-01 -7.31431228e-04 4.19783206e-01] [ 3.16459392e-02 -2.92095408e-04 9.99499099e-01 2.95043164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.805336194999995 meters 0.016754654827518232 Centerline is valid? [True, True] Translation: X:49.48, Y:0.43, Z:0.30 [[ 9.99063889e-01 -3.13472489e-02 -2.98110090e-02 4.94811141e+01] [ 3.13406597e-02 9.99508524e-01 -6.88372637e-04 4.31329237e-01] [ 2.98179362e-02 -2.46568446e-04 9.99555316e-01 3.04335122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.865336195 meters 0.017839697038303074 Centerline is valid? [True, True] Translation: X:49.54, Y:0.44, Z:0.30 [[ 9.99062094e-01 -3.11879787e-02 -3.00373551e-02 4.95417856e+01] [ 3.11812751e-02 9.99513506e-01 -6.91673640e-04 4.38719350e-01] [ 3.00443140e-02 -2.45578115e-04 9.99548538e-01 3.03556993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.925336195 meters 0.017632999565740867 Centerline is valid? [True, True] Translation: X:49.60, Y:0.45, Z:0.30 [[ 9.99076647e-01 -2.81461744e-02 -3.24599154e-02 4.96033190e+01] [ 2.81367791e-02 9.99603804e-01 -7.46278093e-04 4.45163809e-01] [ 3.24680598e-02 -1.67728454e-04 9.99472759e-01 2.96791117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.985336194999995 meters 0.019218732248101347 Centerline is valid? [True, True] Translation: X:49.66, Y:0.45, Z:0.29 [[ 9.98967918e-01 -2.80321328e-02 -3.57392985e-02 4.96621683e+01] [ 2.80206419e-02 9.99607006e-01 -8.22456546e-04 4.46787602e-01] [ 3.57483084e-02 -1.79830383e-04 9.99360809e-01 2.89912696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.045336195 meters 0.017620477113579294 Centerline is valid? [True, True] Translation: X:49.72, Y:0.45, Z:0.31 [[ 9.98902405e-01 -3.35162009e-02 -3.27207843e-02 4.97209371e+01] [ 3.35093625e-02 9.99438117e-01 -7.57497452e-04 4.53628977e-01] [ 3.27277875e-02 -3.39786595e-04 9.99464245e-01 3.06387524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.105336195 meters 0.01898111528113411 Centerline is valid? [True, True] Translation: X:49.78, Y:0.45, Z:0.30 [[ 9.98811080e-01 -3.67860151e-02 -3.19877487e-02 4.97823798e+01] [ 3.67811343e-02 9.99323070e-01 -7.41191256e-04 4.45230155e-01] [ 3.19933607e-02 -4.36235641e-04 9.99487986e-01 3.01146055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.165336194999995 meters 0.019117396386006805 Centerline is valid? [True, True] Translation: X:49.84, Y:0.46, Z:0.30 [[ 9.98796160e-01 -3.63336535e-02 -3.29559786e-02 4.98429459e+01] [ 3.63282629e-02 9.99339620e-01 -7.62530553e-04 4.56669198e-01] [ 3.29619206e-02 -4.35620866e-04 9.99456513e-01 3.04900363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.225336195 meters 0.01880605225950046 Centerline is valid? [True, True] Translation: X:49.90, Y:0.47, Z:0.30 [[ 9.98894151e-01 -3.26671856e-02 -3.38131595e-02 4.99036252e+01] [ 3.26594414e-02 9.99466233e-01 -7.81468955e-04 4.65154839e-01] [ 3.38206395e-02 -3.23714131e-04 9.99427866e-01 3.01202706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.285336195 meters 0.019256032009203453 Centerline is valid? [True, True] Translation: X:49.96, Y:0.47, Z:0.29 [[ 9.98863167e-01 -3.04604697e-02 -3.66678820e-02 4.99642127e+01] [ 3.04498835e-02 9.99535936e-01 -8.47252878e-04 4.67107807e-01] [ 3.66766734e-02 -2.70243042e-04 9.99327148e-01 2.92199823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.345336194999994 meters 0.01782262913616547 Centerline is valid? [True, True] Translation: X:50.02, Y:0.47, Z:0.30 [[ 9.98900847e-01 -3.18080826e-02 -3.44288233e-02 5.00226464e+01] [ 3.17995057e-02 9.99493950e-01 -7.96801085e-04 4.71691819e-01] [ 3.44367453e-02 -2.98894283e-04 9.99406835e-01 2.99851799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.405336195 meters 0.01843391203102559 Centerline is valid? [True, True] Translation: X:50.08, Y:0.48, Z:0.30 [[ 9.98905411e-01 -3.24277479e-02 -3.37108583e-02 5.00825375e+01] [ 3.24198658e-02 9.99474033e-01 -7.80538250e-04 4.76364155e-01] [ 3.37184386e-02 -3.13217623e-04 9.99431323e-01 3.02537271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.465336195 meters 0.01802778228617289 Centerline is valid? [True, True] Translation: X:50.14, Y:0.48, Z:0.31 [[ 9.98871495e-01 -3.44580920e-02 -3.26860387e-02 5.01435531e+01] [ 3.44517783e-02 9.99406075e-01 -7.56508185e-04 4.76468257e-01] [ 3.26926935e-02 -3.70437698e-04 9.99465382e-01 3.05362768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.525336194999994 meters 0.021406448277575107 Centerline is valid? [True, True] Translation: X:50.20, Y:0.46, Z:0.29 [[ 9.98604344e-01 -3.88618468e-02 -3.57647873e-02 5.02035308e+01] [ 3.88571140e-02 9.99244434e-01 -8.27665730e-04 4.63663785e-01] [ 3.57699293e-02 -5.63205823e-04 9.99359893e-01 2.93185064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.585336195 meters 0.02424306321099053 Centerline is valid? [True, True] Translation: X:50.26, Y:0.46, Z:0.30 [[ 9.98439540e-01 -4.23100439e-02 -3.64464574e-02 5.02639533e+01] [ 4.23074509e-02 9.99104284e-01 -8.42720972e-04 4.63076825e-01] [ 3.64494673e-02 -7.00550768e-04 9.99335252e-01 2.95111853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.645336195 meters 0.02066202301854765 Centerline is valid? [True, True] Translation: X:50.33, Y:0.47, Z:0.30 [[ 9.98545268e-01 -3.94027945e-02 -3.68071729e-02 5.03260566e+01] [ 3.93982353e-02 9.99223227e-01 -8.49455016e-04 4.68743255e-01] [ 3.68120529e-02 -6.01918370e-04 9.99322025e-01 2.96720849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.705336194999994 meters 0.017792739203678583 Centerline is valid? [True, True] Translation: X:50.39, Y:0.48, Z:0.30 [[ 9.98950469e-01 -3.29908443e-02 -3.17736559e-02 5.03851047e+01] [ 3.29842035e-02 9.99455604e-01 -7.33270168e-04 4.83053681e-01] [ 3.17805497e-02 -3.15528156e-04 9.99494821e-01 3.03881219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.765336194999996 meters 0.017187776972672944 Centerline is valid? [True, True] Translation: X:50.45, Y:0.49, Z:0.30 [[ 9.99034052e-01 -2.95065807e-02 -3.25626390e-02 5.04466896e+01] [ 2.94977906e-02 9.99564564e-01 -7.50406450e-04 4.93333783e-01] [ 3.25706019e-02 -2.10844310e-04 9.99469415e-01 3.04094801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.825336195 meters 0.019167759450517855 Centerline is valid? [True, True] Translation: X:50.51, Y:0.49, Z:0.31 [[ 9.98902115e-01 -3.63860425e-02 -2.95062792e-02 5.05071249e+01] [ 3.63818417e-02 9.99337731e-01 -6.79400509e-04 4.92894373e-01] [ 2.95114588e-02 -3.94838171e-04 9.99564364e-01 3.09067044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.885336194999994 meters 0.024933288360976646 Centerline is valid? [True, True] Translation: X:50.57, Y:0.49, Z:0.30 [[ 9.98469726e-01 -4.37311177e-02 -3.38495893e-02 5.05688711e+01] [ 4.37298255e-02 9.99043090e-01 -7.78858729e-04 4.85034328e-01] [ 3.38512586e-02 -7.02569770e-04 9.99426635e-01 2.97856437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.945336194999996 meters 0.024031645185611177 Centerline is valid? [True, True] Translation: X:50.63, Y:0.48, Z:0.29 [[ 9.98333224e-01 -4.61923302e-02 -3.45982920e-02 5.06307677e+01] [ 4.61924954e-02 9.98932241e-01 -7.94984156e-04 4.81428311e-01] [ 3.45980715e-02 -8.04522345e-04 9.99400984e-01 2.94669926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.005336195 meters 0.025131248447738178 Centerline is valid? [True, True] Translation: X:50.69, Y:0.49, Z:0.30 [[ 9.98366202e-01 -4.48047035e-02 -3.54607562e-02 5.06912403e+01] [ 4.48040478e-02 9.98995463e-01 -8.13533308e-04 4.92679438e-01] [ 3.54615847e-02 -7.76581257e-04 9.99370738e-01 3.00568920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06533619499999 meters 0.019941477080417467 Centerline is valid? [True, True] Translation: X:50.75, Y:0.50, Z:0.30 [[ 9.98687846e-01 -3.90059507e-02 -3.31831668e-02 5.07518627e+01] [ 3.90021879e-02 9.99238835e-01 -7.60919789e-04 5.04116038e-01] [ 3.31875894e-02 -5.34294763e-04 9.99448997e-01 2.99260795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.125336194999996 meters 0.01849065247122213 Centerline is valid? [True, True] Translation: X:50.81, Y:0.51, Z:0.30 [[ 9.98785442e-01 -3.61066532e-02 -3.35253595e-02 5.08138107e+01] [ 3.61012226e-02 9.99347844e-01 -7.67492863e-04 5.13493160e-01] [ 3.35312073e-02 -4.43745767e-04 9.99437572e-01 3.03203452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.185336195 meters 0.020188689450108575 Centerline is valid? [True, True] Translation: X:50.87, Y:0.52, Z:0.30 [[ 9.98821654e-01 -3.37305725e-02 -3.48934266e-02 5.08744042e+01] [ 3.37232875e-02 9.99430890e-01 -7.97465315e-04 5.23238682e-01] [ 3.49004673e-02 -3.80195431e-04 9.99390721e-01 2.98264326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24533619499999 meters 0.01794228811657304 Centerline is valid? [True, True] Translation: X:50.94, Y:0.53, Z:0.30 [[ 9.98905290e-01 -3.04321421e-02 -3.55261472e-02 5.09359980e+01] [ 3.04225378e-02 9.99536798e-01 -8.11007649e-04 5.28327090e-01] [ 3.55343721e-02 -2.70675725e-04 9.99368418e-01 2.98766621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.305336194999995 meters 0.016902251845984186 Centerline is valid? [True, True] Translation: X:51.00, Y:0.53, Z:0.30 [[ 9.98971445e-01 -2.88793786e-02 -3.49576056e-02 5.09951539e+01] [ 2.88691121e-02 9.99582881e-01 -7.98506705e-04 5.31032442e-01] [ 3.49660845e-02 -2.11509637e-04 9.99388477e-01 3.00180716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.365336195 meters 0.017486791911468957 Centerline is valid? [True, True] Translation: X:51.05, Y:0.54, Z:0.30 [[ 9.98920655e-01 -2.87985094e-02 -3.64440794e-02 5.10537250e+01] [ 2.87872534e-02 9.99585213e-01 -8.33664001e-04 5.40493154e-01] [ 3.64529712e-02 -2.16360760e-04 9.99335346e-01 3.03862874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42533619499999 meters 0.017795888250441375 Centerline is valid? [True, True] Translation: X:51.11, Y:0.53, Z:0.30 [[ 9.98723110e-01 -3.40637163e-02 -3.73070075e-02 5.11139051e+01] [ 3.40555549e-02 9.99419576e-01 -8.54402097e-04 5.30906868e-01] [ 3.73144577e-02 -4.17199724e-04 9.99303486e-01 3.01511831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.485336194999995 meters 0.019390829224247008 Centerline is valid? [True, True] Translation: X:51.17, Y:0.53, Z:0.30 [[ 9.98717198e-01 -3.64321420e-02 -3.51661343e-02 5.11739327e+01] [ 3.64263514e-02 9.99336016e-01 -8.05545791e-04 5.27611034e-01] [ 3.51721323e-02 -4.76461531e-04 9.99381156e-01 3.02907006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.545336195 meters 0.01865865263985245 Centerline is valid? [True, True] Translation: X:51.24, Y:0.53, Z:0.30 [[ 9.98699730e-01 -3.66598612e-02 -3.54246153e-02 5.12358228e+01] [ 3.66541761e-02 9.99327682e-01 -8.10121784e-04 5.26050350e-01] [ 3.54304976e-02 -4.89391680e-04 9.99372023e-01 3.02018585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.605336195 meters 0.018849779107582728 Centerline is valid? [True, True] Translation: X:51.30, Y:0.53, Z:0.30 [[ 9.98771847e-01 -3.49485292e-02 -3.51197631e-02 5.12973664e+01] [ 3.49419314e-02 9.99389023e-01 -8.01803522e-04 5.29812714e-01] [ 3.51263276e-02 -4.26333567e-04 9.99382789e-01 3.01019567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.665336194999995 meters 0.018398852440410982 Centerline is valid? [True, True] Translation: X:51.36, Y:0.54, Z:0.30 [[ 9.98820795e-01 -3.16008413e-02 -3.68565509e-02 5.13589210e+01] [ 3.15913569e-02 9.99500516e-01 -8.39822229e-04 5.41367163e-01] [ 3.68646807e-02 -3.25516546e-04 9.99320214e-01 3.03371000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.725336195 meters 0.01741609165244424 Centerline is valid? [True, True] Translation: X:51.42, Y:0.54, Z:0.30 [[ 9.98933187e-01 -3.16077203e-02 -3.36665909e-02 5.14188541e+01] [ 3.15998110e-02 9.99500307e-01 -7.67117916e-04 5.41679165e-01] [ 3.36740148e-02 -2.97558364e-04 9.99432825e-01 3.04736955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.785336195 meters 0.01851566800787983 Centerline is valid? [True, True] Translation: X:51.48, Y:0.53, Z:0.31 [[ 9.98699023e-01 -3.70104716e-02 -3.50782806e-02 5.14802880e+01] [ 3.70052357e-02 9.99314753e-01 -7.98713099e-04 5.34865457e-01] [ 3.50838040e-02 -5.00406049e-04 9.99384249e-01 3.05933434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.845336194999994 meters 0.024944256010291425 Centerline is valid? [True, True] Translation: X:51.54, Y:0.52, Z:0.30 [[ 9.98195368e-01 -4.65649350e-02 -3.79171889e-02 5.15408248e+01] [ 4.65657198e-02 9.98914856e-01 -8.62921435e-04 5.20957641e-01] [ 3.79162252e-02 -9.04277014e-04 9.99280512e-01 2.99976821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.905336195 meters 0.028797466415317424 Centerline is valid? [True, True] Translation: X:51.60, Y:0.51, Z:0.30 [[ 9.97847371e-01 -5.14390813e-02 -4.06773363e-02 5.16019845e+01] [ 5.14440365e-02 9.98675450e-01 -9.25602816e-04 5.13099131e-01] [ 4.06710693e-02 -1.16899604e-03 9.99171906e-01 2.98622459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.965336195 meters 0.03465976099158044 Centerline is valid? [True, True] Translation: X:51.66, Y:0.51, Z:0.30 [[ 9.97857639e-01 -5.23460450e-02 -3.92431280e-02 5.16629444e+01] [ 5.23514000e-02 9.98628327e-01 -8.91847478e-04 5.07430235e-01] [ 3.92359840e-02 -1.16449587e-03 9.99229294e-01 2.99464596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.025336194999994 meters 0.027876743528539423 Centerline is valid? [True, True] Translation: X:51.72, Y:0.51, Z:0.30 [[ 9.97955154e-01 -4.92457347e-02 -4.07476064e-02 5.17249736e+01] [ 4.92490042e-02 9.98786104e-01 -9.24176099e-04 5.06878201e-01] [ 4.07436547e-02 -1.08449274e-03 9.99169044e-01 2.97502779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.085336195 meters 0.027698569393184262 Centerline is valid? [True, True] Translation: X:51.78, Y:0.50, Z:0.29 [[ 9.98250843e-01 -4.33445036e-02 -4.02058344e-02 5.17849825e+01] [ 4.33429171e-02 9.99059838e-01 -9.11540687e-04 5.03913204e-01] [ 4.02075447e-02 -8.32691887e-04 9.99191003e-01 2.88295667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.145336195 meters 0.0220730334636489 Centerline is valid? [True, True] Translation: X:51.85, Y:0.52, Z:0.30 [[ 9.98460608e-01 -3.71015888e-02 -4.12296704e-02 5.18455931e+01] [ 3.70946331e-02 9.99311321e-01 -9.33981385e-04 5.19930286e-01] [ 4.12359286e-02 -5.96855874e-04 9.99149259e-01 3.00335174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.205336194999994 meters 0.02149700589715043 Centerline is valid? [True, True] Translation: X:51.90, Y:0.52, Z:0.29 [[ 9.98545932e-01 -3.38293364e-02 -4.19713906e-02 5.19046975e+01] [ 3.38190155e-02 9.99427516e-01 -9.56111413e-04 5.20192288e-01] [ 4.19797073e-02 -4.64709948e-04 9.99118355e-01 2.92823064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.265336194999996 meters 0.021454440640208915 Centerline is valid? [True, True] Translation: X:51.96, Y:0.52, Z:0.29 [[ 9.98534508e-01 -3.27036738e-02 -4.31196700e-02 5.19636316e+01] [ 3.26914313e-02 9.99465003e-01 -9.89227753e-04 5.20694390e-01] [ 4.31289525e-02 -4.21865680e-04 9.99069425e-01 2.88806411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.325336195 meters 0.021102995841110198 Centerline is valid? [True, True] Translation: X:52.02, Y:0.52, Z:0.30 [[ 9.98498763e-01 -3.76245179e-02 -3.98072281e-02 5.20220122e+01] [ 3.76178868e-02 9.99291777e-01 -9.15860648e-04 5.22383972e-01] [ 3.98134945e-02 -5.82978077e-04 9.99206958e-01 3.02035041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.385336194999994 meters 0.02027867101939968 Centerline is valid? [True, True] Translation: X:52.08, Y:0.52, Z:0.31 [[ 9.98505017e-01 -3.95323770e-02 -3.77481429e-02 5.20824756e+01] [ 3.95277634e-02 9.99218095e-01 -8.68820469e-04 5.21600017e-01] [ 3.77529740e-02 -6.24578064e-04 9.99286907e-01 3.08799306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.445336194999996 meters 0.022864720735105547 Centerline is valid? [True, True] Translation: X:52.14, Y:0.51, Z:0.30 [[ 9.98292637e-01 -4.37554745e-02 -3.86945587e-02 5.21435215e+01] [ 4.37538238e-02 9.99041947e-01 -8.89899046e-04 5.11215324e-01] [ 3.86964252e-02 -8.04655238e-04 9.99250689e-01 3.04569797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.505336195 meters 0.030565003378535148 Centerline is valid? [True, True] Translation: X:52.20, Y:0.50, Z:0.30 [[ 9.98109672e-01 -4.57808036e-02 -4.10024465e-02 5.22033223e+01] [ 4.57806664e-02 9.98951071e-01 -9.42794968e-04 5.04800556e-01] [ 4.10025997e-02 -9.36106546e-04 9.99158601e-01 2.99088502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56533619499999 meters 0.026495870428382945 Centerline is valid? [True, True] Translation: X:52.26, Y:0.50, Z:0.30 [[ 9.97935683e-01 -4.59624298e-02 -4.48534047e-02 5.22641478e+01] [ 4.59624723e-02 9.98942635e-01 -1.03090440e-03 5.03530271e-01] [ 4.48533611e-02 -1.03279708e-03 9.98993048e-01 2.95455603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.625336194999996 meters 0.02881994815459551 Centerline is valid? [True, True] Translation: X:52.32, Y:0.51, Z:0.29 [[ 9.97997397e-01 -4.18861901e-02 -4.73998212e-02 5.23233821e+01] [ 4.18816293e-02 9.99121985e-01 -1.08980189e-03 5.10032349e-01] [ 4.74038511e-02 -8.97562290e-04 9.98875402e-01 2.91811184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.685336195 meters 0.02575506100690554 Centerline is valid? [True, True] Translation: X:52.38, Y:0.51, Z:0.29 [[ 9.98283978e-01 -3.97815295e-02 -4.29712707e-02 5.23824516e+01] [ 3.97758055e-02 9.99208141e-01 -9.88538313e-04 5.09877725e-01] [ 4.29765690e-02 -7.22374946e-04 9.99075819e-01 2.90564388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74533619499999 meters 0.019415442436018334 Centerline is valid? [True, True] Translation: X:52.44, Y:0.52, Z:0.31 [[ 9.98596372e-01 -3.67352707e-02 -3.81550242e-02 5.24429911e+01] [ 3.67285416e-02 9.99324894e-01 -8.77528420e-04 5.21737239e-01] [ 3.81615018e-02 -5.25081698e-04 9.99271447e-01 3.09073584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.805336194999995 meters 0.02162875603185951 Centerline is valid? [True, True] Translation: X:52.50, Y:0.52, Z:0.30 [[ 9.98507574e-01 -3.82805813e-02 -3.89515220e-02 5.25029467e+01] [ 3.82747322e-02 9.99266852e-01 -8.96138285e-04 5.15508834e-01] [ 3.89572695e-02 -5.96058208e-04 9.99240700e-01 3.03088604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.865336195 meters 0.027316374538995956 Centerline is valid? [True, True] Translation: X:52.56, Y:0.51, Z:0.30 [[ 9.98045668e-01 -4.43414574e-02 -4.40304466e-02 5.25623846e+01] [ 4.43398609e-02 9.99015991e-01 -1.01336648e-03 5.05922560e-01] [ 4.40320544e-02 -9.40917854e-04 9.99029676e-01 2.96462433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92533619499999 meters 0.028432526820243085 Centerline is valid? [True, True] Translation: X:52.62, Y:0.50, Z:0.31 [[ 9.97809188e-01 -5.06666655e-02 -4.25407375e-02 5.26224333e+01] [ 5.06708947e-02 9.98714925e-01 -9.79549398e-04 4.95827709e-01] [ 4.25356999e-02 -1.17817384e-03 9.99094253e-01 3.05351837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.985336194999995 meters 0.02830169148062506 Centerline is valid? [True, True] Translation: X:52.69, Y:0.49, Z:0.31 [[ 9.97816008e-01 -5.20021437e-02 -4.07307123e-02 5.26850071e+01] [ 5.20071908e-02 9.98646271e-01 -9.36378916e-04 4.88840937e-01] [ 4.07242676e-02 -1.18395605e-03 9.99169721e-01 3.10100101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.045336195 meters 0.025223566075286676 Centerline is valid? [True, True] Translation: X:52.75, Y:0.49, Z:0.31 [[ 9.98101051e-01 -4.80628137e-02 -3.85260625e-02 5.27452740e+01] [ 4.80644118e-02 9.98843846e-01 -8.85265651e-04 4.88331560e-01] [ 3.85240688e-02 -9.68147954e-04 9.99257204e-01 3.12565705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.105336195 meters 0.023477518070892593 Centerline is valid? [True, True] Translation: X:52.81, Y:0.50, Z:0.31 [[ 9.98184865e-01 -4.06605087e-02 -4.44263317e-02 5.28055647e+01] [ 4.06553532e-02 9.99172709e-01 -1.01994582e-03 5.04469876e-01] [ 4.44310497e-02 -7.88073723e-04 9.99012142e-01 3.07203685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.165336194999995 meters 0.02258555995334463 Centerline is valid? [True, True] Translation: X:52.86, Y:0.51, Z:0.30 [[ 9.98367268e-01 -3.58011283e-02 -4.45092941e-02 5.28630556e+01] [ 3.57909956e-02 9.99358772e-01 -1.02479889e-03 5.08518962e-01] [ 4.45174425e-02 -5.69906279e-04 9.99008445e-01 2.96293660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.225336195 meters 0.02353575559818235 Centerline is valid? [True, True] Translation: X:52.92, Y:0.51, Z:0.30 [[ 9.98188059e-01 -3.89105248e-02 -4.58973803e-02 5.29220371e+01] [ 3.89029429e-02 9.99242433e-01 -1.05876106e-03 5.08928751e-01] [ 4.59038069e-02 -7.28700521e-04 9.98945599e-01 2.97075523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.285336195 meters 0.02436116692604918 Centerline is valid? [True, True] Translation: X:52.98, Y:0.52, Z:0.31 [[ 9.97984251e-01 -4.32805057e-02 -4.64137010e-02 5.29810573e+01] [ 4.32773968e-02 9.99062519e-01 -1.07232500e-03 5.18260077e-01] [ 4.64165998e-02 -9.38500697e-04 9.98921728e-01 3.08923780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.345336194999994 meters 0.027851403212627964 Centerline is valid? [True, True] Translation: X:53.04, Y:0.50, Z:0.30 [[ 9.97744129e-01 -4.82917043e-02 -4.66322225e-02 5.30420557e+01] [ 4.82940199e-02 9.98832582e-01 -1.07764413e-03 5.03851752e-01] [ 4.66298245e-02 -1.17684438e-03 9.98911545e-01 2.97263151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.405336195 meters 0.03163007380920558 Centerline is valid? [True, True] Translation: X:53.10, Y:0.49, Z:0.29 [[ 9.97534164e-01 -5.12046276e-02 -4.79966381e-02 5.31010948e+01] [ 5.12104205e-02 9.98687269e-01 -1.10978133e-03 4.94901634e-01] [ 4.79904574e-02 -1.35088322e-03 9.98846881e-01 2.92306886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.465336195 meters 0.02773519026575325 Centerline is valid? [True, True] Translation: X:53.16, Y:0.51, Z:0.30 [[ 9.97719727e-01 -4.83686778e-02 -4.70724778e-02 5.31618057e+01] [ 4.83711121e-02 9.98828840e-01 -1.08805713e-03 5.10462896e-01] [ 4.70699763e-02 -1.19137204e-03 9.98890884e-01 3.04256061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.525336194999994 meters 0.02910599049205928 Centerline is valid? [True, True] Translation: X:53.22, Y:0.50, Z:0.29 [[ 9.97749427e-01 -4.49886669e-02 -4.97202311e-02 5.32218621e+01] [ 4.49871748e-02 9.98986903e-01 -1.14965625e-03 5.02770778e-01] [ 4.97215812e-02 -1.08970386e-03 9.98762523e-01 2.86402112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.585336195 meters 0.027621504494884725 Centerline is valid? [True, True] Translation: X:53.28, Y:0.51, Z:0.29 [[ 9.97855452e-01 -4.33805846e-02 -4.90165557e-02 5.32808714e+01] [ 4.33770275e-02 9.99058127e-01 -1.13680621e-03 5.09087992e-01] [ 4.90197036e-02 -9.91824211e-04 9.98797319e-01 2.94399460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.645336195 meters 0.02649460992943997 Centerline is valid? [True, True] Translation: X:53.34, Y:0.51, Z:0.30 [[ 9.97829579e-01 -4.33422759e-02 -4.95739667e-02 5.33392391e+01] [ 4.33382195e-02 9.99059788e-01 -1.15721193e-03 5.11358501e-01] [ 4.95775128e-02 -9.93747158e-04 9.98769785e-01 2.98651661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.705336194999994 meters 0.027338002015744954 Centerline is valid? [True, True] Translation: X:53.40, Y:0.51, Z:0.30 [[ 9.98121061e-01 -4.02784524e-02 -4.61735270e-02 5.33981272e+01] [ 4.02715767e-02 9.99188188e-01 -1.07951397e-03 5.14430373e-01] [ 4.61795239e-02 -7.81995103e-04 9.98932851e-01 3.01416083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.765336194999996 meters 0.021315572178703064 Centerline is valid? [True, True] Translation: X:53.46, Y:0.51, Z:0.30 [[ 9.98349786e-01 -3.45718528e-02 -4.58529311e-02 5.34584276e+01] [ 3.45590309e-02 9.99402083e-01 -1.07257407e-03 5.13601397e-01] [ 4.58625957e-02 -5.13828767e-04 9.98947625e-01 3.00474894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.825336195 meters 0.02277896469176688 Centerline is valid? [True, True] Translation: X:53.52, Y:0.52, Z:0.30 [[ 9.98487115e-01 -2.85956491e-02 -4.69656180e-02 5.35160327e+01] [ 2.85754766e-02 9.99591031e-01 -1.10100164e-03 5.24577743e-01] [ 4.69778944e-02 -2.42728964e-04 9.98895900e-01 2.96817059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.885336194999994 meters 0.02345470135527042 Centerline is valid? [True, True] Translation: X:53.58, Y:0.53, Z:0.30 [[ 9.98255681e-01 -2.95524832e-02 -5.11101404e-02 5.35758993e+01] [ 2.95298156e-02 9.99563181e-01 -1.19874219e-03 5.30381930e-01] [ 5.11232404e-02 -3.12621824e-04 9.98692303e-01 3.00138108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.945336194999996 meters 0.02372678584859941 Centerline is valid? [True, True] Translation: X:53.63, Y:0.51, Z:0.30 [[ 9.98077767e-01 -3.83498418e-02 -4.86832672e-02 5.36349961e+01] [ 3.83393980e-02 9.99264115e-01 -1.14864850e-03 5.10432098e-01] [ 4.86914924e-02 -7.20046621e-04 9.98813606e-01 3.00241808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.005336195 meters 0.026603998206214067 Centerline is valid? [True, True] Translation: X:53.69, Y:0.49, Z:0.30 [[ 9.97841922e-01 -4.54436200e-02 -4.73959475e-02 5.36948061e+01] [ 4.54416106e-02 9.98966368e-01 -1.12043219e-03 4.93291226e-01] [ 4.73978740e-02 -1.03573398e-03 9.98875552e-01 3.02331706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06533619499999 meters 0.02929151346221501 Centerline is valid? [True, True] Translation: X:53.76, Y:0.49, Z:0.32 [[ 9.97957974e-01 -4.67366319e-02 -4.35381306e-02 5.37550386e+01] [ 4.67361363e-02 9.98906739e-01 -1.02982478e-03 4.91985379e-01] [ 4.35386626e-02 -1.00708216e-03 9.99051235e-01 3.16458592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.125336194999996 meters 0.02384288469735994 Centerline is valid? [True, True] Translation: X:53.82, Y:0.49, Z:0.32 [[ 9.98283765e-01 -4.45017127e-02 -3.80673324e-02 5.38156877e+01] [ 4.44997015e-02 9.99008992e-01 -9.00551672e-04 4.85118637e-01] [ 3.80696834e-02 -7.94978813e-04 9.99274771e-01 3.22198183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.185336195 meters 0.02254536847614946 Centerline is valid? [True, True] Translation: X:53.88, Y:0.49, Z:0.33 [[ 9.98449289e-01 -4.04302639e-02 -3.82676319e-02 5.38763134e+01] [ 4.04252698e-02 9.99182155e-01 -9.04586610e-04 4.92695818e-01] [ 3.82729076e-02 -6.43795485e-04 9.99267116e-01 3.28009966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24533619499999 meters 0.02513296926686552 Centerline is valid? [True, True] Translation: X:53.94, Y:0.48, Z:0.31 [[ 9.98478465e-01 -4.03670032e-02 -3.75667310e-02 5.39360496e+01] [ 4.03621392e-02 9.99184722e-01 -8.88181799e-04 4.79954607e-01] [ 3.75719569e-02 -6.29443226e-04 9.99293727e-01 3.13604155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.305336194999995 meters 0.022530079260380125 Centerline is valid? [True, True] Translation: X:54.00, Y:0.48, Z:0.31 [[ 9.98426906e-01 -3.88231559e-02 -4.04533832e-02 5.39965593e+01] [ 3.88162467e-02 9.99245908e-01 -9.56521372e-04 4.81318264e-01] [ 4.04600128e-02 -6.15231829e-04 9.99180969e-01 3.13471849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.365336195 meters 0.020625215617942057 Centerline is valid? [True, True] Translation: X:54.06, Y:0.49, Z:0.33 [[ 9.98473469e-01 -3.78727514e-02 -4.02043024e-02 5.40550275e+01] [ 3.78649410e-02 9.99282409e-01 -9.55999698e-04 4.91902918e-01] [ 4.02116585e-02 -5.67793203e-04 9.99191023e-01 3.26302756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42533619499999 meters 0.021964884380280082 Centerline is valid? [True, True] Translation: X:54.11, Y:0.49, Z:0.32 [[ 9.98375345e-01 -3.93545928e-02 -4.12054086e-02 5.41145306e+01] [ 3.93475491e-02 9.99225103e-01 -9.82250670e-04 4.85468178e-01] [ 4.12121348e-02 -6.40676990e-04 9.99150214e-01 3.24344050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.485336194999995 meters 0.02406451146408412 Centerline is valid? [True, True] Translation: X:54.17, Y:0.48, Z:0.33 [[ 9.98166244e-01 -4.49708786e-02 -4.05187505e-02 5.41742267e+01] [ 4.49686481e-02 9.98987931e-01 -9.66920485e-04 4.77155148e-01] [ 4.05212260e-02 -8.56926043e-04 9.99178310e-01 3.27169494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.545336195 meters 0.02604986993112713 Centerline is valid? [True, True] Translation: X:54.23, Y:0.46, Z:0.32 [[ 9.97937358e-01 -4.87914287e-02 -4.17184067e-02 5.42343081e+01] [ 4.87923642e-02 9.98808446e-01 -9.96394641e-04 4.64835128e-01] [ 4.17173125e-02 -1.04120026e-03 9.99128911e-01 3.21384023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.605336195 meters 0.025357761171294818 Centerline is valid? [True, True] Translation: X:54.29, Y:0.46, Z:0.32 [[ 9.98130791e-01 -4.59652895e-02 -4.02754921e-02 5.42936389e+01] [ 4.59638402e-02 9.98942641e-01 -9.62458235e-04 4.63373989e-01] [ 4.02771461e-02 -8.90557080e-04 9.99188150e-01 3.21226759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.665336194999995 meters 0.02258043253651914 Centerline is valid? [True, True] Translation: X:54.35, Y:0.47, Z:0.32 [[ 9.98405107e-01 -4.00987319e-02 -3.97408267e-02 5.43534750e+01] [ 4.00926720e-02 9.99195514e-01 -9.49768970e-04 4.65590518e-01] [ 3.97469404e-02 -6.45061741e-04 9.99209570e-01 3.22285210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.725336195 meters 0.01839137499274622 Centerline is valid? [True, True] Translation: X:54.41, Y:0.48, Z:0.33 [[ 9.98706226e-01 -3.36688348e-02 -3.81088505e-02 5.44129168e+01] [ 3.36585685e-02 9.99432975e-01 -9.11121681e-04 4.78408688e-01] [ 3.81179182e-02 -3.72746459e-04 9.99273179e-01 3.33149286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.785336195 meters 0.017252469068304327 Centerline is valid? [True, True] Translation: X:54.47, Y:0.48, Z:0.33 [[ 9.98844135e-01 -2.91929645e-02 -3.81859161e-02 5.44712724e+01] [ 2.91791908e-02 9.99573775e-01 -9.18092768e-04 4.79268280e-01] [ 3.81964422e-02 -1.97202554e-04 9.99270230e-01 3.32204637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.845336194999994 meters 0.016547018054787387 Centerline is valid? [True, True] Translation: X:54.53, Y:0.48, Z:0.33 [[ 9.98909872e-01 -2.73164544e-02 -3.78533759e-02 5.45295432e+01] [ 2.73013343e-02 9.99626829e-01 -9.16386256e-04 4.82219426e-01] [ 3.78642825e-02 -1.18060393e-04 9.99282884e-01 3.33933443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.905336195 meters 0.017742775727785664 Centerline is valid? [True, True] Translation: X:54.59, Y:0.48, Z:0.33 [[ 9.98782464e-01 -2.83036664e-02 -4.04041013e-02 5.45896398e+01] [ 2.82871608e-02 9.99599358e-01 -9.80263291e-04 4.78682697e-01] [ 4.04156588e-02 -1.63847525e-04 9.99182940e-01 3.28160288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.965336195 meters 0.016670005680758306 Centerline is valid? [True, True] Translation: X:54.65, Y:0.48, Z:0.33 [[ 9.98910673e-01 -2.63964451e-02 -3.84797881e-02 5.46483757e+01] [ 2.63799960e-02 9.99651550e-01 -9.35236373e-04 4.81813232e-01] [ 3.84910667e-02 -8.08790607e-05 9.99258941e-01 3.32214411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.025336194999994 meters 0.018602947842406965 Centerline is valid? [True, True] Translation: X:54.71, Y:0.50, Z:0.33 [[ 9.99025569e-01 -2.16329749e-02 -3.84698092e-02 5.47050977e+01] [ 2.16128903e-02 9.99765974e-01 -9.37935644e-04 4.96533426e-01] [ 3.84810966e-02 1.05577924e-04 9.99259323e-01 3.33931152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.085336195 meters 0.019474588893291494 Centerline is valid? [True, True] Translation: X:54.76, Y:0.50, Z:0.33 [[ 9.99120552e-01 -1.93608535e-02 -3.71924690e-02 5.47631173e+01] [ 1.93403908e-02 9.99812543e-01 -9.09921136e-04 4.99671209e-01] [ 3.72031139e-02 1.89804022e-04 9.99307707e-01 3.30617591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.145336195 meters 0.018313533708897142 Centerline is valid? [True, True] Translation: X:54.82, Y:0.50, Z:0.33 [[ 9.99085445e-01 -2.07158701e-02 -3.74049065e-02 5.48212065e+01] [ 2.06958889e-02 9.99785393e-01 -9.21348232e-04 5.03093927e-01] [ 3.74159657e-02 1.46377820e-04 9.99299767e-01 3.32389201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.205336194999994 meters 0.016798338656216504 Centerline is valid? [True, True] Translation: X:54.88, Y:0.50, Z:0.34 [[ 9.98977424e-01 -2.48074164e-02 -3.77981309e-02 5.48785236e+01] [ 2.47896673e-02 9.99692249e-01 -9.38246002e-04 5.04244784e-01] [ 3.78097740e-02 2.83484838e-07 9.99284955e-01 3.36261801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.265336194999996 meters 0.017475196511254825 Centerline is valid? [True, True] Translation: X:54.94, Y:0.50, Z:0.33 [[ 9.98835927e-01 -2.85218492e-02 -3.89011028e-02 5.49361875e+01] [ 2.85057346e-02 9.99593159e-01 -9.68957147e-04 5.03501186e-01] [ 3.89129127e-02 -1.41075302e-04 9.99242596e-01 3.34981931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.325336195 meters 0.019525333573460774 Centerline is valid? [True, True] Translation: X:55.00, Y:0.50, Z:0.33 [[ 9.98656889e-01 -3.04524586e-02 -4.19173658e-02 5.49952163e+01] [ 3.04354219e-02 9.99536189e-01 -1.04469079e-03 4.97439084e-01] [ 4.19297375e-02 -2.32485060e-04 9.99120535e-01 3.25031183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.385336194999994 meters 0.02031706285739222 Centerline is valid? [True, True] Translation: X:55.05, Y:0.50, Z:0.33 [[ 9.98586204e-01 -2.95005920e-02 -4.42188591e-02 5.50547611e+01] [ 2.94806612e-02 9.99564742e-01 -1.10292594e-03 5.03250559e-01] [ 4.42321495e-02 -2.02234580e-04 9.99021259e-01 3.25225705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.445336194999996 meters 0.019665504457867983 Centerline is valid? [True, True] Translation: X:55.11, Y:0.50, Z:0.33 [[ 9.98658736e-01 -2.95742793e-02 -4.24981224e-02 5.51134947e+01] [ 2.95558603e-02 9.99562566e-01 -1.06179771e-03 5.00661909e-01] [ 4.25109342e-02 -1.95695015e-04 9.99095982e-01 3.25215904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.505336195 meters 0.01963449995676887 Centerline is valid? [True, True] Translation: X:55.17, Y:0.51, Z:0.33 [[ 9.98734883e-01 -2.65454173e-02 -4.27080072e-02 5.51710200e+01] [ 2.65237507e-02 9.99647607e-01 -1.07398723e-03 5.08070869e-01] [ 4.27214666e-02 -6.01480265e-05 9.99087020e-01 3.26947612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56533619499999 meters 0.02043509533026827 Centerline is valid? [True, True] Translation: X:55.23, Y:0.52, Z:0.33 [[ 9.98895498e-01 -2.21970443e-02 -4.14134660e-02 5.52281140e+01] [ 2.21727597e-02 9.99753607e-01 -1.04568228e-03 5.21290250e-01] [ 4.14264731e-02 1.26276496e-04 9.99141547e-01 3.30470488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.625336194999996 meters 0.018908619619359475 Centerline is valid? [True, True] Translation: X:55.29, Y:0.53, Z:0.33 [[ 9.98990052e-01 -2.13871777e-02 -3.95153663e-02 5.52865267e+01] [ 2.13643516e-02 9.99771256e-01 -9.99883826e-04 5.25761053e-01] [ 3.95277121e-02 1.54653817e-04 9.99218463e-01 3.34905675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.685336195 meters 0.017590273257853624 Centerline is valid? [True, True] Translation: X:55.35, Y:0.52, Z:0.33 [[ 9.99016440e-01 -2.42613775e-02 -3.71152145e-02 5.53455670e+01] [ 2.42431857e-02 9.99705649e-01 -9.40180211e-04 5.21990772e-01] [ 3.71270996e-02 3.94644486e-05 9.99310551e-01 3.30797041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74533619499999 meters 0.01609194628974536 Centerline is valid? [True, True] Translation: X:55.40, Y:0.52, Z:0.34 [[ 9.98941299e-01 -2.67492407e-02 -3.74267061e-02 5.54037555e+01] [ 2.67322919e-02 9.99642174e-01 -9.53294934e-04 5.24995301e-01] [ 3.74388138e-02 -4.82159538e-05 9.99298921e-01 3.35611677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.805336194999995 meters 0.018613169505051468 Centerline is valid? [True, True] Translation: X:55.46, Y:0.53, Z:0.33 [[ 9.98642694e-01 -3.29577453e-02 -4.03306038e-02 5.54623792e+01] [ 3.29430587e-02 9.99456701e-01 -1.02885971e-03 5.31320012e-01] [ 4.03426011e-02 -3.01150212e-04 9.99185861e-01 3.33878945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.865336195 meters 0.021787885615702923 Centerline is valid? [True, True] Translation: X:55.52, Y:0.52, Z:0.33 [[ 9.98325469e-01 -4.11989963e-02 -4.06066644e-02 5.55215603e+01] [ 4.11908708e-02 9.99150758e-01 -1.03709670e-03 5.22405378e-01] [ 4.06149069e-02 -6.37263814e-04 9.99174671e-01 3.30242231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92533619499999 meters 0.024596007537079325 Centerline is valid? [True, True] Translation: X:55.58, Y:0.53, Z:0.33 [[ 9.98094998e-01 -4.53837152e-02 -4.17934533e-02 5.55820274e+01] [ 4.53787622e-02 9.98969283e-01 -1.06767590e-03 5.26925102e-01] [ 4.17988312e-02 -8.30893207e-04 9.99125701e-01 3.31839174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.985336194999995 meters 0.026186536056671542 Centerline is valid? [True, True] Translation: X:55.64, Y:0.53, Z:0.32 [[ 9.98128163e-01 -4.46974053e-02 -4.17410040e-02 5.56421325e+01] [ 4.46918650e-02 9.99000250e-01 -1.06633600e-03 5.26583381e-01] [ 4.17469359e-02 -8.01143325e-04 9.99127895e-01 3.24204322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.045336195 meters 0.023758536978869368 Centerline is valid? [True, True] Translation: X:55.70, Y:0.54, Z:0.34 [[ 9.98128290e-01 -4.50250221e-02 -4.13843539e-02 5.57031985e+01] [ 4.50198899e-02 9.98985532e-01 -1.05643704e-03 5.36680263e-01] [ 4.13899369e-02 -8.08659362e-04 9.99142742e-01 3.36035485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.105336195 meters 0.025812668041138787 Centerline is valid? [True, True] Translation: X:55.76, Y:0.53, Z:0.33 [[ 9.98121481e-01 -4.59034622e-02 -4.05756145e-02 5.57634503e+01] [ 4.58992759e-02 9.98945536e-01 -1.03523822e-03 5.31885479e-01] [ 4.05803501e-02 -8.29097821e-04 9.99175934e-01 3.30305143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.165336194999995 meters 0.022653376111152278 Centerline is valid? [True, True] Translation: X:55.82, Y:0.53, Z:0.33 [[ 9.98148816e-01 -4.49553006e-02 -4.09629400e-02 5.58246848e+01] [ 4.49502726e-02 9.98988680e-01 -1.04423694e-03 5.34392073e-01] [ 4.09684574e-02 -7.98991457e-04 9.99160121e-01 3.33411350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.225336195 meters 0.022173084180503382 Centerline is valid? [True, True] Translation: X:55.88, Y:0.54, Z:0.33 [[ 9.98346692e-01 -4.13791066e-02 -3.98955121e-02 5.58842041e+01] [ 4.13715245e-02 9.99143315e-01 -1.01598170e-03 5.38375304e-01] [ 3.99033747e-02 -6.36236192e-04 9.99203341e-01 3.31378150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.285336195 meters 0.02039327636283419 Centerline is valid? [True, True] Translation: X:55.94, Y:0.55, Z:0.33 [[ 9.98268119e-01 -3.84722916e-02 -4.45044471e-02 5.59437161e+01] [ 3.84599542e-02 9.99259499e-01 -1.13374610e-03 5.48740179e-01] [ 4.45151093e-02 -5.79856415e-04 9.99008543e-01 3.34189183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.345336194999994 meters 0.021415972726453063 Centerline is valid? [True, True] Translation: X:56.00, Y:0.55, Z:0.34 [[ 9.98289477e-01 -4.08193632e-02 -4.18557033e-02 5.60013020e+01] [ 4.08104209e-02 9.99166337e-01 -1.06842903e-03 5.47085986e-01] [ 4.18644223e-02 -6.41547408e-04 9.99123095e-01 3.38245359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.405336195 meters 0.029371785766402553 Centerline is valid? [True, True] Translation: X:56.06, Y:0.53, Z:0.32 [[ 9.98007149e-01 -4.54718823e-02 -4.37497242e-02 5.60613702e+01] [ 4.54665402e-02 9.98965237e-01 -1.11766398e-03 5.31225185e-01] [ 4.37552759e-02 -8.73711954e-04 9.99041897e-01 3.21767213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.465336195 meters 0.02441932293999507 Centerline is valid? [True, True] Translation: X:56.12, Y:0.53, Z:0.34 [[ 9.97962569e-01 -4.81945413e-02 -4.18090594e-02 5.61211697e+01] [ 4.81920106e-02 9.98837518e-01 -1.06898780e-03 5.31963540e-01] [ 4.18119765e-02 -9.48052819e-04 9.99125047e-01 3.35056775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.525336194999994 meters 0.02906851616642993 Centerline is valid? [True, True] Translation: X:56.18, Y:0.53, Z:0.34 [[ 9.97785446e-01 -5.18287241e-02 -4.16891822e-02 5.61811125e+01] [ 5.18294347e-02 9.98655384e-01 -1.06451429e-03 5.25942257e-01] [ 4.16882986e-02 -1.09856988e-03 9.99130061e-01 3.37065150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.585336195 meters 0.0313291827519462 Centerline is valid? [True, True] Translation: X:56.24, Y:0.52, Z:0.34 [[ 9.97621158e-01 -5.51479954e-02 -4.13608895e-02 5.62421418e+01] [ 5.51515870e-02 9.98477436e-01 -1.05507735e-03 5.20871030e-01] [ 4.13561003e-02 -1.22855121e-03 9.99143715e-01 3.38253723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.645336195 meters 0.03192973730205765 Centerline is valid? [True, True] Translation: X:56.30, Y:0.51, Z:0.33 [[ 9.97688278e-01 -5.40128596e-02 -4.12396783e-02 5.63040836e+01] [ 5.40155314e-02 9.98539543e-01 -1.05029194e-03 5.13149726e-01] [ 4.12361788e-02 -1.17971918e-03 9.99148731e-01 3.34671042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.705336194999994 meters 0.028828596734673383 Centerline is valid? [True, True] Translation: X:56.37, Y:0.52, Z:0.34 [[ 9.97837229e-01 -5.00396386e-02 -4.26251088e-02 5.63657551e+01] [ 5.00389389e-02 9.98746679e-01 -1.08402638e-03 5.22008367e-01] [ 4.26259302e-02 -1.05123333e-03 9.99090549e-01 3.36782876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.765336194999996 meters 0.026592149297695197 Centerline is valid? [True, True] Translation: X:56.43, Y:0.53, Z:0.33 [[ 9.97931876e-01 -4.65327350e-02 -4.43472065e-02 5.64258993e+01] [ 4.65285315e-02 9.98916325e-01 -1.12755480e-03 5.26277837e-01] [ 4.43516167e-02 -9.38187521e-04 9.99015542e-01 3.30943563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.825336195 meters 0.027622002955822587 Centerline is valid? [True, True] Translation: X:56.48, Y:0.53, Z:0.33 [[ 9.97929235e-01 -4.78554624e-02 -4.29778650e-02 5.64842238e+01] [ 4.78526869e-02 9.98853805e-01 -1.09394475e-03 5.31454373e-01] [ 4.29809552e-02 -9.64926872e-04 9.99075426e-01 3.34771552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.885336194999994 meters 0.02996264463673958 Centerline is valid? [True, True] Translation: X:56.54, Y:0.53, Z:0.34 [[ 9.97710887e-01 -5.27649503e-02 -4.22947507e-02 5.65445518e+01] [ 5.27666365e-02 9.98606290e-01 -1.07728578e-03 5.26584515e-01] [ 4.22926470e-02 -1.15693199e-03 9.99104596e-01 3.37395878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.945336194999996 meters 0.03639400135188065 Centerline is valid? [True, True] Translation: X:56.61, Y:0.52, Z:0.34 [[ 9.97433858e-01 -5.76194325e-02 -4.24935312e-02 5.66055293e+01] [ 5.76255440e-02 9.98337681e-01 -1.08209294e-03 5.22201689e-01] [ 4.24852430e-02 -1.36939672e-03 9.99096156e-01 3.38214419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.005336195 meters 0.03966778540943655 Centerline is valid? [True, True] Translation: X:56.67, Y:0.51, Z:0.33 [[ 9.96900623e-01 -6.40953040e-02 -4.56173204e-02 5.66662550e+01] [ 6.41091250e-02 9.97942218e-01 -1.16147241e-03 5.10923573e-01] [ 4.55978948e-02 -1.76661392e-03 9.98958313e-01 3.31701686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06533619499999 meters 0.0411622296597918 Centerline is valid? [True, True] Translation: X:56.73, Y:0.51, Z:0.33 [[ 9.96702213e-01 -6.36402918e-02 -5.03449286e-02 5.67265237e+01] [ 6.36565652e-02 9.97971041e-01 -1.28173379e-03 5.13774851e-01] [ 5.03243507e-02 -1.92727833e-03 9.98731068e-01 3.27886951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.125336194999996 meters 0.034653189105569235 Centerline is valid? [True, True] Translation: X:56.79, Y:0.52, Z:0.33 [[ 9.96945116e-01 -5.94040762e-02 -5.07108697e-02 5.67867749e+01] [ 5.94151180e-02 9.98232527e-01 -1.29103415e-03 5.17612458e-01] [ 5.06979323e-02 -1.72590212e-03 9.98712542e-01 3.29311168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.185336195 meters 0.02908091244058829 Centerline is valid? [True, True] Translation: X:56.85, Y:0.53, Z:0.34 [[ 9.97393290e-01 -5.38140080e-02 -4.80695052e-02 5.68468815e+01] [ 5.38174358e-02 9.98550042e-01 -1.22386295e-03 5.25407622e-01] [ 4.80656674e-02 -1.36630482e-03 9.98843243e-01 3.38073833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24533619499999 meters 0.03230536830622324 Centerline is valid? [True, True] Translation: X:56.91, Y:0.52, Z:0.33 [[ 9.97491269e-01 -5.11500645e-02 -4.89370957e-02 5.69061247e+01] [ 5.11503918e-02 9.98690184e-01 -1.24645883e-03 5.22924729e-01] [ 4.89367535e-02 -1.25981982e-03 9.98801085e-01 3.29033412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.305336194999995 meters 0.0272552963526138 Centerline is valid? [True, True] Translation: X:56.97, Y:0.52, Z:0.34 [[ 9.97681628e-01 -5.10761522e-02 -4.49732896e-02 5.69667363e+01] [ 5.10763292e-02 9.98694095e-01 -1.14593230e-03 5.22448711e-01] [ 4.49730885e-02 -1.15379494e-03 9.98987532e-01 3.38614703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.365336195 meters 0.031144639295552102 Centerline is valid? [True, True] Translation: X:57.03, Y:0.52, Z:0.33 [[ 9.97342870e-01 -5.33751831e-02 -4.95811334e-02 5.70260236e+01] [ 5.33782585e-02 9.98573566e-01 -1.26300694e-03 5.18165990e-01] [ 4.95778224e-02 -1.38690358e-03 9.98769301e-01 3.30564825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42533619499999 meters 0.0362601883044654 Centerline is valid? [True, True] Translation: X:57.09, Y:0.51, Z:0.33 [[ 9.96914168e-01 -5.95348518e-02 -5.11638836e-02 5.70864090e+01] [ 5.95462062e-02 9.98224699e-01 -1.30370994e-03 5.06693012e-01] [ 5.11506685e-02 -1.74692825e-03 9.98689420e-01 3.26542172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.485336194999995 meters 0.04090900264132781 Centerline is valid? [True, True] Translation: X:57.15, Y:0.49, Z:0.33 [[ 9.96756367e-01 -6.41323873e-02 -4.86187313e-02 5.71453227e+01] [ 6.41480190e-02 9.97939624e-01 -1.24034611e-03 4.93642512e-01] [ 4.85981048e-02 -1.88247242e-03 9.98816640e-01 3.27101717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.545336195 meters 0.05022054743980516 Centerline is valid? [True, True] Translation: X:57.20, Y:0.48, Z:0.32 [[ 9.96358342e-01 -6.81562112e-02 -5.12326632e-02 5.72049814e+01] [ 6.81788218e-02 9.97672259e-01 -1.30821517e-03 4.78019211e-01] [ 5.12025699e-02 -2.18953152e-03 9.98685888e-01 3.21275646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60533619499999 meters 0.04604684889843793 Centerline is valid? [True, True] Translation: X:57.27, Y:0.47, Z:0.32 [[ 9.96124649e-01 -6.85858982e-02 -5.50604971e-02 5.72653295e+01] [ 6.86126743e-02 9.97642383e-01 -1.40614015e-03 4.73573582e-01] [ 5.50271269e-02 -2.37715710e-03 9.98482030e-01 3.18031142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.665336194999995 meters 0.039952053869439334 Centerline is valid? [True, True] Translation: X:57.33, Y:0.48, Z:0.32 [[ 9.96366619e-01 -6.38310761e-02 -5.63839876e-02 5.73251862e+01] [ 6.38515318e-02 9.97958369e-01 -1.44051069e-03 4.78164881e-01] [ 5.63608217e-02 -2.16492722e-03 9.98408118e-01 3.22764864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.725336195 meters 0.03554886861417048 Centerline is valid? [True, True] Translation: X:57.38, Y:0.48, Z:0.33 [[ 9.97048210e-01 -5.50793947e-02 -5.34894978e-02 5.73842744e+01] [ 5.50852051e-02 9.98480722e-01 -1.36678492e-03 4.83614934e-01] [ 5.34835141e-02 -1.58372950e-03 9.98567477e-01 3.25349855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.785336195 meters 0.030889280330805124 Centerline is valid? [True, True] Translation: X:57.44, Y:0.49, Z:0.33 [[ 9.97633352e-01 -4.88968155e-02 -4.83404280e-02 5.74439628e+01] [ 4.88942939e-02 9.98803195e-01 -1.23534782e-03 4.88037381e-01] [ 4.83429785e-02 -1.13114690e-03 9.98830154e-01 3.30836757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.845336194999994 meters 0.026797692958674464 Centerline is valid? [True, True] Translation: X:57.50, Y:0.50, Z:0.34 [[ 9.97742881e-01 -4.82313082e-02 -4.67213481e-02 5.75030854e+01] [ 4.82281776e-02 9.98835630e-01 -1.19491911e-03 4.98326883e-01] [ 4.67245796e-02 -1.06106343e-03 9.98907247e-01 3.41746065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.905336195 meters 0.031032433572539965 Centerline is valid? [True, True] Translation: X:57.56, Y:0.50, Z:0.34 [[ 9.97396284e-01 -5.19320742e-02 -5.00371068e-02 5.75626576e+01] [ 5.19331050e-02 9.98649745e-01 -1.28038443e-03 4.98495585e-01] [ 5.00360370e-02 -1.32153165e-03 9.98746539e-01 3.38326128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.965336195 meters 0.03677575008503343 Centerline is valid? [True, True] Translation: X:57.62, Y:0.50, Z:0.33 [[ 9.97028277e-01 -5.63735583e-02 -5.25036822e-02 5.76230831e+01] [ 5.63808418e-02 9.98408431e-01 -1.34356852e-03 4.96195623e-01] [ 5.24958607e-02 -1.62062600e-03 9.98619827e-01 3.34732560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.025336194999994 meters 0.038147811968365086 Centerline is valid? [True, True] Translation: X:57.68, Y:0.48, Z:0.32 [[ 9.96874217e-01 -5.79865468e-02 -5.36596353e-02 5.76824238e+01] [ 5.79963614e-02 9.98315847e-01 -1.37554550e-03 4.78907301e-01] [ 5.36490274e-02 -1.74081775e-03 9.98558337e-01 3.20110484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.085336195 meters 0.0351149054090331 Centerline is valid? [True, True] Translation: X:57.74, Y:0.48, Z:0.33 [[ 9.97112361e-01 -5.61157930e-02 -5.11659850e-02 5.77428773e+01] [ 5.61222214e-02 9.98423044e-01 -1.31220390e-03 4.77922760e-01] [ 5.11589339e-02 -1.56313401e-03 9.98689301e-01 3.25905931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.145336195 meters 0.03158024960968834 Centerline is valid? [True, True] Translation: X:57.80, Y:0.50, Z:0.34 [[ 9.97479554e-01 -5.07743963e-02 -4.95630860e-02 5.78020569e+01] [ 5.07738088e-02 9.98709369e-01 -1.27169391e-03 4.95707126e-01] [ 4.95636878e-02 -1.24801797e-03 9.98770185e-01 3.41881166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.205336194999994 meters 0.0301630310490056 Centerline is valid? [True, True] Translation: X:57.86, Y:0.50, Z:0.33 [[ 9.97795050e-01 -4.12748532e-02 -5.19752370e-02 5.78613357e+01] [ 4.12612747e-02 9.99147500e-01 -1.33468755e-03 5.00650488e-01] [ 5.19860171e-02 -8.12819900e-04 9.98647482e-01 3.30164058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.265336194999996 meters 0.02226716808651525 Centerline is valid? [True, True] Translation: X:57.92, Y:0.50, Z:0.34 [[ 9.98191450e-01 -3.42555919e-02 -4.94002311e-02 5.79218159e+01] [ 3.42347202e-02 9.99413015e-01 -1.26880643e-03 5.01226606e-01] [ 4.94146976e-02 -4.24691365e-04 9.98778257e-01 3.39078394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.325336195 meters 0.020609532194866657 Centerline is valid? [True, True] Translation: X:57.98, Y:0.50, Z:0.35 [[ 9.98333489e-01 -3.39799791e-02 -4.66433923e-02 5.79819242e+01] [ 3.39610486e-02 9.99422439e-01 -1.19848545e-03 5.01239289e-01] [ 4.66571774e-02 -3.87570354e-04 9.98910886e-01 3.47662756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.385336194999994 meters 0.021389092762185532 Centerline is valid? [True, True] Translation: X:58.04, Y:0.50, Z:0.35 [[ 9.98252678e-01 -3.55799505e-02 -4.71768862e-02 5.80406920e+01] [ 3.55620515e-02 9.99366727e-01 -1.21893487e-03 5.03907648e-01] [ 4.71903799e-02 -4.60901856e-04 9.98885807e-01 3.51824616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.445336194999996 meters 0.021406148103618038 Centerline is valid? [True, True] Translation: X:58.10, Y:0.49, Z:0.35 [[ 9.98148488e-01 -3.86661327e-02 -4.69523884e-02 5.80997068e+01] [ 3.86514387e-02 9.99252008e-01 -1.22114453e-03 4.89041760e-01] [ 4.69644853e-02 -5.95893803e-04 9.98896382e-01 3.48030618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.505336195 meters 0.02175028080652556 Centerline is valid? [True, True] Translation: X:58.16, Y:0.49, Z:0.35 [[ 9.98293523e-01 -3.81572877e-02 -4.42047989e-02 5.81582016e+01] [ 3.81436512e-02 9.99271602e-01 -1.15222960e-03 4.92306378e-01] [ 4.42165662e-02 -5.35869086e-04 9.99021826e-01 3.52539462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56533619499999 meters 0.020226392877223224 Centerline is valid? [True, True] Translation: X:58.22, Y:0.49, Z:0.36 [[ 9.98364480e-01 -3.93754913e-02 -4.14479950e-02 5.82179698e+01] [ 3.93645067e-02 9.99224332e-01 -1.08144545e-03 4.91904301e-01] [ 4.14584276e-02 -5.51903159e-04 9.99140077e-01 3.58779399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.625336194999996 meters 0.021590279610249893 Centerline is valid? [True, True] Translation: X:58.28, Y:0.49, Z:0.35 [[ 9.98294419e-01 -4.01151698e-02 -4.24149205e-02 5.82756042e+01] [ 4.01042383e-02 9.99194886e-01 -1.10893175e-03 4.91565191e-01] [ 4.24252567e-02 -5.93977698e-04 9.99099467e-01 3.53692491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.685336195 meters 0.021798698433662216 Centerline is valid? [True, True] Translation: X:58.33, Y:0.50, Z:0.36 [[ 9.98196509e-01 -4.28114441e-02 -4.20821727e-02 5.83345019e+01] [ 4.28028149e-02 9.99082927e-01 -1.10646527e-03 4.95048759e-01] [ 4.20909496e-02 -6.96765674e-04 9.99113540e-01 3.57247098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74533619499999 meters 0.025570940792290088 Centerline is valid? [True, True] Translation: X:58.39, Y:0.49, Z:0.36 [[ 9.97972486e-01 -4.86958794e-02 -4.09832740e-02 5.83926520e+01] [ 4.86925306e-02 9.98813231e-01 -1.08050870e-03 4.92284389e-01] [ 4.09872526e-02 -9.17261370e-04 9.99159248e-01 3.60059337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.805336194999995 meters 0.03806589569834871 Centerline is valid? [True, True] Translation: X:58.45, Y:0.48, Z:0.35 [[ 9.97236169e-01 -6.02005399e-02 -4.35421356e-02 5.84524898e+01] [ 6.02076724e-02 9.98185212e-01 -1.14877269e-03 4.79318241e-01] [ 4.35322726e-02 -1.47597296e-03 9.99050931e-01 3.53223593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.865336195 meters 0.03884248954194385 Centerline is valid? [True, True] Translation: X:58.51, Y:0.48, Z:0.35 [[ 9.97117275e-01 -6.23149345e-02 -4.32895825e-02 5.85124573e+01] [ 6.23239560e-02 9.98055319e-01 -1.14250572e-03 4.78111318e-01] [ 4.32765932e-02 -1.55876584e-03 9.99061913e-01 3.53190808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92533619499999 meters 0.03401633408499094 Centerline is valid? [True, True] Translation: X:58.57, Y:0.49, Z:0.36 [[ 9.97123993e-01 -6.12024267e-02 -4.46990458e-02 5.85736196e+01] [ 6.12109682e-02 9.98124154e-01 -1.17889318e-03 4.85684817e-01] [ 4.46873484e-02 -1.56056919e-03 9.98999803e-01 3.56325924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.985336194999995 meters 0.03890886887168934 Centerline is valid? [True, True] Translation: X:58.63, Y:0.49, Z:0.35 [[ 9.97123169e-01 -5.84782677e-02 -4.82252758e-02 5.86328760e+01] [ 5.84850226e-02 9.98287475e-01 -1.27217849e-03 4.86253323e-01] [ 4.82170837e-02 -1.55193770e-03 9.98835674e-01 3.45908696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.045336195 meters 0.03420821261236149 Centerline is valid? [True, True] Translation: X:58.69, Y:0.49, Z:0.34 [[ 9.97225000e-01 -5.48658834e-02 -5.03193261e-02 5.86911909e+01] [ 5.48683018e-02 9.98492709e-01 -1.33432310e-03 4.92817375e-01] [ 5.03166891e-02 -1.43031562e-03 9.98732289e-01 3.43175612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10533619499999 meters 0.03208133627032747 Centerline is valid? [True, True] Translation: X:58.75, Y:0.49, Z:0.34 [[ 9.97633568e-01 -5.04195849e-02 -4.67453675e-02 5.87498047e+01] [ 5.04166820e-02 9.98727498e-01 -1.24186588e-03 4.93978755e-01] [ 4.67484983e-02 -1.11781924e-03 9.98906066e-01 3.43663651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.165336194999995 meters 0.02240842442339646 Centerline is valid? [True, True] Translation: X:58.81, Y:0.51, Z:0.36 [[ 9.98179271e-01 -4.31294483e-02 -4.21662640e-02 5.88099195e+01] [ 4.31205674e-02 9.99069247e-01 -1.12053738e-03 5.14797781e-01] [ 4.21753458e-02 -6.99736042e-04 9.99109979e-01 3.63203186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.225336195 meters 0.023402584675100473 Centerline is valid? [True, True] Translation: X:58.87, Y:0.51, Z:0.35 [[ 9.98272227e-01 -3.93429274e-02 -4.36428012e-02 5.88678427e+01] [ 3.93297040e-02 9.99225612e-01 -1.16192052e-03 5.14382405e-01] [ 4.36547181e-02 -5.56545473e-04 9.99046523e-01 3.50596957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.285336195 meters 0.023868411991685753 Centerline is valid? [True, True] Translation: X:58.93, Y:0.52, Z:0.35 [[ 9.98091560e-01 -4.13140663e-02 -4.58953772e-02 5.89280912e+01] [ 4.13015042e-02 9.99145981e-01 -1.22235796e-03 5.22635700e-01] [ 4.59066823e-02 -6.75522949e-04 9.98945504e-01 3.52974691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.345336194999994 meters 0.025824289939019217 Centerline is valid? [True, True] Translation: X:58.99, Y:0.52, Z:0.35 [[ 9.97821159e-01 -4.41102180e-02 -4.90634692e-02 5.89888180e+01] [ 4.40992334e-02 9.99026301e-01 -1.30687271e-03 5.23108890e-01] [ 4.90733425e-02 -8.59636138e-04 9.98794808e-01 3.47871856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.405336195 meters 0.02511588064777908 Centerline is valid? [True, True] Translation: X:59.05, Y:0.53, Z:0.36 [[ 9.98016157e-01 -4.45403074e-02 -4.44962003e-02 5.90492250e+01] [ 4.45316918e-02 9.99007269e-01 -1.18533665e-03 5.34413245e-01] [ 4.45048228e-02 -7.98505944e-04 9.99008850e-01 3.60398439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.465336195 meters 0.02426350088019633 Centerline is valid? [True, True] Translation: X:59.11, Y:0.54, Z:0.36 [[ 9.98051944e-01 -4.42390772e-02 -4.39911390e-02 5.91070187e+01] [ 4.42302675e-02 9.99020673e-01 -1.17405846e-03 5.37377454e-01] [ 4.39999965e-02 -7.73968514e-04 9.99031231e-01 3.57123870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.525336194999994 meters 0.021695931734049833 Centerline is valid? [True, True] Translation: X:59.17, Y:0.55, Z:0.36 [[ 9.98204782e-01 -4.42084238e-02 -4.04082792e-02 5.91660800e+01] [ 4.42009154e-02 9.99022079e-01 -1.07963728e-03 5.50388150e-01] [ 4.04164922e-02 -7.08383841e-04 9.99182669e-01 3.64632696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.585336195 meters 0.0218977742988216 Centerline is valid? [True, True] Translation: X:59.22, Y:0.56, Z:0.37 [[ 9.98173767e-01 -4.43027935e-02 -4.10657295e-02 5.92242445e+01] [ 4.42948798e-02 9.99017891e-01 -1.10302095e-03 5.58673815e-01] [ 4.10742654e-02 -7.17994979e-04 9.99155838e-01 3.65553669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.645336195 meters 0.02611960682913651 Centerline is valid? [True, True] Translation: X:59.28, Y:0.56, Z:0.36 [[ 9.98037836e-01 -4.61168253e-02 -4.23522778e-02 5.92828821e+01] [ 4.61099327e-02 9.98935721e-01 -1.14011981e-03 5.63889042e-01] [ 4.23597818e-02 -8.14977966e-04 9.99102089e-01 3.58173703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.705336194999994 meters 0.028228576735789473 Centerline is valid? [True, True] Translation: X:59.34, Y:0.57, Z:0.36 [[ 9.97816146e-01 -4.89579205e-02 -4.43402873e-02 5.93434971e+01] [ 4.89531567e-02 9.98800362e-01 -1.19391702e-03 5.67086805e-01] [ 4.43455467e-02 -9.79287355e-04 9.99015772e-01 3.56660500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.765336194999996 meters 0.02938634371612093 Centerline is valid? [True, True] Translation: X:59.40, Y:0.57, Z:0.36 [[ 9.97645171e-01 -5.19714668e-02 -4.47557793e-02 5.94027289e+01] [ 5.19695590e-02 9.98647940e-01 -1.20696655e-03 5.71441141e-01] [ 4.47579947e-02 -1.12181376e-03 9.98997229e-01 3.59836394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.825336195 meters 0.026080171467491312 Centerline is valid? [True, True] Translation: X:59.46, Y:0.58, Z:0.37 [[ 9.97711442e-01 -5.23455015e-02 -4.27998369e-02 5.94629114e+01] [ 5.23440831e-02 9.98628441e-01 -1.15458028e-03 5.83527614e-01] [ 4.28015715e-02 -1.08838027e-03 9.99083000e-01 3.69714262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.885336194999994 meters 0.0215594885228683 Centerline is valid? [True, True] Translation: X:59.52, Y:0.60, Z:0.37 [[ 9.98196123e-01 -4.35006824e-02 -4.13786180e-02 5.95230726e+01] [ 4.34917587e-02 9.99053162e-01 -1.11626097e-03 6.00674860e-01] [ 4.13879973e-02 -6.85381499e-04 9.99142915e-01 3.69753614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.945336194999996 meters 0.021510240113922482 Centerline is valid? [True, True] Translation: X:59.58, Y:0.62, Z:0.36 [[ 9.98471711e-01 -3.44882149e-02 -4.31833954e-02 5.95817835e+01] [ 3.44700333e-02 9.99405052e-01 -1.16579811e-03 6.17498015e-01] [ 4.31979098e-02 -3.24516641e-04 9.99066482e-01 3.57721222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.005336195 meters 0.019743935609868885 Centerline is valid? [True, True] Translation: X:59.64, Y:0.62, Z:0.36 [[ 9.98509537e-01 -3.30413049e-02 -4.34393533e-02 5.96391774e+01] [ 3.30212347e-02 9.99453954e-01 -1.17969244e-03 6.24619418e-01] [ 4.34546120e-02 -2.56486928e-04 9.99055369e-01 3.62447335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06533619499999 meters 0.020391736474414588 Centerline is valid? [True, True] Translation: X:59.70, Y:0.64, Z:0.36 [[ 9.98461699e-01 -3.22361135e-02 -4.51117391e-02 5.96977386e+01] [ 3.22132968e-02 9.99480257e-01 -1.23284976e-03 6.36440947e-01] [ 4.51280348e-02 -2.22244571e-04 9.98981187e-01 3.63451693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.125336194999996 meters 0.021892250110293447 Centerline is valid? [True, True] Translation: X:59.76, Y:0.64, Z:0.36 [[ 9.98370672e-01 -3.43170039e-02 -4.55888749e-02 5.97551584e+01] [ 3.42957095e-02 9.99410948e-01 -1.24940396e-03 6.40111121e-01] [ 4.56048965e-02 -3.16134536e-04 9.98959505e-01 3.59644768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.185336195 meters 0.025819035396458436 Centerline is valid? [True, True] Translation: X:59.82, Y:0.63, Z:0.35 [[ 9.97990184e-01 -4.10817986e-02 -4.82480970e-02 5.98152025e+01] [ 4.10658245e-02 9.99155568e-01 -1.32270625e-03 6.33364037e-01] [ 4.82616939e-02 -6.61300031e-04 9.98834507e-01 3.48764624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24533619499999 meters 0.028374857747174045 Centerline is valid? [True, True] Translation: X:59.88, Y:0.64, Z:0.34 [[ 9.97610668e-01 -4.34183659e-02 -5.37382518e-02 5.98758522e+01] [ 4.34019421e-02 9.99056606e-01 -1.47315430e-03 6.40674211e-01] [ 5.37515174e-02 -8.62710045e-04 9.98553970e-01 3.44893635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.305336194999995 meters 0.029813304507326645 Centerline is valid? [True, True] Translation: X:59.94, Y:0.65, Z:0.34 [[ 9.97472924e-01 -4.11073328e-02 -5.79478463e-02 5.99360626e+01] [ 4.10843304e-02 9.99154419e-01 -1.58877419e-03 6.52687168e-01] [ 5.79641570e-02 -7.95989230e-04 9.98318347e-01 3.38567400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.365336195 meters 0.025319070497296675 Centerline is valid? [True, True] Translation: X:60.00, Y:0.66, Z:0.34 [[ 9.97783313e-01 -3.82909561e-02 -5.44266674e-02 5.99967465e+01] [ 3.82664682e-02 9.99266456e-01 -1.49236702e-03 6.57678610e-01] [ 5.44438873e-02 -5.93657429e-04 9.98516655e-01 3.41118008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42533619499999 meters 0.03093248508574156 Centerline is valid? [True, True] Translation: X:60.06, Y:0.66, Z:0.33 [[ 9.97598664e-01 -3.78926408e-02 -5.79746007e-02 6.00563814e+01] [ 3.78641339e-02 9.99281631e-01 -1.59053324e-03 6.64312421e-01] [ 5.79932231e-02 -6.08444211e-04 9.98316791e-01 3.26679094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.485336194999995 meters 0.028022419837571196 Centerline is valid? [True, True] Translation: X:60.11, Y:0.67, Z:0.33 [[ 9.97527604e-01 -3.97102320e-02 -5.79808248e-02 6.01145983e+01] [ 3.96842983e-02 9.99210988e-01 -1.59909907e-03 6.71603178e-01] [ 5.79985779e-02 -7.05782887e-04 9.98316416e-01 3.34590127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.545336195 meters 0.028261464249043532 Centerline is valid? [True, True] Translation: X:60.17, Y:0.67, Z:0.33 [[ 9.97590155e-01 -4.16859248e-02 -5.54632007e-02 6.01747903e+01] [ 4.16651473e-02 9.99130457e-01 -1.53139868e-03 6.70914656e-01] [ 5.54788108e-02 -7.83174186e-04 9.98459558e-01 3.34639246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60533619499999 meters 0.027701777004063968 Centerline is valid? [True, True] Translation: X:60.23, Y:0.69, Z:0.34 [[ 9.97695543e-01 -4.04323326e-02 -5.44869647e-02 6.02330172e+01] [ 4.04102893e-02 9.99182035e-01 -1.50668651e-03 6.86777098e-01] [ 5.45033151e-02 -6.98619597e-04 9.98513345e-01 3.40344406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.665336194999995 meters 0.027257535592941567 Centerline is valid? [True, True] Translation: X:60.29, Y:0.69, Z:0.33 [[ 9.97633836e-01 -3.87266224e-02 -5.68064976e-02 6.02926030e+01] [ 3.86998142e-02 9.99249645e-01 -1.57234773e-03 6.86897027e-01] [ 5.68247643e-02 -6.29773603e-04 9.98383969e-01 3.25880397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.725336195 meters 0.03213392248672422 Centerline is valid? [True, True] Translation: X:60.35, Y:0.69, Z:0.33 [[ 9.97363521e-01 -4.43631705e-02 -5.74274878e-02 6.03519827e+01] [ 4.43450611e-02 9.99015008e-01 -1.59029854e-03 6.87235492e-01] [ 5.74414729e-02 -9.60519709e-04 9.98348413e-01 3.25668871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.785336195 meters 0.03712547519922957 Centerline is valid? [True, True] Translation: X:60.41, Y:0.69, Z:0.32 [[ 9.97034289e-01 -5.04242707e-02 -5.81379268e-02 6.04107512e+01] [ 5.04159281e-02 9.98727009e-01 -1.61120271e-03 6.86854525e-01] [ 5.81451615e-02 -1.32465319e-03 9.98307260e-01 3.20479439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.845336194999994 meters 0.03416356118819689 Centerline is valid? [True, True] Translation: X:60.47, Y:0.68, Z:0.33 [[ 9.96894781e-01 -5.46529028e-02 -5.66908736e-02 6.04696529e+01] [ 5.46513316e-02 9.98504250e-01 -1.57923930e-03 6.84386106e-01] [ 5.66923883e-02 -1.52389632e-03 9.98390530e-01 3.29076288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.905336195 meters 0.035156316850071895 Centerline is valid? [True, True] Translation: X:60.53, Y:0.69, Z:0.33 [[ 9.96985536e-01 -5.32415109e-02 -5.64374292e-02 6.05270444e+01] [ 5.32374680e-02 9.98580637e-01 -1.57619212e-03 6.93632334e-01] [ 5.64412428e-02 -1.43314509e-03 9.98404894e-01 3.31945471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.965336195 meters 0.03156292735788865 Centerline is valid? [True, True] Translation: X:60.59, Y:0.71, Z:0.33 [[ 9.97133984e-01 -4.87441992e-02 -5.78603510e-02 6.05851559e+01] [ 4.87318872e-02 9.98810575e-01 -1.62461496e-03 7.10194742e-01] [ 5.78707210e-02 -1.19968531e-03 9.98323365e-01 3.32287248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.025336194999994 meters 0.03438929698817556 Centerline is valid? [True, True] Translation: X:60.64, Y:0.72, Z:0.32 [[ 9.97247252e-01 -4.58600375e-02 -5.82647048e-02 6.06429674e+01] [ 4.58423912e-02 9.98947338e-01 -1.64016484e-03 7.16047101e-01] [ 5.82785898e-02 -1.03534351e-03 9.98299822e-01 3.19477671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.085336195 meters 0.03109291793017165 Centerline is valid? [True, True] Translation: X:60.70, Y:0.74, Z:0.34 [[ 9.97309122e-01 -4.52220256e-02 -5.77016858e-02 6.07006918e+01] [ 4.52031493e-02 9.98976481e-01 -1.63300028e-03 7.40096195e-01] [ 5.77164746e-02 -9.79691844e-04 9.98332534e-01 3.35315657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.145336195 meters 0.03205815026692872 Centerline is valid? [True, True] Translation: X:60.76, Y:0.75, Z:0.34 [[ 9.97362210e-01 -4.59130313e-02 -5.62193444e-02 6.07578759e+01] [ 4.58959078e-02 9.98944952e-01 -1.59637021e-03 7.48880349e-01] [ 5.62333245e-02 -9.88078525e-04 9.98417166e-01 3.35178034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.205336194999994 meters 0.03375291036122444 Centerline is valid? [True, True] Translation: X:60.82, Y:0.74, Z:0.32 [[ 9.97359493e-01 -4.74749148e-02 -5.49561115e-02 6.08162514e+01] [ 4.74607362e-02 9.98871880e-01 -1.56382279e-03 7.39882167e-01] [ 5.49683568e-02 -1.04856401e-03 9.98487546e-01 3.20457291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.265336194999996 meters 0.0324818743089599 Centerline is valid? [True, True] Translation: X:60.88, Y:0.75, Z:0.33 [[ 9.97108277e-01 -5.01835397e-02 -5.70674637e-02 6.08756812e+01] [ 5.01726265e-02 9.98739239e-01 -1.62490137e-03 7.50585598e-01] [ 5.70770585e-02 -1.24302194e-03 9.98369002e-01 3.32798937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.325336195 meters 0.03491301056565839 Centerline is valid? [True, True] Translation: X:60.93, Y:0.76, Z:0.33 [[ 9.97127804e-01 -5.04342536e-02 -5.65024623e-02 6.09337589e+01] [ 5.04235155e-02 9.98726617e-01 -1.61660521e-03 7.55800473e-01] [ 5.65120453e-02 -1.23709078e-03 9.98401151e-01 3.30656350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.385336194999994 meters 0.029890766225269212 Centerline is valid? [True, True] Translation: X:60.99, Y:0.78, Z:0.33 [[ 9.97330372e-01 -4.21590036e-02 -5.96216990e-02 6.09921376e+01] [ 4.21316981e-02 9.99110593e-01 -1.71556604e-03 7.76668863e-01] [ 5.96409976e-02 -8.00977300e-04 9.98219570e-01 3.28932534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.445336194999996 meters 0.029057958479438945 Centerline is valid? [True, True] Translation: X:61.05, Y:0.80, Z:0.34 [[ 9.97783584e-01 -3.51508716e-02 -5.65007629e-02 6.10503374e+01] [ 3.51149747e-02 9.99381953e-01 -1.62832140e-03 7.98513835e-01] [ 5.65230796e-02 -3.59310496e-04 9.98401228e-01 3.36371512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.505336195 meters 0.026827253742310823 Centerline is valid? [True, True] Translation: X:61.11, Y:0.80, Z:0.34 [[ 9.97938721e-01 -3.46820406e-02 -5.39950517e-02 6.11096983e+01] [ 3.46485033e-02 9.99398347e-01 -1.55738283e-03 8.01689265e-01] [ 5.40165786e-02 -3.16675093e-04 9.98539989e-01 3.39900538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56533619499999 meters 0.024798781234152054 Centerline is valid? [True, True] Translation: X:61.17, Y:0.80, Z:0.35 [[ 9.97789885e-01 -4.28132586e-02 -5.08170310e-02 6.11685623e+01] [ 4.27939745e-02 9.99082840e-01 -1.46795432e-03 7.99313371e-01] [ 5.08332716e-02 -7.09952759e-04 9.98706901e-01 3.51060877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.625336194999996 meters 0.027997815163477373 Centerline is valid? [True, True] Translation: X:61.23, Y:0.80, Z:0.35 [[ 9.97499472e-01 -4.91338296e-02 -5.08003003e-02 6.12270226e+01] [ 4.91226234e-02 9.98791674e-01 -1.46985332e-03 7.98112861e-01] [ 5.08111365e-02 -1.02926611e-03 9.98707750e-01 3.48728518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.685336195 meters 0.034531519343489483 Centerline is valid? [True, True] Translation: X:61.29, Y:0.79, Z:0.33 [[ 9.97293590e-01 -5.30984709e-02 -5.08531971e-02 6.12862830e+01] [ 5.30923670e-02 9.98588521e-01 -1.47180971e-03 7.86656763e-01] [ 5.08595697e-02 -1.23209022e-03 9.98705055e-01 3.34134544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74533619499999 meters 0.033889138750028955 Centerline is valid? [True, True] Translation: X:61.35, Y:0.80, Z:0.34 [[ 9.97471862e-01 -5.13659403e-02 -4.91062564e-02 6.13453619e+01] [ 5.13582200e-02 9.98679287e-01 -1.41980238e-03 7.96435100e-01] [ 4.91143306e-02 -1.10579699e-03 9.98792551e-01 3.36474972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.805336194999995 meters 0.02905499448409538 Centerline is valid? [True, True] Translation: X:61.41, Y:0.83, Z:0.35 [[ 9.97665867e-01 -4.56757368e-02 -5.07596848e-02 6.14056241e+01] [ 4.56601959e-02 9.98955953e-01 -1.46632746e-03 8.29034643e-01] [ 5.07736649e-02 -8.54792291e-04 9.98709820e-01 3.53950780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.865336195 meters 0.035995016156258004 Centerline is valid? [True, True] Translation: X:61.47, Y:0.83, Z:0.33 [[ 9.97481156e-01 -4.57528859e-02 -5.42034842e-02 6.14652336e+01] [ 4.57352341e-02 9.98952368e-01 -1.56668148e-03 8.29833725e-01] [ 5.42183791e-02 -9.16273789e-04 9.98528682e-01 3.26176235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92533619499999 meters 0.027774792556720846 Centerline is valid? [True, True] Translation: X:61.52, Y:0.84, Z:0.34 [[ 9.97388991e-01 -4.69650178e-02 -5.48588016e-02 6.15237710e+01] [ 4.69483349e-02 9.98896048e-01 -1.59351581e-03 8.38768161e-01] [ 5.48730797e-02 -9.86174266e-04 9.98492851e-01 3.42261101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.985336194999995 meters 0.02663299768483841 Centerline is valid? [True, True] Translation: X:61.58, Y:0.85, Z:0.35 [[ 9.97424977e-01 -4.81246373e-02 -5.31736250e-02 6.15825081e+01] [ 4.81101700e-02 9.98840828e-01 -1.55278708e-03 8.49968687e-01] [ 5.31867149e-02 -1.00940352e-03 9.98584075e-01 3.50724646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.045336195 meters 0.029400740826962143 Centerline is valid? [True, True] Translation: X:61.64, Y:0.86, Z:0.35 [[ 9.97531659e-01 -4.95268321e-02 -4.97763165e-02 6.16416349e+01] [ 4.95158164e-02 9.98772280e-01 -1.45516106e-03 8.60310726e-01] [ 4.97872746e-02 -1.01314572e-03 9.98759331e-01 3.52642079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10533619499999 meters 0.034970770861001484 Centerline is valid? [True, True] Translation: X:61.70, Y:0.86, Z:0.33 [[ 9.97457762e-01 -5.02504238e-02 -5.05263046e-02 6.17019605e+01] [ 5.02400215e-02 9.98736081e-01 -1.47669454e-03 8.57223396e-01] [ 5.05366480e-02 -1.06550219e-03 9.98721639e-01 3.33662295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.165336194999995 meters 0.02769196671032532 Centerline is valid? [True, True] Translation: X:61.76, Y:0.89, Z:0.36 [[ 9.97570402e-01 -4.73777303e-02 -5.10748930e-02 6.17631399e+01] [ 4.73634450e-02 9.98876610e-01 -1.49066905e-03 8.91621758e-01] [ 5.10881405e-02 -9.32035568e-04 9.98693713e-01 3.59910525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.225336195 meters 0.0267719389168661 Centerline is valid? [True, True] Translation: X:61.82, Y:0.89, Z:0.35 [[ 9.97647829e-01 -4.79112775e-02 -4.90236640e-02 6.18247613e+01] [ 4.78988214e-02 9.98851170e-01 -1.42952082e-03 8.92109254e-01] [ 4.90358343e-02 -9.22017385e-04 9.98796594e-01 3.48860467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.285336195 meters 0.02877004446512187 Centerline is valid? [True, True] Translation: X:61.89, Y:0.89, Z:0.35 [[ 9.97503533e-01 -5.20204963e-02 -4.77553113e-02 6.18870216e+01] [ 5.20134749e-02 9.98645415e-01 -1.39052829e-03 8.92414736e-01] [ 4.77629586e-02 -1.09686280e-03 9.98858096e-01 3.47648811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.345336194999994 meters 0.03082037525737184 Centerline is valid? [True, True] Translation: X:61.95, Y:0.91, Z:0.37 [[ 9.97472999e-01 -5.74365533e-02 -4.18169747e-02 6.19477223e+01] [ 5.74359631e-02 9.98348451e-01 -1.21653020e-03 9.05741159e-01] [ 4.18177852e-02 -1.18834219e-03 9.99124547e-01 3.67909788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.405336195 meters 0.02999900036464363 Centerline is valid? [True, True] Translation: X:62.01, Y:0.91, Z:0.36 [[ 9.97553831e-01 -5.64050162e-02 -4.12895686e-02 6.20094988e+01] [ 5.64036281e-02 9.98407328e-01 -1.19948499e-03 9.09898849e-01] [ 4.12914648e-02 -1.13233062e-03 9.99146502e-01 3.64087269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.465336195 meters 0.02662391449045062 Centerline is valid? [True, True] Translation: X:62.07, Y:0.93, Z:0.37 [[ 9.97683029e-01 -5.18608861e-02 -4.40343248e-02 6.20710171e+01] [ 5.18549784e-02 9.98653809e-01 -1.27717411e-03 9.32551862e-01] [ 4.40412815e-02 -1.00918402e-03 9.99029202e-01 3.65454011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.525336194999994 meters 0.024605810340675636 Centerline is valid? [True, True] Translation: X:62.13, Y:0.95, Z:0.36 [[ 9.97637893e-01 -4.96334037e-02 -4.74885221e-02 6.21321561e+01] [ 4.96240782e-02 9.98767019e-01 -1.37603407e-03 9.45771489e-01] [ 4.74982669e-02 -9.83790406e-04 9.98870836e-01 3.63910133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.585336195 meters 0.028101986936296064 Centerline is valid? [True, True] Translation: X:62.19, Y:0.94, Z:0.37 [[ 9.97581979e-01 -5.47017471e-02 -4.28709055e-02 6.21922152e+01] [ 5.46988429e-02 9.98502126e-01 -1.24165443e-03 9.43814818e-01] [ 4.28746109e-02 -1.10633685e-03 9.99079849e-01 3.65472266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.645336195 meters 0.03077285469368993 Centerline is valid? [True, True] Translation: X:62.25, Y:0.95, Z:0.37 [[ 9.97391012e-01 -5.83429579e-02 -4.25119842e-02 6.22531991e+01] [ 5.83434424e-02 9.98295812e-01 -1.23036980e-03 9.52592156e-01] [ 4.25113192e-02 -1.25313572e-03 9.99095199e-01 3.70425286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.705336194999994 meters 0.034557804439555834 Centerline is valid? [True, True] Translation: X:62.31, Y:0.96, Z:0.36 [[ 9.96916566e-01 -6.16340266e-02 -4.85654909e-02 6.23140600e+01] [ 6.16385815e-02 9.98097546e-01 -1.40526938e-03 9.57417434e-01] [ 4.85597096e-02 -1.59257165e-03 9.98819012e-01 3.56885282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.765336194999996 meters 0.035207294559246496 Centerline is valid? [True, True] Translation: X:62.38, Y:0.97, Z:0.36 [[ 9.96888523e-01 -6.01416122e-02 -5.09535099e-02 6.23759238e+01] [ 6.01447878e-02 9.98188578e-01 -1.47235592e-03 9.73618441e-01] [ 5.09497615e-02 -1.59681333e-03 9.98699941e-01 3.55649085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.825336195 meters 0.037428449691241004 Centerline is valid? [True, True] Translation: X:62.44, Y:0.98, Z:0.34 [[ 9.96546801e-01 -6.16571879e-02 -5.56135358e-02 6.24356754e+01] [ 6.16634902e-02 9.98095707e-01 -1.60429813e-03 9.82184418e-01] [ 5.56065479e-02 -1.83056656e-03 9.98451081e-01 3.42873002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.885336194999994 meters 0.03705681962788564 Centerline is valid? [True, True] Translation: X:62.50, Y:0.99, Z:0.35 [[ 9.96726162e-01 -6.35565839e-02 -4.99751737e-02 6.24960509e+01] [ 6.35640610e-02 9.97976720e-01 -1.44128672e-03 9.90404672e-01] [ 4.99656631e-02 -1.74005681e-03 9.98749420e-01 3.52503557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.945336194999996 meters 0.034694910958764966 Centerline is valid? [True, True] Translation: X:62.56, Y:1.01, Z:0.37 [[ 9.96901861e-01 -6.36678399e-02 -4.61853317e-02 6.25566378e+01] [ 6.36743585e-02 9.97969841e-01 -1.33153872e-03 1.00839968e+00] [ 4.61763443e-02 -1.61340793e-03 9.98932001e-01 3.65071690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.005336195 meters 0.03396677850536606 Centerline is valid? [True, True] Translation: X:62.62, Y:1.02, Z:0.37 [[ 9.97167202e-01 -6.25176303e-02 -4.18224535e-02 6.26162873e+01] [ 6.25219681e-02 9.98042860e-01 -1.20553655e-03 1.01988578e+00] [ 4.18159684e-02 -1.41270060e-03 9.99124331e-01 3.74988331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06533619499999 meters 0.033258341509051444 Centerline is valid? [True, True] Translation: X:62.68, Y:1.02, Z:0.38 [[ 9.97172991e-01 -6.57046576e-02 -3.64544185e-02 6.26782212e+01] [ 6.57102477e-02 9.97838198e-01 -1.04604212e-03 1.02391440e+00] [ 3.64443411e-02 -1.35234392e-03 9.99334769e-01 3.81035204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.125336194999996 meters 0.04159664966927132 Centerline is valid? [True, True] Translation: X:62.74, Y:1.03, Z:0.37 [[ 9.96399004e-01 -7.37323410e-02 -4.18636602e-02 6.27378632e+01] [ 7.37468788e-02 9.97276271e-01 -1.19906933e-03 1.02536544e+00] [ 4.18380451e-02 -1.89256279e-03 9.99122613e-01 3.70791363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.185336195 meters 0.04401823287371682 Centerline is valid? [True, True] Translation: X:62.80, Y:1.03, Z:0.36 [[ 9.95832345e-01 -7.73114614e-02 -4.83826208e-02 6.27982266e+01] [ 7.73351516e-02 9.97004191e-01 -1.38490998e-03 1.03190702e+00] [ 4.83447451e-02 -2.36253916e-03 9.98827915e-01 3.63255276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24533619499999 meters 0.04614609922012121 Centerline is valid? [True, True] Translation: X:62.86, Y:1.04, Z:0.36 [[ 9.95449154e-01 -8.03523346e-02 -5.12297131e-02 6.28592443e+01] [ 8.03829726e-02 9.96762976e-01 -1.46536241e-03 1.03955975e+00] [ 5.11816266e-02 -2.65930285e-03 9.98685821e-01 3.60849807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.305336194999995 meters 0.052963152738312404 Centerline is valid? [True, True] Translation: X:62.92, Y:1.04, Z:0.36 [[ 9.95358345e-01 -8.19695934e-02 -5.04256969e-02 6.29208233e+01] [ 8.20016740e-02 9.96631157e-01 -1.43578011e-03 1.03690349e+00] [ 5.03735110e-02 -2.70587585e-03 9.98726783e-01 3.57290570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.365336195 meters 0.047191901203650355 Centerline is valid? [True, True] Translation: X:62.98, Y:1.06, Z:0.34 [[ 9.95472204e-01 -7.57945216e-02 -5.73609704e-02 6.29826248e+01] [ 7.58263750e-02 9.97119713e-01 -1.62415179e-03 1.05564974e+00] [ 5.73188562e-02 -2.73267649e-03 9.98352183e-01 3.42428852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42533619499999 meters 0.04146277571494471 Centerline is valid? [True, True] Translation: X:63.04, Y:1.07, Z:0.35 [[ 9.96078536e-01 -6.92167895e-02 -5.51052228e-02 6.30424723e+01] [ 6.92362078e-02 9.97599076e-01 -1.55892206e-03 1.07305044e+00] [ 5.50808229e-02 -2.26246785e-03 9.98479336e-01 3.47354738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.485336194999995 meters 0.0383048137894906 Centerline is valid? [True, True] Translation: X:63.10, Y:1.09, Z:0.36 [[ 9.96610281e-01 -6.61908800e-02 -4.88540143e-02 6.31022464e+01] [ 6.62025058e-02 9.97805251e-01 -1.38186639e-03 1.08605251e+00] [ 4.88382590e-02 -1.85707592e-03 9.98804974e-01 3.56637371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.545336195 meters 0.038915381540627174 Centerline is valid? [True, True] Translation: X:63.16, Y:1.09, Z:0.36 [[ 9.96753631e-01 -6.72446394e-02 -4.42759268e-02 6.31624170e+01] [ 6.72552182e-02 9.97735019e-01 -1.25234281e-03 1.09328233e+00] [ 4.42598560e-02 -1.72950988e-03 9.99018555e-01 3.61572634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60533619499999 meters 0.039107314292061934 Centerline is valid? [True, True] Translation: X:63.22, Y:1.10, Z:0.36 [[ 9.96670326e-01 -6.81654976e-02 -4.47406603e-02 6.32240402e+01] [ 6.81774704e-02 9.97672414e-01 -1.26003823e-03 1.10193340e+00] [ 4.47224136e-02 -1.79446233e-03 9.98997841e-01 3.60037919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.665336194999995 meters 0.038181019538417946 Centerline is valid? [True, True] Translation: X:63.29, Y:1.12, Z:0.37 [[ 9.96615397e-01 -6.88426974e-02 -4.49269686e-02 6.32856055e+01] [ 6.88557568e-02 9.97625832e-01 -1.25861720e-03 1.11549399e+00] [ 4.49069510e-02 -1.83912314e-03 9.98989481e-01 3.68583752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.725336195 meters 0.04388293066777517 Centerline is valid? [True, True] Translation: X:63.35, Y:1.12, Z:0.38 [[ 9.96697231e-01 -7.23095442e-02 -3.69588984e-02 6.33454860e+01] [ 7.23207833e-02 9.97380887e-01 -1.03447051e-03 1.11518223e+00] [ 3.69369010e-02 -1.64184259e-03 9.99316251e-01 3.78953151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.785336195 meters 0.03728675274678145 Centerline is valid? [True, True] Translation: X:63.41, Y:1.13, Z:0.39 [[ 9.96718767e-01 -7.30333503e-02 -3.48974136e-02 6.34074439e+01] [ 7.30439692e-02 9.97328248e-01 -9.72230558e-04 1.12676224e+00] [ 3.48751816e-02 -1.58000516e-03 9.99390427e-01 3.87575610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.845336194999994 meters 0.04450019673297445 Centerline is valid? [True, True] Translation: X:63.47, Y:1.12, Z:0.38 [[ 9.96562088e-01 -7.48629689e-02 -3.54900188e-02 6.34674081e+01] [ 7.48751547e-02 9.97192427e-01 -9.87465525e-04 1.12269212e+00] [ 3.54643026e-02 -1.67324994e-03 9.99369543e-01 3.78736242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.905336195 meters 0.04240268055800684 Centerline is valid? [True, True] Translation: X:63.53, Y:1.14, Z:0.38 [[ 9.96367977e-01 -7.45306453e-02 -4.11829805e-02 6.35283472e+01] [ 7.45468077e-02 9.97216858e-01 -1.14522827e-03 1.13671390e+00] [ 4.11537170e-02 -1.92899096e-03 9.99150965e-01 3.76833866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.965336195 meters 0.043780612014989714 Centerline is valid? [True, True] Translation: X:63.59, Y:1.14, Z:0.38 [[ 9.96370108e-01 -7.40853570e-02 -4.19281215e-02 6.35906854e+01] [ 7.41019529e-02 9.97249996e-01 -1.16034410e-03 1.14219874e+00] [ 4.18987835e-02 -1.95082351e-03 9.99119956e-01 3.78414083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.025336195 meters 0.04026182473364649 Centerline is valid? [True, True] Translation: X:63.65, Y:1.14, Z:0.38 [[ 9.96810669e-01 -7.01417329e-02 -3.80608505e-02 6.36499414e+01] [ 7.01525604e-02 9.97535719e-01 -1.05261319e-03 1.14487337e+00] [ 3.80408900e-02 -1.62081006e-03 9.99274869e-01 3.76597281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.085336195 meters 0.03215777447636587 Centerline is valid? [True, True] Translation: X:63.71, Y:1.17, Z:0.40 [[ 9.97398122e-01 -6.43918944e-02 -3.24140394e-02 6.37099606e+01] [ 6.43967109e-02 9.97923975e-01 -8.96423828e-04 1.16811071e+00] [ 3.24044694e-02 -1.19326608e-03 9.99474125e-01 3.97628313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.145336195 meters 0.03698587038108627 Centerline is valid? [True, True] Translation: X:63.77, Y:1.16, Z:0.38 [[ 9.97292117e-01 -6.57251426e-02 -3.29945310e-02 6.37717799e+01] [ 6.57309891e-02 9.97836966e-01 -9.08623439e-04 1.15972034e+00] [ 3.29828821e-02 -1.26260017e-03 9.99455119e-01 3.83237403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.205336195 meters 0.03831642321823826 Centerline is valid? [True, True] Translation: X:63.83, Y:1.16, Z:0.38 [[ 9.97005813e-01 -6.76770778e-02 -3.74061879e-02 6.38327808e+01] [ 6.76860276e-02 9.97706141e-01 -1.02852251e-03 1.15704011e+00] [ 3.73899908e-02 -1.50643335e-03 9.99299614e-01 3.77905853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26533619499999 meters 0.03728538365049193 Centerline is valid? [True, True] Translation: X:63.89, Y:1.17, Z:0.39 [[ 9.97193721e-01 -6.43863723e-02 -3.81978858e-02 6.38917716e+01] [ 6.43932857e-02 9.97924046e-01 -1.05055510e-03 1.16714255e+00] [ 3.81862302e-02 -1.41208042e-03 9.99269642e-01 3.88079505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32533619499999 meters 0.02663710015675759 Centerline is valid? [True, True] Translation: X:63.95, Y:1.18, Z:0.39 [[ 9.97864555e-01 -5.50778750e-02 -3.51106600e-02 6.39522152e+01] [ 5.50779551e-02 9.98481590e-01 -9.65663522e-04 1.18319401e+00] [ 3.51105343e-02 -9.70221954e-04 9.99382964e-01 3.94084621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.385336195 meters 0.020336504200611942 Centerline is valid? [True, True] Translation: X:64.01, Y:1.20, Z:0.40 [[ 9.98386795e-01 -4.69047616e-02 -3.19960960e-02 6.40126396e+01] [ 4.69006402e-02 9.98899172e-01 -8.79721451e-04 1.19519559e+00] [ 3.20021369e-02 -6.22335106e-04 9.99487607e-01 3.96982738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.445336195 meters 0.016379362358760568 Centerline is valid? [True, True] Translation: X:64.07, Y:1.22, Z:0.40 [[ 9.98817134e-01 -3.78685092e-02 -3.05009511e-02 6.40729036e+01] [ 3.78605583e-02 9.99282680e-01 -8.38367137e-04 1.21720600e+00] [ 3.05108199e-02 -3.17407576e-04 9.99534386e-01 4.04489765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.505336195 meters 0.017258064632491396 Centerline is valid? [True, True] Translation: X:64.13, Y:1.23, Z:0.40 [[ 9.98956383e-01 -3.34865811e-02 -3.10611452e-02 6.41341285e+01] [ 3.34763332e-02 9.99439149e-01 -8.50047912e-04 1.22610956e+00] [ 3.10721897e-02 -1.90652457e-04 9.99517125e-01 3.96720451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.565336195 meters 0.018439111624463538 Centerline is valid? [True, True] Translation: X:64.20, Y:1.23, Z:0.39 [[ 9.98772564e-01 -3.62354072e-02 -3.37692238e-02 6.41950953e+01] [ 3.62249178e-02 9.99343236e-01 -9.22585269e-04 1.23170883e+00] [ 3.37804757e-02 -3.01834505e-04 9.99429231e-01 3.94985823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.625336195 meters 0.019616721062083772 Centerline is valid? [True, True] Translation: X:64.26, Y:1.23, Z:0.39 [[ 9.98606415e-01 -3.99137435e-02 -3.45271013e-02 6.42578369e+01] [ 3.99050211e-02 9.99203033e-01 -9.41970843e-04 1.22743663e+00] [ 3.45371819e-02 -4.37146578e-04 9.99403318e-01 3.91065289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68533619499999 meters 0.019435337080227617 Centerline is valid? [True, True] Translation: X:64.32, Y:1.23, Z:0.41 [[ 9.98543358e-01 -4.52865329e-02 -2.93307521e-02 6.43199737e+01] [ 4.52826701e-02 9.98973896e-01 -7.96254625e-04 1.23256603e+00] [ 2.93367154e-02 -5.33080007e-04 9.99569444e-01 4.09955489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.745336195 meters 0.02246707346605747 Centerline is valid? [True, True] Translation: X:64.38, Y:1.22, Z:0.40 [[ 9.98313393e-01 -5.02292042e-02 -2.91100873e-02 6.43818754e+01] [ 5.02275503e-02 9.98737489e-01 -7.88495404e-04 1.22387229e+00] [ 2.91129409e-02 -6.74962850e-04 9.99575901e-01 4.01311486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.805336195 meters 0.02723661968317246 Centerline is valid? [True, True] Translation: X:64.44, Y:1.22, Z:0.41 [[ 9.98023571e-01 -5.54968836e-02 -2.94796087e-02 6.44418080e+01] [ 5.54974881e-02 9.98458508e-01 -7.98326056e-04 1.22391390e+00] [ 2.94784708e-02 -8.39296014e-04 9.99565063e-01 4.06307447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.865336195 meters 0.026743397702173308 Centerline is valid? [True, True] Translation: X:64.50, Y:1.23, Z:0.41 [[ 9.98048298e-01 -5.51831557e-02 -2.92303681e-02 6.45036854e+01] [ 5.51837183e-02 9.98475907e-01 -7.88059651e-04 1.23131142e+00] [ 2.92293059e-02 -8.26518805e-04 9.99572391e-01 4.09022797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.925336195 meters 0.023388687332875073 Centerline is valid? [True, True] Translation: X:64.56, Y:1.23, Z:0.41 [[ 9.98262774e-01 -5.32051991e-02 -2.53108748e-02 6.45646285e+01] [ 5.32050170e-02 9.98583378e-01 -6.81114823e-04 1.23229411e+00] [ 2.53112577e-02 -6.66733951e-04 9.99679396e-01 4.07838075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.985336195 meters 0.0236865645033993 Centerline is valid? [True, True] Translation: X:64.63, Y:1.24, Z:0.42 [[ 9.98251579e-01 -5.34394722e-02 -2.52588099e-02 6.46270462e+01] [ 5.34394432e-02 9.98570863e-01 -6.76647147e-04 1.23939648e+00] [ 2.52588713e-02 -6.74352653e-04 9.99680716e-01 4.17311978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04533619499999 meters 0.0305249312784795 Centerline is valid? [True, True] Translation: X:64.69, Y:1.23, Z:0.41 [[ 9.98082670e-01 -5.61857611e-02 -2.59642757e-02 6.46879914e+01] [ 5.61866984e-02 9.98420038e-01 -6.94021633e-04 1.22905754e+00] [ 2.59622472e-02 -7.66155961e-04 9.99662630e-01 4.05090337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10533619499999 meters 0.02760037909574522 Centerline is valid? [True, True] Translation: X:64.75, Y:1.24, Z:0.41 [[ 9.97957787e-01 -5.76235199e-02 -2.75641893e-02 6.47494709e+01] [ 5.76252117e-02 9.98338017e-01 -7.33628496e-04 1.23817027e+00] [ 2.75606523e-02 -8.56261972e-04 9.99619766e-01 4.11370186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.165336195 meters 0.028964949024841133 Centerline is valid? [True, True] Translation: X:64.81, Y:1.24, Z:0.41 [[ 9.97981457e-01 -5.80036489e-02 -2.58570814e-02 6.48107300e+01] [ 5.80053642e-02 9.98316037e-01 -6.84336759e-04 1.24061532e+00] [ 2.58532331e-02 -8.16894032e-04 9.99665416e-01 4.13589219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.225336195 meters 0.02500239596752357 Centerline is valid? [True, True] Translation: X:64.87, Y:1.25, Z:0.42 [[ 9.98173569e-01 -5.56350984e-02 -2.35427635e-02 6.48714533e+01] [ 5.56358908e-02 9.98450931e-01 -6.21852341e-04 1.25001291e+00] [ 2.35408909e-02 -6.89106047e-04 9.99722637e-01 4.20400505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.285336195 meters 0.023852084508602586 Centerline is valid? [True, True] Translation: X:64.93, Y:1.25, Z:0.41 [[ 9.98357385e-01 -5.28207691e-02 -2.21922781e-02 6.49321713e+01] [ 5.28207878e-02 9.98603836e-01 -5.85746097e-04 1.24792794e+00] [ 2.21922336e-02 -5.87429670e-04 9.99753549e-01 4.14240388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.345336195 meters 0.020954847555437348 Centerline is valid? [True, True] Translation: X:64.99, Y:1.27, Z:0.43 [[ 9.98714169e-01 -4.60502265e-02 -2.11987155e-02 6.49910443e+01] [ 4.60487212e-02 9.98939038e-01 -5.59403181e-04 1.26611169e+00] [ 2.12019851e-02 -4.17489858e-04 9.99775125e-01 4.26660496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40533619499999 meters 0.01622531058946736 Centerline is valid? [True, True] Translation: X:65.05, Y:1.28, Z:0.42 [[ 9.98939018e-01 -4.10194917e-02 -2.09341695e-02 6.50519141e+01] [ 4.10169254e-02 9.99158299e-01 -5.52126269e-04 1.27945785e+00] [ 2.09391971e-02 -3.07114796e-04 9.99780704e-01 4.23144706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46533619499999 meters 0.016768531507634955 Centerline is valid? [True, True] Translation: X:65.11, Y:1.28, Z:0.42 [[ 9.98992460e-01 -4.12257350e-02 -1.77342363e-02 6.51136222e+01] [ 4.12239566e-02 9.99149823e-01 -4.65985870e-04 1.27886565e+00] [ 1.77383697e-02 -2.65559019e-04 9.99842627e-01 4.17926415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.525336195 meters 0.017980845586375235 Centerline is valid? [True, True] Translation: X:65.17, Y:1.29, Z:0.42 [[ 9.98829684e-01 -4.27104866e-02 -2.26952882e-02 6.51740166e+01] [ 4.27079958e-02 9.99087420e-01 -5.94655444e-04 1.29134335e+00] [ 2.26999749e-02 -3.75310763e-04 9.99742252e-01 4.23419747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.585336195 meters 0.017433654356540047 Centerline is valid? [True, True] Translation: X:65.24, Y:1.30, Z:0.42 [[ 9.98814354e-01 -4.10459472e-02 -2.61747409e-02 6.52364453e+01] [ 4.10421468e-02 9.99157183e-01 -6.82627408e-04 1.29993775e+00] [ 2.61806995e-02 -3.92449507e-04 9.99657150e-01 4.17753431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.645336195 meters 0.016252091744517673 Centerline is valid? [True, True] Translation: X:65.30, Y:1.31, Z:0.42 [[ 9.98893713e-01 -3.96367429e-02 -2.53037461e-02 6.52984045e+01] [ 3.96328464e-02 9.99214095e-01 -6.55678425e-04 1.31022400e+00] [ 2.53098487e-02 -3.47906424e-04 9.99679594e-01 4.18124449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.705336195 meters 0.017741205794726458 Centerline is valid? [True, True] Translation: X:65.36, Y:1.31, Z:0.42 [[ 9.98891018e-01 -4.14494602e-02 -2.23310852e-02 6.53601272e+01] [ 4.14469551e-02 9.99140540e-01 -5.75203545e-04 1.31365633e+00] [ 2.23357344e-02 -3.50989830e-04 9.99750465e-01 4.22018215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76533619499999 meters 0.02018566124352921 Centerline is valid? [True, True] Translation: X:65.42, Y:1.32, Z:0.43 [[ 9.98793556e-01 -4.43820888e-02 -2.10157933e-02 6.54213379e+01] [ 4.43805848e-02 9.99014551e-01 -5.38189709e-04 1.32465144e+00] [ 2.10189693e-02 -3.95152783e-04 9.99778999e-01 4.30670795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82533619499999 meters 0.022881920084492524 Centerline is valid? [True, True] Translation: X:65.48, Y:1.33, Z:0.41 [[ 9.98523120e-01 -4.74996765e-02 -2.63696808e-02 6.54827358e+01] [ 4.74984425e-02 9.98871085e-01 -6.73518026e-04 1.32608570e+00] [ 2.63719036e-02 -5.79995447e-04 9.99652033e-01 4.13700208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.885336195 meters 0.022430762578181187 Centerline is valid? [True, True] Translation: X:65.54, Y:1.34, Z:0.42 [[ 9.98490158e-01 -4.78656179e-02 -2.69496986e-02 6.55443172e+01] [ 4.78645451e-02 9.98853601e-01 -6.85260167e-04 1.33833262e+00] [ 2.69516039e-02 -6.05709532e-04 9.99636556e-01 4.16664313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.945336195 meters 0.02109053660949518 Centerline is valid? [True, True] Translation: X:65.61, Y:1.36, Z:0.43 [[ 9.98582957e-01 -4.71844209e-02 -2.46111538e-02 6.56055991e+01] [ 4.71833597e-02 9.98886050e-01 -6.24148288e-04 1.35862612e+00] [ 2.46131883e-02 -5.37973080e-04 9.99696905e-01 4.31168394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.005336195 meters 0.02203913066841109 Centerline is valid? [True, True] Translation: X:65.67, Y:1.37, Z:0.42 [[ 9.98544095e-01 -4.90104861e-02 -2.25313738e-02 6.56680964e+01] [ 4.90101227e-02 9.98798120e-01 -5.68663195e-04 1.37196601e+00] [ 2.25321643e-02 -5.36430122e-04 9.99745975e-01 4.23723019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.065336195 meters 0.025624937986693967 Centerline is valid? [True, True] Translation: X:65.73, Y:1.38, Z:0.43 [[ 9.98368505e-01 -5.29206627e-02 -2.14413690e-02 6.57283795e+01] [ 5.29212636e-02 9.98598542e-01 -5.39792530e-04 1.38437106e+00] [ 2.14398860e-02 -5.95792477e-04 9.99769962e-01 4.27805334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.125336195 meters 0.029031960510651905 Centerline is valid? [True, True] Translation: X:65.79, Y:1.39, Z:0.42 [[ 9.97930682e-01 -5.95897850e-02 -2.41539269e-02 6.57896444e+01] [ 5.95925084e-02 9.98222602e-01 -6.07674029e-04 1.38525729e+00] [ 2.41472069e-02 -8.32976534e-04 9.99708067e-01 4.15939024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18533619499999 meters 0.037798229967452364 Centerline is valid? [True, True] Translation: X:65.85, Y:1.39, Z:0.43 [[ 9.97286990e-01 -6.85423490e-02 -2.68441006e-02 6.58488455e+01] [ 6.85489482e-02 9.97647526e-01 -6.75404777e-04 1.39161989e+00] [ 2.68272444e-02 -1.16656246e-03 9.99639404e-01 4.29592106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.245336195 meters 0.04261409748104073 Centerline is valid? [True, True] Translation: X:65.91, Y:1.39, Z:0.42 [[ 9.96916624e-01 -7.37877832e-02 -2.66947001e-02 6.59096371e+01] [ 7.37961955e-02 9.97273118e-01 -6.71238378e-04 1.39078572e+00] [ 2.66714360e-02 -1.30079861e-03 9.99643408e-01 4.23089830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.305336195 meters 0.039816170355509155 Centerline is valid? [True, True] Translation: X:65.97, Y:1.40, Z:0.42 [[ 9.96931853e-01 -7.35973562e-02 -2.66516288e-02 6.59725196e+01] [ 7.36057740e-02 9.97287193e-01 -6.66379569e-04 1.40337491e+00] [ 2.66283719e-02 -1.29737875e-03 9.99644560e-01 4.21403124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.365336195 meters 0.0368571950884604 Centerline is valid? [True, True] Translation: X:66.03, Y:1.43, Z:0.43 [[ 9.97015377e-01 -7.15271329e-02 -2.90552400e-02 6.60345189e+01] [ 7.15364109e-02 9.97437728e-01 -7.21360099e-04 1.42690229e+00] [ 2.90323894e-02 -1.35930047e-03 9.99577547e-01 4.27696845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.425336195 meters 0.03887425687510204 Centerline is valid? [True, True] Translation: X:66.10, Y:1.43, Z:0.42 [[ 9.97058218e-01 -7.11963049e-02 -2.83900693e-02 6.60961744e+01] [ 7.12051540e-02 9.97461446e-01 -7.00429769e-04 1.43273454e+00] [ 2.83678676e-02 -1.32315000e-03 9.99596675e-01 4.23961181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.485336195 meters 0.03811056720750894 Centerline is valid? [True, True] Translation: X:66.16, Y:1.45, Z:0.42 [[ 9.97157247e-01 -6.75130314e-02 -3.34576569e-02 6.61567478e+01] [ 6.75233834e-02 9.97717354e-01 -8.21692514e-04 1.45070889e+00] [ 3.34367598e-02 -1.43981755e-03 9.99439798e-01 4.18564673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54533619499999 meters 0.03220127274451971 Centerline is valid? [True, True] Translation: X:66.22, Y:1.48, Z:0.42 [[ 9.97578685e-01 -6.13726874e-02 -3.27133022e-02 6.62169794e+01] [ 6.13793198e-02 9.98114189e-01 -8.02395393e-04 1.47604339e+00] [ 3.27008563e-02 -1.20746770e-03 9.99464455e-01 4.21241448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60533619499999 meters 0.028830789118377328 Centerline is valid? [True, True] Translation: X:66.28, Y:1.49, Z:0.42 [[ 9.97689262e-01 -6.03293629e-02 -3.12490802e-02 6.62780190e+01] [ 6.03349239e-02 9.98177895e-01 -7.65808280e-04 1.49046090e+00] [ 3.12383418e-02 -1.12137218e-03 9.99511335e-01 4.16487559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.665336195 meters 0.03191831920124245 Centerline is valid? [True, True] Translation: X:66.34, Y:1.51, Z:0.41 [[ 9.97520540e-01 -5.95285857e-02 -3.75382456e-02 6.63380183e+01] [ 5.95360724e-02 9.98225731e-01 -9.19353092e-04 1.50580654e+00] [ 3.75263705e-02 -1.31780611e-03 9.99294769e-01 4.09767344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.725336195 meters 0.029670188741564796 Centerline is valid? [True, True] Translation: X:66.40, Y:1.53, Z:0.41 [[ 9.97356702e-01 -5.89605214e-02 -4.24648734e-02 6.63984461e+01] [ 5.89696175e-02 9.98259237e-01 -1.03949252e-03 1.53040101e+00] [ 4.24522411e-02 -1.46739251e-03 9.99097420e-01 4.06327920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.785336195 meters 0.030598370251765164 Centerline is valid? [True, True] Translation: X:66.46, Y:1.56, Z:0.40 [[ 9.97456892e-01 -5.80976913e-02 -4.12844734e-02 6.64588480e+01] [ 5.81055858e-02 9.98309933e-01 -1.00971003e-03 1.55610106e+00] [ 4.12733616e-02 -1.39171628e-03 9.99146923e-01 4.03034461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.845336195 meters 0.03367286863127001 Centerline is valid? [True, True] Translation: X:66.52, Y:1.58, Z:0.40 [[ 9.97522387e-01 -5.83211153e-02 -3.93412536e-02 6.65198857e+01] [ 5.83286504e-02 9.98296976e-01 -9.57224323e-04 1.57615613e+00] [ 3.93300809e-02 -1.33986953e-03 9.99225375e-01 4.04240382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90533619499999 meters 0.04150184854446095 Centerline is valid? [True, True] Translation: X:66.58, Y:1.60, Z:0.42 [[ 9.96918654e-01 -6.73140517e-02 -4.02742613e-02 6.65802103e+01] [ 6.73293322e-02 9.97730326e-01 -9.78380659e-04 1.59530455e+00] [ 4.02487106e-02 -1.73627319e-03 9.99188184e-01 4.18810377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96533619499999 meters 0.04587846003068073 Centerline is valid? [True, True] Translation: X:66.64, Y:1.61, Z:0.41 [[ 9.96180745e-01 -7.70115056e-02 -4.11479176e-02 6.66405903e+01] [ 7.70357287e-02 9.97027832e-01 -9.98951975e-04 1.60524325e+00] [ 4.11025499e-02 -2.17472310e-03 9.99152566e-01 4.12418714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.025336195 meters 0.0538421746093645 Centerline is valid? [True, True] Translation: X:66.70, Y:1.62, Z:0.41 [[ 9.95447536e-01 -8.59560049e-02 -4.11797080e-02 6.67013950e+01] [ 8.59879057e-02 9.96295680e-01 -9.99216920e-04 1.62182376e+00] [ 4.11130539e-02 -2.54628883e-03 9.99151256e-01 4.09871239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.085336195 meters 0.05875049298338514 Centerline is valid? [True, True] Translation: X:66.76, Y:1.63, Z:0.41 [[ 9.95145116e-01 -8.77714809e-02 -4.45237553e-02 6.67610520e+01] [ 8.78106839e-02 9.96136598e-01 -1.07832635e-03 1.63438340e+00] [ 4.44463884e-02 -2.83657020e-03 9.99007744e-01 4.06630472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.145336195 meters 0.07132904428641619 Centerline is valid? [True, True] Translation: X:66.82, Y:1.62, Z:0.42 [[ 9.93847905e-01 -1.01532686e-01 -4.42431363e-02 6.68222589e+01] [ 1.01584992e-01 9.94826288e-01 -1.07031857e-03 1.62395220e+00] [ 4.41229074e-02 -3.43070476e-03 9.99020220e-01 4.17957741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.205336195 meters 0.0692557769570868 Centerline is valid? [True, True] Translation: X:66.88, Y:1.61, Z:0.40 [[ 9.94198017e-01 -9.85332977e-02 -4.31450203e-02 6.68841680e+01] [ 9.85802645e-02 9.95128556e-01 -1.04287635e-03 1.61324935e+00] [ 4.30375998e-02 -3.21642190e-03 9.99068276e-01 4.01307228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26533619499999 meters 0.05665207914709524 Centerline is valid? [True, True] Translation: X:66.94, Y:1.64, Z:0.42 [[ 9.95436181e-01 -8.61640974e-02 -4.10190047e-02 6.69448430e+01] [ 8.61961256e-02 9.96277696e-01 -9.90429345e-04 1.64277641e+00] [ 4.09516590e-02 -2.54977008e-03 9.99157876e-01 4.17963535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32533619499999 meters 0.05970622428548016 Centerline is valid? [True, True] Translation: X:67.00, Y:1.65, Z:0.42 [[ 9.95596065e-01 -8.47150438e-02 -4.01476950e-02 6.70048834e+01] [ 8.47445669e-02 9.96402238e-01 -9.68972335e-04 1.64873786e+00] [ 4.00853396e-02 -2.43759398e-03 9.99193286e-01 4.22549070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.385336195 meters 0.059438113376133646 Centerline is valid? [True, True] Translation: X:67.07, Y:1.64, Z:0.41 [[ 9.95568602e-01 -8.69350280e-02 -3.58533130e-02 6.70673830e+01] [ 8.69601558e-02 9.96211418e-01 -8.60920183e-04 1.63710454e+00] [ 3.57923239e-02 -2.26070458e-03 9.99356692e-01 4.09728465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.445336195 meters 0.0718391861763375 Centerline is valid? [True, True] Translation: X:67.15, Y:1.64, Z:0.41 [[ 9.94174748e-01 -1.05110808e-01 -2.38388025e-02 6.71491643e+01] [ 1.05496261e-01 9.94298431e-01 1.55296007e-02 1.63868338e+00] [ 2.20705551e-02 -1.79540414e-02 9.99595190e-01 4.08969569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.505336195 meters 0.059371428395349604 Centerline is valid? [True, True] Translation: X:67.19, Y:1.67, Z:0.45 [[ 9.96167981e-01 -8.13352158e-02 -3.21548879e-02 6.71859774e+01] [ 8.08462505e-02 9.96594483e-01 -1.62271208e-02 1.66643108e+00] [ 3.33652203e-02 1.35653360e-02 9.99351161e-01 4.52578091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.565336195 meters 0.05573364880637353 Centerline is valid? [True, True] Translation: X:67.25, Y:1.66, Z:0.43 [[ 9.95952227e-01 -8.35826816e-02 -3.30620231e-02 6.72471572e+01] [ 8.36019596e-02 9.96498906e-01 -8.01314042e-04 1.66164729e+00] [ 3.30132458e-02 -1.96597941e-03 9.99452981e-01 4.30382084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.625336195 meters 0.07353578076471977 Centerline is valid? [True, True] Translation: X:67.33, Y:1.64, Z:0.41 [[ 9.93810023e-01 -1.08527366e-01 -2.37370791e-02 6.73320756e+01] [ 1.08873555e-01 9.93959676e-01 1.38098516e-02 1.64458212e+00] [ 2.20949527e-02 -1.63087091e-02 9.99622848e-01 4.10353148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68533619499999 meters 0.05647886109130991 Centerline is valid? [True, True] Translation: X:67.37, Y:1.67, Z:0.45 [[ 9.95916500e-01 -8.43237969e-02 -3.22462823e-02 6.73665056e+01] [ 8.38938245e-02 9.96369710e-01 -1.44647074e-02 1.67331177e+00] [ 3.33489380e-02 1.17003768e-02 9.99375280e-01 4.53606880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.745336195 meters 0.054963068994662814 Centerline is valid? [True, True] Translation: X:67.43, Y:1.66, Z:0.43 [[ 9.96415730e-01 -7.99265079e-02 -2.77028343e-02 6.74271312e+01] [ 7.99383002e-02 9.96799579e-01 -6.83313064e-04 1.66482152e+00] [ 2.76687885e-02 -1.53365360e-03 9.99615969e-01 4.26453847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.805336195 meters 0.07234177608743364 Centerline is valid? [True, True] Translation: X:67.52, Y:1.66, Z:0.41 [[ 9.94488910e-01 -1.03507729e-01 -1.66720545e-02 6.75197242e+01] [ 1.03754437e-01 9.94494589e-01 1.46808819e-02 1.65668133e+00] [ 1.50606833e-02 -1.63297738e-02 9.99753227e-01 4.10995970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.865336195 meters 0.05070920338708212 Centerline is valid? [True, True] Translation: X:67.55, Y:1.69, Z:0.46 [[ 9.96737480e-01 -7.62910825e-02 -2.63451633e-02 6.75464159e+01] [ 7.59152380e-02 9.97001673e-01 -1.49846835e-02 1.68702352e+00] [ 2.74093696e-02 1.29357963e-02 9.99540590e-01 4.62609775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.925336195 meters 0.07097943918170503 Centerline is valid? [True, True] Translation: X:67.64, Y:1.66, Z:0.42 [[ 9.94389743e-01 -1.04251539e-01 -1.79068880e-02 6.76407593e+01] [ 1.04511884e-01 9.94421196e-01 1.42741413e-02 1.66410140e+00] [ 1.63188878e-02 -1.60655423e-02 9.99737762e-01 4.17333480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.985336195 meters 0.037836276092125365 Centerline is valid? [True, True] Translation: X:67.66, Y:1.70, Z:0.45 [[ 9.97207410e-01 -7.05188460e-02 -2.45860618e-02 6.76649997e+01] [ 7.01980802e-02 9.97439328e-01 -1.36754132e-02 1.70296988e+00] [ 2.54874793e-02 1.19113290e-02 9.99604176e-01 4.53386039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04533619499999 meters 0.03342275949909562 Centerline is valid? [True, True] Translation: X:67.72, Y:1.71, Z:0.44 [[ 9.97630905e-01 -6.34672451e-02 -2.65421753e-02 6.77247944e+01] [ 6.34692391e-02 9.97983500e-01 -7.68170113e-04 1.70954870e+00] [ 2.65374066e-02 -9.18261427e-04 9.99647399e-01 4.40957447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10533619499999 meters 0.019345132589650878 Centerline is valid? [True, True] Translation: X:67.79, Y:1.74, Z:0.46 [[ 9.98484523e-01 -4.89268556e-02 -2.51956195e-02 6.77932063e+01] [ 4.90130770e-02 9.98794168e-01 2.81559929e-03 1.74398383e+00] [ 2.50274794e-02 -4.04624715e-03 9.99678575e-01 4.57844483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.165336195 meters 0.03052950569145988 Centerline is valid? [True, True] Translation: X:67.85, Y:1.72, Z:0.45 [[ 9.97753437e-01 -6.24191384e-02 -2.43296252e-02 6.78457830e+01] [ 6.23492785e-02 9.98047825e-01 -3.62021284e-03 1.71585662e+00] [ 2.45081001e-02 2.09514522e-03 9.99697436e-01 4.47202678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.225336195 meters 0.05661479287301079 Centerline is valid? [True, True] Translation: X:67.96, Y:1.71, Z:0.44 [[ 9.95304319e-01 -9.47360065e-02 -1.98595259e-02 6.79609349e+01] [ 9.48168992e-02 9.95489682e-01 3.16988124e-03 1.70984767e+00] [ 1.94696512e-02 -5.03801515e-03 9.99797755e-01 4.39993607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.285336195 meters 0.035774333861650576 Centerline is valid? [True, True] Translation: X:67.97, Y:1.73, Z:0.47 [[ 9.97532516e-01 -6.84944806e-02 -1.54073331e-02 6.79708103e+01] [ 6.83875080e-02 9.97631637e-01 -7.36648938e-03 1.72999069e+00] [ 1.58754068e-02 6.29464357e-03 9.99854164e-01 4.72668838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.345336195 meters 0.050146255221141856 Centerline is valid? [True, True] Translation: X:68.08, Y:1.71, Z:0.41 [[ 9.95923033e-01 -8.92644012e-02 -1.30068495e-02 6.80810945e+01] [ 8.95816715e-02 9.95632526e-01 2.62868219e-02 1.71420489e+00] [ 1.06035651e-02 -2.73448268e-02 9.99569820e-01 4.12856689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40533619499999 meters 0.02908161046991751 Centerline is valid? [True, True] Translation: X:68.08, Y:1.74, Z:0.48 [[ 9.97965179e-01 -6.06156394e-02 -1.97799253e-02 6.80783594e+01] [ 6.01491383e-02 9.97915457e-01 -2.33842096e-02 1.73803741e+00] [ 2.11561420e-02 2.21468814e-02 9.99530857e-01 4.80935860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46533619499999 meters 0.030012021150096622 Centerline is valid? [True, True] Translation: X:68.14, Y:1.73, Z:0.46 [[ 9.97950756e-01 -6.06727203e-02 -2.03250997e-02 6.81402457e+01] [ 6.06725728e-02 9.98157527e-01 -6.24476057e-04 1.72671970e+00] [ 2.03255400e-02 -6.09979741e-04 9.99793229e-01 4.60135446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.525336195 meters 0.026079892061672032 Centerline is valid? [True, True] Translation: X:68.20, Y:1.74, Z:0.46 [[ 9.98245894e-01 -5.49657261e-02 -2.19978245e-02 6.82004980e+01] [ 5.49641954e-02 9.98488098e-01 -6.74655275e-04 1.73830778e+00] [ 2.20016489e-02 -5.35620867e-04 9.99757791e-01 4.63125195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.585336195 meters 0.025975264298970988 Centerline is valid? [True, True] Translation: X:68.26, Y:1.75, Z:0.47 [[ 9.98289849e-01 -5.45860885e-02 -2.09221415e-02 6.82635573e+01] [ 5.43262093e-02 9.98441260e-01 -1.27950417e-02 1.75264284e+00] [ 2.15879606e-02 1.16365396e-02 9.99699230e-01 4.69526000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.645336195 meters 0.023775491352120884 Centerline is valid? [True, True] Translation: X:68.33, Y:1.75, Z:0.46 [[ 9.98237650e-01 -5.49026051e-02 -2.25232946e-02 6.83291888e+01] [ 5.49221824e-02 9.98490606e-01 2.51067101e-04 1.75139712e+00] [ 2.24755138e-02 -1.48765313e-03 9.99746287e-01 4.58943403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.705336195 meters 0.024512675709041216 Centerline is valid? [True, True] Translation: X:68.38, Y:1.74, Z:0.44 [[ 9.98359037e-01 -5.24907550e-02 -2.28900510e-02 6.83848998e+01] [ 5.26802760e-02 9.98581308e-01 7.75633337e-03 1.73657481e+00] [ 2.24504412e-02 -8.94945972e-03 9.99707900e-01 4.36606488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76533619499999 meters 0.022329613685144554 Centerline is valid? [True, True] Translation: X:68.45, Y:1.75, Z:0.46 [[ 9.98572408e-01 -4.92830406e-02 -2.05992173e-02 6.84457169e+01] [ 4.92804011e-02 9.98784780e-01 -6.36045451e-04 1.75194871e+00] [ 2.06055310e-02 -3.80000253e-04 9.99787611e-01 4.56458992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82533619499999 meters 0.03744893047789685 Centerline is valid? [True, True] Translation: X:68.53, Y:1.75, Z:0.47 [[ 9.97341793e-01 -7.20635683e-02 -1.07791857e-02 6.85335377e+01] [ 7.20954459e-02 9.97394354e-01 2.59807364e-03 1.75122379e+00] [ 1.05638725e-02 -3.36829762e-03 9.99938528e-01 4.67311649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.885336195 meters 0.030699248476795265 Centerline is valid? [True, True] Translation: X:68.58, Y:1.76, Z:0.48 [[ 9.97946929e-01 -6.26673788e-02 -1.32184053e-02 6.85769828e+01] [ 6.25676748e-02 9.98010036e-01 -7.82651001e-03 1.75900559e+00] [ 1.36825680e-02 6.98339675e-03 9.99882003e-01 4.83740770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.945336195 meters 0.024368514521224276 Centerline is valid? [True, True] Translation: X:68.63, Y:1.75, Z:0.46 [[ 9.98351089e-01 -5.32483699e-02 -2.14409481e-02 6.86288397e+01] [ 5.33486922e-02 9.98567387e-01 4.13411631e-03 1.75350477e+00] [ 2.11900966e-02 -5.27114606e-03 9.99761569e-01 4.55075553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.005336195 meters 0.02460459171644407 Centerline is valid? [True, True] Translation: X:68.69, Y:1.76, Z:0.46 [[ 9.98214114e-01 -5.43905143e-02 -2.47033508e-02 6.86899399e+01] [ 5.43880189e-02 9.98519577e-01 -7.73388108e-04 1.75674034e+00] [ 2.47088444e-02 -5.71559388e-04 9.99694527e-01 4.61387609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.065336195 meters 0.02304912082189648 Centerline is valid? [True, True] Translation: X:68.75, Y:1.76, Z:0.45 [[ 9.98472047e-01 -4.94459213e-02 -2.46712908e-02 6.87502175e+01] [ 4.94419334e-02 9.98776701e-01 -7.71982886e-04 1.75824938e+00] [ 2.46792818e-02 -4.48992982e-04 9.99695319e-01 4.48936664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.125336195 meters 0.020803173827548937 Centerline is valid? [True, True] Translation: X:68.81, Y:1.76, Z:0.45 [[ 9.98640011e-01 -4.65442888e-02 -2.34895325e-02 6.88111517e+01] [ 4.65398818e-02 9.98916163e-01 -7.34554890e-04 1.76273296e+00] [ 2.34982630e-02 -3.59644161e-04 9.99723813e-01 4.51366323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18533619499999 meters 0.01706070114057228 Centerline is valid? [True, True] Translation: X:68.87, Y:1.78, Z:0.47 [[ 9.98916103e-01 -4.22566129e-02 -1.95191870e-02 6.88714466e+01] [ 4.22527563e-02 9.99106767e-01 -6.10130921e-04 1.77761036e+00] [ 1.95275338e-02 -2.15269848e-04 9.99809296e-01 4.74522444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.245336195 meters 0.01423545399809887 Centerline is valid? [True, True] Translation: X:68.93, Y:1.79, Z:0.48 [[ 9.99194540e-01 -3.72951323e-02 -1.48102470e-02 6.89332980e+01] [ 3.72923718e-02 9.99304290e-01 -4.62613126e-04 1.78564684e+00] [ 1.48171966e-02 -9.00687295e-05 9.99890215e-01 4.79044895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.305336195 meters 0.017680404401760493 Centerline is valid? [True, True] Translation: X:69.00, Y:1.78, Z:0.48 [[ 9.98882450e-01 -4.55891784e-02 -1.24690754e-02 6.89994853e+01] [ 4.55581739e-02 9.98957876e-01 -2.75950674e-03 1.78288975e+00] [ 1.25818847e-02 2.18835455e-03 9.99918450e-01 4.77385829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.365336195 meters 0.021246652245933972 Centerline is valid? [True, True] Translation: X:69.06, Y:1.77, Z:0.46 [[ 9.98451516e-01 -5.23701857e-02 -1.87599127e-02 6.90604258e+01] [ 5.23617836e-02 9.98627739e-01 -9.39131137e-04 1.77418647e+00] [ 1.87833516e-02 -4.46255789e-05 9.99823576e-01 4.63590065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.425336195 meters 0.020656324950175144 Centerline is valid? [True, True] Translation: X:69.12, Y:1.77, Z:0.46 [[ 9.98570006e-01 -4.81279921e-02 -2.32731382e-02 6.91172305e+01] [ 4.81708962e-02 9.98838281e-01 1.28608695e-03 1.77272296e+00] [ 2.31842045e-02 -2.40533578e-03 9.99728317e-01 4.62116464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.485336195 meters 0.020442305108447828 Centerline is valid? [True, True] Translation: X:69.17, Y:1.78, Z:0.48 [[ 9.98571617e-01 -4.87081641e-02 -2.19599546e-02 6.91700446e+01] [ 4.84583412e-02 9.98755869e-01 -1.17687239e-02 1.78239035e+00] [ 2.25058665e-02 1.06877707e-02 9.99689581e-01 4.82901828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54533619499999 meters 0.01946636119062099 Centerline is valid? [True, True] Translation: X:69.24, Y:1.77, Z:0.44 [[ 9.98626418e-01 -4.62799047e-02 -2.45651874e-02 6.92427067e+01] [ 4.65293762e-02 9.98869993e-01 9.68264995e-03 1.76803405e+00] [ 2.40893165e-02 -1.08123529e-02 9.99651338e-01 4.39537636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60533619499999 meters 0.02033330894738654 Centerline is valid? [True, True] Translation: X:69.30, Y:1.78, Z:0.46 [[ 9.98457119e-01 -4.82582110e-02 -2.74686554e-02 6.93037213e+01] [ 4.82529134e-02 9.98834783e-01 -8.56061762e-04 1.77662893e+00] [ 2.74779605e-02 -4.70701690e-04 9.99622299e-01 4.56670669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.665336195 meters 0.02408321805608256 Centerline is valid? [True, True] Translation: X:69.36, Y:1.77, Z:0.46 [[ 9.98152629e-01 -5.30113425e-02 -2.96837745e-02 6.93638071e+01] [ 5.30072870e-02 9.98593698e-01 -9.24060340e-04 1.77362969e+00] [ 2.96910158e-02 -6.51103097e-04 9.99558913e-01 4.61171004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.725336195 meters 0.02424001374076689 Centerline is valid? [True, True] Translation: X:69.43, Y:1.77, Z:0.46 [[ 9.98130403e-01 -5.28960395e-02 -3.06220184e-02 6.94257401e+01] [ 5.28917391e-02 9.98599799e-01 -9.50999984e-04 1.77391897e+00] [ 3.06294455e-02 -6.70429811e-04 9.99530584e-01 4.56377587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.785336195 meters 0.02393603924345524 Centerline is valid? [True, True] Translation: X:69.49, Y:1.77, Z:0.46 [[ 9.98148088e-01 -5.36222548e-02 -2.87236519e-02 6.94880657e+01] [ 5.36188865e-02 9.98561078e-01 -8.88030681e-04 1.77265729e+00] [ 2.87299390e-02 -6.53744105e-04 9.99586996e-01 4.56106101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.845336195 meters 0.023107820328653723 Centerline is valid? [True, True] Translation: X:69.55, Y:1.78, Z:0.47 [[ 9.98346475e-01 -5.14761037e-02 -2.55836995e-02 6.95473766e+01] [ 5.14727466e-02 9.98674087e-01 -7.90178129e-04 1.77873272e+00] [ 2.55904530e-02 -5.27991731e-04 9.99672371e-01 4.69991276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90533619499999 meters 0.022985307208673946 Centerline is valid? [True, True] Translation: X:69.61, Y:1.78, Z:0.47 [[ 9.98336470e-01 -5.15587292e-02 -2.58067877e-02 6.96094916e+01] [ 5.15554146e-02 9.98669820e-01 -7.94215177e-04 1.78120164e+00] [ 2.58134087e-02 -5.37585664e-04 9.99666634e-01 4.71383680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96533619499999 meters 0.021469941139007104 Centerline is valid? [True, True] Translation: X:69.67, Y:1.78, Z:0.47 [[ 9.98257673e-01 -5.24911861e-02 -2.69498513e-02 6.96721785e+01] [ 5.24880306e-02 9.98621213e-01 -8.24960831e-04 1.78165640e+00] [ 2.69559964e-02 -5.91021142e-04 9.99636446e-01 4.67431910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.025336195 meters 0.023734363284977394 Centerline is valid? [True, True] Translation: X:69.73, Y:1.78, Z:0.46 [[ 9.98227491e-01 -5.25511146e-02 -2.79330658e-02 6.97341575e+01] [ 5.25478707e-02 9.98618044e-01 -8.50681404e-04 1.77753340e+00] [ 2.79391678e-02 -6.18649568e-04 9.99609434e-01 4.60073434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.085336195 meters 0.023289189662351006 Centerline is valid? [True, True] Translation: X:69.80, Y:1.78, Z:0.45 [[ 9.98208880e-01 -5.03939672e-02 -3.22409614e-02 6.97955343e+01] [ 5.03886800e-02 9.98729206e-01 -9.76985252e-04 1.77958053e+00] [ 3.22492239e-02 -6.49344131e-04 9.99479648e-01 4.54338872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.145336195 meters 0.022089011673683146 Centerline is valid? [True, True] Translation: X:69.86, Y:1.79, Z:0.46 [[ 9.98355732e-01 -4.66371884e-02 -3.33287390e-02 6.98567821e+01] [ 4.66295592e-02 9.98911743e-01 -1.00656293e-03 1.79140629e+00] [ 3.33394120e-02 -5.49196542e-04 9.99443936e-01 4.64472785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.205336195 meters 0.018656817540804404 Centerline is valid? [True, True] Translation: X:69.92, Y:1.80, Z:0.46 [[ 9.98605088e-01 -4.25413457e-02 -3.12747768e-02 6.99172517e+01] [ 4.25326375e-02 9.99094632e-01 -9.43951655e-04 1.79593567e+00] [ 3.12866186e-02 -3.87563821e-04 9.99510379e-01 4.58310793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26533619499999 meters 0.019378459257347772 Centerline is valid? [True, True] Translation: X:69.98, Y:1.80, Z:0.45 [[ 9.98679416e-01 -4.15129985e-02 -3.02670546e-02 6.99787617e+01] [ 4.15044744e-02 9.99137904e-01 -9.10097965e-04 1.79596467e+00] [ 3.02787424e-02 -3.47322089e-04 9.99541433e-01 4.52229026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32533619499999 meters 0.01930823491350461 Centerline is valid? [True, True] Translation: X:70.04, Y:1.80, Z:0.46 [[ 9.98691713e-01 -4.14005929e-02 -3.00142265e-02 7.00421626e+01] [ 4.13923111e-02 9.99142568e-01 -8.97460523e-04 1.79916228e+00] [ 3.00256467e-02 -3.46071814e-04 9.99549069e-01 4.55548122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.385336195 meters 0.016809278770173554 Centerline is valid? [True, True] Translation: X:70.10, Y:1.81, Z:0.47 [[ 9.98865315e-01 -3.83064407e-02 -2.82966187e-02 7.01031976e+01] [ 3.82978845e-02 9.99266010e-01 -8.44470119e-04 1.81091430e+00] [ 2.83081979e-02 -2.40188724e-04 9.99599214e-01 4.69635531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.445336195 meters 0.016738895405570647 Centerline is valid? [True, True] Translation: X:70.16, Y:1.81, Z:0.46 [[ 9.98972781e-01 -3.60447833e-02 -2.74619223e-02 7.01642839e+01] [ 3.60359574e-02 9.99350161e-01 -8.16384934e-04 1.81431797e+00] [ 2.74735028e-02 -1.74070333e-04 9.99622517e-01 4.63746944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.505336195 meters 0.018674628136098152 Centerline is valid? [True, True] Translation: X:70.23, Y:1.81, Z:0.45 [[ 9.98995416e-01 -3.48637836e-02 -2.81544964e-02 7.02260643e+01] [ 3.48541531e-02 9.99392062e-01 -8.32883069e-04 1.81358631e+00] [ 2.81664176e-02 -1.49254760e-04 9.99603237e-01 4.49603461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.565336195 meters 0.01738174591824168 Centerline is valid? [True, True] Translation: X:70.29, Y:1.83, Z:0.47 [[ 9.99023326e-01 -3.34453248e-02 -2.88756547e-02 7.02877309e+01] [ 3.34347290e-02 9.99440542e-01 -8.49826890e-04 1.82742993e+00] [ 2.88879227e-02 -1.16452802e-04 9.99582650e-01 4.71237317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62533619499999 meters 0.016181277493886773 Centerline is valid? [True, True] Translation: X:70.35, Y:1.83, Z:0.47 [[ 9.99125076e-01 -3.34075031e-02 -2.51599013e-02 7.03490941e+01] [ 3.33994807e-02 9.99441808e-01 -7.39139722e-04 1.82869531e+00] [ 2.51705501e-02 -1.01834605e-04 9.99683166e-01 4.72190958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68533619499999 meters 0.016272751530654148 Centerline is valid? [True, True] Translation: X:70.41, Y:1.83, Z:0.47 [[ 9.99361626e-01 -2.91191002e-02 -2.06982487e-02 7.04104896e+01] [ 2.91127602e-02 9.99575949e-01 -6.07630830e-04 1.83084322e+00] [ 2.07071653e-02 4.65978338e-06 9.99785584e-01 4.67764681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.745336195 meters 0.015371407051169392 Centerline is valid? [True, True] Translation: X:70.47, Y:1.85, Z:0.49 [[ 9.99511339e-01 -2.55426452e-02 -1.80182412e-02 7.04715022e+01] [ 2.55372800e-02 9.99673731e-01 -5.27830614e-04 1.84692156e+00] [ 1.80258446e-02 6.74358148e-05 9.99837519e-01 4.89313164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.805336195 meters 0.015509922015272083 Centerline is valid? [True, True] Translation: X:70.53, Y:1.84, Z:0.48 [[ 9.99500733e-01 -2.47631587e-02 -1.96232030e-02 7.05341044e+01] [ 2.47566981e-02 9.99693342e-01 -5.72126814e-04 1.84406655e+00] [ 1.96313531e-02 8.60354576e-05 9.99807283e-01 4.76962482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.865336195 meters 0.016986755467809887 Centerline is valid? [True, True] Translation: X:70.60, Y:1.85, Z:0.47 [[ 9.99549236e-01 -2.29100902e-02 -1.94024085e-02 7.05958899e+01] [ 2.29034881e-02 9.99737522e-01 -5.62441832e-04 1.84759398e+00] [ 1.94102014e-02 1.17805470e-04 9.99811597e-01 4.73823893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.925336195 meters 0.017131345498278775 Centerline is valid? [True, True] Translation: X:70.66, Y:1.86, Z:0.48 [[ 9.99576840e-01 -2.02333253e-02 -2.08986463e-02 7.06575884e+01] [ 2.02251524e-02 9.99795269e-01 -6.02381584e-04 1.85524848e+00] [ 2.09065558e-02 1.79448375e-04 9.99781418e-01 4.84584258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.985336195 meters 0.01910110833364336 Centerline is valid? [True, True] Translation: X:70.72, Y:1.86, Z:0.47 [[ 9.99599617e-01 -1.84482709e-02 -2.14538427e-02 7.07192133e+01] [ 1.84393179e-02 9.99829792e-01 -6.15075290e-04 1.85586779e+00] [ 2.14615381e-02 2.19234799e-04 9.99769651e-01 4.72338834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04533619499999 meters 0.018755626113825457 Centerline is valid? [True, True] Translation: X:70.78, Y:1.86, Z:0.47 [[ 9.99583113e-01 -2.09703713e-02 -1.98455171e-02 7.07809710e+01] [ 2.09632384e-02 9.99780086e-01 -5.67405843e-04 1.85684095e+00] [ 1.98530515e-02 1.51142992e-04 9.99802897e-01 4.73635339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10533619499999 meters 0.016931923560111153 Centerline is valid? [True, True] Translation: X:70.84, Y:1.86, Z:0.48 [[ 9.99617072e-01 -2.01678602e-02 -1.89464085e-02 7.08438467e+01] [ 2.01612576e-02 9.99796596e-01 -5.39449062e-04 1.85801075e+00] [ 1.89534343e-02 1.57259069e-04 9.99820355e-01 4.76042084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.165336195 meters 0.01582002475081163 Centerline is valid? [True, True] Translation: X:70.91, Y:1.86, Z:0.48 [[ 9.99681726e-01 -2.07095785e-02 -1.44069572e-02 7.09062395e+01] [ 2.07058472e-02 9.99785528e-01 -4.08123267e-04 1.86079906e+00] [ 1.44123194e-02 1.09685118e-04 9.99896131e-01 4.83229205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.225336195 meters 0.023263744259431455 Centerline is valid? [True, True] Translation: X:71.00, Y:1.87, Z:0.50 [[ 9.98828965e-01 -4.58186142e-02 -1.55355350e-02 7.09980083e+01] [ 4.57243564e-02 9.98933789e-01 -6.36929005e-03 1.86928672e+00] [ 1.58108029e-02 5.65147905e-03 9.99859030e-01 5.01872808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.285336195 meters 0.01538976721678188 Centerline is valid? [True, True] Translation: X:71.02, Y:1.86, Z:0.47 [[ 9.99608140e-01 -2.33673680e-02 -1.54121131e-02 7.10225764e+01] [ 2.34704796e-02 9.99703114e-01 6.54367758e-03 1.85951654e+00] [ 1.52546289e-02 -6.90284306e-03 9.99859814e-01 4.70915178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.345336195 meters 0.014821267466472264 Centerline is valid? [True, True] Translation: X:71.09, Y:1.87, Z:0.49 [[ 9.99574078e-01 -2.42903567e-02 -1.61753189e-02 7.10854971e+01] [ 2.42859537e-02 9.99704943e-01 -4.68605589e-04 1.86707306e+00] [ 1.61819289e-02 7.55729531e-05 9.99869061e-01 4.88334367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40533619499999 meters 0.022473248283948723 Centerline is valid? [True, True] Translation: X:71.18, Y:1.88, Z:0.50 [[ 9.98799732e-01 -4.54706874e-02 -1.82074956e-02 7.11848183e+01] [ 4.52998368e-02 9.98926450e-01 -9.68873340e-03 1.87545467e+00] [ 1.86285023e-02 8.85230774e-03 9.99787285e-01 5.04308296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46533619499999 meters 0.01628637890361871 Centerline is valid? [True, True] Translation: X:71.20, Y:1.87, Z:0.46 [[ 9.99655607e-01 -2.09678110e-02 -1.57803022e-02 7.12008396e+01] [ 2.11315091e-02 9.99723859e-01 1.02793114e-02 1.86527169e+00] [ 1.55604099e-02 -1.06092329e-02 9.99822643e-01 4.63496311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.525336195 meters 0.016705683491935935 Centerline is valid? [True, True] Translation: X:71.26, Y:1.88, Z:0.49 [[ 9.99719229e-01 -1.95272586e-02 -1.34219504e-02 7.12640094e+01] [ 1.95236721e-02 9.99809316e-01 -3.98205879e-04 1.87842722e+00] [ 1.34271669e-02 1.36048317e-04 9.99909842e-01 4.90775597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.585336195 meters 0.01666497337125087 Centerline is valid? [True, True] Translation: X:71.33, Y:1.88, Z:0.50 [[ 9.99759015e-01 -1.84343188e-02 -1.19200795e-02 7.13276301e+01] [ 1.84314366e-02 9.99830065e-01 -3.51610676e-04 1.88286986e+00] [ 1.19245356e-02 1.31821753e-04 9.99928892e-01 4.95150486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.645336195 meters 0.016806934504513687 Centerline is valid? [True, True] Translation: X:71.39, Y:1.88, Z:0.49 [[ 9.99780037e-01 -1.87001822e-02 -9.49639780e-03 7.13894022e+01] [ 1.86983769e-02 9.99825131e-01 -2.78868111e-04 1.88187028e+00] [ 9.49995206e-03 1.01239545e-04 9.99954869e-01 4.89279383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.705336195 meters 0.016442316102820792 Centerline is valid? [True, True] Translation: X:71.45, Y:1.88, Z:0.49 [[ 9.99770928e-01 -1.87004556e-02 -1.04107446e-02 7.14526007e+01] [ 1.86982994e-02 9.99825125e-01 -3.04414259e-04 1.88320326e+00] [ 1.04146167e-02 1.09681307e-04 9.99945760e-01 4.87192233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76533619499999 meters 0.01577708836241357 Centerline is valid? [True, True] Translation: X:71.52, Y:1.89, Z:0.49 [[ 9.99763221e-01 -1.74694058e-02 -1.29738517e-02 7.15151900e+01] [ 1.74659872e-02 9.99847387e-01 -3.76770732e-04 1.88768039e+00] [ 1.29784537e-02 1.50080393e-04 9.99915765e-01 4.94476311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82533619499999 meters 0.01819017817042347 Centerline is valid? [True, True] Translation: X:71.58, Y:1.89, Z:0.49 [[ 9.99768972e-01 -1.70457849e-02 -1.30936391e-02 7.15774147e+01] [ 1.70422965e-02 9.99854698e-01 -3.77960696e-04 1.88916153e+00] [ 1.30981792e-02 1.54727698e-04 9.99914203e-01 4.87800684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.885336195 meters 0.018131002075865023 Centerline is valid? [True, True] Translation: X:71.64, Y:1.89, Z:0.49 [[ 9.99823169e-01 -1.45836998e-02 -1.18721237e-02 7.16397580e+01] [ 1.45806813e-02 9.99893638e-01 -3.40774166e-04 1.89135824e+00] [ 1.18758307e-02 1.67610255e-04 9.99929466e-01 4.85298448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.945336195 meters 0.01764072688020257 Centerline is valid? [True, True] Translation: X:71.70, Y:1.90, Z:0.50 [[ 9.99890134e-01 -1.24012403e-02 -8.11963538e-03 7.17015432e+01] [ 1.23997632e-02 9.99923093e-01 -2.32232997e-04 1.89884764e+00] [ 8.12189090e-03 1.31525927e-04 9.99967008e-01 5.01706440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.005336195 meters 0.019390408542171046 Centerline is valid? [True, True] Translation: X:71.76, Y:1.90, Z:0.50 [[ 9.99913406e-01 -1.13532584e-02 -6.65455483e-03 7.17624244e+01] [ 1.13522445e-02 9.99935543e-01 -1.90106870e-04 1.90134447e+00] [ 6.65628423e-03 1.14546274e-04 9.99977840e-01 4.96901249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.065336195 meters 0.01924701594393349 Centerline is valid? [True, True] Translation: X:71.83, Y:1.90, Z:0.50 [[ 9.99918231e-01 -1.14562553e-02 -5.68200101e-03 7.18255445e+01] [ 1.14555217e-02 9.99934370e-01 -1.61635779e-04 1.90062537e+00] [ 5.68347984e-03 9.65322757e-05 9.99983844e-01 4.95285227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12533619499999 meters 0.01604257376817358 Centerline is valid? [True, True] Translation: X:71.89, Y:1.90, Z:0.50 [[ 9.99880345e-01 -1.44948630e-02 -5.40316726e-03 7.18881140e+01] [ 1.44942460e-02 9.99894941e-01 -1.53329985e-04 1.90228044e+00] [ 5.40482210e-03 7.49968026e-05 9.99985391e-01 5.02639670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18533619499999 meters 0.015930343548713116 Centerline is valid? [True, True] Translation: X:71.95, Y:1.91, Z:0.51 [[ 9.99893075e-01 -1.39461472e-02 -4.39816028e-03 7.19509222e+01] [ 1.39457324e-02 9.99902746e-01 -1.24979739e-04 1.90575730e+00] [ 4.39947552e-03 6.36308095e-05 9.99990320e-01 5.08041428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.245336195 meters 0.016677910811178587 Centerline is valid? [True, True] Translation: X:72.01, Y:1.91, Z:0.51 [[ 9.99891049e-01 -1.42335392e-02 -3.91115628e-03 7.20127977e+01] [ 1.42332158e-02 9.99898697e-01 -1.10491520e-04 1.90761050e+00] [ 3.91233276e-03 5.48111505e-05 9.99992345e-01 5.06650693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.305336195 meters 0.01686964668753478 Centerline is valid? [True, True] Translation: X:72.07, Y:1.90, Z:0.50 [[ 9.99915890e-01 -1.17524054e-02 -5.48575328e-03 7.20749317e+01] [ 1.17517404e-02 9.99930934e-01 -1.53452122e-04 1.90473511e+00] [ 5.48717783e-03 8.89720667e-05 9.99984941e-01 4.97445023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.365336195 meters 0.02008610270147281 Centerline is valid? [True, True] Translation: X:72.14, Y:1.91, Z:0.50 [[ 9.99950648e-01 -7.56322001e-03 -6.44193339e-03 7.21359213e+01] [ 7.56222404e-03 9.99971390e-01 -1.78950779e-04 1.91224536e+00] [ 6.44310253e-03 1.30226603e-04 9.99979235e-01 5.00687939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.425336195 meters 0.022217019885080607 Centerline is valid? [True, True] Translation: X:72.20, Y:1.92, Z:0.50 [[ 9.99937158e-01 -5.85078591e-03 -9.56291107e-03 7.21982985e+01] [ 5.84852179e-03 9.99982862e-01 -2.64708776e-04 1.91854049e+00] [ 9.56429593e-03 2.08763248e-04 9.99954239e-01 5.04132201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.485336195 meters 0.020940171421817578 Centerline is valid? [True, True] Translation: X:72.26, Y:1.92, Z:0.50 [[ 9.99899271e-01 -8.45635001e-03 -1.13990124e-02 7.22604935e+01] [ 8.45331486e-03 9.99964221e-01 -3.14420509e-04 1.91798598e+00] [ 1.14012634e-02 2.18029397e-04 9.99934980e-01 5.02349199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54533619499999 meters 0.01908160194241921 Centerline is valid? [True, True] Translation: X:72.32, Y:1.91, Z:0.49 [[ 9.99860264e-01 -1.20402040e-02 -1.15967706e-02 7.23213570e+01] [ 1.20373209e-02 9.99927498e-01 -3.18380398e-04 1.91019161e+00] [ 1.15997631e-02 1.78741860e-04 9.99932705e-01 4.88740704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60533619499999 meters 0.018621278921841653 Centerline is valid? [True, True] Translation: X:72.38, Y:1.91, Z:0.50 [[ 9.99856148e-01 -1.39252896e-02 -9.68350211e-03 7.23829808e+01] [ 1.39233729e-02 9.99903030e-01 -2.65327253e-04 1.91279723e+00] [ 9.68625786e-03 1.30462074e-04 9.99953079e-01 4.95705050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.665336195 meters 0.017127311997367355 Centerline is valid? [True, True] Translation: X:72.45, Y:1.91, Z:0.49 [[ 9.99782258e-01 -1.61423173e-02 -1.32235543e-02 7.24451877e+01] [ 1.61389558e-02 9.99869693e-01 -3.60889555e-04 1.90954882e+00] [ 1.32276568e-02 1.47396616e-04 9.99912500e-01 4.90839824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.725336195 meters 0.01654037997622838 Centerline is valid? [True, True] Translation: X:72.51, Y:1.91, Z:0.48 [[ 9.99632959e-01 -1.95588939e-02 -1.87456077e-02 7.25082293e+01] [ 1.95528042e-02 9.99808697e-01 -5.08108012e-04 1.90690233e+00] [ 1.87519596e-02 1.41392320e-04 9.99824157e-01 4.84825109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.785336195 meters 0.017201502087174643 Centerline is valid? [True, True] Translation: X:72.57, Y:1.91, Z:0.48 [[ 9.99577376e-01 -1.98843017e-02 -2.12057419e-02 7.25707918e+01] [ 1.98766567e-02 9.99802277e-01 -5.71253181e-04 1.90745148e+00] [ 2.12129080e-02 1.49512506e-04 9.99774970e-01 4.83517589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.845336195 meters 0.018083255417993757 Centerline is valid? [True, True] Translation: X:72.63, Y:1.91, Z:0.49 [[ 9.99669422e-01 -1.79679767e-02 -1.83901737e-02 7.26331049e+01] [ 1.79619306e-02 9.99838550e-01 -4.93907774e-04 1.91084307e+00] [ 1.83960791e-02 1.63421476e-04 9.99830764e-01 4.87600346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90533619499999 meters 0.018475711531068712 Centerline is valid? [True, True] Translation: X:72.70, Y:1.92, Z:0.49 [[ 9.99744050e-01 -1.57511493e-02 -1.62399186e-02 7.26964075e+01] [ 1.57461570e-02 9.99875927e-01 -4.35241624e-04 1.91572654e+00] [ 1.62447592e-02 1.79413918e-04 9.99868029e-01 4.94148842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96533619499999 meters 0.01800235185962124 Centerline is valid? [True, True] Translation: X:72.76, Y:1.92, Z:0.50 [[ 9.99739541e-01 -1.61506894e-02 -1.61246787e-02 7.27584467e+01] [ 1.61458341e-02 9.99869555e-01 -4.31252496e-04 1.91626031e+00] [ 1.61295403e-02 1.70793785e-04 9.99869896e-01 4.97201473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.025336195 meters 0.01713480622262484 Centerline is valid? [True, True] Translation: X:72.81, Y:1.92, Z:0.50 [[ 9.99621751e-01 -2.30818563e-02 -1.49527163e-02 7.28054560e+01] [ 2.29966396e-02 9.99718449e-01 -5.84619223e-03 1.91763167e+00] [ 1.50834473e-02 5.50011869e-03 9.99871111e-01 5.01290844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.085336195 meters 0.01700308452155379 Centerline is valid? [True, True] Translation: X:72.88, Y:1.91, Z:0.49 [[ 9.99560526e-01 -2.10844805e-02 -2.08374643e-02 7.28807473e+01] [ 2.11698658e-02 9.99768343e-01 3.88560066e-03 1.90706929e+00] [ 2.07507113e-02 -4.32501937e-03 9.99775326e-01 4.85630273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.145336195 meters 0.017108447668034113 Centerline is valid? [True, True] Translation: X:72.94, Y:1.91, Z:0.48 [[ 9.99477517e-01 -2.29686664e-02 -2.27405579e-02 7.29427535e+01] [ 2.29609943e-02 9.99736182e-01 -5.98460109e-04 1.90579387e+00] [ 2.27483044e-02 7.60016040e-05 9.99741221e-01 4.83787705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.205336195 meters 0.017237104267614045 Centerline is valid? [True, True] Translation: X:73.01, Y:1.91, Z:0.48 [[ 9.99554342e-01 -2.14864716e-02 -2.07231462e-02 7.30055997e+01] [ 2.14798183e-02 9.99769134e-01 -5.43616792e-04 1.90590729e+00] [ 2.07300423e-02 9.82451095e-05 9.99785105e-01 4.81921450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26533619499999 meters 0.018766696291070965 Centerline is valid? [True, True] Translation: X:73.07, Y:1.92, Z:0.49 [[ 9.99602872e-01 -1.92921135e-02 -2.05405316e-02 7.30677432e+01] [ 1.92851664e-02 9.99813880e-01 -5.36263829e-04 1.91571596e+00] [ 2.05470542e-02 1.39923294e-04 9.99788877e-01 4.93759475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32533619499999 meters 0.019579530250886153 Centerline is valid? [True, True] Translation: X:73.14, Y:1.91, Z:0.48 [[ 9.99355916e-01 -3.31885748e-02 -1.36481598e-02 7.31350783e+01] [ 3.32495115e-02 9.99437993e-01 4.26236328e-03 1.91229905e+00] [ 1.34990277e-02 -4.71341261e-03 9.99897775e-01 4.84599609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.385336195 meters 0.02165025434588795 Centerline is valid? [True, True] Translation: X:73.19, Y:1.92, Z:0.49 [[ 9.99617049e-01 -1.54106514e-02 -2.29840725e-02 7.31885391e+01] [ 1.52922990e-02 9.99868933e-01 -5.31623742e-03 1.92324628e+00] [ 2.30629868e-02 4.96272225e-03 9.99721696e-01 4.93113253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.445336195 meters 0.024412107054000345 Centerline is valid? [True, True] Translation: X:73.25, Y:1.93, Z:0.49 [[ 9.99653953e-01 -1.17620373e-02 -2.35293209e-02 7.32508543e+01] [ 1.17507296e-02 9.99930766e-01 -6.18789918e-04 1.92812849e+00] [ 2.35349701e-02 3.42089099e-04 9.99722956e-01 4.87011185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.505336195 meters 0.023966812491649885 Centerline is valid? [True, True] Translation: X:73.31, Y:1.93, Z:0.49 [[ 9.99525061e-01 -2.46140299e-02 -1.85418954e-02 7.33086604e+01] [ 2.46466059e-02 9.99695055e-01 1.53038820e-03 1.93383244e+00] [ 1.84985721e-02 -1.98665614e-03 9.99826913e-01 4.88473201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.565336195 meters 0.02826549262668016 Centerline is valid? [True, True] Translation: X:73.37, Y:1.94, Z:0.48 [[ 9.99658599e-01 -2.14046083e-02 -1.49842673e-02 7.33705287e+01] [ 2.14164978e-02 9.99770440e-01 6.33427797e-04 1.94219056e+00] [ 1.49672692e-02 -9.54122070e-04 9.99887529e-01 4.84978807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62533619499999 meters 0.027152394071415658 Centerline is valid? [True, True] Translation: X:73.44, Y:1.95, Z:0.49 [[ 9.99690642e-01 -2.02900106e-02 -1.43852843e-02 7.34384117e+01] [ 2.03435449e-02 9.99786621e-01 3.58493435e-03 1.94506225e+00] [ 1.43094764e-02 -3.87647299e-03 9.99890100e-01 4.85936002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68533619499999 meters 0.028911893266230466 Centerline is valid? [True, True] Translation: X:73.50, Y:1.95, Z:0.49 [[ 9.99785720e-01 -1.73923403e-02 -1.12259095e-02 7.35022896e+01] [ 1.74001722e-02 9.99848425e-01 6.00362595e-04 1.95337946e+00] [ 1.12137663e-02 -7.95566708e-04 9.99936807e-01 4.91503528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.745336195 meters 0.03484432137023586 Centerline is valid? [True, True] Translation: X:73.54, Y:1.94, Z:0.47 [[ 9.99968659e-01 4.26534413e-03 -6.66986091e-03 7.35364043e+01] [-4.19450574e-03 9.99935033e-01 1.05988328e-02 1.94082503e+00] [ 6.71463526e-03 -1.05705238e-02 9.99921586e-01 4.70653175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.805336195 meters 0.03626527331602558 Centerline is valid? [True, True] Translation: X:73.63, Y:1.96, Z:0.52 [[ 9.99690658e-01 1.26245445e-02 -2.14291863e-02 7.36327039e+01] [-1.30300788e-02 9.99736630e-01 -1.88914522e-02 1.95645463e+00] [ 2.11850465e-02 1.91648323e-02 9.99591868e-01 5.23092569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.865336195 meters 0.038739462836832494 Centerline is valid? [True, True] Translation: X:73.65, Y:1.95, Z:0.46 [[ 9.99977995e-01 3.51458105e-03 -5.62654339e-03 7.36534659e+01] [-3.41694256e-03 9.99845028e-01 1.72697543e-02 1.94509765e+00] [ 5.68636739e-03 -1.72501487e-02 9.99835035e-01 4.59992852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.925336195 meters 0.0402319459028088 Centerline is valid? [True, True] Translation: X:73.75, Y:1.97, Z:0.53 [[ 9.99689182e-01 1.39932090e-02 -2.06332226e-02 7.37512261e+01] [-1.43745778e-02 9.99726406e-01 -1.84522505e-02 1.96949412e+00] [ 2.03693713e-02 1.87431091e-02 9.99616819e-01 5.27860001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.985336195 meters 0.03281929102633032 Centerline is valid? [True, True] Translation: X:73.76, Y:1.93, Z:0.45 [[ 9.99927080e-01 1.09961420e-02 -4.99194351e-03 7.37622203e+01] [-1.09052172e-02 9.99780487e-01 1.78900550e-02 1.93376489e+00] [ 5.18756930e-03 -1.78343122e-02 9.99827498e-01 4.51674083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04533619499999 meters 0.04261687698724611 Centerline is valid? [True, True] Translation: X:73.85, Y:1.92, Z:0.42 [[ 9.99908268e-01 7.48823470e-03 1.12863435e-02 7.38452265e+01] [-7.87987530e-03 9.99353969e-01 3.50649791e-02 1.92321659e+00] [-1.10164774e-02 -3.51506975e-02 9.99321303e-01 4.22319620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10533619499999 meters 0.03531487679427976 Centerline is valid? [True, True] Translation: X:73.92, Y:1.99, Z:0.54 [[ 9.99838287e-01 -1.78354348e-02 -2.30146453e-03 7.39224888e+01] [ 1.77636415e-02 9.99445898e-01 -2.81487261e-02 1.98747156e+00] [ 2.80223406e-03 2.81032917e-02 9.99601097e-01 5.38042545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.165336195 meters 0.0388032078524135 Centerline is valid? [True, True] Translation: X:73.96, Y:1.92, Z:0.41 [[ 9.99912865e-01 -9.22342546e-05 1.32005268e-02 7.39578811e+01] [-3.11031434e-04 9.99533378e-01 3.05438984e-02 1.91514239e+00] [-1.31971843e-02 -3.05453427e-02 9.99446255e-01 4.12768121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.225336195 meters 0.025961399619813606 Centerline is valid? [True, True] Translation: X:74.00, Y:1.95, Z:0.53 [[ 9.99972588e-01 2.39867105e-03 7.00497217e-03 7.39986636e+01] [-2.23858655e-03 9.99738176e-01 -2.27720869e-02 1.95481875e+00] [-7.05776084e-03 2.27557814e-02 9.99716141e-01 5.33565157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.285336195 meters 0.0323608821775275 Centerline is valid? [True, True] Translation: X:74.07, Y:1.92, Z:0.45 [[ 9.99779375e-01 1.39331178e-02 1.57184400e-02 7.40672581e+01] [-1.42525088e-02 9.99690430e-01 2.03938698e-02 1.92278730e+00] [-1.54294238e-02 -2.06133976e-02 9.99668455e-01 4.47964666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.345336195 meters 0.025809338233842547 Centerline is valid? [True, True] Translation: X:74.12, Y:1.93, Z:0.49 [[ 9.99774649e-01 1.70562701e-02 1.26386556e-02 7.41155560e+01] [-1.69559773e-02 9.99824228e-01 -8.00052424e-03 1.93110522e+00] [-1.27728932e-02 7.78442055e-03 9.99888122e-01 4.89026737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40533619499999 meters 0.023770464653451888 Centerline is valid? [True, True] Translation: X:74.23, Y:1.87, Z:0.51 [[ 9.97140560e-01 7.54758220e-02 3.75562680e-03 7.42297887e+01] [-7.54386870e-02 9.97107960e-01 -9.20442093e-03 1.86983987e+00] [-4.43947661e-03 8.89478188e-03 9.99950586e-01 5.07318074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46533619499999 meters 0.033205968936040546 Centerline is valid? [True, True] Translation: X:74.34, Y:1.90, Z:0.47 [[ 9.98822582e-01 4.83036829e-02 4.49477084e-03 7.43437095e+01] [-4.83258974e-02 9.98819245e-01 4.97235979e-03 1.89968264e+00] [-4.24928032e-03 -5.18371908e-03 9.99977536e-01 4.73790081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.525336195 meters 0.033641708491170035 Centerline is valid? [True, True] Translation: X:74.40, Y:1.91, Z:0.49 [[ 9.98898911e-01 4.67827737e-02 3.51254628e-03 7.44037887e+01] [-4.67827004e-02 9.98905085e-01 -1.03076094e-04 1.90898896e+00] [-3.51352252e-03 -6.13638020e-05 9.99993826e-01 4.90115682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.585336195 meters 0.03460945146299958 Centerline is valid? [True, True] Translation: X:74.46, Y:1.91, Z:0.48 [[ 9.99049789e-01 4.33279661e-02 4.71228113e-03 7.44600320e+01] [-4.33282788e-02 9.99060889e-01 -3.57422565e-05 1.90571110e+00] [-4.70940441e-03 -1.68466737e-04 9.99988897e-01 4.82587252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.645336195 meters 0.022904254770573767 Centerline is valid? [True, True] Translation: X:74.46, Y:1.87, Z:0.50 [[ 9.97844234e-01 6.56068400e-02 1.62073795e-03 7.44559746e+01] [-6.55955962e-02 9.97826899e-01 -6.22076002e-03 1.86621199e+00] [-2.02534033e-03 6.10103625e-03 9.99979337e-01 4.95839490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.705336195 meters 0.03344132391990345 Centerline is valid? [True, True] Translation: X:74.58, Y:1.90, Z:0.47 [[ 9.99145084e-01 4.10314722e-02 5.05160295e-03 7.45781497e+01] [-4.10662383e-02 9.99132029e-01 6.98234408e-03 1.89706516e+00] [-4.76072245e-03 -7.18382510e-03 9.99962863e-01 4.72610811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76533619499999 meters 0.03208395814614247 Centerline is valid? [True, True] Translation: X:74.57, Y:1.92, Z:0.52 [[ 9.96916649e-01 7.83921679e-02 -3.44437549e-03 7.45734155e+01] [-7.84464753e-02 9.96708387e-01 -2.04583058e-02 1.91629776e+00] [ 1.82926699e-03 2.06654248e-02 9.99784774e-01 5.20595458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82533619499999 meters 0.0392897081023858 Centerline is valid? [True, True] Translation: X:74.69, Y:1.88, Z:0.44 [[ 9.99340030e-01 3.53978130e-02 8.15466087e-03 7.46885263e+01] [-3.55919610e-02 9.99052658e-01 2.50399368e-02 1.88446794e+00] [-7.26057662e-03 -2.53136516e-02 9.99653191e-01 4.39465873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.885336195 meters 0.026783545958995948 Centerline is valid? [True, True] Translation: X:74.69, Y:1.91, Z:0.52 [[ 9.98109569e-01 6.14586475e-02 -3.50005408e-04 7.46935307e+01] [-6.14495126e-02 9.97825447e-01 -2.38397752e-02 1.90784330e+00] [-1.11591604e-03 2.38162154e-02 9.99715731e-01 5.18166491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.945336195 meters 0.03309069423148158 Centerline is valid? [True, True] Translation: X:74.75, Y:1.90, Z:0.48 [[ 9.97403532e-01 7.19721216e-02 -2.49152969e-03 7.47464781e+01] [-7.19739252e-02 9.97406307e-01 -6.41819715e-04 1.89534018e+00] [ 2.43887430e-03 8.19478422e-04 9.99996690e-01 4.77975219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.005336195 meters 0.03246155332133674 Centerline is valid? [True, True] Translation: X:74.80, Y:1.89, Z:0.48 [[ 9.97312343e-01 7.32498684e-02 -1.59587007e-03 7.48049323e+01] [-7.32498547e-02 9.97313619e-01 6.71001624e-05 1.89103930e+00] [ 1.59649804e-03 4.99774307e-05 9.99998724e-01 4.77418130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.065336195 meters 0.030732583617368987 Centerline is valid? [True, True] Translation: X:74.87, Y:1.89, Z:0.48 [[ 9.98409568e-01 5.60262180e-02 6.27666347e-03 7.48731955e+01] [-5.60595295e-02 9.98413556e-01 5.26317713e-03 1.89198277e+00] [-5.97182998e-03 -5.60667321e-03 9.99966451e-01 4.76343056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12533619499999 meters 0.032999222716649304 Centerline is valid? [True, True] Translation: X:74.92, Y:1.89, Z:0.49 [[ 9.97260133e-01 7.39151452e-02 -2.96298126e-03 7.49212651e+01] [-7.39311735e-02 9.97246917e-01 -5.72437556e-03 1.89493971e+00] [ 2.53170588e-03 5.92774821e-03 9.99979226e-01 4.89974166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18533619499999 meters 0.02991520220721892 Centerline is valid? [True, True] Translation: X:75.00, Y:1.88, Z:0.46 [[ 9.98363558e-01 5.68971232e-02 5.73795389e-03 7.50002011e+01] [-5.69501532e-02 9.98331386e-01 9.54585362e-03 1.88149975e+00] [-5.18524786e-03 -9.85700973e-03 9.99937974e-01 4.61437308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.245336195 meters 0.035555300865169163 Centerline is valid? [True, True] Translation: X:75.04, Y:1.90, Z:0.50 [[ 9.97235606e-01 7.42862582e-02 -1.64247340e-03 7.50390925e+01] [-7.42989928e-02 9.97186211e-01 -9.96596127e-03 1.89980593e+00] [ 8.97517850e-04 1.00604456e-02 9.99948990e-01 5.04524655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.305336195 meters 0.03133165320279503 Centerline is valid? [True, True] Translation: X:75.10, Y:1.88, Z:0.48 [[ 9.97222274e-01 7.44736965e-02 -1.18543442e-03 7.50970308e+01] [-7.44736919e-02 9.97222978e-01 4.80382901e-05 1.88370315e+00] [ 1.18572003e-03 4.03788251e-05 9.99999296e-01 4.84186711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.365336195 meters 0.03185400302025742 Centerline is valid? [True, True] Translation: X:75.16, Y:1.88, Z:0.48 [[ 9.97292813e-01 7.35322600e-02 -2.26057009e-04 7.51559775e+01] [-7.35322600e-02 9.97292839e-01 8.28757202e-06 1.88056559e+00] [ 2.26054441e-04 8.35734676e-06 9.99999974e-01 4.83335734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.425336195 meters 0.03091152505119223 Centerline is valid? [True, True] Translation: X:75.21, Y:1.88, Z:0.48 [[ 9.97391107e-01 7.21842016e-02 -6.48396418e-04 7.52147474e+01] [-7.21842002e-02 9.97391318e-01 2.55550978e-05 1.87781213e+00] [ 6.48549632e-04 2.13155496e-05 9.99999789e-01 4.82064519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.485336195 meters 0.03366849141254593 Centerline is valid? [True, True] Translation: X:75.27, Y:1.87, Z:0.47 [[ 9.97326018e-01 7.29862145e-02 -3.71838638e-03 7.52723705e+01] [-7.29861528e-02 9.97332943e-01 1.52472971e-04 1.87328372e+00] [ 3.71959765e-03 1.19325456e-04 9.99993075e-01 4.69981752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54533619499999 meters 0.030457711178331848 Centerline is valid? [True, True] Translation: X:75.35, Y:1.87, Z:0.47 [[ 9.98247901e-01 5.89705519e-02 4.85821048e-03 7.53546158e+01] [-5.90296335e-02 9.98170551e-01 1.30787664e-02 1.87259866e+00] [-4.07806055e-03 -1.33426295e-02 9.99902667e-01 4.68322131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60533619499999 meters 0.03662545530147004 Centerline is valid? [True, True] Translation: X:75.39, Y:1.88, Z:0.50 [[ 9.97102073e-01 7.56438214e-02 -8.09125535e-03 7.53920674e+01] [-7.57456671e-02 9.97040806e-01 -1.31234189e-02 1.88398202e+00] [ 7.07460620e-03 1.36982657e-02 9.99881147e-01 4.96963252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.665336195 meters 0.028508781976813124 Centerline is valid? [True, True] Translation: X:75.47, Y:1.86, Z:0.45 [[ 9.98116003e-01 6.13424991e-02 1.24229631e-03 7.54718367e+01] [-6.13545251e-02 9.97988300e-01 1.59679522e-02 1.85619735e+00] [-2.60283088e-04 -1.60140891e-02 9.99871732e-01 4.50484870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.725336195 meters 0.032911053928471184 Centerline is valid? [True, True] Translation: X:75.53, Y:1.88, Z:0.48 [[ 9.98090308e-01 6.17429653e-02 1.88235742e-03 7.55303331e+01] [-6.17385594e-02 9.98089670e-01 -2.31521192e-03 1.87524682e+00] [-2.02170955e-03 2.19457654e-03 9.99995548e-01 4.84215279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.785336195 meters 0.036644611129691286 Centerline is valid? [True, True] Translation: X:75.57, Y:1.88, Z:0.52 [[ 9.96851543e-01 7.92449344e-02 -2.69098821e-03 7.55664405e+01] [-7.92753271e-02 9.96751581e-01 -1.42023990e-02 1.88440572e+00] [ 1.55677858e-03 1.43710123e-02 9.99895520e-01 5.15491571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.845336195 meters 0.03689907846230613 Centerline is valid? [True, True] Translation: X:75.62, Y:1.87, Z:0.48 [[ 9.96921915e-01 7.83187754e-02 -3.58684079e-03 7.56244588e+01] [-7.83187626e-02 9.96928358e-01 1.44265229e-04 1.86817274e+00] [ 3.58712197e-03 1.37095763e-04 9.99993557e-01 4.81326111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90533619499999 meters 0.04004482627530165 Centerline is valid? [True, True] Translation: X:75.68, Y:1.87, Z:0.48 [[ 9.96732359e-01 8.04778559e-02 -6.92231136e-03 7.56841127e+01] [-8.04778470e-02 9.96756358e-01 2.80284563e-04 1.86778941e+00] [ 6.92241457e-03 2.77724021e-04 9.99976001e-01 4.76206720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96533619499999 meters 0.04758534713408225 Centerline is valid? [True, True] Translation: X:75.74, Y:1.88, Z:0.48 [[ 9.96529614e-01 8.26295964e-02 -1.00537247e-02 7.57429423e+01] [-8.26296901e-02 9.96580237e-01 4.06774486e-04 1.87509913e+00] [ 1.00529549e-02 4.25373332e-04 9.99949377e-01 4.75307981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.025336195 meters 0.04526783680944094 Centerline is valid? [True, True] Translation: X:75.80, Y:1.87, Z:0.48 [[ 9.96222833e-01 8.61928973e-02 -1.05285813e-02 7.58027929e+01] [-8.61932000e-02 9.96278350e-01 4.25849761e-04 1.86892567e+00] [ 1.05261029e-02 4.83250861e-04 9.99944482e-01 4.75560696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.085336195 meters 0.04765135119459495 Centerline is valid? [True, True] Translation: X:75.86, Y:1.87, Z:0.47 [[ 9.96187818e-01 8.65950387e-02 -1.05418845e-02 7.58601419e+01] [-8.65953740e-02 9.96243474e-01 4.25501226e-04 1.86792683e+00] [ 1.05391299e-02 4.88999290e-04 9.99944342e-01 4.72596824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.145336195 meters 0.04698996566851515 Centerline is valid? [True, True] Translation: X:75.92, Y:1.87, Z:0.48 [[ 9.96059733e-01 8.81967828e-02 -9.29175913e-03 7.59192499e+01] [-8.81971149e-02 9.96102971e-01 3.74820082e-04 1.86597311e+00] [ 9.28860679e-03 4.46163156e-04 9.99956760e-01 4.78248920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.205336195 meters 0.045780319114646764 Centerline is valid? [True, True] Translation: X:75.98, Y:1.86, Z:0.48 [[ 9.96347399e-01 8.49075961e-02 -9.08631142e-03 7.59774921e+01] [-8.49077811e-02 9.96388747e-01 3.66089436e-04 1.86320641e+00] [ 9.08458222e-03 4.06746284e-04 9.99958652e-01 4.81844001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26533619499999 meters 0.03823734945727301 Centerline is valid? [True, True] Translation: X:76.06, Y:1.84, Z:0.44 [[ 9.97661068e-01 6.83078700e-02 -2.53552867e-03 7.60595467e+01] [-6.82404374e-02 9.97450692e-01 2.08652890e-02 1.84088095e+00] [ 3.95432828e-03 -2.06434609e-02 9.99779081e-01 4.39079716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32533619499999 meters 0.042546584782846286 Centerline is valid? [True, True] Translation: X:76.09, Y:1.87, Z:0.52 [[ 9.96771898e-01 7.92210984e-02 -1.30308029e-02 7.60943194e+01] [-7.94748837e-02 9.96630736e-01 -2.02711230e-02 1.86773038e+00] [ 1.13809980e-02 2.12413073e-02 9.99709598e-01 5.15749735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.385336195 meters 0.03831737464116714 Centerline is valid? [True, True] Translation: X:76.15, Y:1.84, Z:0.48 [[ 9.97047033e-01 7.58688917e-02 -1.18796567e-02 7.61528138e+01] [-7.58686392e-02 9.97117709e-01 4.72571103e-04 1.84359264e+00] [ 1.18812696e-02 4.30117774e-04 9.99929323e-01 4.75705684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.445336195 meters 0.03794975740737894 Centerline is valid? [True, True] Translation: X:76.21, Y:1.84, Z:0.47 [[ 9.97217059e-01 7.37195135e-02 -1.11162236e-02 7.62110124e+01] [-7.37191594e-02 9.97278943e-01 4.42161364e-04 1.83858149e+00] [ 1.11185716e-02 3.78547801e-04 9.99938115e-01 4.72252116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.505336195 meters 0.037482591834504364 Centerline is valid? [True, True] Translation: X:76.27, Y:1.84, Z:0.48 [[ 9.97043356e-01 7.60668625e-02 -1.08801538e-02 7.62701873e+01] [-7.60666677e-02 9.97102640e-01 4.32320662e-04 1.84126147e+00] [ 1.08815153e-02 3.96574597e-04 9.99940716e-01 4.81332374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.565336195 meters 0.03815971478585224 Centerline is valid? [True, True] Translation: X:76.33, Y:1.84, Z:0.47 [[ 9.96949570e-01 7.69765324e-02 -1.28906090e-02 7.63284574e+01] [-7.69763403e-02 9.97032788e-01 5.11794912e-04 1.83873534e+00] [ 1.28917560e-02 4.82038184e-04 9.99916782e-01 4.73886858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62533619499999 meters 0.038643430201740145 Centerline is valid? [True, True] Translation: X:76.39, Y:1.83, Z:0.47 [[ 9.97069097e-01 7.53128411e-02 -1.34607775e-02 7.63875687e+01] [-7.53124832e-02 9.97159839e-01 5.34210662e-04 1.83493183e+00] [ 1.34627797e-02 4.81119639e-04 9.99909257e-01 4.67827411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68533619499999 meters 0.041125922313964496 Centerline is valid? [True, True] Translation: X:76.45, Y:1.83, Z:0.46 [[ 9.96884749e-01 7.74991579e-02 -1.46518793e-02 7.64468475e+01] [-7.74989783e-02 9.96992262e-01 5.80901836e-04 1.83224266e+00] [ 1.46528297e-02 5.56413492e-04 9.99892487e-01 4.59432579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.745336195 meters 0.04443434440706105 Centerline is valid? [True, True] Translation: X:76.51, Y:1.84, Z:0.48 [[ 9.96531161e-01 8.20394448e-02 -1.39705104e-02 7.65069884e+01] [-8.20397292e-02 9.96628906e-01 5.53706074e-04 1.84223132e+00] [ 1.39688403e-02 5.94351535e-04 9.99902254e-01 4.76503657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.805336195 meters 0.04868932309665856 Centerline is valid? [True, True] Translation: X:76.57, Y:1.84, Z:0.47 [[ 9.96247893e-01 8.55417381e-02 -1.31432810e-02 7.65653523e+01] [-8.55423015e-02 9.96334404e-01 5.20334855e-04 1.84430111e+00] [ 1.31396134e-02 6.05924001e-04 9.99913488e-01 4.73713637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.865336195 meters 0.05014359082157884 Centerline is valid? [True, True] Translation: X:76.62, Y:1.84, Z:0.47 [[ 9.95970103e-01 8.90224776e-02 -1.08882213e-02 7.66248250e+01] [-8.90230747e-02 9.96029471e-01 4.30776069e-04 1.84439182e+00] [ 1.08833381e-02 5.40262857e-04 9.99940629e-01 4.71007258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.925336195 meters 0.05526732742966568 Centerline is valid? [True, True] Translation: X:76.68, Y:1.85, Z:0.47 [[ 9.95696237e-01 9.21522340e-02 -9.84726903e-03 7.66840043e+01] [-9.21528791e-02 9.95744794e-01 3.89179715e-04 1.84919193e+00] [ 9.84123066e-03 5.19949414e-04 9.99951439e-01 4.69745644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.985336195 meters 0.0550579592927491 Centerline is valid? [True, True] Translation: X:76.74, Y:1.85, Z:0.49 [[ 9.95412084e-01 9.53476517e-02 -7.97545055e-03 7.67440953e+01] [-9.53481783e-02 9.95443934e-01 3.15039572e-04 1.85433768e+00] [ 7.96915216e-03 4.46850485e-04 9.99968146e-01 4.86250742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04533619499999 meters 0.05127014926324013 Centerline is valid? [True, True] Translation: X:76.80, Y:1.84, Z:0.48 [[ 9.95370422e-01 9.58760056e-02 -6.74642111e-03 7.68019633e+01] [-9.58764093e-02 9.95393211e-01 2.64290027e-04 1.84300373e+00] [ 6.74068084e-03 3.83756156e-04 9.99977208e-01 4.78598208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10533619499999 meters 0.053784389502339124 Centerline is valid? [True, True] Translation: X:76.86, Y:1.84, Z:0.47 [[ 9.95794063e-01 9.12380533e-02 -8.35475447e-03 7.68602511e+01] [-9.12385021e-02 9.95829015e-01 3.28203285e-04 1.84082927e+00] [ 8.34985155e-03 4.35452401e-04 9.99965045e-01 4.74901086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.165336195 meters 0.05026574761260908 Centerline is valid? [True, True] Translation: X:76.92, Y:1.83, Z:0.48 [[ 9.95974896e-01 8.92583617e-02 -8.18240706e-03 7.69196989e+01] [-8.92587397e-02 9.96008421e-01 3.19701932e-04 1.83470867e+00] [ 8.17828241e-03 4.11936244e-04 9.99966472e-01 4.78917152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.225336195 meters 0.04580499117139759 Centerline is valid? [True, True] Translation: X:76.98, Y:1.83, Z:0.48 [[ 9.96305241e-01 8.54495360e-02 -8.61652703e-03 7.69787255e+01] [-8.54498183e-02 9.96342419e-01 3.36054076e-04 1.82520653e+00] [ 8.61372704e-03 4.01468233e-04 9.99962821e-01 4.81501009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.285336195 meters 0.03711272761259073 Centerline is valid? [True, True] Translation: X:77.04, Y:1.82, Z:0.49 [[ 9.97545491e-01 6.99116823e-02 -3.91801954e-03 7.70405642e+01] [-6.99339701e-02 9.97534330e-01 -5.87372884e-03 1.81685610e+00] [ 3.49771674e-03 6.13331438e-03 9.99975074e-01 4.91621766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.345336195 meters 0.03843040028687326 Centerline is valid? [True, True] Translation: X:77.10, Y:1.80, Z:0.46 [[ 9.96579295e-01 8.24475113e-02 -5.66724247e-03 7.70950100e+01] [-8.24138987e-02 9.96580552e-01 5.92903259e-03 1.79698580e+00] [ 6.13669760e-03 -5.44169156e-03 9.99966364e-01 4.64796398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40533619499999 meters 0.05180471410035444 Centerline is valid? [True, True] Translation: X:77.15, Y:1.82, Z:0.48 [[ 9.96315880e-01 8.54005900e-02 -7.83617694e-03 7.71547268e+01] [-8.54008582e-02 9.96346628e-01 3.00995268e-04 1.81662746e+00] [ 7.83325364e-03 3.69329870e-04 9.99969251e-01 4.76448362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46533619499999 meters 0.046857308293810754 Centerline is valid? [True, True] Translation: X:77.21, Y:1.81, Z:0.48 [[ 9.95884496e-01 9.03167674e-02 -7.54668346e-03 7.72137934e+01] [-9.03171590e-02 9.95913012e-01 2.89595759e-04 1.80623014e+00] [ 7.54199561e-03 3.93191084e-04 9.99971481e-01 4.83419268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.525336195 meters 0.052425146593914354 Centerline is valid? [True, True] Translation: X:77.27, Y:1.81, Z:0.48 [[ 9.95591641e-01 9.35579908e-02 -6.64736828e-03 7.72723979e+01] [-9.35583684e-02 9.95613764e-01 2.54822358e-04 1.81031635e+00] [ 6.64205202e-03 3.68217921e-04 9.99977874e-01 4.81966985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.585336195 meters 0.053028009214095034 Centerline is valid? [True, True] Translation: X:77.33, Y:1.80, Z:0.47 [[ 9.94875946e-01 1.00886063e-01 -6.62227098e-03 7.73321016e+01] [-1.00886600e-01 9.94897899e-01 2.53741747e-04 1.80137662e+00] [ 6.61408249e-03 4.15656842e-04 9.99978040e-01 4.70908406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.645336195 meters 0.05173824001156185 Centerline is valid? [True, True] Translation: X:77.40, Y:1.82, Z:0.50 [[ 9.94715044e-01 1.02589535e-01 -4.16749703e-03 7.73983045e+01] [-1.02618417e-01 9.94692998e-01 -7.43634149e-03 1.81558897e+00] [ 3.38248929e-03 7.82470270e-03 9.99963666e-01 5.01254830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.705336195 meters 0.06350666010962343 Centerline is valid? [True, True] Translation: X:77.46, Y:1.83, Z:0.49 [[ 9.93669556e-01 1.12338563e-01 -9.27421776e-04 7.74563192e+01] [-1.12336294e-01 9.93667776e-01 2.21523946e-03 1.82555407e+00] [ 1.17040595e-03 -2.09703289e-03 9.99997116e-01 4.85874519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76533619499999 meters 0.07463706110736622 Centerline is valid? [True, True] Translation: X:77.51, Y:1.84, Z:0.48 [[ 9.91838398e-01 1.27445242e-01 -3.78186060e-03 7.75095023e+01] [-1.27421852e-01 9.91831128e-01 5.88943768e-03 1.83802080e+00] [ 4.50154787e-03 -5.35947875e-03 9.99975506e-01 4.80050207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82533619499999 meters 0.06351221107574746 Centerline is valid? [True, True] Translation: X:77.57, Y:1.83, Z:0.49 [[ 9.91794332e-01 1.27773590e-01 -4.23223678e-03 7.75678919e+01] [-1.27774065e-01 9.91803288e-01 1.59044224e-04 1.82855530e+00] [ 4.21786801e-03 3.83030940e-04 9.99991031e-01 4.90493308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.885336195 meters 0.07294926977581057 Centerline is valid? [True, True] Translation: X:77.63, Y:1.84, Z:0.49 [[ 9.91941624e-01 1.26644608e-01 -3.59981979e-03 7.76265682e+01] [-1.26644943e-01 9.91948104e-01 1.35814534e-04 1.84037084e+00] [ 3.58803459e-03 3.21178881e-04 9.99993511e-01 4.85765854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.945336195 meters 0.06284275748303 Centerline is valid? [True, True] Translation: X:77.69, Y:1.83, Z:0.49 [[ 9.92695040e-01 1.20647416e-01 -8.70779293e-04 7.76854656e+01] [-1.20647434e-01 9.92695419e-01 3.23967554e-05 1.82786870e+00] [ 8.68327200e-04 7.28971887e-05 9.99999620e-01 4.87751667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.005336195 meters 0.061692783571983795 Centerline is valid? [True, True] Translation: X:77.74, Y:1.82, Z:0.49 [[ 9.93932771e-01 1.09981930e-01 -1.27315757e-03 7.77441085e+01] [-1.09981958e-01 9.93933583e-01 4.77075832e-05 1.82480754e+00] [ 1.27068104e-03 9.26062328e-05 9.99999188e-01 4.89425287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.065336195 meters 0.05628685552296299 Centerline is valid? [True, True] Translation: X:77.80, Y:1.82, Z:0.49 [[ 9.94542168e-01 1.04324224e-01 -1.52751554e-03 7.78035720e+01] [-1.04324260e-01 9.94543335e-01 5.63557391e-05 1.81513088e+00] [ 1.52505967e-03 1.03308770e-04 9.99998832e-01 4.86678536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12533619499999 meters 0.05757443191699735 Centerline is valid? [True, True] Translation: X:77.86, Y:1.81, Z:0.48 [[ 9.94884875e-01 1.01006449e-01 -1.33536014e-03 7.78624520e+01] [-1.01006472e-01 9.94885767e-01 4.99359368e-05 1.81168438e+00] [ 1.33357465e-03 8.51995089e-05 9.99999107e-01 4.81087945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18533619499999 meters 0.061485398282074964 Centerline is valid? [True, True] Translation: X:77.92, Y:1.82, Z:0.49 [[ 9.95007577e-01 9.97832237e-02 -1.79720621e-03 7.79203262e+01] [-9.97832649e-02 9.95009194e-01 6.69293658e-05 1.81802722e+00] [ 1.79491513e-03 1.12735877e-04 9.99998383e-01 4.87139989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.245336195 meters 0.07363304665024516 Centerline is valid? [True, True] Translation: X:77.98, Y:1.83, Z:0.48 [[ 9.94416230e-01 1.05524715e-01 -9.46783869e-04 7.79795430e+01] [-1.05524729e-01 9.94416678e-01 3.52234604e-05 1.83218084e+00] [ 9.45214616e-04 6.48823307e-05 9.99999551e-01 4.83552912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.305336195 meters 0.06005341558509821 Centerline is valid? [True, True] Translation: X:78.04, Y:1.81, Z:0.48 [[ 9.94354370e-01 1.06109503e-01 4.00077977e-04 7.80376120e+01] [-1.06109505e-01 9.94354450e-01 -1.60381679e-05 1.81012213e+00] [-3.99521119e-04 -2.65044539e-05 9.99999920e-01 4.82173070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.365336195 meters 0.06577858157638916 Centerline is valid? [True, True] Translation: X:78.10, Y:1.82, Z:0.49 [[ 9.94233823e-01 1.07230088e-01 -9.01622316e-04 7.80958770e+01] [-1.07230102e-01 9.94234230e-01 3.32363239e-05 1.81818769e+00] [ 8.99987703e-04 6.36363757e-05 9.99999593e-01 4.89473946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.425336195 meters 0.06061192026252011 Centerline is valid? [True, True] Translation: X:78.15, Y:1.81, Z:0.49 [[ 9.94231936e-01 1.07191610e-01 -3.57996598e-03 7.81537340e+01] [-1.07191828e-01 9.94238349e-01 1.31470233e-04 1.80918362e+00] [ 3.57343197e-03 2.53031195e-04 9.99993583e-01 4.90665256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.485336195 meters 0.0588766575167672 Centerline is valid? [True, True] Translation: X:78.21, Y:1.80, Z:0.48 [[ 9.94239086e-01 1.07132826e-01 -3.34612447e-03 7.82117812e+01] [-1.07133018e-01 9.94244689e-01 1.22235767e-04 1.80216180e+00] [ 3.33996194e-03 2.36948835e-04 9.99994394e-01 4.84157689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54533619499999 meters 0.06272635611968673 Centerline is valid? [True, True] Translation: X:78.27, Y:1.80, Z:0.48 [[ 9.94332435e-01 1.06293930e-01 -2.14703737e-03 7.82697269e+01] [-1.06294008e-01 9.94334741e-01 7.84194426e-05 1.80161350e+00] [ 2.14320935e-03 1.50242211e-04 9.99997692e-01 4.80992213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60533619499999 meters 0.05779447005197507 Centerline is valid? [True, True] Translation: X:78.33, Y:1.80, Z:0.50 [[ 9.94437149e-01 1.05315186e-01 -1.86216096e-03 7.83288013e+01] [-1.05315242e-01 9.94438885e-01 6.80837600e-05 1.79942509e+00] [ 1.85897552e-03 1.28408912e-04 9.99998264e-01 4.95132628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.665336195 meters 0.053732863028247126 Centerline is valid? [True, True] Translation: X:78.39, Y:1.79, Z:0.49 [[ 9.94775128e-01 1.02042739e-01 -3.11838753e-03 7.83877313e+01] [-1.02042881e-01 9.94779995e-01 1.13890106e-04 1.78833649e+00] [ 3.11373118e-03 2.04914202e-04 9.99995131e-01 4.87975316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.725336195 meters 0.05617716447051458 Centerline is valid? [True, True] Translation: X:78.45, Y:1.79, Z:0.48 [[ 9.95462827e-01 9.50615775e-02 -4.13005500e-03 7.84461108e+01] [-9.50617663e-02 9.95471365e-01 1.51033233e-04 1.78850503e+00] [ 4.12570895e-03 2.42262355e-04 9.99991460e-01 4.84923864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.785336195 meters 0.04950363279052615 Centerline is valid? [True, True] Translation: X:78.51, Y:1.77, Z:0.48 [[ 9.95972408e-01 8.94191921e-02 -6.57044505e-03 7.85056063e+01] [-8.94195512e-02 9.95994019e-01 2.39687958e-04 1.77353773e+00] [ 6.56555667e-03 3.48803654e-04 9.99978386e-01 4.76826260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.845336195 meters 0.0451813330305647 Centerline is valid? [True, True] Translation: X:78.57, Y:1.77, Z:0.48 [[ 9.96361417e-01 8.49273304e-02 -7.16069624e-03 7.85652225e+01] [-8.49276395e-02 9.96387087e-01 2.61445898e-04 1.76598486e+00] [ 7.15702918e-03 3.47646424e-04 9.99974328e-01 4.79610413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90533619499999 meters 0.04134444407589317 Centerline is valid? [True, True] Translation: X:78.62, Y:1.76, Z:0.49 [[ 9.96790075e-01 7.98042690e-02 -6.38937209e-03 7.86246584e+01] [-7.98044111e-02 9.96810514e-01 2.33115132e-04 1.76311948e+00] [ 6.38759686e-03 2.77533227e-04 9.99979561e-01 4.90305893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96533619499999 meters 0.03712162853086256 Centerline is valid? [True, True] Translation: X:78.68, Y:1.75, Z:0.48 [[ 9.97302803e-01 7.29109113e-02 -8.43320103e-03 7.86828439e+01] [-7.29109153e-02 9.97338410e-01 3.07372928e-04 1.74883472e+00] [ 8.43316615e-03 3.08328524e-04 9.99964393e-01 4.77535609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.025336195 meters 0.03621397250825953 Centerline is valid? [True, True] Translation: X:78.74, Y:1.74, Z:0.47 [[ 9.97448928e-01 7.08373495e-02 -8.81509024e-03 7.87416037e+01] [-7.08372774e-02 9.97487833e-01 3.20803478e-04 1.74373176e+00] [ 8.81567013e-03 3.04451908e-04 9.99961095e-01 4.74314205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.085336195 meters 0.03574773291290562 Centerline is valid? [True, True] Translation: X:78.79, Y:1.77, Z:0.55 [[ 9.98065689e-01 6.10131337e-02 -1.19280533e-02 7.87897134e+01] [-6.15120727e-02 9.96986429e-01 -4.72686427e-02 1.77268385e+00] [ 9.00809927e-03 4.79109298e-02 9.98810992e-01 5.53005046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.145336195 meters 0.03457648123456501 Centerline is valid? [True, True] Translation: X:78.86, Y:1.70, Z:0.40 [[ 9.97656599e-01 6.76542832e-02 -1.02082679e-02 7.88602456e+01] [-6.70937115e-02 9.96601418e-01 4.77917028e-02 1.70422137e+00] [ 1.34068876e-02 -4.69947971e-02 9.98805158e-01 4.01261624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.205336195 meters 0.03898096213862497 Centerline is valid? [True, True] Translation: X:78.91, Y:1.77, Z:0.56 [[ 9.97900808e-01 6.40701845e-02 -9.43336032e-03 7.89073118e+01] [-6.44238645e-02 9.96961120e-01 -4.37960041e-02 1.77074610e+00] [ 6.59867541e-03 4.43118014e-02 9.98995957e-01 5.56089104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26533619499999 meters 0.03829334688789669 Centerline is valid? [True, True] Translation: X:78.97, Y:1.73, Z:0.46 [[ 9.97823230e-01 6.56075352e-02 -6.66730292e-03 7.89729466e+01] [-6.55255886e-02 9.97780590e-01 1.18444740e-02 1.73030917e+00] [ 7.42959219e-03 -1.13818124e-02 9.99907623e-01 4.61152429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32533619499999 meters 0.038810907725094844 Centerline is valid? [True, True] Translation: X:79.03, Y:1.74, Z:0.48 [[ 9.97682670e-01 6.71865629e-02 -1.07357237e-02 7.90276496e+01] [-6.72238571e-02 9.97732942e-01 -3.15117849e-03 1.73695873e+00] [ 1.04996683e-02 3.86557292e-03 9.99937405e-01 4.84512489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.385336195 meters 0.03958103160622765 Centerline is valid? [True, True] Translation: X:79.10, Y:1.72, Z:0.46 [[ 9.97620171e-01 6.83312084e-02 -9.21090195e-03 7.90968007e+01] [-6.82199385e-02 9.97599367e-01 1.18971627e-02 1.72428032e+00] [ 1.00017375e-02 -1.12404823e-02 9.99886802e-01 4.56822958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.445336195 meters 0.042717256962105 Centerline is valid? [True, True] Translation: X:79.15, Y:1.74, Z:0.49 [[ 9.97229682e-01 7.34715948e-02 -1.16140763e-02 7.91525814e+01] [-7.35288591e-02 9.97282562e-01 -4.58240629e-03 1.73652502e+00] [ 1.12458390e-02 5.42368135e-03 9.99922054e-01 4.88638058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.505336195 meters 0.04965648663185926 Centerline is valid? [True, True] Translation: X:79.20, Y:1.74, Z:0.49 [[ 9.97000196e-01 7.67743709e-02 -9.81353853e-03 7.92046512e+01] [-7.68453212e-02 9.97017966e-01 -7.06913127e-03 1.74458426e+00] [ 9.24154612e-03 7.80204978e-03 9.99926858e-01 4.94195276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.565336195 meters 0.04303568003753878 Centerline is valid? [True, True] Translation: X:79.27, Y:1.72, Z:0.46 [[ 9.96845963e-01 7.90277361e-02 -7.26245497e-03 7.92729640e+01] [-7.89537663e-02 9.96828492e-01 9.96298552e-03 1.71624324e+00] [ 8.02677422e-03 -9.35816372e-03 9.99923995e-01 4.59443048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62533619499999 meters 0.04986950268984422 Centerline is valid? [True, True] Translation: X:79.33, Y:1.74, Z:0.49 [[ 9.96750008e-01 8.02617165e-02 -6.89044393e-03 7.93280893e+01] [-8.02783905e-02 9.96770102e-01 -2.17794896e-03 1.73730632e+00] [ 6.69338258e-03 2.72402439e-03 9.99973889e-01 4.93964280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68533619499999 meters 0.05127134724971275 Centerline is valid? [True, True] Translation: X:79.39, Y:1.73, Z:0.48 [[ 9.96643460e-01 8.10899183e-02 -1.12355855e-02 7.93862609e+01] [-8.11051830e-02 9.96705134e-01 -9.08925525e-04 1.73201683e+00] [ 1.11248611e-02 1.81713890e-03 9.99936466e-01 4.81974596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.745336195 meters 0.06553007593124184 Centerline is valid? [True, True] Translation: X:79.44, Y:1.74, Z:0.46 [[ 9.96475326e-01 8.30183023e-02 -1.20368569e-02 7.94416659e+01] [-8.30047538e-02 9.96547832e-01 1.62168798e-03 1.74338951e+00] [ 1.21299334e-02 -6.16855717e-04 9.99926239e-01 4.61500508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.805336195 meters 0.05946371310882875 Centerline is valid? [True, True] Translation: X:79.51, Y:1.74, Z:0.47 [[ 9.95749651e-01 9.15685866e-02 -9.89073222e-03 7.95063220e+01] [-9.15511863e-02 9.95797944e-01 2.19887533e-03 1.73813607e+00] [ 1.00505187e-02 -1.28402107e-03 9.99948668e-01 4.72752290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.865336195 meters 0.05851112788961134 Centerline is valid? [True, True] Translation: X:79.57, Y:1.75, Z:0.49 [[ 9.94769473e-01 1.01920227e-01 -6.77953487e-03 7.95699511e+01] [-1.01924490e-01 9.94792097e-01 -2.85416845e-04 1.74520039e+00] [ 6.71513796e-03 9.74924602e-04 9.99976978e-01 4.93538552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.925336195 meters 0.07062501076638106 Centerline is valid? [True, True] Translation: X:79.63, Y:1.76, Z:0.50 [[ 9.93950900e-01 1.09398287e-01 -9.67592890e-03 7.96279022e+01] [-1.09465633e-01 9.93967820e-01 -6.72671650e-03 1.76465738e+00] [ 8.88167069e-03 7.74520760e-03 9.99930561e-01 4.95334818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.985336195 meters 0.07987375740312963 Centerline is valid? [True, True] Translation: X:79.68, Y:1.75, Z:0.44 [[ 9.91304123e-01 1.30694320e-01 -1.53339552e-02 7.96780019e+01] [-1.30479165e-01 9.91348143e-01 1.42844881e-02 1.74720757e+00] [ 1.70681895e-02 -1.21595103e-02 9.99780387e-01 4.44913620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04533619499999 meters 0.07847695392002586 Centerline is valid? [True, True] Translation: X:79.74, Y:1.76, Z:0.48 [[ 9.91061481e-01 1.32523376e-01 -1.53197537e-02 7.97375815e+01] [-1.32531263e-01 9.91178698e-01 5.03710352e-04 1.75941562e+00] [ 1.52513669e-02 1.53113838e-03 9.99882519e-01 4.82002321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10533619499999 meters 0.0763803472292137 Centerline is valid? [True, True] Translation: X:79.82, Y:1.77, Z:0.48 [[ 9.94144904e-01 1.07783181e-01 -7.66134084e-03 7.98175518e+01] [-1.07764703e-01 9.94172523e-01 2.78629877e-03 1.76596903e+00] [ 7.91701069e-03 -1.94436260e-03 9.99966770e-01 4.77608299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.165336195 meters 0.08126426081849411 Centerline is valid? [True, True] Translation: X:79.85, Y:1.75, Z:0.47 [[ 9.92047453e-01 1.25151208e-01 -1.33800704e-02 7.98545595e+01] [-1.25185564e-01 9.92131787e-01 -1.75847166e-03 1.75348467e+00] [ 1.30547183e-02 3.41947899e-03 9.99908937e-01 4.74131998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.225336195 meters 0.06932002528018903 Centerline is valid? [True, True] Translation: X:79.91, Y:1.73, Z:0.47 [[ 9.92387529e-01 1.22581933e-01 -1.18600956e-02 7.99133094e+01] [-1.22585977e-01 9.92457822e-01 3.88214596e-04 1.73439729e+00] [ 1.18182327e-02 1.06862208e-03 9.99929591e-01 4.74761906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.285336195 meters 0.08059847581327989 Centerline is valid? [True, True] Translation: X:79.97, Y:1.75, Z:0.48 [[ 9.92620272e-01 1.20754816e-01 -1.11026678e-02 7.99720431e+01] [-1.20758251e-01 9.92681879e-01 3.63005413e-04 1.74912450e+00] [ 1.10652518e-02 9.80412216e-04 9.99938298e-01 4.82445557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.345336195 meters 0.08040723184173466 Centerline is valid? [True, True] Translation: X:80.03, Y:1.74, Z:0.48 [[ 9.92892898e-01 1.18204669e-01 -1.38329093e-02 8.00308608e+01] [-1.18209786e-01 9.92988542e-01 4.50018050e-04 1.74405596e+00] [ 1.37891147e-02 1.18836553e-03 9.99904219e-01 4.76467176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40533619499999 meters 0.06592180236322483 Centerline is valid? [True, True] Translation: X:80.09, Y:1.72, Z:0.48 [[ 9.93122606e-01 1.16212551e-01 -1.42173035e-02 8.00892010e+01] [-1.16217784e-01 9.93223648e-01 4.60335158e-04 1.72117510e+00] [ 1.41744588e-02 1.19513426e-03 9.99898823e-01 4.75921923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46533619499999 meters 0.06083993184827471 Centerline is valid? [True, True] Translation: X:80.17, Y:1.73, Z:0.52 [[ 9.94303548e-01 1.06326211e-01 -7.42912692e-03 8.01690468e+01] [-1.06452565e-01 9.94128070e-01 -1.94224493e-02 1.73342504e+00] [ 5.32038816e-03 2.01026599e-02 9.99783765e-01 5.20331708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.525336195 meters 0.06443500725694562 Centerline is valid? [True, True] Translation: X:80.23, Y:1.73, Z:0.49 [[ 9.94106077e-01 1.08223539e-01 -6.38545781e-03 8.02279399e+01] [-1.08209667e-01 9.94125000e-01 2.48038725e-03 1.72804130e+00] [ 6.61637953e-03 -1.77479978e-03 9.99976537e-01 4.86732795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.585336195 meters 0.07158524162088677 Centerline is valid? [True, True] Translation: X:80.29, Y:1.74, Z:0.49 [[ 9.94046172e-01 1.08742503e-01 -6.87570654e-03 8.02876296e+01] [-1.08753143e-01 9.94068073e-01 -1.19190746e-03 1.74016633e+00] [ 6.70530935e-03 1.93256575e-03 9.99975652e-01 4.89504413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.645336195 meters 0.07121862919643204 Centerline is valid? [True, True] Translation: X:80.36, Y:1.74, Z:0.48 [[ 9.95097807e-01 9.84883951e-02 -8.96608586e-03 8.03565326e+01] [-9.84762851e-02 9.95137800e-01 1.78332851e-03 1.74366268e+00] [ 9.09812812e-03 -8.91639458e-04 9.99958214e-01 4.82723864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.705336195 meters 0.05871494321778598 Centerline is valid? [True, True] Translation: X:80.42, Y:1.73, Z:0.48 [[ 9.95949900e-01 8.93095290e-02 -1.03732322e-02 8.04221411e+01] [-8.93303354e-02 9.96000833e-01 -1.55914269e-03 1.72633326e+00] [ 1.01925016e-02 2.47947231e-03 9.99944981e-01 4.83783446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76533619499999 meters 0.0698037201489071 Centerline is valid? [True, True] Translation: X:80.44, Y:1.71, Z:0.45 [[ 9.94350201e-01 1.05545742e-01 -1.13036858e-02 8.04385652e+01] [-1.05352597e-01 9.94297987e-01 1.65028015e-02 1.71363674e+00] [ 1.29810325e-02 -1.52186913e-02 9.99799922e-01 4.45885177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82533619499999 meters 0.058967673204627126 Centerline is valid? [True, True] Translation: X:80.52, Y:1.73, Z:0.53 [[ 9.95427125e-01 9.53340745e-02 -6.02107330e-03 8.05249747e+01] [-9.54365745e-02 9.95234740e-01 -1.99918024e-02 1.73389187e+00] [ 4.08648135e-03 2.04750130e-02 9.99782013e-01 5.26030006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.885336195 meters 0.06582374174276762 Centerline is valid? [True, True] Translation: X:80.55, Y:1.71, Z:0.45 [[ 9.94136221e-01 1.07799858e-01 -8.50675677e-03 8.05546339e+01] [-1.07606546e-01 9.93979902e-01 2.06103142e-02 1.70581441e+00] [ 1.06773342e-02 -1.95740772e-02 9.99751394e-01 4.49663544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.945336195 meters 0.07461336334712111 Centerline is valid? [True, True] Translation: X:80.61, Y:1.73, Z:0.48 [[ 9.94136926e-01 1.07726746e-01 -9.31243229e-03 8.06124772e+01] [-1.07729037e-01 9.94180260e-01 2.56719366e-04 1.72943896e+00] [ 9.28589189e-03 7.48005157e-04 9.99956605e-01 4.84297525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.005336195 meters 0.07168962599340921 Centerline is valid? [True, True] Translation: X:80.67, Y:1.72, Z:0.48 [[ 9.93927654e-01 1.09468540e-01 -1.11560091e-02 8.06717709e+01] [-1.09471951e-01 9.93989838e-01 3.06229344e-04 1.72421918e+00] [ 1.11224822e-02 9.16900271e-04 9.99937723e-01 4.82505770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.065336195 meters 0.0681454968287631 Centerline is valid? [True, True] Translation: X:80.73, Y:1.71, Z:0.48 [[ 9.93748015e-01 1.10986943e-01 -1.21153402e-02 8.07313764e+01] [-1.10991088e-01 9.93821346e-01 3.31750317e-04 1.71456416e+00] [ 1.20773037e-02 1.01501858e-03 9.99926552e-01 4.76247536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12533619499999 meters 0.06885545056426687 Centerline is valid? [True, True] Translation: X:80.82, Y:1.73, Z:0.51 [[ 9.94865376e-01 1.00712680e-01 -9.99198342e-03 8.08182595e+01] [-1.00887007e-01 9.94719782e-01 -1.88246581e-02 1.73344382e+00] [ 8.04334181e-03 1.97360619e-02 9.99772870e-01 5.14732838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18533619499999 meters 0.07816652302925893 Centerline is valid? [True, True] Translation: X:80.85, Y:1.72, Z:0.46 [[ 9.93142183e-01 1.16613320e-01 -8.36292295e-03 8.08472299e+01] [-1.16424769e-01 9.92992070e-01 2.02983521e-02 1.71647882e+00] [ 1.06713744e-02 -1.91854984e-02 9.99758990e-01 4.55809073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.245336195 meters 0.07916998153117312 Centerline is valid? [True, True] Translation: X:80.91, Y:1.72, Z:0.48 [[ 9.92574995e-01 1.21324836e-01 -8.66966674e-03 8.09069656e+01] [-1.21327361e-01 9.92612520e-01 2.36025372e-04 1.72255912e+00] [ 8.63425549e-03 8.17594905e-04 9.99962390e-01 4.76734883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.305336195 meters 0.0866585292703487 Centerline is valid? [True, True] Translation: X:80.97, Y:1.73, Z:0.48 [[ 9.92425727e-01 1.22581709e-01 -8.05607207e-03 8.09655452e+01] [-1.22583932e-01 9.92458126e-01 2.19105233e-04 1.73400075e+00] [ 8.02217248e-03 7.70099322e-04 9.99967525e-01 4.83261453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.365336195 meters 0.08740112291141663 Centerline is valid? [True, True] Translation: X:81.02, Y:1.74, Z:0.49 [[ 9.92001124e-01 1.25999254e-01 -7.61304866e-03 8.10247053e+01] [-1.26001350e-01 9.92030049e-01 2.05685343e-04 1.73512184e+00] [ 7.57828923e-03 7.55214314e-04 9.99970999e-01 4.88117479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.425336195 meters 0.08901762014861438 Centerline is valid? [True, True] Translation: X:81.08, Y:1.73, Z:0.48 [[ 9.92018158e-01 1.25653032e-01 -1.05494309e-02 8.10831730e+01] [-1.25657054e-01 9.92073699e-01 2.83404035e-04 1.73036908e+00] [ 1.05014235e-02 1.04446846e-03 9.99944313e-01 4.76514372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.485336195 meters 0.0795164237292972 Centerline is valid? [True, True] Translation: X:81.14, Y:1.72, Z:0.48 [[ 9.92208766e-01 1.24226375e-01 -9.46430480e-03 8.11427680e+01] [-1.24229549e-01 9.92253473e-01 2.54040917e-04 1.71669569e+00] [ 9.42254788e-03 9.23684693e-04 9.99955180e-01 4.81259941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54533619499999 meters 0.08087463029721154 Centerline is valid? [True, True] Translation: X:81.23, Y:1.73, Z:0.51 [[ 9.93075120e-01 1.17134393e-01 -9.01883263e-03 8.12263780e+01] [-1.17261168e-01 9.92986066e-01 -1.51159495e-02 1.72899615e+00] [ 7.18497756e-03 1.60688322e-02 9.99845072e-01 5.06596345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60533619499999 meters 0.0723967500651151 Centerline is valid? [True, True] Translation: X:81.26, Y:1.70, Z:0.46 [[ 9.92523239e-01 1.21788342e-01 -8.07584307e-03 8.12629122e+01] [-1.21674484e-01 9.92480328e-01 1.33461339e-02 1.69513046e+00] [ 9.64051889e-03 -1.22637240e-02 9.99878323e-01 4.61954196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.665336195 meters 0.06787881094375552 Centerline is valid? [True, True] Translation: X:81.32, Y:1.70, Z:0.49 [[ 9.92777818e-01 1.19630245e-01 -8.98937754e-03 8.13221201e+01] [-1.19633064e-01 9.92818150e-01 2.25382781e-04 1.69913172e+00] [ 8.95177978e-03 8.51671755e-04 9.99959569e-01 4.90274017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.725336195 meters 0.08003479787273375 Centerline is valid? [True, True] Translation: X:81.38, Y:1.71, Z:0.48 [[ 9.92942229e-01 1.18350153e-01 -7.67931955e-03 8.13803657e+01] [-1.18352175e-01 9.92971664e-01 1.92119591e-04 1.71061005e+00] [ 7.64808409e-03 7.18100520e-04 9.99970495e-01 4.84991668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.785336195 meters 0.04185250670803494 Centerline is valid? [True, True] Translation: X:81.44, Y:1.66, Z:0.51 [[ 9.92391093e-01 1.22656370e-01 -1.07393437e-02 8.14387746e+01] [-1.22778508e-01 9.92366713e-01 -1.15648358e-02 1.66420965e+00] [ 9.23886645e-03 1.27954006e-02 9.99875453e-01 5.09589439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.845336195 meters 0.07783305042153066 Centerline is valid? [True, True] Translation: X:81.50, Y:1.70, Z:0.46 [[ 9.92496221e-01 1.21985194e-01 -8.41806080e-03 8.14988038e+01] [-1.21882168e-01 9.92474115e-01 1.18265646e-02 1.69670106e+00] [ 9.79737322e-03 -1.07118092e-02 9.99894629e-01 4.63411656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90533619499999 meters 0.07441389691790556 Centerline is valid? [True, True] Translation: X:81.56, Y:1.70, Z:0.49 [[ 9.92354676e-01 1.23166870e-01 -7.88153026e-03 8.15583205e+01] [-1.23169160e-01 9.92385671e-01 1.96082316e-04 1.69888986e+00] [ 7.84566854e-03 7.76178257e-04 9.99968921e-01 4.88372544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96533619499999 meters 0.06587294525819737 Centerline is valid? [True, True] Translation: X:81.62, Y:1.69, Z:0.49 [[ 9.92347300e-01 1.23332148e-01 -6.00145060e-03 8.16167726e+01] [-1.23333487e-01 9.92365270e-01 1.47957460e-04 1.68734508e+00] [ 5.97387906e-03 5.93354644e-04 9.99981980e-01 4.91318829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.025336195 meters 0.07539400703543335 Centerline is valid? [True, True] Translation: X:81.68, Y:1.69, Z:0.48 [[ 9.92246418e-01 1.24109485e-01 -6.62436695e-03 8.16753304e+01] [-1.24111133e-01 9.92268310e-01 1.63344869e-04 1.69447371e+00] [ 6.59342205e-03 6.60079326e-04 9.99978045e-01 4.81306851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.085336195 meters 0.08157958607721333 Centerline is valid? [True, True] Translation: X:81.73, Y:1.70, Z:0.48 [[ 9.92004085e-01 1.26042468e-01 -6.41807428e-03 8.17342142e+01] [-1.26044056e-01 9.92024632e-01 1.58002513e-04 1.70117539e+00] [ 6.38680281e-03 6.52220977e-04 9.99979391e-01 4.82781830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.145336195 meters 0.05213761439971793 Centerline is valid? [True, True] Translation: X:81.78, Y:1.68, Z:0.54 [[ 9.90848241e-01 1.34829134e-01 -6.39284523e-03 8.17780512e+01] [-1.34936547e-01 9.90623275e-01 -2.13928622e-02 1.67804301e+00] [ 3.44852019e-03 2.20597083e-02 9.99750707e-01 5.37814871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.205336195 meters 0.07821307793728863 Centerline is valid? [True, True] Translation: X:81.85, Y:1.68, Z:0.45 [[ 9.91527226e-01 1.29756585e-01 -6.08178709e-03 8.18524007e+01] [-1.29602948e-01 9.91341679e-01 2.10891366e-02 1.68153906e+00] [ 8.76558336e-03 -2.01222356e-02 9.99759101e-01 4.45777945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26533619499999 meters 0.08018754451793131 Centerline is valid? [True, True] Translation: X:81.91, Y:1.70, Z:0.49 [[ 9.91922454e-01 1.26734827e-01 -5.30365874e-03 8.19110651e+01] [-1.26735924e-01 9.91936484e-01 1.30243876e-04 1.70245698e+00] [ 5.27739904e-03 5.42972263e-04 9.99985927e-01 4.90907076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32533619499999 meters 0.06979678798915395 Centerline is valid? [True, True] Translation: X:81.97, Y:1.69, Z:0.49 [[ 9.92732352e-01 1.20205896e-01 -5.74637349e-03 8.19697762e+01] [-1.20207076e-01 9.92748830e-01 1.40869096e-04 1.68579995e+00] [ 5.72163885e-03 5.50909446e-04 9.99983480e-01 4.89626941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.385336195 meters 0.0727956171368816 Centerline is valid? [True, True] Translation: X:82.03, Y:1.68, Z:0.48 [[ 9.93441129e-01 1.14176812e-01 -6.19509472e-03 8.20286551e+01] [-1.14178068e-01 9.93460289e-01 1.51645464e-04 1.68486728e+00] [ 6.17189498e-03 5.56693106e-04 9.99980799e-01 4.83305594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.445336195 meters 0.06481093458746313 Centerline is valid? [True, True] Translation: X:82.09, Y:1.68, Z:0.49 [[ 9.94566982e-01 1.04068404e-01 -2.50720779e-03 8.20883612e+01] [-1.04068579e-01 9.94570122e-01 6.11992096e-05 1.67509158e+00] [ 2.49996286e-03 2.00054838e-04 9.99996855e-01 4.94673637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.505336195 meters 0.06402894452597446 Centerline is valid? [True, True] Translation: X:82.15, Y:1.67, Z:0.49 [[ 9.94926732e-01 1.00555443e-01 -3.06590980e-03 8.21480913e+01] [-1.00555688e-01 9.94931429e-01 7.45127799e-05 1.66962064e+00] [ 3.05786269e-03 2.34159914e-04 9.99995297e-01 4.86507058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.565336195 meters 0.05770673387740865 Centerline is valid? [True, True] Translation: X:82.21, Y:1.65, Z:0.48 [[ 9.95524454e-01 9.42946486e-02 -6.29124459e-03 8.22077434e+01] [-9.42955552e-02 9.95544236e-01 1.53031293e-04 1.65465107e+00] [ 6.27764232e-03 4.40890007e-04 9.99980198e-01 4.79152381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62533619499999 meters 0.050446734009817924 Centerline is valid? [True, True] Translation: X:82.27, Y:1.65, Z:0.49 [[ 9.96469301e-01 8.37734912e-02 -5.56193865e-03 8.22664250e+01] [-8.37740374e-02 9.96484768e-01 1.35114751e-04 1.64528380e+00] [ 5.55370618e-03 3.31308356e-04 9.99984523e-01 4.92147374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68533619499999 meters 0.04646646941001934 Centerline is valid? [True, True] Translation: X:82.33, Y:1.63, Z:0.48 [[ 9.96866640e-01 7.90396129e-02 -3.10503088e-03 8.23262642e+01] [-7.90397607e-02 9.96871461e-01 7.52987521e-05 1.62944410e+00] [ 3.10126825e-03 1.70358083e-04 9.99995177e-01 4.81536051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.745336195 meters 0.04440779862088794 Centerline is valid? [True, True] Translation: X:82.39, Y:1.62, Z:0.48 [[ 9.96648268e-01 8.18046264e-02 -4.82600817e-04 8.23854976e+01] [-8.18046303e-02 9.96648385e-01 1.16442185e-05 1.62194124e+00] [ 4.81935876e-04 2.78737913e-05 9.99999883e-01 4.83052881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.805336195 meters 0.050340023994645426 Centerline is valid? [True, True] Translation: X:82.44, Y:1.63, Z:0.49 [[ 9.96494428e-01 8.36566212e-02 -6.51908739e-04 8.24443606e+01] [-8.36566287e-02 9.96494640e-01 1.57275879e-05 1.62895628e+00] [ 6.50939281e-04 3.88640336e-05 9.99999787e-01 4.89926630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.865336195 meters 0.05161628874597678 Centerline is valid? [True, True] Translation: X:82.50, Y:1.63, Z:0.49 [[ 9.96320707e-01 8.56511294e-02 -2.98887998e-03 8.25044560e+01] [-8.56512963e-02 9.96325173e-01 7.23565503e-05 1.62802706e+00] [ 2.98409379e-03 1.83911116e-04 9.99995531e-01 4.92518662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.925336195 meters 0.05517974356448148 Centerline is valid? [True, True] Translation: X:82.56, Y:1.63, Z:0.49 [[ 9.96183989e-01 8.71209993e-02 -5.23377684e-03 8.25630271e+01] [-8.71215326e-02 9.96197682e-01 1.26444671e-04 1.62844692e+00] [ 5.22489234e-03 3.30012503e-04 9.99986296e-01 4.89330098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.985336195 meters 0.05762395677558358 Centerline is valid? [True, True] Translation: X:82.62, Y:1.63, Z:0.49 [[ 9.95951640e-01 8.97855346e-02 -4.34619899e-03 8.26224982e+01] [-8.97859280e-02 9.95961082e-01 1.04916131e-04 1.63025365e+00] [ 4.33806499e-03 2.85736117e-04 9.99990550e-01 4.87141669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04533619499999 meters 0.06315245782247109 Centerline is valid? [True, True] Translation: X:82.68, Y:1.63, Z:0.47 [[ 9.95262458e-01 9.71692747e-02 -3.28208523e-03 8.26824830e+01] [-9.71695390e-02 9.95267841e-01 7.91982899e-05 1.62869768e+00] [ 3.27424952e-03 2.40095624e-04 9.99994611e-01 4.73683859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10533619499999 meters 0.06750224394182074 Centerline is valid? [True, True] Translation: X:82.74, Y:1.65, Z:0.51 [[ 9.94332499e-01 1.06311979e-01 -8.03335195e-04 8.27422767e+01] [-1.06311998e-01 9.94332821e-01 1.92922597e-05 1.65043418e+00] [ 8.00833549e-04 6.62212485e-05 9.99999677e-01 5.06730060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.165336195 meters 0.06492368947581263 Centerline is valid? [True, True] Translation: X:82.80, Y:1.64, Z:0.49 [[ 9.93717192e-01 1.11864557e-01 -3.53041376e-03 8.28019075e+01] [-1.11864956e-01 9.93723414e-01 8.48798488e-05 1.64231705e+00] [ 3.51774987e-03 3.10583014e-04 9.99993764e-01 4.89757147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.225336195 meters 0.06415383332937014 Centerline is valid? [True, True] Translation: X:82.86, Y:1.64, Z:0.49 [[ 9.93742282e-01 1.11637497e-01 -3.65317312e-03 8.28596576e+01] [-1.11637927e-01 9.93748945e-01 8.68088956e-05 1.64269972e+00] [ 3.64002806e-03 3.21567003e-04 9.99993323e-01 4.88435467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.285336195 meters 0.06350179238087365 Centerline is valid? [True, True] Translation: X:82.92, Y:1.65, Z:0.49 [[ 9.94299245e-01 1.06566203e-01 -3.55738007e-03 8.29197944e+01] [-1.06566578e-01 9.94305565e-01 8.46000701e-05 1.64549821e+00] [ 3.54613831e-03 2.94980034e-04 9.99993669e-01 4.91148183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.345336195 meters 0.0645671709184959 Centerline is valid? [True, True] Translation: X:82.98, Y:1.64, Z:0.48 [[ 9.94970158e-01 1.00087834e-01 -4.09994309e-03 8.29782898e+01] [-1.00088278e-01 9.94978556e-01 9.74200148e-05 1.64205715e+00] [ 4.08910601e-03 3.13426234e-04 9.99991590e-01 4.83847128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40533619499999 meters 0.05540323070598581 Centerline is valid? [True, True] Translation: X:83.04, Y:1.63, Z:0.49 [[ 9.95436688e-01 9.54193399e-02 -9.74939698e-04 8.30376221e+01] [-9.54193631e-02 9.95437163e-01 2.28448053e-05 1.63319042e+00] [ 9.72671043e-04 7.02875678e-05 9.99999524e-01 4.94498940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46533619499999 meters 0.05774599299586836 Centerline is valid? [True, True] Translation: X:83.10, Y:1.63, Z:0.48 [[ 9.95856275e-01 9.08589521e-02 -3.86385619e-03 8.30971762e+01] [-9.08592784e-02 9.95863737e-01 9.13633991e-05 1.63045950e+00] [ 3.85617544e-03 2.60082371e-04 9.99992531e-01 4.80516783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.525336195 meters 0.06091484268581091 Centerline is valid? [True, True] Translation: X:83.15, Y:1.64, Z:0.49 [[ 9.95934227e-01 9.00480050e-02 -2.52434415e-03 8.31549873e+01] [-9.00481423e-02 9.95937412e-01 5.94356852e-05 1.63548350e+00] [ 2.51944084e-03 1.68118468e-04 9.99996812e-01 4.86528841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.585336195 meters 0.05864738085350693 Centerline is valid? [True, True] Translation: X:83.21, Y:1.63, Z:0.49 [[ 9.96032596e-01 8.89138971e-02 -3.65868223e-03 8.32139854e+01] [-8.89141805e-02 9.96039287e-01 8.54480765e-05 1.63312434e+00] [ 3.65178876e-03 2.40199662e-04 9.99993303e-01 4.88306818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.645336195 meters 0.05866685301122393 Centerline is valid? [True, True] Translation: X:83.27, Y:1.63, Z:0.49 [[ 9.96145350e-01 8.76913952e-02 -2.15910314e-03 8.32729982e+01] [-8.76914920e-02 9.96147680e-01 4.99792404e-05 1.63077402e+00] [ 2.15516833e-03 1.39548387e-04 9.99997668e-01 4.88438800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.705336195 meters 0.0576623745275779 Centerline is valid? [True, True] Translation: X:83.33, Y:1.62, Z:0.48 [[ 9.96296626e-01 8.59358072e-02 -2.84086494e-03 8.33326821e+01] [-8.59359671e-02 9.96300660e-01 6.59660189e-05 1.62363231e+00] [ 2.83602446e-03 1.78410754e-04 9.99995963e-01 4.82818580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76533619499999 meters 0.04830991821101705 Centerline is valid? [True, True] Translation: X:83.39, Y:1.61, Z:0.50 [[ 9.96303333e-01 8.58868709e-02 1.76454975e-03 8.33900689e+01] [-8.58869324e-02 9.96304890e-01 -4.10092478e-05 1.61303670e+00] [-1.76155170e-03 -1.10694115e-04 9.99998442e-01 4.98922975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82533619499999 meters 0.049810429050261736 Centerline is valid? [True, True] Translation: X:83.45, Y:1.61, Z:0.50 [[ 9.96215926e-01 8.69108313e-02 5.79745834e-04 8.34495288e+01] [-8.69108382e-02 9.96216094e-01 -1.33856430e-05 1.61138251e+00] [-5.78715488e-04 -3.70512056e-05 9.99999832e-01 4.96670992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.885336195 meters 0.05120171735947764 Centerline is valid? [True, True] Translation: X:83.51, Y:1.61, Z:0.49 [[ 9.96048700e-01 8.88073607e-02 -4.90783697e-04 8.35086206e+01] [-8.88073659e-02 9.96048820e-01 1.12328885e-05 1.60516926e+00] [ 4.89842085e-04 3.23967033e-05 9.99999880e-01 4.88246539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.945336195 meters 0.04752145645235802 Centerline is valid? [True, True] Translation: X:83.57, Y:1.59, Z:0.49 [[ 9.96047914e-01 8.87692186e-02 -2.92880185e-03 8.35667954e+01] [-8.87694052e-02 9.96052202e-01 6.64634257e-05 1.59436377e+00] [ 2.92313943e-03 1.93787242e-04 9.99995709e-01 4.86736893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.005336195 meters 0.048240163644046985 Centerline is valid? [True, True] Translation: X:83.62, Y:1.59, Z:0.49 [[ 9.96142345e-01 8.77309043e-02 -1.92813506e-03 8.36246239e+01] [-8.77309833e-02 9.96144203e-01 4.37271041e-05 1.58928415e+00] [ 1.92453678e-03 1.25598765e-04 9.99998140e-01 4.88110779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.065336195 meters 0.051218116980933266 Centerline is valid? [True, True] Translation: X:83.68, Y:1.59, Z:0.49 [[ 9.95963347e-01 8.97570954e-02 -8.21313694e-04 8.36835936e+01] [-8.97571104e-02 9.95963684e-01 1.86071072e-05 1.58985224e+00] [ 8.19668733e-04 5.51867472e-05 9.99999663e-01 4.94108747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12533619499999 meters 0.052374995555774746 Centerline is valid? [True, True] Translation: X:83.74, Y:1.59, Z:0.49 [[ 9.95607783e-01 9.35912971e-02 -2.41082909e-03 8.37436503e+01] [-9.35914377e-02 9.95610687e-01 5.46707553e-05 1.58648917e+00] [ 2.40536391e-03 1.71202331e-04 9.99997092e-01 4.88126180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18533619499999 meters 0.057374119686178414 Centerline is valid? [True, True] Translation: X:83.80, Y:1.59, Z:0.48 [[ 9.95200998e-01 9.78466295e-02 -1.00518412e-03 8.38018261e+01] [-9.78466562e-02 9.95201503e-01 2.26956040e-05 1.58667412e+00] [ 1.00258143e-03 7.57672168e-05 9.99999495e-01 4.84221768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.245336195 meters 0.052894033099127664 Centerline is valid? [True, True] Translation: X:83.86, Y:1.58, Z:0.49 [[ 9.94434943e-01 1.05352328e-01 1.75047125e-04 8.38614553e+01] [-1.05352328e-01 9.94434959e-01 -4.08640548e-06 1.57785971e+00] [-1.74503492e-04 -1.43779578e-05 9.99999985e-01 4.88538206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.305336195 meters 0.06853442236286397 Centerline is valid? [True, True] Translation: X:83.92, Y:1.60, Z:0.49 [[ 9.93850633e-01 1.10716647e-01 -1.65615497e-03 8.39203751e+01] [-1.10716738e-01 9.93852002e-01 3.72368574e-05 1.59923451e+00] [ 1.65009567e-03 1.46356201e-04 9.99998628e-01 4.91638428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.365336195 meters 0.0594455981270428 Centerline is valid? [True, True] Translation: X:83.98, Y:1.58, Z:0.49 [[ 9.93593210e-01 1.12999377e-01 -1.91679902e-03 8.39797024e+01] [-1.12999503e-01 9.93595044e-01 4.26867396e-05 1.58106406e+00] [ 1.90934558e-03 1.74184081e-04 9.99998162e-01 4.87271984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.425336195 meters 0.062047724525231926 Centerline is valid? [True, True] Translation: X:84.04, Y:1.58, Z:0.49 [[ 9.93525064e-01 1.13613143e-01 -2.82024676e-05 8.40376757e+01] [-1.13613143e-01 9.93525065e-01 5.21734972e-07 1.58315388e+00] [ 2.80791343e-05 2.68581420e-06 1.00000000e+00 4.93007227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48533619499999 meters 0.060588641734200796 Centerline is valid? [True, True] Translation: X:84.10, Y:1.58, Z:0.49 [[ 9.93430597e-01 1.14424273e-01 1.65385368e-03 8.40970865e+01] [-1.14424369e-01 9.93431962e-01 -3.69387969e-05 1.57952974e+00] [-1.64721781e-03 -1.52545034e-04 9.99998632e-01 4.94321748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54533619499999 meters 0.06221184219093112 Centerline is valid? [True, True] Translation: X:84.16, Y:1.57, Z:0.49 [[ 9.93200162e-01 1.16403840e-01 -1.89311633e-03 8.41567241e+01] [-1.16403969e-01 9.93201950e-01 4.20752468e-05 1.57389568e+00] [ 1.88514456e-03 1.78577114e-04 9.99998207e-01 4.86643973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60533619499999 meters 0.06129529272515981 Centerline is valid? [True, True] Translation: X:84.21, Y:1.57, Z:0.49 [[ 9.93221504e-01 1.16209393e-01 -2.53402702e-03 8.42141765e+01] [-1.16209626e-01 9.93224708e-01 5.55746761e-05 1.57364696e+00] [ 2.52331655e-03 2.39280370e-04 9.99996788e-01 4.92674527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.665336195 meters 0.0572672881956247 Centerline is valid? [True, True] Translation: X:84.27, Y:1.56, Z:0.49 [[ 9.93472167e-01 1.14057048e-01 -2.01071094e-03 8.42738207e+01] [-1.14057190e-01 9.93474185e-01 4.42144869e-05 1.56242433e+00] [ 2.00263239e-03 1.85410179e-04 9.99997978e-01 4.86221070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.725336195 meters 0.053514828167284645 Centerline is valid? [True, True] Translation: X:84.33, Y:1.55, Z:0.48 [[ 9.93762430e-01 1.11513371e-01 1.00086480e-03 8.43333700e+01] [-1.11513404e-01 9.93762930e-01 -2.20652619e-05 1.54905279e+00] [-9.97082903e-04 -8.96822126e-05 9.99999499e-01 4.82994654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.785336195 meters 0.05650490205087003 Centerline is valid? [True, True] Translation: X:84.39, Y:1.55, Z:0.49 [[ 9.93858507e-01 1.10656719e-01 5.99499998e-04 8.43914850e+01] [-1.10656731e-01 9.93858686e-01 -1.32592827e-05 1.55411539e+00] [-5.97285509e-04 -5.31608593e-05 9.99999820e-01 4.87962332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.845336195 meters 0.058016284887371705 Centerline is valid? [True, True] Translation: X:84.45, Y:1.56, Z:0.49 [[ 9.93842061e-01 1.10803267e-01 7.70221110e-04 8.44503629e+01] [-1.10803286e-01 9.93842357e-01 -1.70666077e-05 1.55522663e+00] [-7.67369400e-04 -6.83815176e-05 9.99999703e-01 4.90842403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90533619499999 meters 0.05126039439776725 Centerline is valid? [True, True] Translation: X:84.51, Y:1.54, Z:0.48 [[ 9.93770751e-01 1.11432918e-01 -1.54920899e-03 8.45092466e+01] [-1.11433000e-01 9.93771948e-01 3.35914114e-05 1.54022061e+00] [ 1.54330362e-03 1.39250843e-04 9.99998799e-01 4.82467985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96533619499999 meters 0.05445093634322279 Centerline is valid? [True, True] Translation: X:84.57, Y:1.54, Z:0.48 [[ 9.93883831e-01 1.10391176e-01 -2.95286877e-03 8.45668498e+01] [-1.10391470e-01 9.93888183e-01 6.38590735e-05 1.54402128e+00] [ 2.94187085e-03 2.62503022e-04 9.99995638e-01 4.84071972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.025336195 meters 0.05222770147668828 Centerline is valid? [True, True] Translation: X:84.63, Y:1.54, Z:0.48 [[ 9.93881281e-01 1.10363222e-01 -4.46753902e-03 8.46256310e+01] [-1.10363898e-01 9.93891242e-01 9.56818517e-05 1.53731847e+00] [ 4.45080766e-03 3.97958620e-04 9.99990016e-01 4.80759633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.085336195 meters 0.05821716237084687 Centerline is valid? [True, True] Translation: X:84.68, Y:1.55, Z:0.49 [[ 9.94220488e-01 1.07357311e-01 1.69445205e-04 8.46848338e+01] [-1.07357312e-01 9.94220503e-01 -3.68649020e-06 1.54677098e+00] [-1.68861668e-04 -1.45259975e-05 9.99999986e-01 4.89777725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.145336195 meters 0.04989967744137335 Centerline is valid? [True, True] Translation: X:84.74, Y:1.53, Z:0.49 [[ 9.94910987e-01 1.00661647e-01 4.40008541e-03 8.47445682e+01] [-1.00662208e-01 9.94920656e-01 -9.43136235e-05 1.53292404e+00] [-4.38722963e-03 -3.49088653e-04 9.99990315e-01 4.90722674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.205336195 meters 0.048432146888222616 Centerline is valid? [True, True] Translation: X:84.80, Y:1.53, Z:0.48 [[ 9.95528319e-01 9.44633340e-02 2.11891271e-04 8.48042038e+01] [-9.44633352e-02 9.95528341e-01 -4.58061059e-06 1.52835855e+00] [-2.11376465e-04 -1.54558286e-05 9.99999978e-01 4.82248203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26533619499999 meters 0.05132677868919343 Centerline is valid? [True, True] Translation: X:84.86, Y:1.54, Z:0.49 [[ 9.95781608e-01 9.16635330e-02 -4.09699843e-03 8.48628125e+01] [-9.16639452e-02 9.95789995e-01 8.74476499e-05 1.53882059e+00] [ 4.08776580e-03 2.88468278e-04 9.99991603e-01 4.88895060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32533619499999 meters 0.05416488851738702 Centerline is valid? [True, True] Translation: X:84.92, Y:1.55, Z:0.47 [[ 9.95193167e-01 9.76383155e-02 -7.57095285e-03 8.49225005e+01] [-9.76398962e-02 9.95221797e-01 1.61431691e-04 1.54966764e+00] [ 7.55053922e-03 5.78571335e-04 9.99971327e-01 4.74451885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.385336195 meters 0.05701238550913506 Centerline is valid? [True, True] Translation: X:84.98, Y:1.56, Z:0.47 [[ 9.94931806e-01 1.00250982e-01 -7.77439234e-03 8.49824979e+01] [-1.00252736e-01 9.94961990e-01 1.64774686e-04 1.55737509e+00] [ 7.75174370e-03 6.15464524e-04 9.99969765e-01 4.74467042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.445336195 meters 0.055413414932822466 Centerline is valid? [True, True] Translation: X:85.04, Y:1.55, Z:0.47 [[ 9.94807649e-01 1.01493140e-01 -7.54217925e-03 8.50419113e+01] [-1.01494826e-01 9.94836054e-01 1.59806825e-04 1.55435006e+00] [ 7.51945114e-03 6.06515121e-04 9.99971545e-01 4.73549239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.505336195 meters 0.055354623803142454 Centerline is valid? [True, True] Translation: X:85.10, Y:1.55, Z:0.48 [[ 9.94556887e-01 1.03968389e-01 -6.86823835e-03 8.51016239e+01] [-1.03969848e-01 9.94580439e-01 1.45230946e-04 1.55455792e+00] [ 6.84611494e-03 5.69649258e-04 9.99976403e-01 4.75074634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.565336195 meters 0.056162736664063816 Centerline is valid? [True, True] Translation: X:85.16, Y:1.56, Z:0.48 [[ 9.94446161e-01 1.05082452e-01 -5.87469138e-03 8.51613789e+01] [-1.05083540e-01 9.94463390e-01 1.24088803e-04 1.55698835e+00] [ 5.85520506e-03 4.93933734e-04 9.99982736e-01 4.79395358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62533619499999 meters 0.06678791802322975 Centerline is valid? [True, True] Translation: X:85.22, Y:1.55, Z:0.49 [[ 9.91088157e-01 1.33174327e-01 2.97709385e-03 8.52200615e+01] [-1.33174732e-01 9.91092572e-01 -6.28566369e-05 1.55485782e+00] [-2.95894650e-03 -3.34177207e-04 9.99995566e-01 4.94859347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68533619499999 meters 0.06256077419684775 Centerline is valid? [True, True] Translation: X:85.28, Y:1.53, Z:0.50 [[ 9.91969808e-01 1.26463907e-01 -1.66767630e-03 8.52794266e+01] [-1.26464025e-01 9.91971194e-01 3.50119990e-05 1.52896306e+00] [ 1.65871461e-03 1.76170212e-04 9.99998609e-01 4.96274738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.745336195 meters 0.06199884109569193 Centerline is valid? [True, True] Translation: X:85.34, Y:1.52, Z:0.50 [[ 9.92245266e-01 1.24292467e-01 -8.45169580e-04 8.53387741e+01] [-1.24292496e-01 9.92245622e-01 1.77087176e-05 1.52099450e+00] [ 8.40816876e-04 8.74768457e-05 9.99999643e-01 4.95770287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.805336195 meters 0.053796450001003374 Centerline is valid? [True, True] Translation: X:85.40, Y:1.50, Z:0.48 [[ 9.92430631e-01 1.22803280e-01 -8.92645700e-04 8.53975860e+01] [-1.22803313e-01 9.92431028e-01 1.86221295e-05 1.49663222e+00] [ 8.88176149e-04 9.11386774e-05 9.99999601e-01 4.84194459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.865336195 meters 0.06044284976937362 Centerline is valid? [True, True] Translation: X:85.46, Y:1.50, Z:0.48 [[ 9.92490714e-01 1.22309246e-01 -1.62210635e-03 8.54550954e+01] [-1.22309352e-01 9.92492026e-01 3.36947082e-05 1.49815519e+00] [ 1.61404879e-03 1.64957092e-04 9.99998684e-01 4.78329439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.925336195 meters 0.054450165616954455 Centerline is valid? [True, True] Translation: X:85.51, Y:1.48, Z:0.48 [[ 9.92537380e-01 1.21913928e-01 -2.55787194e-03 8.55129427e+01] [-1.21914193e-01 9.92540642e-01 5.26284687e-05 1.48466453e+00] [ 2.54520800e-03 2.59605172e-04 9.99996727e-01 4.77836910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98533619499999 meters 0.056360041455976076 Centerline is valid? [True, True] Translation: X:85.57, Y:1.49, Z:0.48 [[ 9.92613947e-01 1.21286702e-01 -2.66250611e-03 8.55717142e+01] [-1.21286987e-01 9.92617481e-01 5.48835974e-05 1.48503436e+00] [ 2.64950676e-03 2.68449120e-04 9.99996454e-01 4.83193689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04533619499999 meters 0.056360041455976076 Centerline is valid? [True, True] Translation: X:85.63, Y:1.48, Z:0.48 [[ 9.92638009e-01 1.21089613e-01 -2.66252235e-03 8.56291639e+01] [-1.21089899e-01 9.92641543e-01 5.40927426e-05 1.48395121e+00] [ 2.64948037e-03 2.68710050e-04 9.99996454e-01 4.83092426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10533619499999 meters 0.056573210972514755 Centerline is valid? [True, True] Translation: X:85.69, Y:1.48, Z:0.49 [[ 9.92713794e-01 1.20484731e-01 -1.65884740e-03 8.56878458e+01] [-1.20484842e-01 9.92715166e-01 3.33275657e-05 1.48294301e+00] [ 1.65077844e-03 1.66781234e-04 9.99998624e-01 4.90975563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.165336195 meters 0.05283809233842651 Centerline is valid? [True, True] Translation: X:85.75, Y:1.48, Z:0.50 [[ 9.92838492e-01 1.19463571e-01 4.29618285e-04 8.57473345e+01] [-1.19463578e-01 9.92838584e-01 -8.78719397e-06 1.47539491e+00] [-4.27591359e-04 -4.25994732e-05 9.99999908e-01 4.97194589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.225336195 meters 0.056251075302405966 Centerline is valid? [True, True] Translation: X:85.81, Y:1.47, Z:0.50 [[ 9.92980946e-01 1.18250376e-01 2.38546100e-03 8.58056924e+01] [-1.18250598e-01 9.92983783e-01 -4.82006020e-05 1.47377003e+00] [-2.37442382e-03 -2.34219910e-04 9.99997154e-01 4.97545983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.285336195 meters 0.055733307277660515 Centerline is valid? [True, True] Translation: X:85.86, Y:1.46, Z:0.49 [[ 9.93231008e-01 1.16116915e-01 3.00448885e-03 8.58647686e+01] [-1.16117259e-01 9.93235510e-01 -6.05713838e-05 1.46384393e+00] [-2.99119838e-03 -2.88711632e-04 9.99995485e-01 4.92972204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.345336195 meters 0.05548413764328402 Centerline is valid? [True, True] Translation: X:85.92, Y:1.45, Z:0.49 [[ 9.93496885e-01 1.13817628e-01 3.08021867e-03 8.59243293e+01] [-1.13817978e-01 9.93501618e-01 -6.19955695e-05 1.45433936e+00] [-3.06725842e-03 -2.88991855e-04 9.99995254e-01 4.88860060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40533619499999 meters 0.05548413764328402 Centerline is valid? [True, True] Translation: X:85.98, Y:1.45, Z:0.49 [[ 9.93519132e-01 1.13623262e-01 3.08022475e-03 8.59817487e+01] [-1.13623612e-01 9.93523865e-01 -6.16922123e-05 1.45329217e+00] [-3.06728647e-03 -2.88693870e-04 9.99995254e-01 4.88758921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46533619499999 meters 0.05723928952514968 Centerline is valid? [True, True] Translation: X:86.04, Y:1.44, Z:0.49 [[ 9.93924295e-01 1.09972688e-01 4.52820976e-03 8.60397814e+01] [-1.09973409e-01 9.93934526e-01 -9.00648223e-05 1.44473702e+00] [-4.51064869e-03 -4.08465052e-04 9.99989744e-01 4.92101642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.525336195 meters 0.05723928952514968 Centerline is valid? [True, True] Translation: X:86.10, Y:1.44, Z:0.49 [[ 9.93945446e-01 1.09781357e-01 4.52822184e-03 8.60971886e+01] [-1.09782079e-01 9.93955677e-01 -8.94543039e-05 1.44371098e+00] [-4.51067222e-03 -4.08204911e-04 9.99989744e-01 4.92000474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.585336195 meters 0.05559916196254209 Centerline is valid? [True, True] Translation: X:86.16, Y:1.43, Z:0.50 [[ 9.94390417e-01 1.05735805e-01 2.76356908e-03 8.61568446e+01] [-1.05736060e-01 9.94394229e-01 -5.42723684e-05 1.43376300e+00] [-2.75381568e-03 -2.38240982e-04 9.99996180e-01 4.97398355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.645336195 meters 0.0446553149977978 Centerline is valid? [True, True] Translation: X:86.22, Y:1.40, Z:0.49 [[ 9.94828141e-01 1.01542244e-01 -2.47852119e-03 8.62157474e+01] [-1.01542437e-01 9.94831207e-01 4.83299366e-05 1.40292253e+00] [ 2.47061776e-03 2.03595100e-04 9.99996927e-01 4.85358420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.705336195 meters 0.052858534755019025 Centerline is valid? [True, True] Translation: X:86.27, Y:1.39, Z:0.48 [[ 9.95325012e-01 9.65821736e-02 -5.80100219e-05 8.62740383e+01] [-9.65821737e-02 9.95325014e-01 1.07064105e-06 1.39034482e+00] [ 5.78422306e-05 4.53709819e-06 9.99999998e-01 4.79862363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76533619499999 meters 0.042128567374099236 Centerline is valid? [True, True] Translation: X:86.33, Y:1.37, Z:0.49 [[ 9.95539599e-01 9.43441459e-02 2.97926003e-04 8.63330521e+01] [-9.43441484e-02 9.95539643e-01 -5.85588993e-06 1.36590179e+00] [-2.97149616e-04 -2.22778047e-05 9.99999956e-01 4.87646271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82533619499999 meters 0.043230094576391494 Centerline is valid? [True, True] Translation: X:86.39, Y:1.35, Z:0.49 [[ 9.95689552e-01 9.27082770e-02 2.73711135e-03 8.63914701e+01] [-9.27084791e-02 9.95693294e-01 -5.32384080e-05 1.34612831e+00] [-2.73025906e-03 -2.00744504e-04 9.99996253e-01 4.90204748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.885336195 meters 0.04473952213406004 Centerline is valid? [True, True] Translation: X:86.45, Y:1.33, Z:0.48 [[ 9.95782967e-01 9.16719520e-02 3.54050548e-03 8.64494500e+01] [-9.16722841e-02 9.95789229e-01 -6.87187814e-05 1.33167229e+00] [-3.53189681e-03 -2.56137232e-04 9.99993730e-01 4.82893964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.945336195 meters 0.053540615253224295 Centerline is valid? [True, True] Translation: X:86.51, Y:1.33, Z:0.49 [[ 9.95679508e-01 9.28147104e-02 2.78341308e-03 8.65081636e+01] [-9.28149204e-02 9.95683377e-01 -5.39181844e-05 1.33444374e+00] [-2.77640254e-03 -2.04657032e-04 9.99996125e-01 4.90230538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.005336195 meters 0.047207483343578986 Centerline is valid? [True, True] Translation: X:86.57, Y:1.31, Z:0.48 [[ 9.95598185e-01 9.36773451e-02 2.96791603e-03 8.65669971e+01] [-9.36775880e-02 9.95602584e-01 -5.73792362e-05 1.31093038e+00] [-2.96024001e-03 -2.20900552e-04 9.99995594e-01 4.83825029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.065336195 meters 0.04682505758628285 Centerline is valid? [True, True] Translation: X:86.63, Y:1.29, Z:0.48 [[ 9.95580121e-01 9.39089531e-02 1.15350682e-03 8.66256276e+01] [-9.39089898e-02 9.95580786e-01 -2.23802946e-05 1.29430617e+00] [-1.15051094e-03 -8.60432839e-05 9.99999334e-01 4.77246088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12533619499999 meters 0.048722472834845834 Centerline is valid? [True, True] Translation: X:86.69, Y:1.29, Z:0.48 [[ 9.95435958e-01 9.53058496e-02 -4.90390987e-03 8.66855974e+01] [-9.53065374e-02 9.95447967e-01 9.37716325e-05 1.29152780e+00] [ 4.89052410e-03 3.74031015e-04 9.99987971e-01 4.80326476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18533619499999 meters 0.04942072161619582 Centerline is valid? [True, True] Translation: X:86.75, Y:1.28, Z:0.47 [[ 9.95295203e-01 9.66446922e-02 -6.87474987e-03 8.67452016e+01] [-9.66460778e-02 9.95318802e-01 1.31155645e-04 1.28177400e+00] [ 6.85524331e-03 5.33879027e-04 9.99976360e-01 4.71235910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.245336195 meters 0.04914687686681745 Centerline is valid? [True, True] Translation: X:86.80, Y:1.26, Z:0.46 [[ 9.95326699e-01 9.60032002e-02 -1.03994420e-02 8.68027379e+01] [-9.60063601e-02 9.95380701e-01 1.96100085e-04 1.26320871e+00] [ 1.03702301e-02 8.03228922e-04 9.99945905e-01 4.60999248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.305336195 meters 0.09398823270236592 Centerline is valid? [True, True] Translation: X:86.86, Y:0.95, Z:0.48 [[ 9.92433887e-01 1.22615807e-01 -6.35166708e-03 8.68559150e+01] [-1.22617524e-01 9.92453993e-01 1.19759465e-04 9.54897823e-01] [ 6.31842176e-03 6.59972341e-04 9.99979821e-01 4.79103214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.365336195 meters 0.08793251189257745 Centerline is valid? [True, True] Translation: X:86.92, Y:0.94, Z:0.49 [[ 9.93173954e-01 1.16564494e-01 -4.26802377e-03 8.69154030e+01] [-1.16565215e-01 9.93183037e-01 8.03684754e-05 9.41935690e-01] [ 4.24829692e-03 4.17683232e-04 9.99990889e-01 4.87011443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.425336195 meters 0.07892500495892546 Centerline is valid? [True, True] Translation: X:86.97, Y:0.91, Z:0.48 [[ 9.93633349e-01 1.12512534e-01 -5.80500036e-03 8.69743095e+01] [-1.12513799e-01 9.93650156e-01 1.09138889e-04 9.10476638e-01] [ 5.78041901e-03 5.44698605e-04 9.99983145e-01 4.79783110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48533619499999 meters 0.08457889046998666 Centerline is valid? [True, True] Translation: X:87.03, Y:0.91, Z:0.48 [[ 9.93191580e-01 1.16328008e-01 -6.18702873e-03 8.70329411e+01] [-1.16329520e-01 9.93210667e-01 1.16136309e-04 9.10524465e-01] [ 6.15853283e-03 6.04388476e-04 9.99980853e-01 4.84322003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54533619499999 meters 0.09084280388099944 Centerline is valid? [True, True] Translation: X:87.09, Y:0.92, Z:0.49 [[ 9.91830024e-01 1.27473847e-01 -4.86021710e-03 8.70929379e+01] [-1.27474913e-01 9.91841791e-01 9.10660435e-05 9.17444169e-01] [ 4.83217497e-03 5.29233718e-04 9.99988185e-01 4.90691468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60533619499999 meters 0.10109784818647294 Centerline is valid? [True, False] Translation: X:87.04, Y:0.92, Z:0.48 [[ 9.91212466e-01 1.29919633e-01 2.48743925e-02 8.70439490e+01] [-1.29836227e-01 9.91523116e-01 -4.94615526e-03 9.20260395e-01] [-2.53061378e-02 1.67309347e-03 9.99678348e-01 4.77481152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.665336195 meters 0.12939426607652035 Centerline is valid? [False, False] Translation: X:87.03, Y:0.93, Z:0.47 [[ 9.90397343e-01 1.31124342e-01 4.38122094e-02 8.70294855e+01] [-1.31060788e-01 9.91364868e-01 -4.33236048e-03 9.25983225e-01] [-4.40019631e-02 -1.45130436e-03 9.99030390e-01 4.68306022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.725336195 meters 0.12881920174581885 Centerline is valid? [False, False] Translation: X:87.02, Y:0.93, Z:0.47 [[ 9.92264439e-01 1.10561770e-01 5.64568691e-02 8.70181442e+01] [-1.11178037e-01 9.93769229e-01 7.88439608e-03 9.34152826e-01] [-5.52333865e-02 -1.41001698e-02 9.98373907e-01 4.69199381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.785336195 meters 0.11115155178330716 Centerline is valid? [False, False] Translation: X:87.02, Y:0.93, Z:0.46 [[ 9.94177867e-01 9.30243988e-02 5.43767463e-02 8.70176839e+01] [-9.36807974e-02 9.95555573e-01 9.64413371e-03 9.27578476e-01] [-5.32379331e-02 -1.46820412e-02 9.98473916e-01 4.64953009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.845336195 meters 0.1038348596392083 Centerline is valid? [False, False] Translation: X:87.03, Y:0.93, Z:0.47 [[ 9.96200386e-01 7.12502315e-02 5.00818872e-02 8.70288877e+01] [-7.22118870e-02 9.97232961e-01 1.76596838e-02 9.29239051e-01] [-4.86850521e-02 -2.12090914e-02 9.98588975e-01 4.69458366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90533619499999 meters 0.0980621605616756 Centerline is valid? [False, True] Translation: X:87.03, Y:0.93, Z:0.47 [[ 9.97707058e-01 5.22062173e-02 4.30713079e-02 8.70265660e+01] [-5.29789904e-02 9.98450932e-01 1.69989344e-02 9.26854178e-01] [-4.21171374e-02 -1.92418313e-02 9.98927374e-01 4.73771898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96533619499999 meters 0.09000112601345397 Centerline is valid? [True, True] Translation: X:87.09, Y:0.92, Z:0.49 [[ 9.97921127e-01 4.68146858e-02 4.42923148e-02 8.70879809e+01] [-4.69818967e-02 9.98891980e-01 2.74117791e-03 9.24871781e-01] [-4.41149106e-02 -4.81641631e-03 9.99014853e-01 4.89403204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.025336195 meters 0.08810877940491353 Centerline is valid? [True, True] Translation: X:87.15, Y:0.92, Z:0.49 [[ 9.98044893e-01 4.39341368e-02 4.44542902e-02 8.71478346e+01] [-4.40997646e-02 9.99023343e-01 2.75151245e-03 9.22944891e-01] [-4.42899883e-02 -4.70655668e-03 9.99007630e-01 4.89670998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.085336195 meters 0.09298382250377804 Centerline is valid? [True, True] Translation: X:87.21, Y:0.92, Z:0.48 [[ 9.98021964e-01 4.46620836e-02 4.42431684e-02 8.72057141e+01] [-4.48268831e-02 9.98991014e-01 2.73926317e-03 9.24872341e-01] [-4.40761865e-02 -4.71712815e-03 9.99017036e-01 4.82310882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.145336195 meters 0.09664654891493465 Centerline is valid? [True, True] Translation: X:87.26, Y:0.93, Z:0.48 [[ 9.98005000e-01 4.39154211e-02 4.53591822e-02 8.72634349e+01] [-4.40880131e-02 9.99023696e-01 2.81114353e-03 9.29655730e-01] [-4.51914453e-02 -4.80533152e-03 9.98966787e-01 4.84114259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.205336195 meters 0.09680890608645058 Centerline is valid? [True, True] Translation: X:87.32, Y:0.92, Z:0.48 [[ 9.98081335e-01 4.35225317e-02 4.40390529e-02 8.73225255e+01] [-4.36849558e-02 9.99041621e-01 2.73208464e-03 9.23372584e-01] [-4.38779396e-02 -4.65068676e-03 9.99026075e-01 4.76151594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26533619499999 meters 0.09214867653781544 Centerline is valid? [True, True] Translation: X:87.38, Y:0.91, Z:0.47 [[ 9.97914084e-01 4.60417797e-02 4.52507989e-02 8.73836467e+01] [-4.62159473e-02 9.98927521e-01 2.80975887e-03 9.10563714e-01] [-4.50729021e-02 -4.89520649e-03 9.98971707e-01 4.73811925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32533619499999 meters 0.09535250401550752 Centerline is valid? [True, True] Translation: X:87.44, Y:0.91, Z:0.48 [[ 9.97383945e-01 5.22237182e-02 4.99794982e-02 8.74445207e+01] [-5.24439162e-02 9.98619048e-01 3.10367725e-03 9.10271206e-01] [-4.97483934e-02 -5.71667848e-03 9.98745421e-01 4.77996480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.385336195 meters 0.10394193273352163 Centerline is valid? [True, False] Translation: X:87.46, Y:0.91, Z:0.48 [[ 9.97919697e-01 4.74942640e-02 4.35955709e-02 8.74646613e+01] [-4.79093015e-02 9.98815313e-01 8.52465942e-03 9.05268567e-01] [-4.31390514e-02 -1.05955589e-02 9.99012891e-01 4.77298708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.445336195 meters 0.10325560228284499 Centerline is valid? [False, False] Translation: X:87.46, Y:0.91, Z:0.48 [[ 9.98113127e-01 4.27561173e-02 4.40692571e-02 8.74605771e+01] [-4.29520633e-02 9.99070973e-01 3.50862553e-03 9.05518635e-01] [-4.38783004e-02 -5.39487071e-03 9.99022317e-01 4.81468247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.505336195 meters 0.11426775889774622 Centerline is valid? [False, False] Translation: X:87.46, Y:0.90, Z:0.48 [[ 9.98246703e-01 3.96701744e-02 4.39294665e-02 8.74626915e+01] [-3.97722429e-02 9.99207717e-01 1.45155198e-03 8.96738383e-01] [-4.38370786e-02 -3.19618039e-03 9.99033581e-01 4.77171823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.565336195 meters 0.10313303391255765 Centerline is valid? [False, False] Translation: X:87.46, Y:0.89, Z:0.48 [[ 9.98232635e-01 3.98647004e-02 4.40728125e-02 8.74625127e+01] [-3.99905309e-02 9.99198103e-01 1.97672914e-03 8.94427387e-01] [-4.39586690e-02 -3.73573071e-03 9.99026366e-01 4.76656006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62533619499999 meters 0.11720933579787751 Centerline is valid? [False, False] Translation: X:87.46, Y:0.89, Z:0.48 [[ 9.98236276e-01 4.00988108e-02 4.37769696e-02 8.74632246e+01] [-4.02556217e-02 9.99185750e-01 2.70602457e-03 8.91110263e-01] [-4.36328159e-02 -4.46352101e-03 9.99037664e-01 4.77116193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68533619499999 meters 0.11979782155301576 Centerline is valid? [False, False] Translation: X:87.45, Y:0.88, Z:0.48 [[ 9.98754517e-01 3.51058448e-02 3.54541136e-02 8.74524370e+01] [-3.53317592e-02 9.99359007e-01 5.76553295e-03 8.77332124e-01] [-3.52289839e-02 -7.01100829e-03 9.99354674e-01 4.77299557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.745336195 meters 0.10778399532842294 Centerline is valid? [False, False] Translation: X:87.44, Y:0.87, Z:0.47 [[ 9.98919709e-01 3.03451543e-02 3.51935490e-02 8.74363006e+01] [-3.07284086e-02 9.99473659e-01 1.04005028e-02 8.66536565e-01] [-3.48594203e-02 -1.14707090e-02 9.99326395e-01 4.69697959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.805336195 meters 0.10087905157566042 Centerline is valid? [False, False] Translation: X:87.42, Y:0.86, Z:0.49 [[ 9.99342775e-01 2.73763668e-02 2.37603157e-02 8.74234682e+01] [-2.75429267e-02 9.99598093e-01 6.71122150e-03 8.62852397e-01] [-2.35670374e-02 -7.36123935e-03 9.99695157e-01 4.88535718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.865336195 meters 0.12002167324192771 Centerline is valid? [False, False] Translation: X:87.42, Y:0.85, Z:0.49 [[ 9.99430928e-01 2.39822088e-02 2.37207637e-02 8.74244730e+01] [-2.40899536e-02 9.99700689e-01 4.26689499e-03 8.54868710e-01] [-2.36113343e-02 -4.83589891e-03 9.99709517e-01 4.86474264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.925336195 meters 0.1025776611420781 Centerline is valid? [False, False] Translation: X:87.41, Y:0.84, Z:0.49 [[ 9.99730172e-01 1.70212351e-02 1.58070129e-02 8.74111787e+01] [-1.71072026e-02 9.99839511e-01 5.31935862e-03 8.44975148e-01] [-1.57139340e-02 -5.58833708e-03 9.99860912e-01 4.88346819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98533619499999 meters 0.11587329625563413 Centerline is valid? [False, False] Translation: X:87.43, Y:0.83, Z:0.49 [[ 9.99781660e-01 1.69687530e-02 1.21940054e-02 8.74278998e+01] [-1.70205708e-02 9.99846493e-01 4.15830438e-03 8.27369168e-01] [-1.21215723e-02 -4.36494539e-03 9.99917004e-01 4.86565978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04533619499999 meters 0.09668581040236507 Centerline is valid? [False, True] Translation: X:87.40, Y:0.82, Z:0.49 [[ 9.99878523e-01 1.26094021e-02 9.16202839e-03 8.74046298e+01] [-1.26879243e-02 9.99882835e-01 8.56341513e-03 8.21040679e-01] [-9.05297538e-03 -8.67862199e-03 9.99921359e-01 4.93145454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10533619499999 meters 0.10896951254553747 Centerline is valid? [True, False] Translation: X:87.40, Y:0.82, Z:0.49 [[ 9.99919037e-01 8.80476014e-03 9.18673516e-03 8.74048865e+01] [-8.85441355e-03 9.99946335e-01 5.37830167e-03 8.16015219e-01] [-9.13888750e-03 -5.45920938e-03 9.99943337e-01 4.92373765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.165336195 meters 0.11702863623920376 Centerline is valid? [False, False] Translation: X:87.41, Y:0.81, Z:0.49 [[ 9.99942877e-01 5.94271370e-03 8.88406870e-03 8.74088325e+01] [-5.97632534e-03 9.99975067e-01 3.76161346e-03 8.05461582e-01] [-8.86149300e-03 -3.81449267e-03 9.99953461e-01 4.87310388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.225336195 meters 0.11350322366718073 Centerline is valid? [False, False] Translation: X:87.39, Y:0.80, Z:0.51 [[ 9.99970637e-01 7.43765815e-03 -1.84568688e-03 8.73925300e+01] [-7.43276157e-03 9.99968876e-01 2.64580893e-03 8.01308924e-01] [ 1.86530806e-03 -2.63201269e-03 9.99994797e-01 5.08782368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.285336195 meters 0.12189711883530677 Centerline is valid? [False, False] Translation: X:87.39, Y:0.80, Z:0.51 [[ 9.99991426e-01 3.69515431e-03 -1.86894377e-03 8.73935398e+01] [-3.69586014e-03 9.99993100e-01 -3.74348715e-04 7.95845458e-01] [ 1.86754760e-03 3.81252860e-04 9.99998183e-01 5.07077448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.345336195 meters 0.11403456830545056 Centerline is valid? [False, False] Translation: X:87.40, Y:0.79, Z:0.50 [[ 9.99987579e-01 4.61450374e-03 -1.88391746e-03 8.73952826e+01] [-4.61159126e-03 9.99988169e-01 1.54739638e-03 7.87948552e-01] [ 1.89103564e-03 -1.53868930e-03 9.99997028e-01 5.04310846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40533619499999 meters 0.13020812884218397 Centerline is valid? [False, False] Translation: X:87.39, Y:0.79, Z:0.51 [[ 9.99990294e-01 4.06318160e-03 -1.70384631e-03 8.73934507e+01] [-4.06277164e-03 9.99991717e-01 2.44005214e-04 7.92800471e-01] [ 1.70482364e-03 -2.37080507e-04 9.99998519e-01 5.07030797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46533619499999 meters 0.12065546806524667 Centerline is valid? [False, False] Translation: X:87.39, Y:0.79, Z:0.51 [[ 9.99989944e-01 4.23646266e-03 -1.47097010e-03 8.73934784e+01] [-4.23555761e-03 9.99990839e-01 6.17844249e-04 7.91428555e-01] [ 1.47357410e-03 -6.11607657e-04 9.99998727e-01 5.05581951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.525336195 meters 0.12109657585144668 Centerline is valid? [False, False] Translation: X:87.39, Y:0.79, Z:0.51 [[ 9.99989491e-01 4.27100258e-03 -1.66635040e-03 8.73940216e+01] [-4.26976640e-03 9.99990607e-01 7.44702421e-04 7.90886150e-01] [ 1.66951538e-03 -7.37579668e-04 9.99998334e-01 5.05639230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.585336195 meters 0.11132352769430097 Centerline is valid? [False, False] Translation: X:87.39, Y:0.79, Z:0.51 [[ 9.99997929e-01 -1.08386484e-04 -2.03250116e-03 8.73946800e+01] [ 1.00992859e-04 9.99993379e-01 -3.63744763e-03 7.90976769e-01] [ 2.03288195e-03 3.63723482e-03 9.99991319e-01 5.06535232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.645336195 meters 0.10920695208267601 Centerline is valid? [False, False] Translation: X:87.40, Y:0.79, Z:0.51 [[ 9.99997270e-01 -7.91766456e-06 -2.33662215e-03 8.73957628e+01] [ 7.27756479e-07 9.99995266e-01 -3.07703690e-03 7.88639849e-01] [ 2.33663545e-03 3.07702680e-03 9.99992536e-01 5.06226172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.705336195 meters 0.0993818655711598 Centerline is valid? [False, True] Translation: X:87.39, Y:0.79, Z:0.51 [[ 9.99997004e-01 -4.01944786e-04 -2.41472461e-03 8.73946624e+01] [ 3.92593563e-04 9.99992427e-01 -3.87181033e-03 7.91574152e-01] [ 2.41626258e-03 3.87085072e-03 9.99989589e-01 5.08909095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76533619499999 meters 0.10160788179716178 Centerline is valid? [True, False] Translation: X:87.40, Y:0.79, Z:0.51 [[ 9.99996340e-01 -1.55576042e-04 -2.70094086e-03 8.73965230e+01] [ 1.46297070e-04 9.99994089e-01 -3.43531684e-03 7.90512767e-01] [ 2.70145934e-03 3.43490913e-03 9.99990452e-01 5.06703808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82533619499999 meters 0.09664703360331203 Centerline is valid? [False, True] Translation: X:87.40, Y:0.79, Z:0.51 [[ 9.99995900e-01 -2.05756800e-04 -2.85611115e-03 8.73967430e+01] [ 1.95727432e-04 9.99993816e-01 -3.51138206e-03 7.90730416e-01] [ 2.85681598e-03 3.51080865e-03 9.99989756e-01 5.07185891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.885336195 meters 0.08914450921881222 Centerline is valid? [True, True] Translation: X:87.46, Y:0.79, Z:0.51 [[ 9.99998889e-01 -7.81810510e-04 -1.26894016e-03 8.74557878e+01] [ 7.81661357e-04 9.99999688e-01 -1.18032547e-04 7.88828589e-01] [ 1.26903205e-03 1.17040534e-04 9.99999188e-01 5.07693025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.945336195 meters 0.08897499221398052 Centerline is valid? [True, True] Translation: X:87.52, Y:0.79, Z:0.50 [[ 9.99996625e-01 8.38300346e-04 -2.45919618e-03 8.75160945e+01] [-8.38864361e-04 9.99999622e-01 -2.28327233e-04 7.91222796e-01] [ 2.45900384e-03 2.30389394e-04 9.99996950e-01 5.02163599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.005336195 meters 0.09119893641914768 Centerline is valid? [True, True] Translation: X:87.57, Y:0.81, Z:0.50 [[ 9.99958366e-01 3.96865040e-03 -8.21682554e-03 8.75746833e+01] [-3.97505246e-03 9.99991808e-01 -7.62954467e-04 8.10714762e-01] [ 8.21373033e-03 7.95585014e-04 9.99965950e-01 4.95777862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.065336195 meters 0.09921415230057244 Centerline is valid? [True, True] Translation: X:87.63, Y:0.83, Z:0.49 [[ 9.99940742e-01 8.73848911e-03 -6.49238259e-03 8.76329324e+01] [-8.74258564e-03 9.99961601e-01 -6.02862135e-04 8.28623947e-01] [ 6.48686518e-03 6.59586621e-04 9.99978743e-01 4.94056367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12533619499999 meters 0.09259468719924172 Centerline is valid? [True, True] Translation: X:87.69, Y:0.84, Z:0.50 [[ 9.99952396e-01 9.10069990e-03 -3.51888910e-03 8.76910416e+01] [-9.10190637e-03 9.99958523e-01 -3.26995136e-04 8.40986679e-01] [ 3.51576726e-03 3.59008169e-04 9.99993755e-01 5.04424056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18533619499999 meters 0.08859142255592174 Centerline is valid? [True, True] Translation: X:87.75, Y:0.85, Z:0.50 [[ 9.99993730e-01 2.65722485e-03 -2.34076530e-03 8.77508525e+01] [-2.65774114e-03 9.99996445e-01 -2.17478919e-04 8.49481282e-01] [ 2.34017909e-03 2.23698704e-04 9.99997237e-01 5.01676984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.245336195 meters 0.07084850731491639 Centerline is valid? [True, True] Translation: X:87.81, Y:0.83, Z:0.50 [[ 9.99840295e-01 -1.78673144e-02 -3.77729821e-04 8.78118750e+01] [ 1.78673024e-02 9.99840366e-01 -3.51040480e-05 8.30520739e-01] [ 3.78296738e-04 2.83494288e-05 9.99999928e-01 5.01886120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.305336195 meters 0.05931650903925817 Centerline is valid? [True, True] Translation: X:87.87, Y:0.82, Z:0.51 [[ 9.99451541e-01 -3.31077781e-02 7.02221455e-04 8.78721630e+01] [ 3.31077404e-02 9.99451786e-01 6.52449251e-05 8.21009718e-01] [-7.03996603e-04 -4.19601752e-05 9.99999751e-01 5.05697561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.365336195 meters 0.04306444272125504 Centerline is valid? [True, True] Translation: X:87.94, Y:0.80, Z:0.50 [[ 9.99044998e-01 -4.36916600e-02 3.60407965e-04 8.79354112e+01] [ 4.36916507e-02 9.99045063e-01 3.34940205e-05 7.98068318e-01] [-3.61527208e-04 -1.77152147e-05 9.99999934e-01 5.04968478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.425336195 meters 0.045880740884080236 Centerline is valid? [True, True] Translation: X:88.00, Y:0.80, Z:0.50 [[ 9.98952142e-01 -4.57303751e-02 -1.83071707e-03 8.79961658e+01] [ 4.57301401e-02 9.98953815e-01 -1.70047958e-04 7.96004638e-01] [ 1.83657816e-03 8.61508243e-05 9.99998310e-01 4.99682064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48533619499999 meters 0.052870389025438204 Centerline is valid? [True, True] Translation: X:88.06, Y:0.81, Z:0.50 [[ 9.99128092e-01 -4.17495352e-02 -1.79378270e-04 8.80553386e+01] [ 4.17495329e-02 9.99128108e-01 -1.66753661e-05 8.05985981e-01] [ 1.79918060e-04 9.17186769e-06 9.99999984e-01 5.04465949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54533619499999 meters 0.05364185077662465 Centerline is valid? [True, True] Translation: X:88.12, Y:0.80, Z:0.51 [[ 9.99397901e-01 -3.46927360e-02 4.99537552e-04 8.81160874e+01] [ 3.46927171e-02 9.99398025e-01 4.64147217e-05 8.02846551e-01] [-5.00847097e-04 -2.90564605e-05 9.99999874e-01 5.06816641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60533619499999 meters 0.06507918377515857 Centerline is valid? [True, True] Translation: X:88.18, Y:0.81, Z:0.50 [[ 9.99644811e-01 -2.66477169e-02 3.89460893e-04 8.81750568e+01] [ 2.66477048e-02 9.99644886e-01 3.62090836e-05 8.11151049e-01] [-3.90287479e-04 -2.58179836e-05 9.99999924e-01 5.04830876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.665336195 meters 0.07495204977119563 Centerline is valid? [True, True] Translation: X:88.24, Y:0.81, Z:0.50 [[ 9.99835618e-01 -1.80298404e-02 -1.91378794e-03 8.82353398e+01] [ 1.80295331e-02 9.99837439e-01 -1.77708430e-04 8.13182674e-01] [ 1.91668089e-03 1.43174515e-04 9.99998153e-01 4.99505471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.725336195 meters 0.08490782547020412 Centerline is valid? [True, True] Translation: X:88.29, Y:0.82, Z:0.51 [[ 9.99999213e-01 -6.29377631e-04 -1.08498392e-03 8.82949743e+01] [ 6.29268689e-04 9.99999797e-01 -1.00747497e-04 8.23165123e-01] [ 1.08504711e-03 1.00064672e-04 9.99999406e-01 5.06844135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.785336195 meters 0.10834334622844612 Centerline is valid? [True, False] Translation: X:88.29, Y:0.82, Z:0.51 [[ 9.99999357e-01 -3.83961871e-04 -1.06688629e-03 8.82948018e+01] [ 3.83886754e-04 9.99999924e-01 -7.06123267e-05 8.23600152e-01] [ 1.06691333e-03 7.02027178e-05 9.99999428e-01 5.07216044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.845336195 meters 0.1084019759588684 Centerline is valid? [False, False] Translation: X:88.30, Y:0.82, Z:0.50 [[ 9.99999170e-01 5.73385010e-04 -1.15404725e-03 8.82974340e+01] [-5.71445659e-04 9.99998425e-01 1.68010649e-03 8.17407773e-01] [ 1.15500878e-03 -1.67944562e-03 9.99997923e-01 5.02646299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90533619499999 meters 0.11269970550571795 Centerline is valid? [False, False] Translation: X:88.30, Y:0.82, Z:0.50 [[ 9.99999150e-01 6.94346574e-04 -1.10344954e-03 8.82972330e+01] [-6.92168044e-04 9.99997813e-01 1.97344770e-03 8.16042695e-01] [ 1.10481738e-03 -1.97268225e-03 9.99997444e-01 5.02828227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96533619499999 meters 0.10922447784055524 Centerline is valid? [False, False] Translation: X:88.30, Y:0.82, Z:0.50 [[ 9.99998640e-01 6.24249652e-04 -1.52639102e-03 8.82979228e+01] [-6.21379800e-04 9.99998040e-01 1.87990712e-03 8.16278409e-01] [ 1.52756156e-03 -1.87895609e-03 9.99997068e-01 5.04121277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.025336195 meters 0.1066981994339294 Centerline is valid? [False, False] Translation: X:88.30, Y:0.79, Z:0.49 [[ 9.99996099e-01 -1.97608355e-03 -1.97396326e-03 8.83031507e+01] [ 1.98501927e-03 9.99987746e-01 4.53514036e-03 7.94061025e-01] [ 1.96497725e-03 -4.53904103e-03 9.99987768e-01 4.90418409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.085336195 meters 0.09414147410896162 Centerline is valid? [False, True] Translation: X:88.30, Y:0.80, Z:0.50 [[ 9.99992055e-01 -3.60266660e-03 -1.70592212e-03 8.82979018e+01] [ 3.60659652e-03 9.99990837e-01 2.30624337e-03 8.00378427e-01] [ 1.69759786e-03 -2.31237763e-03 9.99995886e-01 4.98193654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.145336195 meters 0.08889735443644481 Centerline is valid? [True, True] Translation: X:88.36, Y:0.79, Z:0.50 [[ 9.99935890e-01 -1.11433006e-02 2.01058561e-03 8.83584615e+01] [ 1.11429178e-02 9.99937895e-01 2.01485759e-04 7.91733581e-01] [-2.01270596e-03 -1.79069052e-04 9.99997958e-01 5.01569727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.205336195 meters 0.083844742310406 Centerline is valid? [True, True] Translation: X:88.42, Y:0.78, Z:0.50 [[ 9.99906676e-01 -1.34525644e-02 2.38055607e-03 8.84210477e+01] [ 1.34520341e-02 9.99909489e-01 2.38619270e-04 7.75958488e-01] [-2.38355065e-03 -2.06573680e-04 9.99997138e-01 5.00405569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26533619499999 meters 0.08209758624009858 Centerline is valid? [True, True] Translation: X:88.48, Y:0.79, Z:0.51 [[ 9.99935818e-01 -1.11822928e-02 1.82098224e-03 8.84807191e+01] [ 1.11819788e-02 9.99937463e-01 1.82529689e-04 7.85440950e-01] [-1.82290946e-03 -1.62155790e-04 9.99998325e-01 5.07065658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32533619499999 meters 0.08205345796328674 Centerline is valid? [True, True] Translation: X:88.55, Y:0.77, Z:0.49 [[ 9.99930792e-01 -1.17560233e-02 4.56098765e-04 8.85452290e+01] [ 1.17560036e-02 9.99930895e-01 4.58760656e-05 7.71226729e-01] [-4.56606566e-04 -4.05109918e-05 9.99999895e-01 4.94018256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.385336195 meters 0.08309349780770157 Centerline is valid? [True, True] Translation: X:88.60, Y:0.77, Z:0.50 [[ 9.99892493e-01 -1.46472484e-02 6.78488682e-04 8.86045678e+01] [ 1.46472056e-02 9.99892722e-01 6.79330744e-05 7.72293696e-01] [-6.79410927e-04 -5.79878079e-05 9.99999768e-01 4.98972123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.445336195 meters 0.09084400033049743 Centerline is valid? [True, True] Translation: X:88.67, Y:0.78, Z:0.50 [[ 9.99888223e-01 -1.49506491e-02 -1.36451963e-04 8.86656719e+01] [ 1.49506474e-02 9.99888233e-01 -1.35159690e-05 7.81244646e-01] [ 1.36638785e-04 1.14744130e-05 9.99999991e-01 5.01073842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.505336195 meters 0.08672040031549498 Centerline is valid? [True, True] Translation: X:88.73, Y:0.75, Z:0.49 [[ 9.99937504e-01 -1.11757706e-02 -3.00994578e-04 8.87289547e+01] [ 1.11757620e-02 9.99937549e-01 -3.01395564e-05 7.54813667e-01] [ 3.01312613e-04 2.67738290e-05 9.99999954e-01 4.93112254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.565336195 meters 0.1035201482573921 Centerline is valid? [True, False] Translation: X:88.75, Y:0.75, Z:0.49 [[ 9.99997901e-01 -1.99999770e-03 -4.44482446e-04 8.87521809e+01] [ 2.00070249e-03 9.99996733e-01 1.59088120e-03 7.48190435e-01] [ 4.41299235e-04 -1.59176713e-03 9.99998636e-01 4.92188996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62533619499999 meters 0.1129057792801483 Centerline is valid? [False, False] Translation: X:88.75, Y:0.74, Z:0.49 [[ 9.99998809e-01 -1.53034184e-03 -1.99179303e-04 8.87516296e+01] [ 1.53090792e-03 9.99994699e-01 2.87365091e-03 7.42432022e-01] [ 1.94780579e-04 -2.87395242e-03 9.99995851e-01 4.92015047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68533619499999 meters 0.12117888145715033 Centerline is valid? [False, False] Translation: X:88.75, Y:0.74, Z:0.49 [[ 9.99999524e-01 -9.74468329e-04 -3.96040559e-05 8.87521825e+01] [ 9.74626522e-04 9.99990652e-01 4.21267873e-03 7.36894742e-01] [ 3.54985637e-05 -4.21271532e-03 9.99991126e-01 4.90192666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.745336195 meters 0.12389420865736452 Centerline is valid? [False, False] Translation: X:88.75, Y:0.74, Z:0.49 [[ 9.99999686e-01 -7.87202821e-04 8.72431796e-05 8.87525681e+01] [ 7.86802887e-04 9.99989597e-01 4.49308454e-03 7.35984000e-01] [-9.07792408e-05 -4.49301449e-03 9.99989902e-01 4.88392739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.805336195 meters 0.1323605856904595 Centerline is valid? [False, False] Translation: X:88.75, Y:0.74, Z:0.49 [[ 9.99999084e-01 -1.23535765e-03 5.53052200e-04 8.87505393e+01] [ 1.23358245e-03 9.99994123e-01 3.19874726e-03 7.41180911e-01] [-5.57000547e-04 -3.19806209e-03 9.99994731e-01 4.89774859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.865336195 meters 0.14342347058605623 Centerline is valid? [False, False] Translation: X:88.75, Y:0.75, Z:0.49 [[ 9.99998224e-01 -1.62357830e-03 9.56609876e-04 8.87488916e+01] [ 1.62162173e-03 9.99996599e-01 2.04255735e-03 7.45979704e-01] [-9.59922874e-04 -2.04100246e-03 9.99997456e-01 4.90926271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.925336195 meters 0.12901470469890555 Centerline is valid? [False, False] Translation: X:88.75, Y:0.76, Z:0.49 [[ 9.99994633e-01 -3.08216432e-03 1.11106015e-03 8.87461990e+01] [ 3.08340427e-03 9.99994624e-01 -1.11603249e-03 7.58859716e-01] [-1.10761438e-03 1.11945235e-03 9.99998760e-01 4.94331246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98533619499999 meters 0.1274366274329139 Centerline is valid? [False, False] Translation: X:88.75, Y:0.77, Z:0.49 [[ 9.99997156e-01 -2.37755698e-03 1.87522453e-04 8.87515989e+01] [ 2.37781474e-03 9.99996212e-01 -1.38648329e-03 7.67136027e-01] [-1.84225299e-04 1.38692524e-03 9.99999021e-01 4.90385202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04533619499999 meters 0.1277763110379895 Centerline is valid? [False, False] Translation: X:88.75, Y:0.78, Z:0.49 [[ 9.99994695e-01 -3.25718445e-03 3.64395451e-05 8.87505876e+01] [ 3.25729102e-03 9.99988711e-01 -3.45935149e-03 7.75755538e-01] [-2.51713878e-05 3.45945184e-03 9.99994016e-01 4.92783285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10533619499999 meters 0.1010088130421781 Centerline is valid? [False, False] Translation: X:88.75, Y:0.78, Z:0.49 [[ 9.99993921e-01 -3.46627290e-03 -3.78958099e-04 8.87523991e+01] [ 3.46487993e-03 9.99987457e-01 -3.61664042e-03 7.76376780e-01] [ 3.91489608e-04 3.61530539e-03 9.99993388e-01 4.91013163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.165336195 meters 0.09055722787764897 Centerline is valid? [False, True] Translation: X:88.75, Y:0.79, Z:0.50 [[ 9.99998406e-01 -1.78527563e-03 -1.15783405e-05 8.87469264e+01] [ 1.78523837e-03 9.99994845e-01 -2.66889785e-03 7.85626803e-01] [ 1.63429991e-05 2.66887292e-03 9.99996438e-01 4.98692309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.225336195 meters 0.07146247183410634 Centerline is valid? [True, True] Translation: X:88.81, Y:0.76, Z:0.49 [[ 9.99850102e-01 -1.69522508e-02 3.52062864e-03 8.88097555e+01] [ 1.69512421e-02 9.99856267e-01 3.16147385e-04 7.64212857e-01] [-3.52548202e-03 -2.56420967e-04 9.99993753e-01 4.93255253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.285336195 meters 0.07399032296936597 Centerline is valid? [True, True] Translation: X:88.87, Y:0.78, Z:0.49 [[ 9.99772788e-01 -2.09735225e-02 3.80567495e-03 8.88682689e+01] [ 2.09723730e-02 9.99779997e-01 3.41719427e-04 7.76907256e-01] [-3.81200475e-03 -2.61827750e-04 9.99992700e-01 4.94321174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.345336195 meters 0.07257684896291855 Centerline is valid? [True, True] Translation: X:88.93, Y:0.79, Z:0.50 [[ 9.99736129e-01 -2.28989480e-02 1.81936210e-03 8.89282192e+01] [ 2.28986884e-02 9.99737777e-01 1.63416139e-04 7.89796311e-01] [-1.82262708e-03 -1.21712012e-04 9.99998332e-01 4.98167461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40533619499999 meters 0.06664931333513623 Centerline is valid? [True, True] Translation: X:88.99, Y:0.78, Z:0.49 [[ 9.99767772e-01 -2.15256651e-02 1.02375133e-03 8.89899473e+01] [ 2.15255822e-02 9.99768294e-01 9.19644625e-05 7.82833750e-01] [-1.02549372e-03 -6.99062624e-05 9.99999472e-01 4.93635255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46533619499999 meters 0.07094565102736827 Centerline is valid? [True, True] Translation: X:89.05, Y:0.79, Z:0.49 [[ 9.99853778e-01 -1.70824013e-02 7.83340151e-04 8.90507856e+01] [ 1.70823514e-02 9.99854084e-01 7.03767095e-05 7.89447524e-01] [-7.84428052e-04 -5.69851272e-05 9.99999691e-01 4.90958407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.525336195 meters 0.08232677318538328 Centerline is valid? [True, True] Translation: X:89.11, Y:0.81, Z:0.49 [[ 9.99992150e-01 -3.96226754e-03 4.02212723e-06 8.91089697e+01] [ 3.96226753e-03 9.99992150e-01 3.72510063e-07 8.14031607e-01] [-4.02357164e-06 -3.56570395e-07 1.00000000e+00 4.92328029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.585336195 meters 0.09387352520456849 Centerline is valid? [True, True] Translation: X:89.17, Y:0.83, Z:0.49 [[ 9.99994104e-01 2.54175369e-03 -2.30904618e-03 8.91673595e+01] [-2.54223887e-03 9.99996747e-01 -2.07213083e-04 8.31418698e-01] [ 2.30851198e-03 2.13082009e-04 9.99997313e-01 4.87464825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.645336195 meters 0.10455878684405195 Centerline is valid? [True, False] Translation: X:89.16, Y:0.84, Z:0.49 [[ 9.99998076e-01 1.48731332e-03 -1.27937419e-03 8.91620418e+01] [-1.49059539e-03 9.99995591e-01 -2.56825755e-03 8.39020858e-01] [ 1.27554875e-03 2.57015964e-03 9.99995884e-01 4.92359502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.705336195 meters 0.11515290389003296 Centerline is valid? [False, False] Translation: X:89.16, Y:0.84, Z:0.49 [[ 9.99998850e-01 1.23326738e-03 -8.82971415e-04 8.91606968e+01] [-1.23634741e-03 9.99993124e-01 -3.49625390e-03 8.42884713e-01] [ 8.78653528e-04 3.49734154e-03 9.99993498e-01 4.92608553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76533619499999 meters 0.1112059022577583 Centerline is valid? [False, False] Translation: X:89.17, Y:0.85, Z:0.49 [[ 9.99995589e-01 2.46558663e-03 -1.65630828e-03 8.91655614e+01] [-2.47143942e-03 9.99990677e-01 -3.54093247e-03 8.52518942e-01] [ 1.64756236e-03 3.54501032e-03 9.99992359e-01 4.89026457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82533619499999 meters 0.10515205437284343 Centerline is valid? [False, False] Translation: X:89.17, Y:0.85, Z:0.49 [[ 9.99976600e-01 6.65782736e-03 -1.57229274e-03 8.91655383e+01] [-6.65717869e-03 9.99977754e-01 4.17439538e-04 8.54288405e-01] [ 1.57503701e-03 -4.06962737e-04 9.99998677e-01 4.88575504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.885336195 meters 0.10449060699285223 Centerline is valid? [False, False] Translation: X:89.16, Y:0.87, Z:0.49 [[ 9.99986367e-01 4.96898298e-03 -1.60465703e-03 8.91631925e+01] [-4.97445434e-03 9.99981766e-01 -3.42387570e-03 8.70106712e-01] [ 1.58761459e-03 3.43181131e-03 9.99992851e-01 4.92602913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.945336195 meters 0.11007635894284351 Centerline is valid? [False, False] Translation: X:89.18, Y:0.88, Z:0.50 [[ 9.99990490e-01 -1.60119476e-03 -4.05658860e-03 8.91805870e+01] [ 1.60610385e-03 9.99997982e-01 1.20718329e-03 8.80301853e-01] [ 4.05464747e-03 -1.21368711e-03 9.99991043e-01 4.97782485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.005336195 meters 0.09457447540060629 Centerline is valid? [False, True] Translation: X:89.18, Y:0.88, Z:0.50 [[ 9.99989830e-01 -1.82802284e-03 -4.12283972e-03 8.91811411e+01] [ 1.83024887e-03 9.99998181e-01 5.36217874e-04 8.83474158e-01] [ 4.12185200e-03 -5.43758244e-04 9.99991357e-01 4.96830442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.065336195 meters 0.07888137563867126 Centerline is valid? [True, True] Translation: X:89.24, Y:0.88, Z:0.50 [[ 9.99874685e-01 -1.45820310e-02 -6.16262882e-03 8.92417103e+01] [ 1.45785550e-02 9.99893542e-01 -6.08596231e-04 8.84699487e-01] [ 6.17084733e-03 5.18677741e-04 9.99980826e-01 5.01717774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12533619499999 meters 0.07606370007231966 Centerline is valid? [True, True] Translation: X:89.30, Y:0.88, Z:0.49 [[ 9.99577495e-01 -2.80152106e-02 -7.74458202e-03 8.93026949e+01] [ 2.80101218e-02 9.99607347e-01 -7.64790911e-04 8.76769541e-01] [ 7.76296687e-03 5.47541097e-04 9.99969718e-01 4.91387426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18533619499999 meters 0.0680809311923379 Centerline is valid? [True, True] Translation: X:89.36, Y:0.87, Z:0.50 [[ 9.99300419e-01 -3.70824553e-02 -4.85426330e-03 8.93631671e+01] [ 3.70805626e-02 9.99312164e-01 -4.79350099e-04 8.72074113e-01] [ 4.86869984e-03 2.99015941e-04 9.99988103e-01 4.99882190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.245336195 meters 0.05487248776916655 Centerline is valid? [True, True] Translation: X:89.43, Y:0.86, Z:0.51 [[ 9.99169831e-01 -4.06249355e-02 -3.04366422e-03 8.94256820e+01] [ 4.06242078e-02 9.99174451e-01 -3.00547540e-04 8.55319500e-01] [ 3.05336125e-03 1.76651587e-04 9.99995323e-01 5.05154699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.305336195 meters 0.0672857917052183 Centerline is valid? [True, True] Translation: X:89.48, Y:0.87, Z:0.51 [[ 9.99405920e-01 -3.43664025e-02 -2.59955885e-03 8.94838718e+01] [ 3.43658506e-02 9.99409287e-01 -2.56692336e-04 8.73200856e-01] [ 2.60684485e-03 1.67203789e-04 9.99996588e-01 5.05538807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.365336195 meters 0.07386474877194074 Centerline is valid? [True, True] Translation: X:89.54, Y:0.88, Z:0.50 [[ 9.99666684e-01 -2.46482515e-02 -7.68011389e-03 8.95437668e+01] [ 2.46431498e-02 9.99696024e-01 -7.58211764e-04 8.81395875e-01] [ 7.69646792e-03 5.68696842e-04 9.99970220e-01 4.97406324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.425336195 meters 0.07701710469957947 Centerline is valid? [True, True] Translation: X:89.60, Y:0.90, Z:0.50 [[ 9.99837494e-01 -1.64698923e-02 -7.32994577e-03 8.96029667e+01] [ 1.64650267e-02 9.99864180e-01 -7.23651055e-04 8.95177632e-01] [ 7.34086868e-03 6.02845704e-04 9.99972874e-01 5.04820466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48533619499999 meters 0.08445592080630239 Centerline is valid? [True, True] Translation: X:89.66, Y:0.90, Z:0.50 [[ 9.99943477e-01 -9.21078995e-03 -5.31074063e-03 8.96630015e+01] [ 9.20813416e-03 9.99957467e-01 -5.24312719e-04 9.00104432e-01] [ 5.31534408e-03 4.75381071e-04 9.99985760e-01 5.03035507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54533619499999 meters 0.08944533321216254 Centerline is valid? [True, True] Translation: X:89.72, Y:0.91, Z:0.51 [[ 9.99990134e-01 -3.90965848e-03 -2.10879146e-03 8.97225443e+01] [ 3.90922809e-03 9.99992337e-01 -2.08174510e-04 9.10834430e-01] [ 2.10958919e-03 1.99928709e-04 9.99997755e-01 5.07738556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60533619499999 meters 0.08725159653204742 Centerline is valid? [True, True] Translation: X:89.78, Y:0.90, Z:0.50 [[ 9.99970650e-01 -5.30033672e-03 -5.53225641e-03 8.97840623e+01] [ 5.29739525e-03 9.99985820e-01 -5.46211815e-04 9.03851825e-01] [ 5.53507307e-03 5.16889235e-04 9.99984548e-01 5.00186131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.665336195 meters 0.08376918930911265 Centerline is valid? [True, True] Translation: X:89.85, Y:0.90, Z:0.50 [[ 9.99915660e-01 -1.04549984e-02 -7.70495834e-03 8.98450273e+01] [ 1.04494445e-02 9.99945114e-01 -7.60733446e-04 9.01157371e-01] [ 7.71248891e-03 6.80156751e-04 9.99970027e-01 5.01757245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.725336195 meters 0.08671641242355707 Centerline is valid? [True, True] Translation: X:89.90, Y:0.90, Z:0.50 [[ 9.99895756e-01 -1.29242728e-02 -6.43746904e-03 8.99048772e+01] [ 1.29204464e-02 9.99916326e-01 -6.35633481e-04 8.97651114e-01] [ 6.44514548e-03 5.52392246e-04 9.99979077e-01 4.99822331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.785336195 meters 0.08741375867646642 Centerline is valid? [True, True] Translation: X:89.97, Y:0.89, Z:0.50 [[ 9.99929063e-01 -1.10225939e-02 -4.51350981e-03 8.99663554e+01] [ 1.10206936e-02 9.99939171e-01 -4.45683115e-04 8.89358581e-01] [ 4.51814784e-03 3.95909491e-04 9.99989715e-01 5.01542818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.845336195 meters 0.09144591692545795 Centerline is valid? [True, True] Translation: X:90.03, Y:0.90, Z:0.50 [[ 9.99934257e-01 -8.82663502e-03 -7.31930195e-03 9.00259799e+01] [ 8.82157984e-03 9.99960828e-01 -7.22661694e-04 8.97137145e-01] [ 7.32539391e-03 6.58046377e-04 9.99972952e-01 5.03271030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90533619499999 meters 0.09293100032123419 Centerline is valid? [True, True] Translation: X:90.09, Y:0.89, Z:0.50 [[ 9.99940329e-01 -8.18796321e-03 -7.23156174e-03 9.00884499e+01] [ 8.18301286e-03 9.99966264e-01 -7.13871615e-04 8.89048236e-01] [ 7.23716293e-03 6.54653055e-04 9.99973597e-01 4.97990252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96533619499999 meters 0.09563220541327443 Centerline is valid? [True, True] Translation: X:90.15, Y:0.89, Z:0.50 [[ 9.99944556e-01 -8.75094440e-03 -5.85708325e-03 9.01491642e+01] [ 8.74770719e-03 9.99961571e-01 -5.78090655e-04 8.85679768e-01] [ 5.86191700e-03 5.26822554e-04 9.99982680e-01 4.99581280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.025336195 meters 0.09321073095848324 Centerline is valid? [True, True] Translation: X:90.21, Y:0.88, Z:0.51 [[ 9.99962725e-01 -7.36676411e-03 -4.50320244e-03 9.02103517e+01] [ 7.36483681e-03 9.99972780e-01 -4.44417401e-04 8.82703755e-01] [ 4.50635378e-03 4.11235484e-04 9.99989762e-01 5.05620020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.085336195 meters 0.09535198890988743 Centerline is valid? [True, True] Translation: X:90.27, Y:0.88, Z:0.50 [[ 9.99950375e-01 -7.67264574e-03 -6.35437189e-03 9.02722716e+01] [ 7.66881515e-03 9.99970398e-01 -6.26975208e-04 8.77169478e-01] [ 6.35899434e-03 5.78213591e-04 9.99979614e-01 5.01099178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.145336195 meters 0.09214438911639396 Centerline is valid? [True, True] Translation: X:90.33, Y:0.87, Z:0.51 [[ 9.99941336e-01 -1.01211724e-02 -3.85834586e-03 9.03338185e+01] [ 1.01197784e-02 9.99948721e-01 -3.80646968e-04 8.66408009e-01] [ 3.86200060e-03 3.41579032e-04 9.99992484e-01 5.06091826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.205336195 meters 0.09848902217972177 Centerline is valid? [True, True] Translation: X:90.39, Y:0.87, Z:0.51 [[ 9.99956079e-01 -9.20208853e-03 -1.77811631e-03 9.03944181e+01] [ 9.20179099e-03 9.99957647e-01 -1.75440346e-04 8.65788162e-01] [ 1.77965542e-03 1.59070786e-04 9.99998404e-01 5.09057642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26533619499999 meters 0.09804183923563317 Centerline is valid? [True, True] Translation: X:90.46, Y:0.87, Z:0.51 [[ 9.99962165e-01 -8.52204771e-03 -1.74467415e-03 9.04567419e+01] [ 8.52176017e-03 9.99963674e-01 -1.72177421e-04 8.69246246e-01] [ 1.74607808e-03 1.57303212e-04 9.99998463e-01 5.09844009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32533619499999 meters 0.08791956657140794 Centerline is valid? [True, True] Translation: X:90.52, Y:0.85, Z:0.50 [[ 9.99939659e-01 -6.77036484e-03 -8.65104792e-03 9.05193231e+01] [ 6.76323687e-03 9.99976765e-01 -8.52932127e-04 8.50622638e-01] [ 8.65662158e-03 7.94371574e-04 9.99962215e-01 4.98081693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.385336195 meters 0.10613165678719061 Centerline is valid? [True, False] Translation: X:90.52, Y:0.83, Z:0.49 [[ 9.99948002e-01 -4.95039931e-03 -8.91550259e-03 9.05226815e+01] [ 4.97931158e-03 9.99982407e-01 3.22364850e-03 8.34245642e-01] [ 8.89938740e-03 -3.26787394e-03 9.99955060e-01 4.93790309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.445336195 meters 0.09897439539795315 Centerline is valid? [False, True] Translation: X:90.51, Y:0.82, Z:0.50 [[ 9.99969098e-01 -3.78483810e-03 -6.89045607e-03 9.05114800e+01] [ 3.82436035e-03 9.99976261e-01 5.73168373e-03 8.24622788e-01] [ 6.86859900e-03 -5.75785819e-03 9.99959834e-01 5.03130958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.505336195 meters 0.0996136697361617 Centerline is valid? [True, True] Translation: X:90.57, Y:0.83, Z:0.51 [[ 9.99983184e-01 -1.44742792e-03 -5.61575047e-03 9.05717256e+01] [ 1.44430115e-03 9.99998800e-01 -5.60801224e-04 8.28597070e-01] [ 5.61655545e-03 5.52680959e-04 9.99984074e-01 5.07552373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.565336195 meters 0.11082827747820588 Centerline is valid? [True, False] Translation: X:90.56, Y:0.81, Z:0.50 [[ 9.99986026e-01 2.31461273e-03 -4.75297690e-03 9.05597028e+01] [-2.34992679e-03 9.99969578e-01 -7.43778724e-03 8.12713736e-01] [ 4.73561670e-03 7.44885245e-03 9.99961044e-01 4.96859623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62533619499999 meters 0.10584081795587674 Centerline is valid? [False, False] Translation: X:90.57, Y:0.81, Z:0.50 [[ 9.99991504e-01 2.34634404e-03 -3.38927933e-03 9.05739766e+01] [-2.32908299e-03 9.99984345e-01 5.08784051e-03 8.13031212e-01] [ 3.40116409e-03 -5.07990337e-03 9.99981313e-01 5.01716342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68533619499999 meters 0.10861907294376269 Centerline is valid? [False, False] Translation: X:90.58, Y:0.80, Z:0.50 [[ 9.99994426e-01 -4.94620706e-04 -3.30188094e-03 9.05761072e+01] [ 5.06951728e-04 9.99992897e-01 3.73475289e-03 8.00504198e-01] [ 3.30001021e-03 -3.73640597e-03 9.99987575e-01 4.98181361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.745336195 meters 0.1115268146017268 Centerline is valid? [False, False] Translation: X:90.58, Y:0.79, Z:0.50 [[ 9.99985496e-01 -4.14701720e-03 -3.43669508e-03 9.05777638e+01] [ 4.15023425e-03 9.99990956e-01 9.29483417e-04 7.94098244e-01] [ 3.43280942e-03 -9.43733025e-04 9.99993663e-01 4.96081829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.805336195 meters 0.10357671690805144 Centerline is valid? [False, False] Translation: X:90.58, Y:0.79, Z:0.50 [[ 9.99984462e-01 -3.94690552e-03 -3.93674125e-03 9.05789436e+01] [ 3.95496547e-03 9.99990095e-01 2.04168785e-03 7.89221538e-01] [ 3.92864390e-03 -2.05722580e-03 9.99990167e-01 4.97359399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.865336195 meters 0.09153569889102439 Centerline is valid? [False, True] Translation: X:90.58, Y:0.77, Z:0.50 [[ 9.99977884e-01 -5.73048992e-03 -3.37520344e-03 9.05773379e+01] [ 5.74128402e-03 9.99978408e-01 3.19710116e-03 7.69879054e-01] [ 3.35680960e-03 -3.21640846e-03 9.99989193e-01 4.98303377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.925336195 meters 0.09314431015776926 Centerline is valid? [True, True] Translation: X:90.64, Y:0.76, Z:0.50 [[ 9.99983249e-01 -5.38007831e-03 -2.13479846e-03 9.06391505e+01] [ 5.37967436e-03 9.99985510e-01 -1.94916779e-04 7.64558976e-01] [ 2.13581619e-03 1.83428994e-04 9.99997702e-01 4.99777993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98533619499999 meters 0.09757677956871755 Centerline is valid? [True, True] Translation: X:90.70, Y:0.77, Z:0.50 [[ 9.99986755e-01 1.50808967e-03 -4.92092946e-03 9.06988176e+01] [-1.51031842e-03 9.99998759e-01 -4.49228544e-04 7.71974397e-01] [ 4.92024587e-03 4.56654765e-04 9.99987791e-01 4.99861086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04533619499999 meters 0.11033332396328648 Centerline is valid? [True, False] Translation: X:90.70, Y:0.76, Z:0.50 [[ 9.99986296e-01 -1.96002722e-03 -4.85442658e-03 9.07002321e+01] [ 1.94652864e-03 9.99994231e-01 -2.78383893e-03 7.63967963e-01] [ 4.85985497e-03 2.77435150e-03 9.99984342e-01 4.96802437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10533619499999 meters 0.10918718001195904 Centerline is valid? [False, False] Translation: X:90.70, Y:0.76, Z:0.50 [[ 9.99988078e-01 -1.79094525e-03 -4.54271100e-03 9.06992719e+01] [ 1.78055133e-03 9.99995790e-01 -2.29105777e-03 7.61690672e-01] [ 4.54679503e-03 2.28294192e-03 9.99987057e-01 4.97130684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.165336195 meters 0.11282877862717754 Centerline is valid? [False, False] Translation: X:90.73, Y:0.77, Z:0.50 [[ 9.99998298e-01 -1.16121498e-03 -1.43396182e-03 9.07307474e+01] [ 1.16144794e-03 9.99999312e-01 1.61636426e-04 7.70399329e-01] [ 1.43377314e-03 -1.63301623e-04 9.99998959e-01 5.04504374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.225336195 meters 0.11162400593873716 Centerline is valid? [False, False] Translation: X:90.72, Y:0.76, Z:0.49 [[ 9.99999985e-01 3.88237548e-05 1.70124439e-04 9.07199583e+01] [-3.72478992e-05 9.99957188e-01 -9.25319162e-03 7.64486408e-01] [-1.70476399e-04 9.25318514e-03 9.99957174e-01 4.92906203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.285336195 meters 0.10878088868713655 Centerline is valid? [False, False] Translation: X:90.72, Y:0.76, Z:0.49 [[ 9.99988933e-01 4.70447413e-03 -4.64254706e-05 9.07214070e+01] [-4.70461027e-03 9.99982515e-01 -3.58286076e-03 7.58823230e-01] [ 2.95691831e-05 3.58303952e-03 9.99993580e-01 4.90671530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.345336195 meters 0.10437920227438255 Centerline is valid? [False, False] Translation: X:90.73, Y:0.76, Z:0.50 [[ 9.99997948e-01 -7.89149383e-04 -1.86591113e-03 9.07325798e+01] [ 7.92151278e-04 9.99998392e-01 1.60861765e-03 7.64683947e-01] [ 1.86463869e-03 -1.61009244e-03 9.99996965e-01 5.02919989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40533619499999 meters 0.1055250620884424 Centerline is valid? [False, False] Translation: X:90.73, Y:0.76, Z:0.50 [[ 9.99997934e-01 -4.08487719e-04 -1.99104973e-03 9.07333608e+01] [ 4.14284063e-04 9.99995675e-01 2.91165743e-03 7.59236237e-01] [ 1.98985174e-03 -2.91247627e-03 9.99993779e-01 5.02306135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46533619499999 meters 0.09133526837844562 Centerline is valid? [False, True] Translation: X:90.73, Y:0.75, Z:0.50 [[ 9.99997508e-01 -1.22633645e-04 -2.22914641e-03 9.07346232e+01] [ 1.31788953e-04 9.99991556e-01 4.10740877e-03 7.54206208e-01] [ 2.22862388e-03 -4.10769231e-03 9.99989080e-01 5.00807828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.525336195 meters 0.08647447035128135 Centerline is valid? [True, True] Translation: X:90.79, Y:0.76, Z:0.50 [[ 9.99961713e-01 -7.67970215e-03 -4.19456609e-03 9.07942494e+01] [ 7.67828943e-03 9.99970459e-01 -3.52797935e-04 7.60758161e-01] [ 4.19715156e-03 3.20577335e-04 9.99991141e-01 5.02636745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.585336195 meters 0.07831645009938072 Centerline is valid? [True, True] Translation: X:90.86, Y:0.75, Z:0.50 [[ 9.99929730e-01 -1.16692444e-02 -2.08901740e-03 9.08560814e+01] [ 1.16689026e-02 9.99931901e-01 -1.75708525e-04 7.46903413e-01] [ 2.09092553e-03 1.51319637e-04 9.99997803e-01 5.02614197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.645336195 meters 0.08397470974675814 Centerline is valid? [True, True] Translation: X:90.92, Y:0.75, Z:0.50 [[ 9.99961644e-01 -8.48552419e-03 -2.16936239e-03 9.09152305e+01] [ 8.48514811e-03 9.99963984e-01 -1.82501805e-04 7.54434003e-01] [ 2.17083288e-03 1.64087444e-04 9.99997630e-01 5.02340987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.705336195 meters 0.08448106947397807 Centerline is valid? [True, True] Translation: X:90.97, Y:0.76, Z:0.51 [[ 9.99979518e-01 -6.20737586e-03 -1.55949492e-03 9.09748398e+01] [ 6.20717879e-03 9.99980727e-01 -1.31176648e-04 7.64211888e-01] [ 1.56027913e-03 1.21493897e-04 9.99998775e-01 5.06437195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76533619499999 meters 0.09071659639278194 Centerline is valid? [True, True] Translation: X:91.03, Y:0.77, Z:0.50 [[ 9.99975753e-01 -4.86208701e-03 -4.98538208e-03 9.10342592e+01] [ 4.86005635e-03 9.99988102e-01 -4.19357011e-04 7.69793706e-01] [ 4.98736171e-03 3.95117604e-04 9.99987485e-01 4.99747992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82533619499999 meters 0.09574911740260708 Centerline is valid? [True, True] Translation: X:91.09, Y:0.77, Z:0.50 [[ 9.99992549e-01 -9.23811168e-04 -3.74822878e-03 9.10946585e+01] [ 9.22635624e-04 9.99999525e-01 -3.15343698e-04 7.73476383e-01] [ 3.74851831e-03 3.11883099e-04 9.99992926e-01 5.00440326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.885336195 meters 0.10848068070186268 Centerline is valid? [True, False] Translation: X:91.09, Y:0.78, Z:0.50 [[ 9.99992892e-01 -1.14616971e-03 -3.59205158e-03 9.10937332e+01] [ 1.14291222e-03 9.99998934e-01 -9.08783061e-04 7.75961434e-01] [ 3.59308937e-03 9.04671201e-04 9.99993136e-01 5.01539344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.945336195 meters 0.09587215765384444 Centerline is valid? [False, True] Translation: X:91.09, Y:0.78, Z:0.50 [[ 9.99992525e-01 -1.25607500e-03 -3.65675915e-03 9.10942643e+01] [ 1.25178576e-03 9.99998526e-01 -1.17501556e-03 7.77254410e-01] [ 3.65822967e-03 1.17042929e-03 9.99992624e-01 5.00718441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.005336195 meters 0.0930128779790174 Centerline is valid? [True, True] Translation: X:91.16, Y:0.77, Z:0.49 [[ 9.99967451e-01 -3.43913371e-03 -7.29854668e-03 9.11552875e+01] [ 3.43459367e-03 9.99993900e-01 -6.34489992e-04 7.73444344e-01] [ 7.30068425e-03 6.09401798e-04 9.99973164e-01 4.91228499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.065336195 meters 0.08471962382819201 Centerline is valid? [True, True] Translation: X:91.22, Y:0.77, Z:0.50 [[ 9.99951214e-01 -9.22236322e-03 -3.53804941e-03 9.12162663e+01] [ 9.22133242e-03 9.99957435e-01 -3.07549694e-04 7.72305649e-01] [ 3.54073515e-03 2.74909160e-04 9.99993694e-01 4.99628080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12533619499999 meters 0.0800596561126417 Centerline is valid? [True, True] Translation: X:91.28, Y:0.77, Z:0.51 [[ 9.99846919e-01 -1.73392539e-02 2.34302022e-03 9.12764855e+01] [ 1.73388240e-02 9.99849651e-01 2.03674379e-04 7.71332119e-01] [-2.34619951e-03 -1.63017985e-04 9.99997234e-01 5.10406229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18533619499999 meters 0.06893457454704918 Centerline is valid? [True, True] Translation: X:91.34, Y:0.76, Z:0.51 [[ 9.99724958e-01 -2.34280642e-02 1.06487270e-03 9.13381235e+01] [ 2.34279788e-02 9.99725523e-01 9.25686713e-05 7.56423276e-01] [-1.06674913e-03 -6.75953959e-05 9.99999429e-01 5.05954712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.245336195 meters 0.05899438962636266 Centerline is valid? [True, True] Translation: X:91.40, Y:0.74, Z:0.50 [[ 9.99490104e-01 -3.17823780e-02 -3.06803088e-03 9.14000992e+01] [ 3.17817089e-02 9.99494798e-01 -2.66613102e-04 7.43860273e-01] [ 3.07495450e-03 1.68969893e-04 9.99995258e-01 4.98767754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.305336195 meters 0.053091174491596484 Centerline is valid? [True, True] Translation: X:91.46, Y:0.73, Z:0.50 [[ 9.99247262e-01 -3.84486158e-02 -5.15882738e-03 9.14628203e+01] [ 3.84468127e-02 9.99260547e-01 -4.48266856e-04 7.29661544e-01] [ 5.17224792e-03 2.49588958e-04 9.99986593e-01 4.95321147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.365336195 meters 0.058934348693244896 Centerline is valid? [True, True] Translation: X:91.52, Y:0.73, Z:0.50 [[ 9.99157360e-01 -4.10278080e-02 -1.13489828e-03 9.15230187e+01] [ 4.10277224e-02 9.99158004e-01 -9.86210609e-05 7.32183101e-01] [ 1.13798890e-03 5.19756674e-05 9.99999351e-01 5.01303863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.425336195 meters 0.05846955165603295 Centerline is valid? [True, True] Translation: X:91.58, Y:0.72, Z:0.51 [[ 9.99342256e-01 -3.62356722e-02 1.42550234e-03 9.15849597e+01] [ 3.62355323e-02 9.99343270e-01 1.23877401e-04 7.23898476e-01] [-1.42905495e-03 -7.21420854e-05 9.99998976e-01 5.06727145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48533619499999 meters 0.07215758320015139 Centerline is valid? [True, True] Translation: X:91.65, Y:0.73, Z:0.50 [[ 9.99780791e-01 -2.08051714e-02 -2.34817775e-03 9.16452543e+01] [ 2.08047494e-02 9.99783537e-01 -2.04026302e-04 7.29525015e-01] [ 2.35191426e-03 1.55128328e-04 9.99997222e-01 5.02028225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54533619499999 meters 0.0820397337017826 Centerline is valid? [True, True] Translation: X:91.71, Y:0.74, Z:0.50 [[ 9.99918077e-01 -1.20184799e-02 -4.40393719e-03 9.17054970e+01] [ 1.20169105e-02 9.99927721e-01 -3.82667393e-04 7.36366364e-01] [ 4.40821795e-03 3.29714325e-04 9.99990229e-01 4.99973826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60533619499999 meters 0.09118766184668846 Centerline is valid? [True, True] Translation: X:91.76, Y:0.74, Z:0.50 [[ 9.99982269e-01 -5.75232510e-03 -1.54021087e-03 9.17649603e+01] [ 5.75212561e-03 9.99983447e-01 -1.33918592e-04 7.38396859e-01] [ 1.54095572e-03 1.25056731e-04 9.99998805e-01 5.02811025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.665336195 meters 0.09364437285969522 Centerline is valid? [True, True] Translation: X:91.83, Y:0.73, Z:0.51 [[ 9.99995077e-01 -2.90267279e-03 1.19184536e-03 9.18264320e+01] [ 2.90255137e-03 9.99995782e-01 1.03589636e-04 7.34796766e-01] [-1.19214102e-03 -1.00129734e-04 9.99999284e-01 5.06929812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.725336195 meters 0.09206060550473345 Centerline is valid? [True, True] Translation: X:91.89, Y:0.73, Z:0.51 [[ 9.99998403e-01 -1.36431698e-03 1.15422846e-03 9.18889177e+01] [ 1.36420206e-03 9.99999064e-01 1.00350019e-04 7.26673814e-01] [-1.15436429e-03 -9.87752583e-05 9.99999329e-01 5.07941288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.785336195 meters 0.08981811915239103 Centerline is valid? [True, True] Translation: X:91.95, Y:0.71, Z:0.50 [[ 9.99999287e-01 -1.13450192e-03 -3.72529910e-04 9.19524820e+01] [ 1.13448998e-03 9.99999356e-01 -3.22586431e-05 7.08216477e-01] [ 3.72566267e-04 3.18359887e-05 9.99999930e-01 5.04529480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.845336195 meters 0.10238152999672649 Centerline is valid? [True, False] Translation: X:91.95, Y:0.70, Z:0.50 [[ 9.99989595e-01 -4.54480854e-03 -3.93750724e-04 9.19530878e+01] [ 4.54395345e-03 9.99987374e-01 -2.14598147e-03 6.98441875e-01] [ 4.03498827e-04 2.14416995e-03 9.99997620e-01 5.03870665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90533619499999 meters 0.09401194279614476 Centerline is valid? [False, True] Translation: X:91.96, Y:0.68, Z:0.50 [[ 9.99995343e-01 -2.93817285e-03 -8.24814157e-04 9.19560423e+01] [ 2.93943226e-03 9.99994510e-01 1.52986169e-03 6.83515243e-01] [ 8.20314630e-04 -1.53227905e-03 9.99998490e-01 5.01017491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96533619499999 meters 0.09414186174010185 Centerline is valid? [True, True] Translation: X:92.02, Y:0.68, Z:0.50 [[ 9.99996405e-01 6.72828095e-04 -2.59572871e-03 9.20175230e+01] [-6.73412278e-04 9.99999748e-01 -2.24188093e-04 6.76855685e-01] [ 2.59557721e-03 2.25935283e-04 9.99996606e-01 4.99895604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.025336195 meters 0.10564292886965607 Centerline is valid? [True, False] Translation: X:92.02, Y:0.67, Z:0.50 [[ 9.99996530e-01 1.32540731e-03 -2.27685175e-03 9.20163202e+01] [-1.32231735e-03 9.99998204e-01 1.35809135e-03 6.70111415e-01] [ 2.27864769e-03 -1.35507592e-03 9.99996486e-01 5.01020488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.085336195 meters 0.11504956122351474 Centerline is valid? [False, False] Translation: X:92.02, Y:0.67, Z:0.50 [[ 9.99996817e-01 1.40161707e-03 -2.09780338e-03 9.20164854e+01] [-1.39854612e-03 9.99997949e-01 1.46463705e-03 6.69703475e-01] [ 2.09985194e-03 -1.46169852e-03 9.99996727e-01 4.99283269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.145336195 meters 0.11889223883532818 Centerline is valid? [False, False] Translation: X:92.02, Y:0.67, Z:0.50 [[ 9.99997146e-01 1.31215290e-03 -1.99646878e-03 9.20160990e+01] [-1.30973091e-03 9.99998405e-01 1.21396218e-03 6.70799931e-01] [ 1.99805850e-03 -1.21134388e-03 9.99997270e-01 4.99460006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.205336195 meters 0.11666786071674937 Centerline is valid? [False, False] Translation: X:92.02, Y:0.67, Z:0.49 [[ 9.99995023e-01 -8.31726024e-04 -3.04340666e-03 9.20227068e+01] [ 8.29001209e-04 9.99999255e-01 -8.96469439e-04 6.70953639e-01] [ 3.04415001e-03 8.93941990e-04 9.99994967e-01 4.94862141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26533619499999 meters 0.09955864319559557 Centerline is valid? [False, True] Translation: X:92.02, Y:0.67, Z:0.50 [[ 9.99982233e-01 -5.10706124e-03 -3.07418889e-03 9.20225688e+01] [ 5.09332846e-03 9.99977090e-01 -4.45849762e-03 6.67476459e-01] [ 3.09688828e-03 4.44276055e-03 9.99985335e-01 4.96084337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32533619499999 meters 0.10012376853345467 Centerline is valid? [True, False] Translation: X:92.02, Y:0.66, Z:0.50 [[ 9.99994020e-01 -7.20739057e-04 -3.38244442e-03 9.20236587e+01] [ 7.24211623e-04 9.99999212e-01 1.02553124e-03 6.61933480e-01] [ 3.38170261e-03 -1.02797472e-03 9.99993754e-01 4.95490840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.385336195 meters 0.0855193991249681 Centerline is valid? [False, True] Translation: X:92.02, Y:0.66, Z:0.50 [[ 9.99982096e-01 -4.87499232e-03 -3.47006914e-03 9.20239720e+01] [ 4.86518952e-03 9.99984167e-01 -2.82781808e-03 6.59740704e-01] [ 3.48379979e-03 2.81088491e-03 9.99989981e-01 4.95533253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.445336195 meters 0.08598458113873905 Centerline is valid? [True, True] Translation: X:92.08, Y:0.67, Z:0.49 [[ 9.99967955e-01 -2.35255251e-03 -7.65209611e-03 9.20842522e+01] [ 2.34768487e-03 9.99997036e-01 -6.45039024e-04 6.68362511e-01] [ 7.65359092e-03 6.27053643e-04 9.99970514e-01 4.89174456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.505336195 meters 0.09241076520435883 Centerline is valid? [True, True] Translation: X:92.14, Y:0.68, Z:0.49 [[ 9.99984017e-01 1.29572844e-03 -5.50327402e-03 9.21425395e+01] [-1.29830129e-03 9.99999050e-01 -4.63965806e-04 6.84916190e-01] [ 5.50266762e-03 4.71103298e-04 9.99984749e-01 4.91850881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.565336195 meters 0.1025887344850336 Centerline is valid? [True, False] Translation: X:92.18, Y:0.70, Z:0.49 [[ 9.99967366e-01 6.53431018e-03 -4.75072221e-03 9.21843825e+01] [-6.51743043e-03 9.99972425e-01 3.55993347e-03 6.99255193e-01] [ 4.77385292e-03 -3.52885479e-03 9.99982379e-01 4.91477416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62533619499999 meters 0.10950018447520653 Centerline is valid? [False, False] Translation: X:92.18, Y:0.71, Z:0.49 [[ 9.99972990e-01 5.72902204e-03 -4.60400230e-03 9.21837654e+01] [-5.72404210e-03 9.99983019e-01 1.09410316e-03 7.09731072e-01] [ 4.61019226e-03 -1.06772011e-03 9.99988803e-01 4.91626830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68533619499999 meters 0.09041622830566498 Centerline is valid? [False, True] Translation: X:92.14, Y:0.72, Z:0.49 [[ 9.99986468e-01 3.24202653e-03 -4.06853924e-03 9.21383989e+01] [-3.25840498e-03 9.99986589e-01 -4.02548303e-03 7.16329628e-01] [ 4.05543395e-03 4.03868550e-03 9.99983621e-01 4.93643460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.745336195 meters 0.0840856270211991 Centerline is valid? [True, True] Translation: X:92.20, Y:0.72, Z:0.50 [[ 9.99940417e-01 -1.08092312e-02 -1.52385452e-03 9.21976736e+01] [ 1.08090413e-02 9.99941572e-01 -1.32803823e-04 7.16702956e-01] [ 1.52520099e-03 1.16324504e-04 9.99998830e-01 4.96388853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.805336195 meters 0.06869777953220396 Centerline is valid? [True, True] Translation: X:92.26, Y:0.70, Z:0.50 [[ 9.99687543e-01 -2.49949179e-02 2.64529158e-04 9.22596318e+01] [ 2.49949127e-02 9.99687578e-01 2.30619679e-05 7.01860800e-01] [-2.65022945e-04 -1.64428788e-05 9.99999965e-01 5.00048031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.865336195 meters 0.058417013470403636 Centerline is valid? [True, True] Translation: X:92.32, Y:0.70, Z:0.50 [[ 9.99497684e-01 -3.16818340e-02 -8.00237676e-04 9.23206868e+01] [ 3.16817883e-02 9.99498004e-01 -6.97200778e-05 6.98803718e-01] [ 8.02044820e-04 4.43320957e-05 9.99999677e-01 4.96721299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.925336195 meters 0.0666160437135199 Centerline is valid? [True, True] Translation: X:92.38, Y:0.70, Z:0.49 [[ 9.99421134e-01 -3.39616479e-02 -2.00065250e-03 9.23796788e+01] [ 3.39613667e-02 9.99423131e-01 -1.74382400e-04 7.04622343e-01] [ 2.00542070e-03 1.06336562e-04 9.99997983e-01 4.92252204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98533619499999 meters 0.05727038567291489 Centerline is valid? [True, True] Translation: X:92.44, Y:0.70, Z:0.50 [[ 9.99323226e-01 -3.67248779e-02 -2.09128371e-03 9.24405424e+01] [ 3.67245767e-02 9.99325409e-01 -1.82239188e-04 7.01563143e-01] [ 2.09656566e-03 1.05314345e-04 9.99997797e-01 4.95449718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04533619499999 meters 0.05332930351151736 Centerline is valid? [True, True] Translation: X:92.50, Y:0.69, Z:0.50 [[ 9.99353353e-01 -3.58657940e-02 2.55341330e-03 9.25044852e+01] [ 3.58653421e-02 9.99356607e-01 2.22548214e-04 6.88462871e-01] [-2.55975232e-03 -1.30825263e-04 9.99996715e-01 5.00445870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10533619499999 meters 0.06091724770394269 Centerline is valid? [True, True] Translation: X:92.56, Y:0.70, Z:0.50 [[ 9.99464356e-01 -3.26669348e-02 1.96783899e-03 9.25633111e+01] [ 3.26666604e-02 9.99466288e-01 1.71410754e-04 6.96538216e-01] [-1.97238819e-03 -1.07036211e-04 9.99998049e-01 4.99843680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.165336195 meters 0.07139275528602007 Centerline is valid? [True, True] Translation: X:92.62, Y:0.71, Z:0.49 [[ 9.99741875e-01 -2.23044284e-02 -4.32397963e-03 9.26228186e+01] [ 2.23030080e-02 9.99751186e-01 -3.76454511e-04 7.14896597e-01] [ 4.33130037e-03 2.79919586e-04 9.99990581e-01 4.92843401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.225336195 meters 0.0799169140835816 Centerline is valid? [True, True] Translation: X:92.68, Y:0.73, Z:0.49 [[ 9.99818223e-01 -1.87082558e-02 -3.67728165e-03 9.26817880e+01] [ 1.87072039e-02 9.99824954e-01 -3.20233725e-04 7.25919415e-01] [ 3.68262897e-03 2.51383857e-04 9.99993188e-01 4.93586374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.285336195 meters 0.0768092174177982 Centerline is valid? [True, True] Translation: X:92.74, Y:0.72, Z:0.50 [[ 9.99881151e-01 -1.53386630e-02 1.55237068e-03 9.27432271e+01] [ 1.53384715e-02 9.99882350e-01 1.35175543e-04 7.15469127e-01] [-1.55426146e-03 -1.11348484e-04 9.99998786e-01 5.00428316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.345336195 meters 0.07716072602695542 Centerline is valid? [True, True] Translation: X:92.80, Y:0.72, Z:0.49 [[ 9.99822723e-01 -1.86936336e-02 -2.25198023e-03 9.28027378e+01] [ 1.86932390e-02 9.99825247e-01 -1.96157579e-04 7.19678998e-01] [ 2.25525359e-03 1.54026000e-04 9.99997445e-01 4.93586067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40533619499999 meters 0.07625839837007217 Centerline is valid? [True, True] Translation: X:92.86, Y:0.71, Z:0.49 [[ 9.99698194e-01 -2.40507570e-02 -5.00827785e-03 9.28634065e+01] [ 2.40488724e-02 9.99710689e-01 -4.36196045e-04 7.07992840e-01] [ 5.01731974e-03 3.15620964e-04 9.99987363e-01 4.85590917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46533619499999 meters 0.07166027913207418 Centerline is valid? [True, True] Translation: X:92.93, Y:0.69, Z:0.49 [[ 9.99622476e-01 -2.73148346e-02 -2.96724719e-03 9.29258398e+01] [ 2.73141874e-02 9.99626865e-01 -2.58423868e-04 6.91300970e-01] [ 2.97319881e-03 1.77278361e-04 9.99995564e-01 4.91072913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.525336195 meters 0.08234570798384312 Centerline is valid? [True, True] Translation: X:92.98, Y:0.71, Z:0.50 [[ 9.99816259e-01 -1.91420125e-02 -1.01589875e-03 9.29845124e+01] [ 1.91419325e-02 9.99816773e-01 -8.84200505e-05 7.05261210e-01] [ 1.01740515e-03 6.89575387e-05 9.99999480e-01 4.96768793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.585336195 meters 0.09612663495000254 Centerline is valid? [True, True] Translation: X:93.04, Y:0.72, Z:0.49 [[ 9.99992269e-01 -2.97042660e-03 -2.57653548e-03 9.30440831e+01] [ 2.96985836e-03 9.99995565e-01 -2.24339731e-04 7.19789757e-01] [ 2.57719044e-03 2.16686051e-04 9.99996656e-01 4.94893180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.645336195 meters 0.10176060165310538 Centerline is valid? [True, False] Translation: X:93.04, Y:0.73, Z:0.49 [[ 9.99996097e-01 1.09501303e-03 -2.57023411e-03 9.30441374e+01] [-1.08946775e-03 9.99997078e-01 2.15790768e-03 7.28388459e-01] [ 2.57258953e-03 -2.15509907e-03 9.99994369e-01 4.93547344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.705336195 meters 0.11586621066134156 Centerline is valid? [False, False] Translation: X:93.01, Y:0.73, Z:0.49 [[ 9.99960914e-01 7.95309951e-03 -3.86249087e-03 9.30053412e+01] [-7.92276552e-03 9.99938144e-01 7.80628727e-03 7.26140919e-01] [ 3.92433613e-03 -7.77538054e-03 9.99962071e-01 4.89954879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76533619499999 meters 0.11531283314678899 Centerline is valid? [False, False] Translation: X:93.04, Y:0.75, Z:0.50 [[ 9.99995535e-01 2.91445139e-03 -6.59669327e-04 9.30373817e+01] [-2.91350349e-03 9.99994728e-01 1.43335426e-03 7.45164004e-01] [ 6.63843290e-04 -1.43142591e-03 9.99998755e-01 4.95802261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82533619499999 meters 0.10941107102924306 Centerline is valid? [False, False] Translation: X:93.03, Y:0.75, Z:0.50 [[ 9.99999338e-01 1.07670509e-03 4.04781129e-04 9.30319196e+01] [-1.07650424e-03 9.99999298e-01 -4.96075365e-04 7.48095504e-01] [-4.05314971e-04 4.95639288e-04 9.99999795e-01 4.99116697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.885336195 meters 0.09077677194343564 Centerline is valid? [False, True] Translation: X:93.03, Y:0.75, Z:0.50 [[ 9.99999779e-01 6.56832304e-04 9.84906866e-05 9.30329116e+01] [-6.56667708e-04 9.99998403e-01 -1.66200544e-03 7.53069058e-01] [-9.95821882e-05 1.66194040e-03 9.99998614e-01 4.98587653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.945336195 meters 0.08911917845904596 Centerline is valid? [True, True] Translation: X:93.09, Y:0.75, Z:0.49 [[ 9.99964870e-01 -8.35218715e-03 -7.07520164e-04 9.30922389e+01] [ 8.35214587e-03 9.99965118e-01 -6.12737769e-05 7.54015543e-01] [ 7.08007255e-04 5.53623127e-05 9.99999748e-01 4.93189437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.005336195 meters 0.07830412653911345 Centerline is valid? [True, True] Translation: X:93.15, Y:0.76, Z:0.50 [[ 9.99826047e-01 -1.81169145e-02 4.43320206e-03 9.31532855e+01] [ 1.81153895e-02 9.99835829e-01 3.83924313e-04 7.55237190e-01] [-4.43942979e-03 -3.03548346e-04 9.99990100e-01 5.04289774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.065336195 meters 0.069443772834313 Centerline is valid? [True, True] Translation: X:93.21, Y:0.75, Z:0.50 [[ 9.99596625e-01 -2.79583290e-02 4.99197113e-03 9.32129329e+01] [ 2.79565180e-02 9.99609047e-01 4.32213636e-04 7.53518076e-01] [-5.00210347e-03 -2.92481161e-04 9.99987447e-01 5.03821560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12533619499999 meters 0.058642058248922775 Centerline is valid? [True, True] Translation: X:93.28, Y:0.73, Z:0.50 [[ 9.99241990e-01 -3.85252306e-02 5.59030062e-03 9.32757847e+01] [ 3.85231234e-02 9.99257592e-01 4.84165088e-04 7.33055825e-01] [-5.60480291e-03 -2.68442245e-04 9.99984257e-01 5.01775243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18533619499999 meters 0.06086539455859729 Centerline is valid? [True, True] Translation: X:93.34, Y:0.75, Z:0.50 [[ 9.99291958e-01 -3.73844995e-02 4.24042482e-03 9.33367698e+01] [ 3.73832758e-02 9.99300933e-01 3.67499702e-04 7.50388044e-01] [-4.25119928e-03 -2.08718527e-04 9.99990942e-01 5.01850825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.245336195 meters 0.05917542751160109 Centerline is valid? [True, True] Translation: X:93.40, Y:0.75, Z:0.49 [[ 9.99401959e-01 -3.45767308e-02 4.17613511e-04 9.33978909e+01] [ 3.45767187e-02 9.99402046e-01 3.61741734e-05 7.46131822e-01] [-4.18614582e-04 -2.17128348e-05 9.99999912e-01 4.92579849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.305336195 meters 0.05922501233244232 Centerline is valid? [True, True] Translation: X:93.46, Y:0.75, Z:0.50 [[ 9.99405012e-01 -3.44388259e-02 1.89434495e-03 9.34608647e+01] [ 3.44385761e-02 9.99406803e-01 1.64342293e-04 7.45824073e-01] [-1.89888099e-03 -9.90059685e-05 9.99998192e-01 4.97816121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.365336195 meters 0.05718898371919131 Centerline is valid? [True, True] Translation: X:93.52, Y:0.74, Z:0.50 [[ 9.99348528e-01 -3.56631179e-02 5.53736096e-03 9.35226616e+01] [ 3.56610091e-02 9.99363829e-01 4.79138469e-04 7.43551259e-01] [-5.55092583e-03 -2.81358444e-04 9.99984554e-01 5.03049574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.425336195 meters 0.06117510358839629 Centerline is valid? [True, True] Translation: X:93.58, Y:0.74, Z:0.50 [[ 9.99319305e-01 -3.64587514e-02 5.62899989e-03 9.35843677e+01] [ 3.64565853e-02 9.99335119e-01 4.86972413e-04 7.41144044e-01] [-5.64301168e-03 -2.81426819e-04 9.99984038e-01 5.00465137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48533619499999 meters 0.059073463584733275 Centerline is valid? [True, True] Translation: X:93.65, Y:0.74, Z:0.50 [[ 9.99405494e-01 -3.41481407e-02 4.75013068e-03 9.36453108e+01] [ 3.41465733e-02 9.99416751e-01 4.10706952e-04 7.42263586e-01] [-4.76138505e-03 -2.48262099e-04 9.99988634e-01 5.00376152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54533619499999 meters 0.06760902553477696 Centerline is valid? [True, True] Translation: X:93.71, Y:0.74, Z:0.49 [[ 9.99577461e-01 -2.90331520e-02 1.40576471e-03 9.37057686e+01] [ 2.90330096e-02 9.99578446e-01 1.21566258e-04 7.39382359e-01] [-1.40870155e-03 -8.07013110e-05 9.99999005e-01 4.93568077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60533619499999 meters 0.06963693698487991 Centerline is valid? [True, True] Translation: X:93.77, Y:0.74, Z:0.50 [[ 9.99664468e-01 -2.56666781e-02 3.48898270e-03 9.37669351e+01] [ 2.56657813e-02 9.99670534e-01 3.01571177e-04 7.40622656e-01] [-3.49557353e-03 -2.11922523e-04 9.99993868e-01 4.97772594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.665336195 meters 0.08080755932710508 Centerline is valid? [True, True] Translation: X:93.83, Y:0.75, Z:0.49 [[ 9.99752020e-01 -2.21172866e-02 2.59294103e-03 9.38265942e+01] [ 2.21167790e-02 9.99755369e-01 2.24290603e-04 7.45506922e-01] [-2.59726741e-03 -1.66887480e-04 9.99996613e-01 4.92992793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.725336195 meters 0.07965069811583074 Centerline is valid? [True, True] Translation: X:93.89, Y:0.74, Z:0.49 [[ 9.99900802e-01 -1.40075746e-02 1.47412806e-03 9.38877735e+01] [ 1.40074019e-02 9.99901883e-01 1.27437159e-04 7.35563752e-01] [-1.47576851e-03 -1.06775813e-04 9.99998905e-01 4.92065663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.785336195 meters 0.09188115557175874 Centerline is valid? [True, True] Translation: X:93.95, Y:0.75, Z:0.49 [[ 9.99985783e-01 -5.07892397e-03 1.62431257e-03 9.39469933e+01] [ 5.07870248e-03 9.99987093e-01 1.40450135e-04 7.45972137e-01] [-1.62500494e-03 -1.32198738e-04 9.99998671e-01 4.92357332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.845336195 meters 0.0999886490443085 Centerline is valid? [True, True] Translation: X:94.01, Y:0.75, Z:0.49 [[ 9.99992884e-01 1.84619673e-03 3.28998699e-03 9.40072277e+01] [-1.84714169e-03 9.99998254e-01 2.84206652e-04 7.48157197e-01] [-3.28945655e-03 -2.90281702e-04 9.99994548e-01 4.94126909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90533619499999 meters 0.10392795495462737 Centerline is valid? [True, False] Translation: X:94.01, Y:0.75, Z:0.49 [[ 9.99992771e-01 2.06451821e-03 3.19295236e-03 9.40078133e+01] [-2.06715563e-03 9.99997525e-01 8.22934610e-04 7.45711640e-01] [-3.19124550e-03 -8.29528991e-04 9.99994564e-01 4.93601020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96533619499999 meters 0.10361951607946464 Centerline is valid? [False, False] Translation: X:94.01, Y:0.74, Z:0.49 [[ 9.99991855e-01 2.42737644e-03 3.22449892e-03 9.40077928e+01] [-2.43282567e-03 9.99995618e-01 1.68709988e-03 7.41810694e-01] [-3.22038956e-03 -1.69493078e-03 9.99993378e-01 4.93504307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.025336195 meters 0.1071440692137256 Centerline is valid? [False, False] Translation: X:94.00, Y:0.74, Z:0.50 [[ 9.99990775e-01 5.02826313e-04 4.26583394e-03 9.40014802e+01] [-5.02317100e-04 9.99999867e-01 -1.20440655e-04 7.41342838e-01] [-4.26589393e-03 1.18296743e-04 9.99990894e-01 4.97798251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.085336195 meters 0.11562467843084447 Centerline is valid? [False, False] Translation: X:94.01, Y:0.74, Z:0.49 [[ 9.99995462e-01 1.01566063e-03 2.83614483e-03 9.40117930e+01] [-1.01662467e-03 9.99999426e-01 3.38491839e-04 7.41476565e-01] [-2.83579941e-03 -3.41373597e-04 9.99995921e-01 4.88891437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.145336195 meters 0.09990793565838459 Centerline is valid? [False, True] Translation: X:93.97, Y:0.75, Z:0.49 [[ 9.99995244e-01 8.85226441e-04 2.95446465e-03 9.39681480e+01] [-8.81305570e-04 9.99998730e-01 -1.32813843e-03 7.46492437e-01] [-2.95563660e-03 1.32552832e-03 9.99994754e-01 4.89001543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.205336195 meters 0.09940325120897417 Centerline is valid? [True, True] Translation: X:94.03, Y:0.75, Z:0.49 [[ 9.99942943e-01 -9.85613452e-03 4.11915230e-03 9.40275149e+01] [ 9.85455999e-03 9.99951362e-01 4.02367174e-04 7.49535216e-01] [-4.12291773e-03 -3.61751782e-04 9.99991435e-01 4.86500371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26533619499999 meters 0.08154349639331171 Centerline is valid? [True, True] Translation: X:94.09, Y:0.74, Z:0.48 [[ 9.99649140e-01 -2.61799193e-02 4.02604442e-03 9.40900508e+01] [ 2.61785464e-02 9.99657206e-01 3.93331824e-04 7.35706175e-01] [-4.03496171e-03 -2.87797829e-04 9.99991818e-01 4.84157864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32533619499999 meters 0.0660516470601873 Centerline is valid? [True, True] Translation: X:94.15, Y:0.72, Z:0.48 [[ 9.99113458e-01 -4.19537556e-02 3.49012218e-03 9.41527534e+01] [ 4.19528196e-02 9.99119535e-01 3.40996642e-04 7.16272913e-01] [-3.50135534e-03 -1.94273868e-04 9.99993851e-01 4.82273672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.385336195 meters 0.05422836917744043 Centerline is valid? [True, True] Translation: X:94.22, Y:0.70, Z:0.50 [[ 9.98599259e-01 -5.18751377e-02 1.04158795e-02 9.42153826e+01] [ 5.18673418e-02 9.98653465e-01 1.01737625e-03 6.98859052e-01] [-1.04546307e-02 -4.75707188e-04 9.99945236e-01 4.96047309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.445336195 meters 0.05632643270660634 Centerline is valid? [True, True] Translation: X:94.28, Y:0.71, Z:0.49 [[ 9.98795041e-01 -4.82576948e-02 8.92534687e-03 9.42753028e+01] [ 4.82518267e-02 9.98834822e-01 8.71756132e-04 7.05929631e-01] [-8.95701619e-03 -4.40041411e-04 9.99959788e-01 4.92830385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.505336195 meters 0.06495191556266677 Centerline is valid? [True, True] Translation: X:94.34, Y:0.71, Z:0.49 [[ 9.99153301e-01 -4.05894273e-02 6.72160351e-03 9.43350143e+01] [ 4.05859263e-02 9.99175836e-01 6.56497444e-04 7.12189626e-01] [-6.74271067e-03 -3.83139083e-04 9.99977194e-01 4.87973783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.565336195 meters 0.07815592378355728 Centerline is valid? [True, True] Translation: X:94.39, Y:0.74, Z:0.49 [[ 9.99536979e-01 -3.01040405e-02 4.42421964e-03 9.43925480e+01] [ 3.01024213e-02 9.99546726e-01 4.32138948e-04 7.39174576e-01] [-4.43522338e-03 -2.98759135e-04 9.99990120e-01 4.86032462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62533619499999 meters 0.08617742551547021 Centerline is valid? [True, True] Translation: X:94.45, Y:0.75, Z:0.49 [[ 9.99709198e-01 -2.21561082e-02 9.51977117e-03 9.44523690e+01] [ 2.21482535e-02 9.99754265e-01 9.29738662e-04 7.54946085e-01] [-9.53803122e-03 -7.18621987e-04 9.99954254e-01 4.91464547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68533619499999 meters 0.08850209306378376 Centerline is valid? [True, True] Translation: X:94.51, Y:0.76, Z:0.49 [[ 9.99769622e-01 -1.95011164e-02 8.96716749e-03 9.45130863e+01] [ 1.94940413e-02 9.99809590e-01 8.75735620e-04 7.59529989e-01] [-8.98253787e-03 -7.00727536e-04 9.99959411e-01 4.90243213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.745336195 meters 0.07993566873355155 Centerline is valid? [True, True] Translation: X:94.57, Y:0.75, Z:0.49 [[ 9.99703621e-01 -2.33126089e-02 7.01366796e-03 9.45749412e+01] [ 2.33083737e-02 9.99728088e-01 6.84996594e-04 7.51650746e-01] [-7.02772992e-03 -5.21316382e-04 9.99975169e-01 4.86115974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.805336195 meters 0.07013580691904694 Centerline is valid? [True, True] Translation: X:94.64, Y:0.75, Z:0.49 [[ 9.99471568e-01 -3.18090418e-02 6.69101391e-03 9.46360383e+01] [ 3.18053774e-02 9.99493867e-01 6.53394955e-04 7.49070332e-01] [-6.70841123e-03 -4.40239458e-04 9.99977401e-01 4.85705205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.865336195 meters 0.06507139205564838 Centerline is valid? [True, True] Translation: X:94.70, Y:0.74, Z:0.49 [[ 9.99202984e-01 -3.89549783e-02 8.71237513e-03 9.46969257e+01] [ 3.89490370e-02 9.99240836e-01 8.50641957e-04 7.35734746e-01] [-8.73889775e-03 -5.10625361e-04 9.99961685e-01 4.87571289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.925336195 meters 0.06278956264535245 Centerline is valid? [True, True] Translation: X:94.76, Y:0.73, Z:0.48 [[ 9.99001794e-01 -4.41379004e-02 6.87465678e-03 9.47574483e+01] [ 4.41343226e-02 9.99025380e-01 6.71353988e-04 7.30943821e-01] [-6.89758876e-03 -3.67275518e-04 9.99976144e-01 4.84067719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98533619499999 meters 0.0642980062271636 Centerline is valid? [True, True] Translation: X:94.82, Y:0.74, Z:0.48 [[ 9.99058007e-01 -4.29507716e-02 6.19105125e-03 9.48189956e+01] [ 4.29478449e-02 9.99077132e-01 6.04959234e-04 7.40437585e-01] [-6.21132120e-03 -3.38497057e-04 9.99980652e-01 4.82293833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04533619499999 meters 0.07166835231998231 Centerline is valid? [True, True] Translation: X:94.88, Y:0.75, Z:0.49 [[ 9.99344365e-01 -3.53680726e-02 7.74207952e-03 9.48786759e+01] [ 3.53632755e-02 9.99374238e-01 7.55670104e-04 7.48731732e-01] [-7.76396141e-03 -4.81389369e-04 9.99969744e-01 4.86077498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10533619499999 meters 0.07980601843426546 Centerline is valid? [True, True] Translation: X:94.94, Y:0.77, Z:0.48 [[ 9.99652191e-01 -2.53928003e-02 7.12061528e-03 9.49381541e+01] [ 2.53884892e-02 9.99677419e-01 6.95198220e-04 7.66250615e-01] [-7.13597133e-03 -5.14174759e-04 9.99974406e-01 4.84479575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.165336195 meters 0.09338993905258197 Centerline is valid? [True, True] Translation: X:94.99, Y:0.80, Z:0.48 [[ 9.99742136e-01 -2.11279707e-02 8.32282974e-03 9.49947551e+01] [ 2.11219347e-02 9.99776577e-01 8.12479400e-04 7.96739475e-01] [-8.33813627e-03 -6.36475624e-04 9.99965035e-01 4.84844086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.225336195 meters 0.08024876726945444 Centerline is valid? [True, True] Translation: X:95.06, Y:0.79, Z:0.48 [[ 9.99740147e-01 -2.12654739e-02 8.21090780e-03 9.50588119e+01] [ 2.12596035e-02 9.99773668e-01 8.01579104e-04 7.85185442e-01] [-8.22609537e-03 -6.26810166e-04 9.99965969e-01 4.84015549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.285336195 meters 0.08995896969404098 Centerline is valid? [True, True] Translation: X:95.12, Y:0.81, Z:0.48 [[ 9.99692462e-01 -2.34723602e-02 8.00186574e-03 9.51169400e+01] [ 2.34668607e-02 9.99724311e-01 7.80499433e-04 8.07040208e-01] [-8.01797988e-03 -5.92480732e-04 9.99967680e-01 4.82417116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34533619499999 meters 0.0829047784810039 Centerline is valid? [True, True] Translation: X:95.18, Y:0.81, Z:0.48 [[ 9.99656581e-01 -2.51359504e-02 7.40967583e-03 9.51776712e+01] [ 2.51312790e-02 9.99683898e-01 7.22891184e-04 8.10618624e-01] [-7.42550418e-03 -5.36428299e-04 9.99972287e-01 4.79625900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40533619499999 meters 0.07738400735792081 Centerline is valid? [True, True] Translation: X:95.24, Y:0.81, Z:0.48 [[ 9.99541228e-01 -2.99041752e-02 4.80342031e-03 9.52385074e+01] [ 2.99022675e-02 9.99552717e-01 4.68494834e-04 8.08122526e-01] [-4.81528177e-03 -3.24646743e-04 9.99988354e-01 4.75041130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46533619499999 meters 0.06694041449519642 Centerline is valid? [True, True] Translation: X:95.30, Y:0.81, Z:0.48 [[ 9.99356712e-01 -3.46883049e-02 9.10404021e-03 9.52994628e+01] [ 3.46816488e-02 9.99398016e-01 8.88024381e-04 8.11885044e-01] [-9.12936379e-03 -5.71710001e-04 9.99958163e-01 4.83602817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.525336195 meters 0.06921631160872974 Centerline is valid? [True, True] Translation: X:95.36, Y:0.82, Z:0.48 [[ 9.99235962e-01 -3.83045930e-02 7.76215938e-03 9.53590866e+01] [ 3.82998645e-02 9.99266004e-01 7.56963801e-04 8.16191853e-01] [-7.78545718e-03 -4.59095799e-04 9.99969587e-01 4.77612674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.585336195 meters 0.06484714287326393 Centerline is valid? [True, True] Translation: X:95.42, Y:0.82, Z:0.48 [[ 9.99113028e-01 -4.12996404e-02 8.21560169e-03 9.54198447e+01] [ 4.12944427e-02 9.99146699e-01 8.01370304e-04 8.21291339e-01] [-8.24168762e-03 -4.61400818e-04 9.99965930e-01 4.80105920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.645336195 meters 0.06064721682113664 Centerline is valid? [True, True] Translation: X:95.48, Y:0.82, Z:0.48 [[ 9.99089329e-01 -4.19601109e-02 7.73702263e-03 9.54819465e+01] [ 4.19555189e-02 9.99119194e-01 7.54943496e-04 8.22387510e-01] [-7.76188533e-03 -4.29645192e-04 9.99969784e-01 4.77599801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.705336195 meters 0.0664112604773173 Centerline is valid? [True, True] Translation: X:95.54, Y:0.83, Z:0.47 [[ 9.99075114e-01 -4.24807307e-02 6.65606459e-03 9.55425345e+01] [ 4.24773458e-02 9.99097219e-01 6.49153603e-04 8.31068995e-01] [-6.67763214e-03 -3.65821253e-04 9.99977637e-01 4.72715841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76533619499999 meters 0.058103106472034864 Centerline is valid? [True, True] Translation: X:95.60, Y:0.83, Z:0.48 [[ 9.98984352e-01 -4.40239594e-02 9.59978604e-03 9.56046069e+01] [ 4.40169947e-02 9.99030344e-01 9.35694020e-04 8.32045610e-01] [-9.63167051e-03 -5.12189953e-04 9.99953483e-01 4.79135585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82533619499999 meters 0.06432672311202199 Centerline is valid? [True, True] Translation: X:95.67, Y:0.83, Z:0.47 [[ 9.99020869e-01 -4.39692286e-02 4.89994055e-03 9.56657580e+01] [ 4.39674131e-02 9.99032852e-01 4.77661982e-04 8.33676861e-01] [-4.91620401e-03 -2.61756578e-04 9.99987881e-01 4.69326320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.885336195 meters 0.062028642374182034 Centerline is valid? [True, True] Translation: X:95.73, Y:0.84, Z:0.47 [[ 9.99127150e-01 -4.13594854e-02 5.85929341e-03 9.57267737e+01] [ 4.13568470e-02 9.99144277e-01 5.70781109e-04 8.40303825e-01] [-5.87788669e-03 -3.27961001e-04 9.99982671e-01 4.71812205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.945336195 meters 0.06932885516750975 Centerline is valid? [True, True] Translation: X:95.78, Y:0.86, Z:0.47 [[ 9.99271563e-01 -3.76492029e-02 6.23548562e-03 9.57842724e+01] [ 3.76461434e-02 9.99290948e-01 6.07363558e-04 8.60260744e-01] [-6.25393109e-03 -3.72179146e-04 9.99980375e-01 4.70321543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.005336195 meters 0.0664569354718082 Centerline is valid? [True, True] Translation: X:95.85, Y:0.85, Z:0.47 [[ 9.99199810e-01 -3.94087131e-02 6.83324700e-03 9.58466315e+01] [ 3.94050831e-02 9.99223097e-01 6.65095912e-04 8.50537555e-01] [-6.85414880e-03 -3.95299043e-04 9.99976432e-01 4.70021029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.065336195 meters 0.07043236223869641 Centerline is valid? [True, True] Translation: X:95.91, Y:0.87, Z:0.47 [[ 9.99197597e-01 -3.97107479e-02 5.21710380e-03 9.59063168e+01] [ 3.97086351e-02 9.99211172e-01 5.07967637e-04 8.65254513e-01] [-5.23316018e-03 -3.00395971e-04 9.99986262e-01 4.65334481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12533619499999 meters 0.07664675633506499 Centerline is valid? [True, True] Translation: X:95.97, Y:0.88, Z:0.47 [[ 9.99373649e-01 -3.49886696e-02 5.30124162e-03 9.59655026e+01] [ 3.49864247e-02 9.99387655e-01 5.15650062e-04 8.78853366e-01] [-5.31603734e-03 -3.29855593e-04 9.99985815e-01 4.66925548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18533619499999 meters 0.07353117254151934 Centerline is valid? [True, True] Translation: X:96.03, Y:0.88, Z:0.46 [[ 9.99581613e-01 -2.87121930e-02 3.49410846e-03 9.60258033e+01] [ 2.87111794e-02 9.99587691e-01 3.39915573e-04 8.79763967e-01] [-3.50242753e-03 -2.39453382e-04 9.99993838e-01 4.64671540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.245336195 meters 0.07292676467559739 Centerline is valid? [True, True] Translation: X:96.09, Y:0.89, Z:0.47 [[ 9.99603612e-01 -2.77802028e-02 4.56948285e-03 9.60871845e+01] [ 2.77784582e-02 9.99614005e-01 4.44827949e-04 8.87013074e-01] [-4.58007647e-03 -3.17718436e-04 9.99989461e-01 4.65357853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.305336195 meters 0.07344093149464723 Centerline is valid? [True, True] Translation: X:96.15, Y:0.89, Z:0.46 [[ 9.99539486e-01 -2.99453293e-02 4.90844261e-03 9.61472202e+01] [ 2.99433449e-02 9.99551484e-01 4.77289198e-04 8.88118389e-01] [-4.92053367e-03 -3.30094210e-04 9.99987840e-01 4.64109501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.365336195 meters 0.0751058098351462 Centerline is valid? [True, True] Translation: X:96.21, Y:0.90, Z:0.47 [[ 9.99462920e-01 -3.21194931e-02 6.49683948e-03 9.62067221e+01] [ 3.21160623e-02 9.99483947e-01 6.31739513e-04 8.95134761e-01] [-6.51377792e-03 -4.22747317e-04 9.99978696e-01 4.65286675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.425336195 meters 0.0827497278580952 Centerline is valid? [True, True] Translation: X:96.27, Y:0.91, Z:0.46 [[ 9.99513891e-01 -3.09059374e-02 4.09935922e-03 9.62653414e+01] [ 3.09045613e-02 9.99522260e-01 3.98616841e-04 9.11430150e-01] [-4.10972042e-03 -2.71734171e-04 9.99991518e-01 4.60362277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48533619499999 meters 0.0844061245517316 Centerline is valid? [True, True] Translation: X:96.33, Y:0.91, Z:0.46 [[ 9.99606158e-01 -2.77082089e-02 4.44782910e-03 9.63263574e+01] [ 2.77065573e-02 9.99616006e-01 4.32518277e-04 9.13573416e-01] [-4.45810547e-03 -3.09113902e-04 9.99990015e-01 4.58459839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54533619499999 meters 0.07660869630434088 Centerline is valid? [True, True] Translation: X:96.39, Y:0.91, Z:0.46 [[ 9.99541724e-01 -3.00796210e-02 3.39983429e-03 9.63876900e+01] [ 3.00786692e-02 9.99547480e-01 3.30756734e-04 9.12191467e-01] [-3.40824483e-03 -2.28342665e-04 9.99994166e-01 4.55973707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60533619499999 meters 0.06912186045781686 Centerline is valid? [True, True] Translation: X:96.45, Y:0.90, Z:0.44 [[ 9.99385327e-01 -3.48949001e-02 -3.36352519e-03 9.64490241e+01] [ 3.48939964e-02 9.99390966e-01 -3.27006380e-04 9.03327305e-01] [ 3.37288754e-03 2.09438542e-04 9.99994290e-01 4.43297468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.665336195 meters 0.0629168365039976 Centerline is valid? [True, True] Translation: X:96.51, Y:0.89, Z:0.45 [[ 9.99123546e-01 -4.18549370e-02 5.51852659e-04 9.65095683e+01] [ 4.18549139e-02 9.99123698e-01 5.34625066e-05 8.94823966e-01] [-5.53606740e-04 -3.03179037e-05 9.99999846e-01 4.48828537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.725336195 meters 0.05836272984686129 Centerline is valid? [True, True] Translation: X:96.57, Y:0.90, Z:0.46 [[ 9.98789478e-01 -4.88284117e-02 5.94676851e-03 9.65687699e+01] [ 4.88258329e-02 9.98807140e-01 5.78135192e-04 8.98259325e-01] [-5.96790427e-03 -2.87079421e-04 9.99982151e-01 4.57593626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.785336195 meters 0.04796977028056449 Centerline is valid? [True, True] Translation: X:96.63, Y:0.88, Z:0.46 [[ 9.98331858e-01 -5.69398986e-02 9.55771121e-03 9.66306636e+01] [ 5.69336052e-02 9.98377534e-01 9.29483530e-04 8.83521922e-01] [-9.59512885e-03 -3.83778062e-04 9.99953892e-01 4.63191722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84533619499999 meters 0.043728674736742495 Centerline is valid? [True, True] Translation: X:96.69, Y:0.88, Z:0.45 [[ 9.98242392e-01 -5.91544766e-02 3.58819152e-03 9.66935977e+01] [ 5.91536022e-02 9.98248831e-01 3.49420441e-04 8.75189146e-01] [-3.60257777e-03 -1.36551844e-04 9.99993501e-01 4.52858085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90533619499999 meters 0.05794728581267146 Centerline is valid? [True, True] Translation: X:96.75, Y:0.90, Z:0.45 [[ 9.98636373e-01 -5.19808307e-02 4.83599658e-03 9.67503293e+01] [ 5.19791636e-02 9.98648059e-01 4.69852224e-04 9.00148133e-01] [-4.85388191e-03 -2.17840463e-04 9.99988196e-01 4.52295827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96533619499999 meters 0.06340701485185896 Centerline is valid? [True, True] Translation: X:96.81, Y:0.90, Z:0.45 [[ 9.99026397e-01 -4.37454697e-02 5.70892496e-03 9.68104664e+01] [ 4.37430102e-02 9.99042662e-01 5.55039573e-04 9.03565836e-01] [-5.72774006e-03 -3.04773622e-04 9.99983550e-01 4.54683643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.025336195 meters 0.0702506760967843 Centerline is valid? [True, True] Translation: X:96.87, Y:0.92, Z:0.45 [[ 9.99343255e-01 -3.58554596e-02 5.23872324e-03 9.68694937e+01] [ 3.58532804e-02 9.99356935e-01 5.09317052e-04 9.21546375e-01] [-5.25361620e-03 -3.21157148e-04 9.99986148e-01 4.53796751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.085336195 meters 0.07225001813200006 Centerline is valid? [True, True] Translation: X:96.93, Y:0.93, Z:0.45 [[ 9.99463484e-01 -3.23682078e-02 5.00437283e-03 9.69300460e+01] [ 3.23661759e-02 9.99475960e-01 4.86503663e-04 9.26073423e-01] [-5.01749759e-03 -3.24270235e-04 9.99987360e-01 4.52216101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.145336195 meters 0.07905139761240228 Centerline is valid? [True, True] Translation: X:96.99, Y:0.93, Z:0.45 [[ 9.99565360e-01 -2.90627633e-02 4.94442845e-03 9.69897898e+01] [ 2.90607401e-02 9.99577532e-01 4.80565566e-04 9.30982004e-01] [-4.95630616e-03 -3.36667942e-04 9.99987661e-01 4.50628171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.205336195 meters 0.07500029579935749 Centerline is valid? [True, True] Translation: X:97.05, Y:0.93, Z:0.46 [[ 9.99442078e-01 -3.22429841e-02 8.71331472e-03 9.70507398e+01] [ 3.22368191e-02 9.99479900e-01 8.47104962e-04 9.31444151e-01] [-8.73609612e-03 -5.65742794e-04 9.99961680e-01 4.55575016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26533619499999 meters 0.05896671531090379 Centerline is valid? [True, True] Translation: X:97.11, Y:0.91, Z:0.45 [[ 9.99164479e-01 -4.03941826e-02 6.21715334e-03 9.71143085e+01] [ 4.03912005e-02 9.99183760e-01 6.04515985e-04 9.08372621e-01] [-6.23649758e-03 -3.52892612e-04 9.99980491e-01 4.50713526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32533619499999 meters 0.06405779897274277 Centerline is valid? [True, True] Translation: X:97.17, Y:0.90, Z:0.45 [[ 9.98909548e-01 -4.59416354e-02 8.31148207e-03 9.71749888e+01] [ 4.59364989e-02 9.98944035e-01 8.07956215e-04 9.04193582e-01] [-8.33982426e-03 -4.25274791e-04 9.99965133e-01 4.52567015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.385336195 meters 0.07274023027559867 Centerline is valid? [True, True] Translation: X:97.23, Y:0.91, Z:0.45 [[ 9.99218049e-01 -3.90059118e-02 6.46759341e-03 9.72344600e+01] [ 3.90026570e-02 9.99238909e-01 6.28664574e-04 9.13883626e-01] [-6.48719262e-03 -3.75919662e-04 9.99978887e-01 4.49816600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.445336195 meters 0.071515762230043 Centerline is valid? [True, True] Translation: X:97.30, Y:0.92, Z:0.45 [[ 9.99601438e-01 -2.78442179e-02 4.65463221e-03 9.72953028e+01] [ 2.78424110e-02 9.99612222e-01 4.52539513e-04 9.16324474e-01] [-4.66542786e-03 -3.22762965e-04 9.99989065e-01 4.48504599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.505336195 meters 0.08860685498931659 Centerline is valid? [True, True] Translation: X:97.35, Y:0.94, Z:0.45 [[ 9.99829892e-01 -1.77342644e-02 5.06780453e-03 9.73530337e+01] [ 1.77319932e-02 9.99842654e-01 4.92754855e-04 9.42731501e-01] [-5.07574578e-03 -4.02808758e-04 9.99987037e-01 4.48142054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.565336195 meters 0.0955165623454746 Centerline is valid? [True, True] Translation: X:97.41, Y:0.96, Z:0.45 [[ 9.99950650e-01 -7.55382229e-03 6.45268946e-03 9.74122019e+01] [ 7.54993036e-03 9.99971302e-01 6.27293558e-04 9.62835019e-01] [-6.45724274e-03 -5.78545245e-04 9.99978984e-01 4.49477427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62533619499999 meters 0.09769312506570613 Centerline is valid? [True, True] Translation: X:97.47, Y:0.98, Z:0.44 [[ 9.99955157e-01 -8.44952943e-03 4.27653962e-03 9.74713431e+01] [ 8.44782732e-03 9.99964230e-01 4.15919600e-04 9.82816380e-01] [-4.27990098e-03 -3.79773481e-04 9.99990769e-01 4.43683993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68533619499999 meters 0.08595218414308117 Centerline is valid? [True, True] Translation: X:97.53, Y:0.97, Z:0.45 [[ 9.99837950e-01 -1.71963509e-02 5.32538848e-03 9.75329159e+01] [ 1.71938366e-02 9.99852041e-01 5.17565265e-04 9.74051649e-01] [-5.33350077e-03 -4.25917534e-04 9.99985686e-01 4.45251543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.745336195 meters 0.07022042878896641 Centerline is valid? [True, True] Translation: X:97.59, Y:0.96, Z:0.44 [[ 9.99326126e-01 -3.63281309e-02 5.24974762e-03 9.75936815e+01] [ 3.63259500e-02 9.99339865e-01 5.10214199e-04 9.64873068e-01] [-5.26481720e-03 -3.19168309e-04 9.99986090e-01 4.42166079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.805336195 meters 0.06511810236102186 Centerline is valid? [True, True] Translation: X:97.65, Y:0.96, Z:0.44 [[ 9.99157017e-01 -4.04001448e-02 7.28580638e-03 9.76546871e+01] [ 4.03960529e-02 9.99183496e-01 7.07970026e-04 9.64159980e-01] [-7.30845958e-03 -4.13055399e-04 9.99973208e-01 4.44336354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.865336195 meters 0.04956297440894352 Centerline is valid? [True, True] Translation: X:97.72, Y:0.95, Z:0.45 [[ 9.98711708e-01 -5.00321205e-02 8.46826000e-03 9.77173438e+01] [ 5.00269371e-02 9.98747530e-01 8.22947170e-04 9.49055511e-01] [-8.49882755e-03 -3.98245863e-04 9.99963805e-01 4.46852983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.925336195 meters 0.043105558770052343 Centerline is valid? [True, True] Translation: X:97.78, Y:0.94, Z:0.44 [[ 9.98095134e-01 -6.12325791e-02 7.52829514e-03 9.77782477e+01] [ 6.12288012e-02 9.98123489e-01 7.31497909e-04 9.42764134e-01] [-7.55895972e-03 -2.69156016e-04 9.99971394e-01 4.43955336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98533619499999 meters 0.031534202821121085 Centerline is valid? [True, True] Translation: X:97.84, Y:0.93, Z:0.44 [[ 9.97621353e-01 -6.86923090e-02 5.74475443e-03 9.78404307e+01] [ 6.86902331e-02 9.97637880e-01 5.58115304e-04 9.26469518e-01] [-5.76952287e-03 -1.62179224e-04 9.99983343e-01 4.39150731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04533619499999 meters 0.0335473663281685 Centerline is valid? [True, True] Translation: X:97.90, Y:0.93, Z:0.44 [[ 9.97542427e-01 -6.96901648e-02 7.23792699e-03 9.78996193e+01] [ 6.96868972e-02 9.97568665e-01 7.02980894e-04 9.25777127e-01] [-7.26932002e-03 -1.96864593e-04 9.99973559e-01 4.42242936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10533619499999 meters 0.03943674679180615 Centerline is valid? [True, True] Translation: X:97.96, Y:0.94, Z:0.44 [[ 9.97916945e-01 -6.41940641e-02 6.39479197e-03 9.79587662e+01] [ 6.41913980e-02 9.97937412e-01 6.21497017e-04 9.40059568e-01] [-6.42149857e-03 -2.09711768e-04 9.99979360e-01 4.41311526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.165336195 meters 0.04699129531810744 Centerline is valid? [True, True] Translation: X:98.02, Y:0.95, Z:0.44 [[ 9.98346839e-01 -5.70512238e-02 6.98192833e-03 9.80183226e+01] [ 5.70478712e-02 9.98371214e-01 6.78564651e-04 9.46330208e-01] [-7.00926920e-03 -2.79138726e-04 9.99975396e-01 4.40290709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.225336195 meters 0.05050481136874865 Centerline is valid? [True, True] Translation: X:98.08, Y:0.95, Z:0.44 [[ 9.98679391e-01 -5.07479458e-02 8.00744285e-03 9.80780673e+01] [ 5.07433328e-02 9.98711424e-01 7.78342416e-04 9.52514003e-01] [-8.03662393e-03 -3.70990194e-04 9.99967637e-01 4.43624747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.285336195 meters 0.05922985416818917 Centerline is valid? [True, True] Translation: X:98.14, Y:0.96, Z:0.44 [[ 9.98929246e-01 -4.56661531e-02 7.41370581e-03 9.81376230e+01] [ 4.56620578e-02 9.98956684e-01 7.20809134e-04 9.62357905e-01] [-7.43888756e-03 -3.81512262e-04 9.99972258e-01 4.40483689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34533619499999 meters 0.06373778697621002 Centerline is valid? [True, True] Translation: X:98.20, Y:0.96, Z:0.44 [[ 9.98956684e-01 -4.46937363e-02 9.38156206e-03 9.81979505e+01] [ 4.46871363e-02 9.99000615e-01 9.12066950e-04 9.64233455e-01] [-9.41294994e-03 -4.91880234e-04 9.99955576e-01 4.40599242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40533619499999 meters 0.056106859694320076 Centerline is valid? [True, True] Translation: X:98.26, Y:0.95, Z:0.44 [[ 9.98993235e-01 -4.44409568e-02 6.12516523e-03 9.82609448e+01] [ 4.44381382e-02 9.99011960e-01 5.95563898e-04 9.45658017e-01] [-6.14558076e-03 -3.22773366e-04 9.99981064e-01 4.36511653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46533619499999 meters 0.06385285116587672 Centerline is valid? [True, True] Translation: X:98.32, Y:0.96, Z:0.44 [[ 9.99217000e-01 -3.89889503e-02 6.72667025e-03 9.83186074e+01] [ 3.89854299e-02 9.99239565e-01 6.53725755e-04 9.62647721e-01] [-6.74704313e-03 -3.90971756e-04 9.99977162e-01 4.37447847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.525336195 meters 0.08110705869484477 Centerline is valid? [True, True] Translation: X:98.38, Y:0.97, Z:0.44 [[ 9.99560470e-01 -2.81505810e-02 9.29577441e-03 9.83776313e+01] [ 2.81433913e-02 9.99603488e-01 9.03362259e-04 9.71617049e-01] [-9.31751870e-03 -6.41350588e-04 9.99956385e-01 4.40833666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.585336195 meters 0.08406960719369634 Centerline is valid? [True, True] Translation: X:98.44, Y:0.99, Z:0.43 [[ 9.99811310e-01 -1.88920115e-02 4.52062130e-03 9.84366464e+01] [ 1.88902174e-02 9.99821467e-01 4.39245527e-04 9.85711497e-01] [-4.52811245e-03 -3.53767126e-04 9.99989685e-01 4.32617642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.645336195 meters 0.09291988108036951 Centerline is valid? [True, True] Translation: X:98.50, Y:1.00, Z:0.43 [[ 9.99943081e-01 -1.00711104e-02 3.52232437e-03 9.84957718e+01] [ 1.00699669e-02 9.99949238e-01 3.42242670e-04 1.00329067e+00] [-3.52559233e-03 -3.06753501e-04 9.99993738e-01 4.29600817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.705336195 meters 0.09815356441997579 Centerline is valid? [True, True] Translation: X:98.55, Y:1.02, Z:0.43 [[ 9.99973153e-01 -4.87605629e-03 5.46971662e-03 9.85545178e+01] [ 4.87322217e-03 9.99987985e-01 5.31356775e-04 1.01883283e+00] [-5.47224182e-03 -5.04687366e-04 9.99984900e-01 4.32992221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76533619499999 meters 0.10216354891309688 Centerline is valid? [True, False] Translation: X:98.55, Y:1.03, Z:0.43 [[ 9.99983063e-01 -1.74251698e-03 5.55318937e-03 9.85542851e+01] [ 1.72964315e-03 9.99995808e-01 2.32223671e-03 1.03018071e+00] [-5.55721263e-03 -2.31259234e-03 9.99981884e-01 4.32567298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82533619499999 meters 0.09092254448967937 Centerline is valid? [False, True] Translation: X:98.51, Y:1.03, Z:0.43 [[ 9.99980630e-01 -4.18258542e-03 4.60929564e-03 9.85127154e+01] [ 4.18223467e-03 9.99991251e-01 8.57309191e-05 1.03314687e+00] [-4.60961389e-03 -6.64521024e-05 9.99989373e-01 4.32461975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.885336195 meters 0.08198302737004197 Centerline is valid? [True, True] Translation: X:98.57, Y:1.03, Z:0.43 [[ 9.99848981e-01 -1.65086420e-02 5.42950120e-03 9.85722910e+01] [ 1.65062657e-02 9.99863646e-01 4.82179289e-04 1.03346282e+00] [-5.43672099e-03 -3.92485682e-04 9.99985144e-01 4.31706499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.945336195 meters 0.06426894911232711 Centerline is valid? [True, True] Translation: X:98.63, Y:1.02, Z:0.43 [[ 9.99456129e-01 -3.22752852e-02 6.76403081e-03 9.86337173e+01] [ 3.22719563e-02 9.99478944e-01 6.00741668e-04 1.02282487e+00] [-6.77989548e-03 -3.82126435e-04 9.99976943e-01 4.32766348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.005336195 meters 0.05078727918136145 Centerline is valid? [True, True] Translation: X:98.70, Y:1.02, Z:0.43 [[ 9.99177486e-01 -4.00778360e-02 6.17408651e-03 9.86955623e+01] [ 4.00752108e-02 9.99196516e-01 5.48368189e-04 1.01632277e+00] [-6.19110314e-03 -3.00489330e-04 9.99980790e-01 4.31749045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.065336195 meters 0.05279694313827035 Centerline is valid? [True, True] Translation: X:98.76, Y:1.02, Z:0.43 [[ 9.99019053e-01 -4.40320301e-02 4.70239706e-03 9.87551025e+01] [ 4.40305518e-02 9.99030098e-01 4.17478752e-04 1.02242846e+00] [-4.71621863e-03 -2.10020090e-04 9.99988857e-01 4.26747285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12533619499999 meters 0.048056230949549375 Centerline is valid? [True, True] Translation: X:98.82, Y:1.02, Z:0.42 [[ 9.98895489e-01 -4.68519170e-02 3.56373242e-03 9.88157847e+01] [ 4.68510856e-02 9.98901835e-01 3.16462829e-04 1.02284901e+00] [-3.57464574e-03 -1.49148559e-04 9.99993600e-01 4.24363362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18533619499999 meters 0.048609896584495445 Centerline is valid? [True, True] Translation: X:98.88, Y:1.03, Z:0.43 [[ 9.98858211e-01 -4.75012682e-02 5.08954295e-03 9.88755971e+01] [ 4.74995809e-02 9.98871156e-01 4.51956255e-04 1.02722436e+00] [-5.10526614e-03 -2.09689059e-04 9.99986946e-01 4.25290480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.245336195 meters 0.048623566928921655 Centerline is valid? [True, True] Translation: X:98.94, Y:1.03, Z:0.42 [[ 9.98924595e-01 -4.62065127e-02 3.82241888e-03 9.89356378e+01] [ 4.62055519e-02 9.98931895e-01 3.39330179e-04 1.02799652e+00] [-3.83401540e-03 -1.62348288e-04 9.99992637e-01 4.23587961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.305336195 meters 0.05752350531271051 Centerline is valid? [True, True] Translation: X:98.99, Y:1.04, Z:0.42 [[ 9.99236856e-01 -3.87704446e-02 4.74948867e-03 9.89940214e+01] [ 3.87688766e-02 9.99248115e-01 4.21806624e-04 1.04135528e+00] [-4.76227123e-03 -2.37352384e-04 9.99988632e-01 4.23848146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.365336195 meters 0.07125133879731328 Centerline is valid? [True, True] Translation: X:99.05, Y:1.06, Z:0.42 [[ 9.99498759e-01 -3.14683364e-02 3.46031983e-03 9.90520691e+01] [ 3.14674607e-02 9.99504730e-01 3.07243459e-04 1.05767562e+00] [-3.46827447e-03 -1.98201978e-04 9.99993966e-01 4.20165117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.425336195 meters 0.0699526466356741 Centerline is valid? [True, True] Translation: X:99.11, Y:1.06, Z:0.42 [[ 9.99647219e-01 -2.64620844e-02 2.27940955e-03 9.91126536e+01] [ 2.64616910e-02 9.99649808e-01 2.02564994e-04 1.06280479e+00] [-2.28397161e-03 -1.42176502e-04 9.99997382e-01 4.18868456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48533619499999 meters 0.0730152741576991 Centerline is valid? [True, True] Translation: X:99.17, Y:1.07, Z:0.42 [[ 9.99688105e-01 -2.45305159e-02 4.68460480e-03 9.91721968e+01] [ 2.45288349e-02 9.99699036e-01 4.15960714e-04 1.06979656e+00] [-4.69339863e-03 -3.00923080e-04 9.99988941e-01 4.20670579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54533619499999 meters 0.07242104935749025 Centerline is valid? [True, True] Translation: X:99.23, Y:1.07, Z:0.43 [[ 9.99684906e-01 -2.33446640e-02 9.22583866e-03 9.92337634e+01] [ 2.33380903e-02 9.99727294e-01 8.19558359e-04 1.07207002e+00] [-9.24245503e-03 -6.03986665e-04 9.99957105e-01 4.29442586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60533619499999 meters 0.07276479529676534 Centerline is valid? [True, True] Translation: X:99.30, Y:1.07, Z:0.42 [[ 9.99669807e-01 -2.53981368e-02 3.90012664e-03 9.92951325e+01] [ 2.53969773e-02 9.99677385e-01 3.46537232e-04 1.06908241e+00] [-3.90766980e-03 -2.47371380e-04 9.99992334e-01 4.17475211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.665336195 meters 0.061893359865159085 Centerline is valid? [True, True] Translation: X:99.36, Y:1.06, Z:0.42 [[ 9.99498387e-01 -3.14630715e-02 3.61235803e-03 9.93564314e+01] [ 3.14621172e-02 9.99504894e-01 3.20713428e-04 1.05813520e+00] [-3.62066016e-03 -2.06900122e-04 9.99993424e-01 4.16633400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.725336195 meters 0.06183351677214416 Centerline is valid? [True, True] Translation: X:99.42, Y:1.06, Z:0.41 [[ 9.99395463e-01 -3.46890890e-02 2.31862637e-03 9.94164159e+01] [ 3.46887047e-02 9.99398145e-01 2.05768166e-04 1.06137292e+00] [-2.32436881e-03 -1.25213626e-04 9.99997291e-01 4.11753668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.785336195 meters 0.05751440418026796 Centerline is valid? [True, True] Translation: X:99.48, Y:1.04, Z:0.41 [[ 9.99319801e-01 -3.68491451e-02 1.44082849e-03 9.94788399e+01] [ 3.68489991e-02 9.99320837e-01 1.27788685e-04 1.04073572e+00] [-1.44455884e-03 -7.46086757e-05 9.99998954e-01 4.11969319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84533619499999 meters 0.061682961673890264 Centerline is valid? [True, True] Translation: X:99.54, Y:1.04, Z:0.41 [[ 9.99369123e-01 -3.55044917e-02 8.87519670e-04 9.95376509e+01] [ 3.55044360e-02 9.99369516e-01 7.83965622e-05 1.04290926e+00] [-8.89743533e-04 -4.68362183e-05 9.99999603e-01 4.10900886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90533619499999 meters 0.06670416844920726 Centerline is valid? [True, True] Translation: X:99.60, Y:1.05, Z:0.41 [[ 9.99572900e-01 -2.89823055e-02 3.74750149e-03 9.95975124e+01] [ 2.89812605e-02 9.99579900e-01 3.32852977e-04 1.04613145e+00] [-3.75557401e-03 -2.24103499e-04 9.99992923e-01 4.12700693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96533619499999 meters 0.07197079891435199 Centerline is valid? [True, True] Translation: X:99.66, Y:1.04, Z:0.42 [[ 9.99652018e-01 -2.57288130e-02 5.81983925e-03 9.96581733e+01] [ 2.57262379e-02 9.99668892e-01 5.16913140e-04 1.03922406e+00] [-5.83121182e-03 -3.67010694e-04 9.99982931e-01 4.18420325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.025336195 meters 0.07283633499409933 Centerline is valid? [True, True] Translation: X:99.72, Y:1.04, Z:0.41 [[ 9.99777484e-01 -2.06287276e-02 4.40892514e-03 9.97180322e+01] [ 2.06271996e-02 9.99787160e-01 3.91744734e-04 1.04484645e+00] [-4.41606794e-03 -3.00713786e-04 9.99990204e-01 4.14810322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.085336195 meters 0.08755266447785823 Centerline is valid? [True, True] Translation: X:99.78, Y:1.06, Z:0.41 [[ 9.99870385e-01 -1.58345427e-02 2.91216238e-03 9.97767145e+01] [ 1.58338562e-02 9.99874603e-01 2.58634725e-04 1.05651923e+00] [-2.91589257e-03 -2.12490442e-04 9.99995726e-01 4.10655583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.145336195 meters 0.08647986616401353 Centerline is valid? [True, True] Translation: X:99.84, Y:1.05, Z:0.41 [[ 9.99910921e-01 -1.32583570e-02 1.53815376e-03 9.98380127e+01] [ 1.32581623e-02 9.99912097e-01 1.36674404e-04 1.05055586e+00] [-1.53983063e-03 -1.16269137e-04 9.99998808e-01 4.09150885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.205336195 meters 0.08206372567099214 Centerline is valid? [True, True] Translation: X:99.90, Y:1.04, Z:0.42 [[ 9.99896371e-01 -1.23512864e-02 7.39540726e-03 9.99006269e+01] [ 1.23467623e-02 9.99923560e-01 6.57092974e-04 1.03594762e+00] [-7.40295790e-03 -5.65715545e-04 9.99972438e-01 4.18555900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26533619499999 meters 0.08378063172243051 Centerline is valid? [True, True] Translation: X:99.96, Y:1.04, Z:0.42 [[ 9.99884351e-01 -1.32463476e-02 7.47114093e-03 9.99609936e+01] [ 1.32417548e-02 9.99912104e-01 6.63881389e-04 1.03707329e+00] [-7.47927825e-03 -5.64873596e-04 9.99971870e-01 4.17981969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32533619499999 meters 0.0780443401631543 Centerline is valid? [True, True] Translation: X:100.02, Y:1.02, Z:0.41 [[ 9.99903344e-01 -1.32090475e-02 4.33872398e-03 1.00024952e+02] [ 1.32074969e-02 9.99912703e-01 3.85840232e-04 1.02404158e+00] [-4.34344181e-03 -3.28499255e-04 9.99990513e-01 4.12855126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.385336195 meters 0.08585531725322967 Centerline is valid? [True, True] Translation: X:100.09, Y:1.03, Z:0.41 [[ 9.99905103e-01 -1.34688145e-02 2.89409848e-03 1.00085247e+02] [ 1.34681265e-02 9.99909268e-01 2.57090094e-04 1.02636514e+00] [-2.89729860e-03 -2.18087613e-04 9.99995779e-01 4.07876379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.445336195 meters 0.08456663920055799 Centerline is valid? [True, True] Translation: X:100.15, Y:1.03, Z:0.41 [[ 9.99893504e-01 -1.30521886e-02 6.52852516e-03 1.00146262e+02] [ 1.30486808e-02 9.99914694e-01 5.79615551e-04 1.02663519e+00] [-6.53553349e-03 -4.94365183e-04 9.99978521e-01 4.14071434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.505336195 meters 0.09148175256924101 Centerline is valid? [True, True] Translation: X:100.21, Y:1.03, Z:0.41 [[ 9.99933962e-01 -9.61513410e-03 6.29451398e-03 1.00205872e+02] [ 9.61180635e-03 9.99953649e-01 5.58714188e-04 1.02729209e+00] [-6.29959434e-03 -4.98175642e-04 9.99980033e-01 4.14494989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.565336195 meters 0.08956879409592879 Centerline is valid? [True, True] Translation: X:100.27, Y:1.03, Z:0.41 [[ 9.99931696e-01 -9.18785277e-03 7.22398893e-03 1.00268164e+02] [ 9.18345476e-03 9.99957625e-01 6.41743575e-04 1.03336091e+00] [-7.22957906e-03 -5.75358566e-04 9.99973701e-01 4.14269509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62533619499999 meters 0.08273071872754345 Centerline is valid? [True, True] Translation: X:100.33, Y:1.02, Z:0.41 [[ 9.99865687e-01 -1.60532896e-02 3.30134414e-03 1.00330151e+02] [ 1.60524090e-02 9.99871109e-01 2.93058356e-04 1.02291491e+00] [-3.30562318e-03 -2.40024468e-04 9.99994508e-01 4.05839361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68533619499999 meters 0.06512826093748848 Centerline is valid? [True, True] Translation: X:100.39, Y:1.00, Z:0.41 [[ 9.99668651e-01 -2.51143969e-02 5.64404422e-03 1.00393833e+02] [ 2.51119673e-02 9.99684519e-01 5.00940974e-04 9.96870690e-01] [-5.65484446e-03 -3.59041934e-04 9.99983947e-01 4.12276148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.745336195 meters 0.06719931903909773 Centerline is valid? [True, True] Translation: X:100.45, Y:1.00, Z:0.41 [[ 9.99509201e-01 -3.02411987e-02 8.17481086e-03 1.00453248e+02] [ 3.02362732e-02 9.99542516e-01 7.25465997e-04 1.00216125e+00] [-8.19300998e-03 -4.77934125e-04 9.99966323e-01 4.13982908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.805336195 meters 0.06172254364740654 Centerline is valid? [True, True] Translation: X:100.51, Y:0.99, Z:0.41 [[ 9.99551365e-01 -2.95363013e-02 4.96753384e-03 1.00514260e+02] [ 2.95344743e-02 9.99563665e-01 4.40757071e-04 9.86207139e-01] [-4.97838466e-03 -2.93845831e-04 9.99987565e-01 4.09364487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.865336195 meters 0.0645356930604733 Centerline is valid? [True, True] Translation: X:100.57, Y:0.99, Z:0.40 [[ 9.99596175e-01 -2.82248440e-02 3.29325430e-03 1.00573202e+02] [ 2.82240343e-02 9.99601580e-01 2.92073984e-04 9.86711662e-01] [-3.30018595e-03 -1.99007115e-04 9.99994535e-01 4.03807436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.925336195 meters 0.06985780369901368 Centerline is valid? [True, True] Translation: X:100.63, Y:0.99, Z:0.40 [[ 9.99689561e-01 -2.49134284e-02 -3.20020393e-04 1.00632424e+02] [ 2.49134205e-02 9.99689612e-01 -2.85618417e-05 9.89987562e-01] [ 3.20632636e-04 2.05801724e-05 9.99999948e-01 3.95133890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98533619499999 meters 0.07665731304734523 Centerline is valid? [True, True] Translation: X:100.69, Y:0.99, Z:0.40 [[ 9.99899797e-01 -1.41156276e-02 1.07050564e-03 1.00692932e+02] [ 1.41155339e-02 9.99900366e-01 9.50896065e-05 9.89155730e-01] [-1.07174124e-03 -7.99693195e-05 9.99999422e-01 4.04213671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04533619499999 meters 0.0969646093701723 Centerline is valid? [True, True] Translation: X:100.75, Y:1.03, Z:0.40 [[ 9.99990858e-01 3.48740425e-03 2.47432564e-03 1.00748976e+02] [-3.48795860e-03 9.99993893e-01 2.19760470e-04 1.03205055e+00] [-2.47354414e-03 -2.28388806e-04 9.99996915e-01 4.04576659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10533619499999 meters 0.10671466369910197 Centerline is valid? [True, False] Translation: X:100.75, Y:1.04, Z:0.40 [[ 9.99989711e-01 3.08134290e-03 3.32916200e-03 1.00746861e+02] [-3.07281430e-03 9.99991992e-01 -2.56386855e-03 1.04470378e+00] [-3.33703550e-03 2.55361227e-03 9.99991172e-01 4.03803129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.165336195 meters 0.11395060555906422 Centerline is valid? [False, False] Translation: X:100.77, Y:1.04, Z:0.41 [[ 9.99993296e-01 -1.95842243e-03 3.09403597e-03 1.00768705e+02] [ 1.95060730e-03 9.99994905e-01 2.52687023e-03 1.04194859e+00] [-3.09896888e-03 -2.52081804e-03 9.99992021e-01 4.05530573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.225336195 meters 0.09557784225113929 Centerline is valid? [False, True] Translation: X:100.75, Y:1.06, Z:0.41 [[ 9.99982385e-01 -5.93110131e-03 -2.29117032e-04 1.00748147e+02] [ 5.92780904e-03 9.99905733e-01 -1.23848815e-02 1.05525199e+00] [ 3.02551421e-04 1.23833052e-02 9.99923278e-01 4.06198695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.285336195 meters 0.09317891681324167 Centerline is valid? [True, True] Translation: X:100.81, Y:1.06, Z:0.40 [[ 9.99860746e-01 -1.65339986e-02 -2.26155963e-03 1.00807147e+02] [ 1.65335378e-02 9.99863287e-01 -2.22276053e-04 1.05797287e+00] [ 2.26492556e-03 1.84853518e-04 9.99997418e-01 4.03118111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34533619499999 meters 0.07823413958790217 Centerline is valid? [True, True] Translation: X:100.87, Y:1.04, Z:0.40 [[ 9.99609496e-01 -2.73522829e-02 -5.71915536e-03 1.00869600e+02] [ 2.73495138e-02 9.99625774e-01 -5.61839820e-04 1.04098796e+00] [ 5.73238270e-03 4.05204301e-04 9.99983488e-01 3.98461556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40533619499999 meters 0.05630440762556188 Centerline is valid? [True, True] Translation: X:100.93, Y:1.03, Z:0.40 [[ 9.99042675e-01 -4.36875498e-02 -2.26540818e-03 1.00931282e+02] [ 4.36871570e-02 9.99045236e-01 -2.22582444e-04 1.02778392e+00] [ 2.27296933e-03 1.23400117e-04 9.99997409e-01 4.04274880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46533619499999 meters 0.05022093761640787 Centerline is valid? [True, True] Translation: X:100.99, Y:1.02, Z:0.41 [[ 9.98697910e-01 -5.09970671e-02 1.33539102e-03 1.00991943e+02] [ 5.09969372e-02 9.98698801e-01 1.31184517e-04 1.02470938e+00] [-1.34034344e-03 -6.29128507e-05 9.99999100e-01 4.10125544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.525336195 meters 0.04783009156085893 Centerline is valid? [True, True] Translation: X:101.05, Y:1.03, Z:0.41 [[ 9.98617367e-01 -5.25668027e-02 2.92898315e-04 1.01050573e+02] [ 5.25667966e-02 9.98617410e-01 2.84350996e-05 1.02717275e+00] [-2.93988099e-04 -1.29990581e-05 9.99999957e-01 4.07898538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.585336195 meters 0.05374961047354429 Centerline is valid? [True, True] Translation: X:101.11, Y:1.05, Z:0.40 [[ 9.98791636e-01 -4.91202361e-02 -1.57158687e-03 1.01108454e+02] [ 4.91200535e-02 9.98792870e-01 -1.54591995e-04 1.04776471e+00] [ 1.57728336e-03 7.72087606e-05 9.99998753e-01 4.03606149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.645336195 meters 0.0633628267474454 Centerline is valid? [True, True] Translation: X:101.17, Y:1.07, Z:0.40 [[ 9.99011215e-01 -4.43441650e-02 -3.19177709e-03 1.01166314e+02] [ 4.43433880e-02 9.99016299e-01 -3.13832927e-04 1.06593110e+00] [ 3.20255399e-03 1.71988403e-04 9.99994857e-01 4.00665339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.705336195 meters 0.06790511894432728 Centerline is valid? [True, True] Translation: X:101.22, Y:1.08, Z:0.41 [[ 9.99255419e-01 -3.85808688e-02 -3.51573691e-04 1.01224833e+02] [ 3.85808590e-02 9.99255481e-01 -3.46560125e-05 1.08224733e+00] [ 3.52648997e-04 2.10661933e-05 9.99999938e-01 4.05453351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76533619499999 meters 0.0729024924551738 Centerline is valid? [True, True] Translation: X:101.28, Y:1.10, Z:0.41 [[ 9.99390665e-01 -3.47142167e-02 3.63626673e-03 1.01282915e+02] [ 3.47131449e-02 9.99397253e-01 3.57476977e-04 1.10396219e+00] [-3.64648452e-03 -2.31032900e-04 9.99993325e-01 4.09406238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82533619499999 meters 0.0709459783679167 Centerline is valid? [True, True] Translation: X:101.34, Y:1.11, Z:0.40 [[ 9.99478280e-01 -3.21956056e-02 -2.57096483e-03 1.01343045e+02] [ 3.21950614e-02 9.99481573e-01 -2.52805602e-04 1.10937569e+00] [ 2.57777120e-03 1.69901337e-04 9.99996663e-01 3.98205405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.885336195 meters 0.07430601192133465 Centerline is valid? [True, True] Translation: X:101.40, Y:1.12, Z:0.40 [[ 9.99447877e-01 -3.31349323e-02 -2.45303405e-03 1.01399954e+02] [ 3.31344382e-02 9.99450875e-01 -2.41775521e-04 1.12284405e+00] [ 2.45969825e-03 1.60362126e-04 9.99996962e-01 3.97767682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.945336195 meters 0.06196587657985848 Centerline is valid? [True, True] Translation: X:101.46, Y:1.12, Z:0.40 [[ 9.99227433e-01 -3.92886524e-02 9.68778276e-04 1.01461565e+02] [ 3.92885784e-02 9.99227901e-01 9.53202556e-05 1.11666460e+00] [-9.71775288e-04 -5.71846931e-05 9.99999526e-01 4.04588979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.005336195 meters 0.057645720070034996 Centerline is valid? [True, True] Translation: X:101.52, Y:1.12, Z:0.41 [[ 9.98780183e-01 -4.91633050e-02 4.59513950e-03 1.01521490e+02] [ 4.91617441e-02 9.98790728e-01 4.52086798e-04 1.11672799e+00] [-4.61180881e-03 -2.25630263e-04 9.99989340e-01 4.07794742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.065336195 meters 0.052150474283996606 Centerline is valid? [True, True] Translation: X:101.58, Y:1.11, Z:0.40 [[ 9.98516174e-01 -5.44449895e-02 1.09248388e-03 1.01581752e+02] [ 5.44449046e-02 9.98516770e-01 1.07365097e-04 1.11421136e+00] [-1.09670896e-03 -4.77256054e-05 9.99999397e-01 4.01056244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12533619499999 meters 0.041776473834950076 Centerline is valid? [True, True] Translation: X:101.64, Y:1.11, Z:0.40 [[ 9.98280072e-01 -5.86233489e-02 -4.47500028e-04 1.01642916e+02] [ 5.86233350e-02 9.98280172e-01 -4.40670094e-05 1.10811209e+00] [ 4.49313761e-04 1.77572732e-05 9.99999899e-01 3.98971947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18533619499999 meters 0.042124116436781905 Centerline is valid? [True, True] Translation: X:101.70, Y:1.11, Z:0.40 [[ 9.98193977e-01 -6.00666403e-02 8.84843253e-04 1.01700970e+02] [ 6.00665872e-02 9.98194369e-01 8.65327519e-05 1.10875194e+00] [-8.88443284e-04 -3.32269574e-05 9.99999605e-01 4.01056286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.245336195 meters 0.04287901182049562 Centerline is valid? [True, True] Translation: X:101.76, Y:1.10, Z:0.40 [[ 9.98209144e-01 -5.97902412e-02 1.90581291e-03 1.01760965e+02] [ 5.97899934e-02 9.98210961e-01 1.86813476e-04 1.10422019e+00] [-1.91357296e-03 -7.25303788e-05 9.99998166e-01 4.03134339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.305336195 meters 0.04344366025116688 Centerline is valid? [True, True] Translation: X:101.82, Y:1.11, Z:0.40 [[ 9.98217456e-01 -5.95750897e-02 3.56650215e-03 1.01819365e+02] [ 5.95742144e-02 9.98223817e-01 3.51246972e-04 1.11117313e+00] [-3.58109296e-03 -1.38149295e-04 9.99993578e-01 4.03710769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.365336195 meters 0.04705714286291712 Centerline is valid? [True, True] Translation: X:101.88, Y:1.11, Z:0.40 [[ 9.98301214e-01 -5.81605855e-02 3.46868088e-03 1.01878027e+02] [ 5.81597456e-02 9.98307231e-01 3.42598209e-04 1.10815402e+00] [-3.48273491e-03 -1.40278611e-04 9.99993925e-01 4.02459434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.425336195 meters 0.04968953051822694 Centerline is valid? [True, True] Translation: X:101.94, Y:1.10, Z:0.40 [[ 9.98420770e-01 -5.61754348e-02 -5.34837803e-04 1.01938881e+02] [ 5.61754145e-02 9.98420913e-01 -5.29713291e-05 1.10254160e+00] [ 5.36968935e-04 2.28429399e-05 9.99999856e-01 3.96747969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48533619499999 meters 0.049385222494436054 Centerline is valid? [True, True] Translation: X:102.00, Y:1.10, Z:0.40 [[ 9.98622473e-01 -5.23817076e-02 3.05174029e-03 1.01999225e+02] [ 5.23810297e-02 9.98627126e-01 3.01698415e-04 1.10256094e+00] [-3.06335411e-03 -1.41429519e-04 9.99995298e-01 4.00012470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54533619499999 meters 0.05783947753676948 Centerline is valid? [True, True] Translation: X:102.06, Y:1.10, Z:0.40 [[ 9.98833330e-01 -4.80202335e-02 5.10258122e-03 1.02058777e+02] [ 4.80182805e-02 9.98846330e-01 5.04645979e-04 1.10274086e+00] [-5.12092774e-03 -2.59040047e-04 9.99986854e-01 4.04039060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60533619499999 meters 0.05855839953471587 Centerline is valid? [True, True] Translation: X:102.12, Y:1.10, Z:0.40 [[ 9.99167815e-01 -4.07837279e-02 6.04098340e-04 1.02119851e+02] [ 4.07836992e-02 9.99167997e-01 5.97153436e-05 1.10093490e+00] [-6.06031143e-04 -3.50282844e-05 9.99999816e-01 3.95691111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.665336195 meters 0.0661796709036776 Centerline is valid? [True, True] Translation: X:102.18, Y:1.11, Z:0.40 [[ 9.99438815e-01 -3.32801854e-02 3.80587069e-03 1.02179517e+02] [ 3.32789924e-02 9.99446030e-01 3.76396754e-04 1.10870981e+00] [-3.81628891e-03 -2.49529984e-04 9.99992687e-01 4.01055047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.725336195 meters 0.07275917135591878 Centerline is valid? [True, True] Translation: X:102.24, Y:1.11, Z:0.40 [[ 9.99625713e-01 -2.73167328e-02 1.49340298e-03 1.02239646e+02] [ 2.73165425e-02 9.99626823e-01 1.47687766e-04 1.11095155e+00] [-1.49688002e-03 -1.06837882e-04 9.99998874e-01 3.98115376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.785336195 meters 0.0818840901484326 Centerline is valid? [True, True] Translation: X:102.30, Y:1.12, Z:0.40 [[ 9.99686477e-01 -2.46675083e-02 4.29659939e-03 1.02298941e+02] [ 2.46659084e-02 9.99695660e-01 4.24964127e-04 1.11747921e+00] [-4.30577457e-03 -3.18851364e-04 9.99990679e-01 4.00542020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84533619499999 meters 0.07379406392473324 Centerline is valid? [True, True] Translation: X:102.36, Y:1.11, Z:0.40 [[ 9.99616459e-01 -2.73790421e-02 4.16210146e-03 1.02361052e+02] [ 2.73775639e-02 9.99625079e-01 4.11747602e-04 1.10506406e+00] [-4.17181426e-03 -2.97641481e-04 9.99991254e-01 3.99106474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90533619499999 meters 0.07585617650230907 Centerline is valid? [True, True] Translation: X:102.42, Y:1.11, Z:0.39 [[ 9.99556808e-01 -2.96877720e-02 2.19621719e-03 1.02420754e+02] [ 2.96873661e-02 9.99559209e-01 2.17194350e-04 1.10544753e+00] [-2.20169714e-03 -1.51898188e-04 9.99997565e-01 3.94509479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96533619499999 meters 0.06917776543335402 Centerline is valid? [True, True] Translation: X:102.48, Y:1.10, Z:0.40 [[ 9.99603031e-01 -2.81270073e-02 1.62834712e-03 1.02481796e+02] [ 2.81267821e-02 9.99604351e-01 1.61050773e-04 1.09591199e+00] [-1.63223274e-03 -1.15186676e-04 9.99998661e-01 3.95654153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.025336195 meters 0.07075555731179141 Centerline is valid? [True, True] Translation: X:102.54, Y:1.10, Z:0.39 [[ 9.99612537e-01 -2.78141444e-02 1.07214357e-03 1.02540525e+02] [ 2.78140477e-02 9.99613109e-01 1.05057374e-04 1.10211631e+00] [-1.07465085e-03 -7.51960156e-05 9.99999420e-01 3.93268347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.085336195 meters 0.06881817251284138 Centerline is valid? [True, True] Translation: X:102.60, Y:1.10, Z:0.39 [[ 9.99385947e-01 -3.48006447e-02 4.07969634e-03 1.02600692e+02] [ 3.47992829e-02 9.99394240e-01 4.04340227e-04 1.10013863e+00] [-4.09129632e-03 -2.62121433e-04 9.99991596e-01 3.94832176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.145336195 meters 0.06765644958180987 Centerline is valid? [True, True] Translation: X:102.66, Y:1.09, Z:0.39 [[ 9.99281275e-01 -3.78624468e-02 1.83532935e-03 1.02661039e+02] [ 3.78621764e-02 9.99282954e-01 1.81865126e-04 1.09116235e+00] [-1.84089919e-03 -1.12244851e-04 9.99998299e-01 3.94052525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.205336195 meters 0.06813460394668643 Centerline is valid? [True, True] Translation: X:102.72, Y:1.10, Z:0.39 [[ 9.99305243e-01 -3.72493488e-02 -1.23201170e-03 1.02719692e+02] [ 3.72492261e-02 9.99305999e-01 -1.22438878e-04 1.10032627e+00] [ 1.23571745e-03 7.64623307e-05 9.99999234e-01 3.86618469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26533619499999 meters 0.07961866843456289 Centerline is valid? [True, True] Translation: X:102.78, Y:1.12, Z:0.39 [[ 9.99449554e-01 -3.31156006e-02 1.98656163e-03 1.02777354e+02] [ 3.31152742e-02 9.99451519e-01 1.96989646e-04 1.12055937e+00] [-1.99199547e-03 -1.31095680e-04 9.99998007e-01 3.88975934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32533619499999 meters 0.07796333910698733 Centerline is valid? [True, True] Translation: X:102.84, Y:1.12, Z:0.39 [[ 9.99578064e-01 -2.90183004e-02 1.27750997e-03 1.02837583e+02] [ 2.90181621e-02 9.99578876e-01 1.26648518e-04 1.11913373e+00] [-1.28064711e-03 -8.95240891e-05 9.99999176e-01 3.92133701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.385336195 meters 0.07809059970542882 Centerline is valid? [True, True] Translation: X:102.90, Y:1.14, Z:0.38 [[ 9.99671608e-01 -2.54276709e-02 -3.17960826e-03 1.02896502e+02] [ 2.54267952e-02 9.99676637e-01 -3.15523198e-04 1.13596856e+00] [ 3.18660312e-03 2.34572335e-04 9.99994895e-01 3.81505091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.445336195 meters 0.08442947456754916 Centerline is valid? [True, True] Translation: X:102.95, Y:1.16, Z:0.38 [[ 9.99716077e-01 -2.35370558e-02 -3.71116011e-03 1.02954144e+02] [ 2.35358499e-02 9.99722926e-01 -3.68291026e-04 1.15862994e+00] [ 3.71880033e-03 2.80841152e-04 9.99993046e-01 3.78751477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.505336195 meters 0.07762841626231069 Centerline is valid? [True, True] Translation: X:103.02, Y:1.16, Z:0.39 [[ 9.99665558e-01 -2.57933085e-02 -1.86459201e-03 1.03015308e+02] [ 2.57930081e-02 9.99667288e-01 -1.85017388e-04 1.15533667e+00] [ 1.86874385e-03 1.36862074e-04 9.99998245e-01 3.85194429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.565336195 meters 0.0663069659924818 Centerline is valid? [True, True] Translation: X:103.08, Y:1.15, Z:0.39 [[ 9.99487354e-01 -3.18896303e-02 2.84257687e-03 1.03076459e+02] [ 3.18889566e-02 9.99491378e-01 2.82023805e-04 1.15382997e+00] [-2.85012471e-03 -1.91232416e-04 9.99995920e-01 3.92099141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62533619499999 meters 0.06440356030049157 Centerline is valid? [True, True] Translation: X:103.13, Y:1.17, Z:0.38 [[ 9.99155617e-01 -4.10267069e-02 2.20506569e-03 1.03134297e+02] [ 4.10263238e-02 9.99158042e-01 2.18712361e-04 1.16847497e+00] [-2.21218217e-03 -1.28061944e-04 9.99997545e-01 3.84183921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68533619499999 meters 0.048452846068061 Centerline is valid? [True, True] Translation: X:103.20, Y:1.15, Z:0.38 [[ 9.98585830e-01 -5.30424070e-02 -3.58369759e-03 1.03197624e+02] [ 5.30414714e-02 9.98592247e-01 -3.55669979e-04 1.14753294e+00] [ 3.59751822e-03 1.65082408e-04 9.99993515e-01 3.79159012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.745336195 meters 0.04846389677695496 Centerline is valid? [True, True] Translation: X:103.26, Y:1.16, Z:0.37 [[ 9.98391487e-01 -5.65945228e-02 -3.39100625e-03 1.03255996e+02] [ 5.65937051e-02 9.98397235e-01 -3.36696157e-04 1.16184480e+00] [ 3.40462642e-03 1.44244969e-04 9.99994194e-01 3.74373888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.805336195 meters 0.04736653288548069 Centerline is valid? [True, True] Translation: X:103.32, Y:1.16, Z:0.37 [[ 9.98458048e-01 -5.51739510e-02 -6.11237026e-03 1.03315779e+02] [ 5.51712646e-02 9.98476721e-01 -6.07373799e-04 1.16012392e+00] [ 6.13657063e-03 2.69210062e-04 9.99981135e-01 3.72677038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.865336195 meters 0.06031870720309416 Centerline is valid? [True, True] Translation: X:103.37, Y:1.19, Z:0.38 [[ 9.98706952e-01 -5.08105292e-02 -1.64731751e-03 1.03373120e+02] [ 5.08103281e-02 9.98708308e-01 -1.63738081e-04 1.18542409e+00] [ 1.65350930e-03 7.98256165e-05 9.99998630e-01 3.77218458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.925336195 meters 0.051332249063550585 Centerline is valid? [True, True] Translation: X:103.43, Y:1.18, Z:0.38 [[ 9.98711549e-01 -5.07447777e-02 -4.58367567e-04 1.03432330e+02] [ 5.07447614e-02 9.98711654e-01 -4.70069199e-05 1.17679271e+00] [ 4.60162386e-04 2.36866009e-05 9.99999894e-01 3.79476838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98533619499999 meters 0.04707698185792851 Centerline is valid? [True, True] Translation: X:103.49, Y:1.17, Z:0.38 [[ 9.98492103e-01 -5.48896868e-02 -8.01651084e-04 1.03493420e+02] [ 5.48896404e-02 9.98492424e-01 -7.97921564e-05 1.17032737e+00] [ 8.04822301e-04 3.56694983e-05 9.99999675e-01 3.79571810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04533619499999 meters 0.0465466056952056 Centerline is valid? [True, True] Translation: X:103.55, Y:1.17, Z:0.38 [[ 9.98457821e-01 -5.54825689e-02 -1.91397215e-03 1.03552599e+02] [ 5.54823026e-02 9.98459652e-01 -1.91994164e-04 1.17039099e+00] [ 1.92167629e-03 8.55064926e-05 9.99998150e-01 3.76734314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10533619499999 meters 0.04829852442234648 Centerline is valid? [True, True] Translation: X:103.61, Y:1.17, Z:0.38 [[ 9.98597932e-01 -5.28666637e-02 -2.69944242e-03 1.03613195e+02] [ 5.28661288e-02 9.98601572e-01 -2.69185324e-04 1.17155388e+00] [ 2.70989837e-03 1.26098837e-04 9.99996320e-01 3.76225476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.165336195 meters 0.06360754627254579 Centerline is valid? [True, True] Translation: X:103.67, Y:1.20, Z:0.38 [[ 9.99108088e-01 -4.21720362e-02 -2.13271588e-03 1.03670214e+02] [ 4.21716782e-02 9.99110356e-01 -2.12604306e-04 1.19501254e+00] [ 2.13978448e-03 1.22474474e-04 9.99997703e-01 3.76290329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.225336195 meters 0.06475553476191832 Centerline is valid? [True, True] Translation: X:103.73, Y:1.20, Z:0.37 [[ 9.99334195e-01 -3.62081050e-02 -4.48777017e-03 1.03730205e+02] [ 3.62064596e-02 9.99344231e-01 -4.47367818e-04 1.20090079e+00] [ 4.50102557e-03 2.84583689e-04 9.99989830e-01 3.72656362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.285336195 meters 0.06385248557799 Centerline is valid? [True, True] Translation: X:103.79, Y:1.20, Z:0.38 [[ 9.99348951e-01 -3.60362757e-02 -1.74978852e-03 1.03789535e+02] [ 3.60360226e-02 9.99350476e-01 -1.75933716e-04 1.20090822e+00] [ 1.75499198e-03 1.12763756e-04 9.99998454e-01 3.79348114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34533619499999 meters 0.058766980098791444 Centerline is valid? [True, True] Translation: X:103.85, Y:1.20, Z:0.38 [[ 9.99179625e-01 -4.04966519e-02 3.12715050e-04 1.03849973e+02] [ 4.04966442e-02 9.99179674e-01 3.12130343e-05 1.20390481e+00] [-3.13722545e-04 -1.85235178e-05 9.99999951e-01 3.80413712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40533619499999 meters 0.060157213921297914 Centerline is valid? [True, True] Translation: X:103.91, Y:1.21, Z:0.38 [[ 9.99031424e-01 -4.40007746e-02 3.82873601e-04 1.03908599e+02] [ 4.40007632e-02 9.99031497e-01 3.81326125e-05 1.21218937e+00] [-3.84180651e-04 -2.12489475e-05 9.99999926e-01 3.77836466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46533619499999 meters 0.06178493288328843 Centerline is valid? [True, True] Translation: X:103.97, Y:1.22, Z:0.38 [[ 9.99057432e-01 -4.33332331e-02 -2.54547981e-03 1.03968360e+02] [ 4.33327250e-02 9.99060664e-01 -2.54428797e-04 1.21701644e+00] [ 2.55411398e-03 1.43886404e-04 9.99996728e-01 3.75518527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.525336195 meters 0.05921110347707781 Centerline is valid? [True, True] Translation: X:104.03, Y:1.22, Z:0.37 [[ 9.99098837e-01 -4.22440789e-02 -4.11712894e-03 1.04027880e+02] [ 4.22427406e-02 9.99107292e-01 -4.11516196e-04 1.22184753e+00] [ 4.13083767e-03 2.37226543e-04 9.99991440e-01 3.74076762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.585336195 meters 0.055391152823542206 Centerline is valid? [True, True] Translation: X:104.09, Y:1.23, Z:0.37 [[ 9.99048463e-01 -4.34706859e-02 -3.53104038e-03 1.04086616e+02] [ 4.34697078e-02 9.99054683e-01 -3.53307048e-04 1.22678889e+00] [ 3.54306092e-03 1.99477570e-04 9.99993703e-01 3.72922626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.645336195 meters 0.05590931983380697 Centerline is valid? [True, True] Translation: X:104.15, Y:1.22, Z:0.38 [[ 9.98865062e-01 -4.76089497e-02 -1.40594415e-03 1.04146357e+02] [ 4.76087987e-02 9.98866048e-01 -1.40698514e-04 1.22475954e+00] [ 1.41104839e-03 7.36035174e-05 9.99999002e-01 3.75862478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.705336195 meters 0.054804499094896715 Centerline is valid? [True, True] Translation: X:104.21, Y:1.23, Z:0.37 [[ 9.98751850e-01 -4.99264728e-02 -1.44566523e-03 1.04205641e+02] [ 4.99263155e-02 9.98752893e-01 -1.44734343e-04 1.22612486e+00] [ 1.45108841e-03 7.23769544e-05 9.99998945e-01 3.74645844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76533619499999 meters 0.0492141115863277 Centerline is valid? [True, True] Translation: X:104.27, Y:1.22, Z:0.37 [[ 9.98641165e-01 -5.20035155e-02 -3.38505299e-03 1.04266496e+02] [ 5.20026654e-02 9.98646889e-01 -3.38753820e-04 1.21916194e+00] [ 3.39808902e-03 1.62261732e-04 9.99994213e-01 3.71407069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82533619499999 meters 0.0540359052929424 Centerline is valid? [True, True] Translation: X:104.33, Y:1.23, Z:0.37 [[ 9.98813922e-01 -4.86295303e-02 -2.43273011e-03 1.04325675e+02] [ 4.86290810e-02 9.98816877e-01 -2.43529064e-04 1.22537298e+00] [ 2.44169460e-03 1.24938790e-04 9.99997011e-01 3.72736102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.885336195 meters 0.06845561819105825 Centerline is valid? [True, True] Translation: X:104.38, Y:1.25, Z:0.38 [[ 9.99348259e-01 -3.60862535e-02 -9.16504432e-04 1.04383011e+02] [ 3.60861846e-02 9.99348677e-01 -9.16905908e-05 1.25066570e+00] [ 9.19216262e-04 5.85576841e-05 9.99999576e-01 3.75487655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.945336195 meters 0.08166349182564428 Centerline is valid? [True, True] Translation: X:104.44, Y:1.28, Z:0.37 [[ 9.99678280e-01 -2.53061033e-02 -1.71391585e-03 1.04439354e+02] [ 2.53058464e-02 9.99679741e-01 -1.71466175e-04 1.28138650e+00] [ 1.71770609e-03 1.28038920e-04 9.99998517e-01 3.70306665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.005336195 meters 0.08613144512521216 Centerline is valid? [True, True] Translation: X:104.50, Y:1.29, Z:0.37 [[ 9.99761629e-01 -2.17278717e-02 -2.14135424e-03 1.04498887e+02] [ 2.17274622e-02 9.99763908e-01 -2.14321375e-04 1.29298810e+00] [ 2.14550543e-03 1.67744093e-04 9.99997684e-01 3.71505423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.065336195 meters 0.07265602439212224 Centerline is valid? [True, True] Translation: X:104.56, Y:1.29, Z:0.38 [[ 9.99646721e-01 -2.65722666e-02 -5.89316621e-04 1.04560250e+02] [ 2.65722364e-02 9.99646894e-01 -5.89746416e-05 1.28926540e+00] [ 5.90675620e-04 4.32943465e-05 9.99999825e-01 3.75269614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12533619499999 meters 0.06398866600792123 Centerline is valid? [True, True] Translation: X:104.62, Y:1.28, Z:0.38 [[ 9.99033791e-01 -4.39290536e-02 1.31256361e-03 1.04621056e+02] [ 4.39289188e-02 9.99034650e-01 1.31313067e-04 1.28261079e+00] [-1.31706499e-03 -7.35266906e-05 9.99999130e-01 3.76399045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18533619499999 meters 0.047154193647533205 Centerline is valid? [True, True] Translation: X:104.68, Y:1.27, Z:0.37 [[ 9.98308204e-01 -5.81308523e-02 1.23813428e-03 1.04683577e+02] [ 5.81307433e-02 9.98308971e-01 1.23863008e-04 1.26724157e+00] [-1.24324083e-03 -5.16797906e-05 9.99999226e-01 3.74172974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.245336195 meters 0.036859167277850144 Centerline is valid? [True, True] Translation: X:104.75, Y:1.25, Z:0.37 [[ 9.97874550e-01 -6.51640189e-02 1.80032330e-04 1.04745449e+02] [ 6.51640167e-02 9.97874567e-01 1.79584634e-05 1.25444566e+00] [-1.80819929e-04 -6.18866388e-06 9.99999984e-01 3.73880551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.305336195 meters 0.03820138386487416 Centerline is valid? [True, True] Translation: X:104.80, Y:1.26, Z:0.37 [[ 9.97935807e-01 -6.42176952e-02 4.60253918e-04 1.04804331e+02] [ 6.42176813e-02 9.97935913e-01 4.49105276e-05 1.25981477e+00] [-4.62187965e-04 -1.52613842e-05 9.99999893e-01 3.74904517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.365336195 meters 0.03932514938059516 Centerline is valid? [True, True] Translation: X:104.86, Y:1.26, Z:0.38 [[ 9.98042710e-01 -6.25313456e-02 7.60913097e-04 1.04864053e+02] [ 6.25313058e-02 9.98043000e-01 7.61089403e-05 1.26355425e+00] [-7.64183185e-04 -2.83790836e-05 9.99999708e-01 3.75478463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.425336195 meters 0.04370407063684118 Centerline is valid? [True, True] Translation: X:104.92, Y:1.27, Z:0.37 [[ 9.98138074e-01 -6.09902372e-02 -7.58862213e-04 1.04921482e+02] [ 6.09901967e-02 9.98138362e-01 -7.64603845e-05 1.27239991e+00] [ 7.62112824e-04 3.00348653e-05 9.99999709e-01 3.70570632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48533619499999 meters 0.045206715430942665 Centerline is valid? [True, True] Translation: X:104.98, Y:1.28, Z:0.37 [[ 9.98218528e-01 -5.96525490e-02 -1.15933782e-03 1.04981201e+02] [ 5.96524539e-02 9.98219200e-01 -1.16476702e-04 1.27659149e+00] [ 1.16422141e-03 4.71118556e-05 9.99999321e-01 3.68699957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54533619499999 meters 0.04816671158647834 Centerline is valid? [True, True] Translation: X:105.04, Y:1.28, Z:0.37 [[ 9.98572506e-01 -5.33536629e-02 -2.51726938e-03 1.05040992e+02] [ 5.33531952e-02 9.98575672e-01 -2.52636297e-04 1.28049586e+00] [ 2.52716304e-03 1.17971296e-04 9.99996800e-01 3.68651578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60533619499999 meters 0.05691150678378938 Centerline is valid? [True, True] Translation: X:105.10, Y:1.30, Z:0.37 [[ 9.99075756e-01 -4.29382934e-02 -1.98421238e-03 1.05099740e+02] [ 4.29379823e-02 9.99077720e-01 -1.99128610e-04 1.30337530e+00] [ 1.99093262e-03 1.13746490e-04 9.99998012e-01 3.67621083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.665336195 meters 0.06018564645585984 Centerline is valid? [True, True] Translation: X:105.16, Y:1.31, Z:0.37 [[ 9.99270623e-01 -3.81838791e-02 4.61764871e-04 1.05160075e+02] [ 3.81838617e-02 9.99270729e-01 4.63389337e-05 1.30745693e+00] [-4.63197520e-04 -2.86731691e-05 9.99999892e-01 3.72911661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.725336195 meters 0.05741257261785038 Centerline is valid? [True, True] Translation: X:105.22, Y:1.30, Z:0.37 [[ 9.99195347e-01 -4.01028565e-02 -6.48346247e-04 1.05220763e+02] [ 4.01028226e-02 9.99195556e-01 -6.51486786e-05 1.30341900e+00] [ 6.50437336e-04 3.90957419e-05 9.99999788e-01 3.71760635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.785336195 meters 0.05931006284294477 Centerline is valid? [True, True] Translation: X:105.28, Y:1.31, Z:0.37 [[ 9.99156940e-01 -4.10390924e-02 -1.09614849e-03 1.05278378e+02] [ 4.10389947e-02 9.99157539e-01 -1.11404319e-04 1.31417655e+00] [ 1.09979696e-03 6.63255659e-05 9.99999393e-01 3.67329339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84533619499999 meters 0.06103146426393387 Centerline is valid? [True, True] Translation: X:105.34, Y:1.32, Z:0.37 [[ 9.99229557e-01 -3.91796611e-02 -2.29046806e-03 1.05338523e+02] [ 3.91792357e-02 9.99232172e-01 -2.30334062e-04 1.31652449e+00] [ 2.29773379e-03 1.40417815e-04 9.99997350e-01 3.66929369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90533619499999 meters 0.06473606821743072 Centerline is valid? [True, True] Translation: X:105.40, Y:1.32, Z:0.37 [[ 9.99333313e-01 -3.63946841e-02 -2.89089033e-03 1.05398133e+02] [ 3.63939950e-02 9.99337477e-01 -2.90641340e-04 1.32448703e+00] [ 2.89955285e-03 1.85236525e-04 9.99995779e-01 3.67492061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96533619499999 meters 0.06758747016171705 Centerline is valid? [True, True] Translation: X:105.46, Y:1.34, Z:0.37 [[ 9.99389705e-01 -3.48709233e-02 -2.05821673e-03 1.05456659e+02] [ 3.48705704e-02 9.99391815e-01 -2.07125474e-04 1.34031471e+00] [ 2.06418761e-03 1.35227875e-04 9.99997860e-01 3.65672465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.025336195 meters 0.06955120558517267 Centerline is valid? [True, True] Translation: X:105.52, Y:1.34, Z:0.37 [[ 9.99446649e-01 -3.32608820e-02 -3.31346011e-04 1.05515513e+02] [ 3.32608727e-02 9.99446704e-01 -3.35835617e-05 1.34460449e+00] [ 3.32279697e-04 2.25441207e-05 9.99999945e-01 3.70476572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.085336195 meters 0.07155203098824874 Centerline is valid? [True, True] Translation: X:105.57, Y:1.36, Z:0.36 [[ 9.99360819e-01 -3.57384067e-02 -8.47863010e-04 1.05572695e+02] [ 3.57383474e-02 9.99361178e-01 -8.50158070e-05 1.36441705e+00] [ 8.50359706e-04 5.46602437e-05 9.99999637e-01 3.64458725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.145336195 meters 0.06740347322524376 Centerline is valid? [True, True] Translation: X:105.63, Y:1.37, Z:0.36 [[ 9.99223794e-01 -3.93416585e-02 -2.01071655e-03 1.05632787e+02] [ 3.93413306e-02 9.99225810e-01 -2.02368070e-04 1.36653793e+00] [ 2.01712137e-03 1.23106726e-04 9.99997958e-01 3.63535214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.205336195 meters 0.05792096789789589 Centerline is valid? [True, True] Translation: X:105.69, Y:1.35, Z:0.38 [[ 9.99036058e-01 -4.38876116e-02 9.11954779e-04 1.05694914e+02] [ 4.38875461e-02 9.99036473e-01 9.17027256e-05 1.35443268e+00] [-9.15100700e-04 -5.15908721e-05 9.99999580e-01 3.75391581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26533619499999 meters 0.053828402912906345 Centerline is valid? [True, True] Translation: X:105.75, Y:1.37, Z:0.37 [[ 9.98798860e-01 -4.87851067e-02 4.56632104e-03 1.05754061e+02] [ 4.87835156e-02 9.98809270e-01 4.59247537e-04 1.37102838e+00] [-4.58328823e-03 -2.35934722e-04 9.99989469e-01 3.72108308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32533619499999 meters 0.05056780675975209 Centerline is valid? [True, True] Translation: X:105.82, Y:1.37, Z:0.37 [[ 9.98647635e-01 -5.19801503e-02 9.82761891e-04 1.05815103e+02] [ 5.19800782e-02 9.98648117e-01 9.87691996e-05 1.36794830e+00] [-9.86567350e-04 -4.75515875e-05 9.99999512e-01 3.65677052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.385336195 meters 0.052488953498930464 Centerline is valid? [True, True] Translation: X:105.87, Y:1.38, Z:0.36 [[ 9.98607717e-01 -5.25796882e-02 -4.24314712e-03 1.05871786e+02] [ 5.25783440e-02 9.98616711e-01 -4.27810854e-04 1.38260275e+00] [ 4.25977178e-03 2.04117572e-04 9.99990906e-01 3.57953368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.445336195 meters 0.05175266106540434 Centerline is valid? [True, True] Translation: X:105.93, Y:1.39, Z:0.36 [[ 9.98776166e-01 -4.91431672e-02 -5.57846884e-03 1.05931178e+02] [ 4.91407948e-02 9.98791703e-01 -5.61628192e-04 1.39144219e+00] [ 5.59932858e-03 2.86810460e-04 9.99984283e-01 3.57447012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.505336195 meters 0.05749137948196824 Centerline is valid? [True, True] Translation: X:105.99, Y:1.41, Z:0.36 [[ 9.98924746e-01 -4.62639808e-02 -2.99931672e-03 1.05989009e+02] [ 4.62632817e-02 9.98929235e-01 -3.02097691e-04 1.41073509e+00] [ 3.01008140e-03 1.63014624e-04 9.99995456e-01 3.59729544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.565336195 meters 0.05766054346649235 Centerline is valid? [True, True] Translation: X:106.05, Y:1.42, Z:0.37 [[ 9.98888883e-01 -4.71144740e-02 1.10753294e-03 1.06047683e+02] [ 4.71143794e-02 9.98889495e-01 1.11371422e-04 1.41888035e+00] [-1.11155023e-03 -5.90669478e-05 9.99999380e-01 3.66184132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62533619499999 meters 0.05118075544439295 Centerline is valid? [True, True] Translation: X:106.11, Y:1.42, Z:0.36 [[ 9.98485046e-01 -5.50204624e-02 6.00818587e-04 1.06107242e+02] [ 5.50204360e-02 9.98485227e-01 6.04083930e-05 1.41789169e+00] [-6.03232181e-04 -2.72595765e-05 9.99999818e-01 3.62311243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68533619499999 meters 0.044474733719883176 Centerline is valid? [True, True] Translation: X:106.17, Y:1.41, Z:0.37 [[ 9.98067613e-01 -6.21043391e-02 2.02270285e-03 1.06168092e+02] [ 6.21040537e-02 9.98069659e-01 2.03662810e-04 1.41159720e+00] [-2.03144669e-03 -7.76512085e-05 9.99997934e-01 3.65057993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.745336195 meters 0.03436072377822287 Centerline is valid? [True, True] Translation: X:106.23, Y:1.39, Z:0.36 [[ 9.97592203e-01 -6.93501128e-02 5.99317158e-04 1.06230610e+02] [ 6.93500890e-02 9.97592382e-01 6.03285784e-05 1.39244801e+00] [-6.02058025e-04 -1.86206211e-05 9.99999819e-01 3.64052178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.805336195 meters 0.02950659003251253 Centerline is valid? [True, True] Translation: X:106.29, Y:1.39, Z:0.36 [[ 9.97432083e-01 -7.16167656e-02 5.28615453e-04 1.06290989e+02] [ 7.16167480e-02 9.97432223e-01 5.21715368e-05 1.38658444e+00] [-5.30994443e-04 -1.41798449e-05 9.99999859e-01 3.62659621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.865336195 meters 0.029740963145341998 Centerline is valid? [True, True] Translation: X:106.35, Y:1.38, Z:0.37 [[ 9.97376859e-01 -7.22643794e-02 4.15454233e-03 1.06349315e+02] [ 7.22632605e-02 9.97385505e-01 4.19007337e-04 1.38332773e+00] [-4.17395960e-03 -1.17687447e-04 9.99991282e-01 3.68011838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.925336195 meters 0.04180131224076922 Centerline is valid? [True, True] Translation: X:106.41, Y:1.40, Z:0.36 [[ 9.97879051e-01 -6.50865204e-02 1.06990164e-03 1.06407329e+02] [ 6.50864421e-02 9.97879624e-01 1.07874563e-04 1.39651459e+00] [-1.07465423e-03 -3.80096755e-05 9.99999422e-01 3.62206432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98533619499999 meters 0.04706253280162091 Centerline is valid? [True, True] Translation: X:106.47, Y:1.40, Z:0.36 [[ 9.98675956e-01 -5.14359615e-02 8.22230536e-04 1.06467843e+02] [ 5.14359105e-02 9.98676294e-01 8.30256607e-05 1.40313135e+00] [-8.25412650e-04 -4.06235548e-05 9.99999659e-01 3.62513563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04533619499999 meters 0.07073860211761326 Centerline is valid? [True, True] Translation: X:106.52, Y:1.44, Z:0.36 [[ 9.99311338e-01 -3.70111378e-02 2.65048564e-03 1.06523512e+02] [ 3.70105573e-02 9.99314839e-01 2.67723508e-04 1.43803462e+00] [-2.65857838e-03 -1.69443186e-04 9.99996452e-01 3.61308951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10533619499999 meters 0.06457955591749556 Centerline is valid? [True, True] Translation: X:106.58, Y:1.43, Z:0.35 [[ 9.99327176e-01 -3.66733629e-02 -5.09651142e-04 1.06583505e+02] [ 3.66733408e-02 9.99327305e-01 -5.27475314e-05 1.43135500e+00] [ 5.11242732e-04 3.40214316e-05 9.99999869e-01 3.54555824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.165336195 meters 0.06491929640901366 Centerline is valid? [True, True] Translation: X:106.64, Y:1.43, Z:0.36 [[ 9.99152441e-01 -4.11606597e-02 -4.47463853e-04 1.06643816e+02] [ 4.11606435e-02 9.99152541e-01 -4.53609812e-05 1.42565827e+00] [ 4.48951733e-04 2.69046349e-05 9.99999899e-01 3.55826180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.225336195 meters 0.05489126000999612 Centerline is valid? [True, True] Translation: X:106.71, Y:1.41, Z:0.36 [[ 9.99032800e-01 -4.39424852e-02 -1.58851692e-03 1.06705611e+02] [ 4.39422848e-02 9.99034058e-01 -1.60838819e-04 1.41349668e+00] [ 1.59405017e-03 9.08801922e-05 9.99998725e-01 3.55439026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.285336195 meters 0.06177825140923592 Centerline is valid? [True, True] Translation: X:106.76, Y:1.43, Z:0.35 [[ 9.99172661e-01 -4.05317177e-02 -3.34254180e-03 1.06763070e+02] [ 4.05308116e-02 9.99178232e-01 -3.38401062e-04 1.43090948e+00] [ 3.35351098e-03 2.02645158e-04 9.99994356e-01 3.46926328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34533619499999 meters 0.06363140893428815 Centerline is valid? [True, True] Translation: X:106.82, Y:1.44, Z:0.35 [[ 9.99326080e-01 -3.65415796e-02 -3.47824343e-03 1.06822875e+02] [ 3.65405745e-02 9.99332108e-01 -3.52075949e-04 1.43611426e+00] [ 3.48878575e-03 2.24741664e-04 9.99993889e-01 3.48653600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40533619499999 meters 0.06602676175741257 Centerline is valid? [True, True] Translation: X:106.88, Y:1.44, Z:0.36 [[ 9.99493127e-01 -3.17359779e-02 -2.51336504e-03 1.06883005e+02] [ 3.17354379e-02 9.99496272e-01 -2.54455491e-04 1.44137596e+00] [ 2.52017438e-03 1.74563774e-04 9.99996809e-01 3.56118188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46533619499999 meters 0.07444350862527235 Centerline is valid? [True, True] Translation: X:106.94, Y:1.47, Z:0.35 [[ 9.99502667e-01 -3.14755373e-02 -1.92572392e-03 1.06938368e+02] [ 3.14752184e-02 9.99504513e-01 -1.95720283e-04 1.46696987e+00] [ 1.93093015e-03 1.35010364e-04 9.99998127e-01 3.50907823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.525336195 meters 0.07364585844359581 Centerline is valid? [True, True] Translation: X:107.00, Y:1.48, Z:0.35 [[ 9.99446952e-01 -3.32437385e-02 8.02141740e-04 1.06996994e+02] [ 3.32436840e-02 9.99447273e-01 8.11259721e-05 1.48049181e+00] [-8.04395305e-04 -5.44149590e-05 9.99999675e-01 3.50910962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.585336195 meters 0.062042434587900396 Centerline is valid? [True, True] Translation: X:107.06, Y:1.47, Z:0.36 [[ 9.99261159e-01 -3.83867450e-02 1.89556782e-03 1.07058434e+02] [ 3.83864495e-02 9.99262950e-01 1.92040730e-04 1.47126062e+00] [-1.90154251e-03 -1.19134724e-04 9.99998185e-01 3.59568312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.645336195 meters 0.05816905947784661 Centerline is valid? [True, True] Translation: X:107.12, Y:1.48, Z:0.35 [[ 9.99060716e-01 -4.33086465e-02 -1.43062103e-03 1.07118052e+02] [ 4.33084829e-02 9.99061737e-01 -1.45124659e-04 1.47695863e+00] [ 1.43556388e-03 8.30303197e-05 9.99998966e-01 3.54896691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.705336195 meters 0.05207825558152633 Centerline is valid? [True, True] Translation: X:107.18, Y:1.48, Z:0.35 [[ 9.98706196e-01 -5.08434347e-02 9.37684632e-04 1.07177785e+02] [ 5.08433679e-02 9.98706635e-01 9.49901761e-05 1.48270536e+00] [-9.41301490e-04 -4.71922327e-05 9.99999556e-01 3.54631745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76533619499999 meters 0.04056872127646191 Centerline is valid? [True, True] Translation: X:107.24, Y:1.47, Z:0.35 [[ 9.97938209e-01 -6.40964099e-02 -3.31369323e-03 1.07239551e+02] [ 6.40956471e-02 9.97943703e-01 -3.35979772e-04 1.46522429e+00] [ 3.32841439e-03 1.22893740e-04 9.99994453e-01 3.49825405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82533619499999 meters 0.035934357635295226 Centerline is valid? [True, True] Translation: X:107.30, Y:1.47, Z:0.35 [[ 9.97657765e-01 -6.84028430e-02 -1.86318745e-04 1.07299725e+02] [ 6.84028406e-02 9.97657783e-01 -1.89305085e-05 1.46837462e+00] [ 1.87177246e-04 6.14143739e-06 9.99999982e-01 3.54291129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.885336195 meters 0.034739404750080596 Centerline is valid? [True, True] Translation: X:107.36, Y:1.47, Z:0.36 [[ 9.97666151e-01 -6.82805035e-02 1.55221012e-04 1.07359003e+02] [ 6.82805021e-02 9.97666163e-01 1.45374044e-05 1.46630165e+00] [-1.55851372e-04 -3.90490770e-06 9.99999988e-01 3.57177349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.945336195 meters 0.03278797436199294 Centerline is valid? [True, True] Translation: X:107.42, Y:1.46, Z:0.36 [[ 9.97798902e-01 -6.63108376e-02 -4.73029534e-04 1.07419520e+02] [ 6.63108222e-02 9.97799014e-01 -4.82202311e-05 1.46344033e+00] [ 4.75185926e-04 1.67471163e-05 9.99999887e-01 3.58638125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.005336195 meters 0.04136824948267565 Centerline is valid? [True, True] Translation: X:107.48, Y:1.48, Z:0.35 [[ 9.98012550e-01 -6.29239050e-02 -3.39587253e-03 1.07476843e+02] [ 6.29230944e-02 9.98018319e-01 -3.45119114e-04 1.47961216e+00] [ 3.41085923e-03 1.30754399e-04 9.99994174e-01 3.50308454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.065336195 meters 0.050581933140706886 Centerline is valid? [True, True] Translation: X:107.53, Y:1.50, Z:0.35 [[ 9.98388684e-01 -5.65070058e-02 -5.19563389e-03 1.07534887e+02] [ 5.65050223e-02 9.98402175e-01 -5.27878059e-04 1.49801022e+00] [ 5.21716099e-03 2.33448072e-04 9.99986363e-01 3.47928635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12533619499999 meters 0.05665254669406429 Centerline is valid? [True, True] Translation: X:107.59, Y:1.51, Z:0.36 [[ 9.98978281e-01 -4.50208536e-02 -3.93916118e-03 1.07594404e+02] [ 4.50196245e-02 9.98986023e-01 -4.00170627e-04 1.51317155e+00] [ 3.95318299e-03 2.22422208e-04 9.99992161e-01 3.55743346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18533619499999 meters 0.06247600167593309 Centerline is valid? [True, True] Translation: X:107.65, Y:1.53, Z:0.36 [[ 9.99258199e-01 -3.84058761e-02 -2.83567903e-03 1.07653202e+02] [ 3.84052126e-02 9.99262206e-01 -2.88067231e-04 1.53372859e+00] [ 2.84465036e-03 1.78948686e-04 9.99995938e-01 3.57500999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.245336195 meters 0.060360605706069645 Centerline is valid? [True, True] Translation: X:107.71, Y:1.55, Z:0.36 [[ 9.99084147e-01 -4.27654236e-02 -1.40931406e-03 1.07711269e+02] [ 4.27652639e-02 9.99085137e-01 -1.43294860e-04 1.54918466e+00] [ 1.41415280e-03 8.28939353e-05 9.99998997e-01 3.56735758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.305336195 meters 0.051887286545146134 Centerline is valid? [True, True] Translation: X:107.77, Y:1.54, Z:0.36 [[ 9.98558768e-01 -5.36690447e-02 -1.40630220e-04 1.07771528e+02] [ 5.36690432e-02 9.98558778e-01 -1.44224036e-05 1.54483481e+00] [ 1.41201577e-04 6.85412820e-06 9.99999990e-01 3.62466781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.365336195 meters 0.0417101341303389 Centerline is valid? [True, True] Translation: X:107.83, Y:1.54, Z:0.37 [[ 9.97901913e-01 -6.46741995e-02 3.00317564e-03 1.07831663e+02] [ 6.46735737e-02 9.97906426e-01 3.05118185e-04 1.54467316e+00] [-3.01662155e-03 -1.10251920e-04 9.99995444e-01 3.66182670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.425336195 meters 0.02681813980823911 Centerline is valid? [True, True] Translation: X:107.89, Y:1.53, Z:0.36 [[ 9.97201922e-01 -7.47512870e-02 7.55966686e-04 1.07894039e+02] [ 7.47512503e-02 9.97202209e-01 7.67346681e-05 1.52790986e+00] [-7.59587664e-04 -2.00105035e-05 9.99999711e-01 3.63050581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48533619499999 meters 0.02084968614641498 Centerline is valid? [True, True] Translation: X:107.95, Y:1.53, Z:0.36 [[ 9.96579060e-01 -8.26442104e-02 -3.35398700e-04 1.07953885e+02] [ 8.26442035e-02 9.96579116e-01 -3.42261601e-05 1.52702486e+00] [ 3.37079934e-04 6.39031594e-06 9.99999943e-01 3.60266039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54533619499999 meters 0.02063375708795748 Centerline is valid? [True, True] Translation: X:108.01, Y:1.52, Z:0.37 [[ 9.96589824e-01 -8.25140830e-02 -3.85851675e-04 1.08013505e+02] [ 8.25140734e-02 9.96589899e-01 -4.05479960e-05 1.52158994e+00] [ 3.87881662e-04 8.57152672e-06 9.99999925e-01 3.65646592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60533619499999 meters 0.02753288926712625 Centerline is valid? [True, True] Translation: X:108.07, Y:1.54, Z:0.37 [[ 9.96933438e-01 -7.81963363e-02 3.00885111e-03 1.08070672e+02] [ 7.81957680e-02 9.96937976e-01 3.06235810e-04 1.54113859e+00] [-3.02358445e-03 -7.00172954e-05 9.99995427e-01 3.68296569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.665336195 meters 0.03795000312189933 Centerline is valid? [True, True] Translation: X:108.13, Y:1.57, Z:0.37 [[ 9.97838809e-01 -6.55767722e-02 4.17106529e-03 1.08129072e+02] [ 6.55755683e-02 9.97847516e-01 4.24882538e-04 1.56647173e+00] [-4.18994956e-03 -1.50444309e-04 9.99991211e-01 3.67650143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.725336195 meters 0.05085939159763362 Centerline is valid? [True, True] Translation: X:108.19, Y:1.59, Z:0.37 [[ 9.98694154e-01 -5.10383178e-02 2.25308103e-03 1.08187313e+02] [ 5.10379296e-02 9.98696689e-01 2.29482009e-04 1.58817538e+00] [-2.26185694e-03 -1.14189750e-04 9.99997435e-01 3.68809105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.785336195 meters 0.060743742160435446 Centerline is valid? [True, True] Translation: X:108.24, Y:1.61, Z:0.37 [[ 9.99015190e-01 -4.42973014e-02 2.52952180e-03 1.08244713e+02] [ 4.42967904e-02 9.99018382e-01 2.57703964e-04 1.61160350e+00] [-2.53845437e-03 -1.45400477e-04 9.99996768e-01 3.67354232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84533619499999 meters 0.06256070865455089 Centerline is valid? [True, True] Translation: X:108.30, Y:1.62, Z:0.37 [[ 9.99160103e-01 -4.08807845e-02 2.80196440e-03 1.08304200e+02] [ 4.08801441e-02 9.99164017e-01 2.85452964e-04 1.62422589e+00] [-2.81129155e-03 -1.70668504e-04 9.99996034e-01 3.66739307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90533619499999 meters 0.06716169452093734 Centerline is valid? [True, True] Translation: X:108.36, Y:1.64, Z:0.37 [[ 9.99156029e-01 -4.07305071e-02 5.31567809e-03 1.08361215e+02] [ 4.07282009e-02 9.99170116e-01 5.41420809e-04 1.64017545e+00] [-5.33331904e-03 -3.24465860e-04 9.99985725e-01 3.67617758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96533619499999 meters 0.062117103806166016 Centerline is valid? [True, True] Translation: X:108.42, Y:1.64, Z:0.37 [[ 9.99112353e-01 -4.19780835e-02 3.51362972e-03 1.08420946e+02] [ 4.19770847e-02 9.99118510e-01 3.57567300e-04 1.63763241e+00] [-3.52554248e-03 -2.09757974e-04 9.99993763e-01 3.66243098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.025336195 meters 0.06617466960606563 Centerline is valid? [True, True] Translation: X:108.48, Y:1.66, Z:0.36 [[ 9.99128233e-01 -4.15881774e-02 3.63276434e-03 1.08477012e+02] [ 4.15871037e-02 9.99134813e-01 3.70621222e-04 1.65700746e+00] [-3.64503478e-03 -2.19221980e-04 9.99993333e-01 3.63370430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.085336195 meters 0.06951369965073263 Centerline is valid? [True, True] Translation: X:108.54, Y:1.67, Z:0.35 [[ 9.99202662e-01 -3.99193957e-02 -6.93630718e-04 1.08536366e+02] [ 3.99193561e-02 9.99202902e-01 -7.08466227e-05 1.67046502e+00] [ 6.95905981e-04 4.31008424e-05 9.99999757e-01 3.54698571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.145336195 meters 0.06419033552416772 Centerline is valid? [True, True] Translation: X:108.59, Y:1.68, Z:0.36 [[ 9.99175339e-01 -4.05643529e-02 1.78174991e-03 1.08594461e+02] [ 4.05640943e-02 9.99176922e-01 1.81085109e-04 1.67805085e+00] [-1.78762899e-03 -1.08660703e-04 9.99998396e-01 3.60414080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20533619499999 meters 0.07001667941615557 Centerline is valid? [True, True] Translation: X:108.65, Y:1.71, Z:0.35 [[ 9.99241124e-01 -3.88316551e-02 -3.04603903e-03 1.08651230e+02] [ 3.88308845e-02 9.99245748e-01 -3.11734167e-04 1.70698403e+00] [ 3.05584670e-03 1.93217210e-04 9.99995312e-01 3.48387822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26533619499999 meters 0.06767502649845077 Centerline is valid? [True, True] Translation: X:108.71, Y:1.71, Z:0.35 [[ 9.99258045e-01 -3.83833321e-02 -3.17466252e-03 1.08709242e+02] [ 3.83824912e-02 9.99263068e-01 -3.25402019e-04 1.71343446e+00] [ 3.18481302e-03 2.03309129e-04 9.99994908e-01 3.47520051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32533619499999 meters 0.07199126192975604 Centerline is valid? [True, True] Translation: X:108.77, Y:1.74, Z:0.35 [[ 9.99224851e-01 -3.93533109e-02 1.00740860e-03 1.08766062e+02] [ 3.93532269e-02 9.99225356e-01 1.02979272e-04 1.73713177e+00] [-1.01068079e-03 -6.32546683e-05 9.99999487e-01 3.53305213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.385336195 meters 0.06352364776056978 Centerline is valid? [True, True] Translation: X:108.83, Y:1.75, Z:0.35 [[ 9.99041081e-01 -4.37655338e-02 -1.22305817e-03 1.08825364e+02] [ 4.37654129e-02 9.99041827e-01 -1.25388286e-04 1.74548381e+00] [ 1.22737395e-03 7.17404031e-05 9.99999244e-01 3.49542142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.445336195 meters 0.04903549991548896 Centerline is valid? [True, True] Translation: X:108.89, Y:1.74, Z:0.35 [[ 9.98528565e-01 -5.41795395e-02 -2.29840374e-03 1.08886500e+02] [ 5.41791408e-02 9.98531204e-01 -2.35406461e-04 1.74379818e+00] [ 2.30778207e-03 1.10534536e-04 9.99997331e-01 3.48128249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.505336195 meters 0.04346670006474462 Centerline is valid? [True, True] Translation: X:108.94, Y:1.75, Z:0.35 [[ 9.98131615e-01 -6.10929398e-02 9.65257656e-04 1.08944955e+02] [ 6.10928728e-02 9.98132081e-01 9.87605472e-05 1.75458103e+00] [-9.69488205e-04 -3.96056613e-05 9.99999529e-01 3.53264031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.565336195 meters 0.03922680848743321 Centerline is valid? [True, True] Translation: X:109.00, Y:1.76, Z:0.35 [[ 9.97686404e-01 -6.79771293e-02 9.74614311e-04 1.09002926e+02] [ 6.79770643e-02 9.97686879e-01 9.96232155e-05 1.76382531e+00] [-9.79132011e-04 -3.31413078e-05 9.99999520e-01 3.52138296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62533619499999 meters 0.029694875990600937 Centerline is valid? [True, True] Translation: X:109.06, Y:1.77, Z:0.35 [[ 9.97125533e-01 -7.57360904e-02 2.17180459e-03 1.09062634e+02] [ 7.57357855e-02 9.97127896e-01 2.22417312e-04 1.76531716e+00] [-2.18241196e-03 -5.72946542e-05 9.99997617e-01 3.51969289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68533619499999 meters 0.025114335878354804 Centerline is valid? [True, True] Translation: X:109.12, Y:1.77, Z:0.35 [[ 9.96730062e-01 -8.08006894e-02 -6.57491806e-04 1.09122470e+02] [ 8.08006624e-02 9.96730279e-01 -6.75639771e-05 1.76607754e+00] [ 6.60801207e-04 1.42172737e-05 9.99999782e-01 3.47903652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.745336195 meters 0.024452972316919144 Centerline is valid? [True, True] Translation: X:109.18, Y:1.77, Z:0.34 [[ 9.96585902e-01 -8.24712207e-02 -3.87774459e-03 1.09179084e+02] [ 8.24702947e-02 9.96593444e-01 -3.98373035e-04 1.77007674e+00] [ 3.89738914e-03 7.72142118e-05 9.99992402e-01 3.41939861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.805336195 meters 0.02431938297022963 Centerline is valid? [True, True] Translation: X:109.24, Y:1.78, Z:0.34 [[ 9.96559779e-01 -8.28025495e-02 -3.51361118e-03 1.09237156e+02] [ 8.28017869e-02 9.96565970e-01 -3.62185355e-04 1.77623307e+00] [ 3.53153521e-03 7.00060726e-05 9.99993762e-01 3.42747073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.865336195 meters 0.027837295502531906 Centerline is valid? [True, True] Translation: X:109.29, Y:1.79, Z:0.34 [[ 9.96789780e-01 -8.00092626e-02 -2.94164703e-03 1.09294932e+02] [ 8.00087179e-02 9.96794118e-01 -3.02575484e-04 1.79035888e+00] [ 2.95642530e-03 6.62467428e-05 9.99995628e-01 3.41755287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.925336195 meters 0.03433667820923761 Centerline is valid? [True, True] Translation: X:109.36, Y:1.79, Z:0.35 [[ 9.97352943e-01 -7.27054436e-02 -1.01311624e-03 1.09355161e+02] [ 7.27053753e-02 9.97353457e-01 -1.04160185e-04 1.79260217e+00] [ 1.01800800e-03 3.02254709e-05 9.99999481e-01 3.49505501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98533619499999 meters 0.04020786691591245 Centerline is valid? [True, True] Translation: X:109.41, Y:1.81, Z:0.35 [[ 9.97671222e-01 -6.81763121e-02 -2.03071361e-03 1.09413461e+02] [ 6.81760282e-02 9.97673286e-01 -2.08775541e-04 1.80693571e+00] [ 2.04022227e-03 6.98433603e-05 9.99997916e-01 3.46912711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04533619499999 meters 0.04251450388570338 Centerline is valid? [True, True] Translation: X:109.47, Y:1.81, Z:0.34 [[ 9.97784918e-01 -6.64346370e-02 -3.41988288e-03 1.09471972e+02] [ 6.64338201e-02 9.97790771e-01 -3.52033419e-04 1.81435827e+00] [ 3.43571479e-03 1.24057752e-04 9.99994090e-01 3.40716521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10533619499999 meters 0.04177719937321779 Centerline is valid? [True, True] Translation: X:109.53, Y:1.80, Z:0.35 [[ 9.97870899e-01 -6.52159524e-02 7.40438389e-04 1.09532400e+02] [ 6.52159146e-02 9.97871173e-01 7.50540434e-05 1.80412749e+00] [-7.43756845e-04 -2.66058790e-05 9.99999723e-01 3.53600758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.165336195 meters 0.045526797233069634 Centerline is valid? [True, True] Translation: X:109.59, Y:1.81, Z:0.35 [[ 9.98141404e-01 -6.09354902e-02 7.77494737e-04 1.09592177e+02] [ 6.09354464e-02 9.98141706e-01 8.00472094e-05 1.81170008e+00] [-7.80927639e-04 -3.25214451e-05 9.99999695e-01 3.53562994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.225336195 meters 0.05289189026827357 Centerline is valid? [True, True] Translation: X:109.65, Y:1.83, Z:0.34 [[ 9.98517182e-01 -5.43367669e-02 -3.30941158e-03 1.09650638e+02] [ 5.43359347e-02 9.98522654e-01 -3.40914155e-04 1.82764209e+00] [ 3.32304661e-03 1.60588670e-04 9.99994466e-01 3.40697666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.285336195 meters 0.05693219844339017 Centerline is valid? [True, True] Translation: X:109.71, Y:1.82, Z:0.34 [[ 9.98768883e-01 -4.91340139e-02 -6.82397242e-03 1.09711681e+02] [ 4.91303540e-02 9.98792128e-01 -7.03034817e-04 1.82027511e+00] [ 6.85027286e-03 3.66905118e-04 9.99976469e-01 3.41365428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34533619499999 meters 0.05997616723650342 Centerline is valid? [True, True] Translation: X:109.77, Y:1.83, Z:0.34 [[ 9.99022512e-01 -4.38155360e-02 -5.84974241e-03 1.09771135e+02] [ 4.38127552e-02 9.99039578e-01 -6.02727171e-04 1.82911252e+00] [ 5.87053300e-03 3.45844680e-04 9.99982708e-01 3.43868878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40533619499999 meters 0.0661113406746357 Centerline is valid? [True, True] Translation: X:109.83, Y:1.84, Z:0.34 [[ 9.99273088e-01 -3.79591201e-02 -3.52142675e-03 1.09830674e+02] [ 3.79580766e-02 9.99279267e-01 -3.62714771e-04 1.84455936e+00] [ 3.53265708e-03 2.28784523e-04 9.99993734e-01 3.44496989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46533619499999 meters 0.07256429124353449 Centerline is valid? [True, True] Translation: X:109.89, Y:1.85, Z:0.35 [[ 9.99523124e-01 -3.07281815e-02 -3.05025221e-03 1.09890518e+02] [ 3.07273646e-02 9.99527754e-01 -3.14329594e-04 1.85288954e+00] [ 3.05847051e-03 2.20453486e-04 9.99995299e-01 3.48844763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.525336195 meters 0.07973185242478778 Centerline is valid? [True, True] Translation: X:109.95, Y:1.88, Z:0.35 [[ 9.99644369e-01 -2.63108887e-02 -4.34428495e-03 1.09948169e+02] [ 2.63091899e-02 9.99653753e-01 -4.47742727e-04 1.87531808e+00] [ 4.35456127e-03 3.33288878e-04 9.99990463e-01 3.46081885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.585336195 meters 0.07681618685795802 Centerline is valid? [True, True] Translation: X:110.01, Y:1.88, Z:0.35 [[ 9.99621386e-01 -2.74651039e-02 -1.65927239e-03 1.10007310e+02] [ 2.74648573e-02 9.99622755e-01 -1.71181697e-04 1.88265559e+00] [ 1.66334796e-03 1.25545206e-04 9.99998609e-01 3.49482528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.645336195 meters 0.06629838142183264 Centerline is valid? [True, True] Translation: X:110.07, Y:1.88, Z:0.35 [[ 9.99276751e-01 -3.80258206e-02 -1.05981873e-04 1.10068685e+02] [ 3.80258197e-02 9.99276757e-01 -1.09329543e-05 1.87796711e+00] [ 1.06320956e-04 6.89499950e-06 9.99999994e-01 3.51537332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70533619499999 meters 0.06735560346989129 Centerline is valid? [True, True] Translation: X:110.13, Y:1.88, Z:0.35 [[ 9.99010929e-01 -4.44652909e-02 2.67059940e-05 1.10127825e+02] [ 4.44652909e-02 9.99010930e-01 2.64432528e-06 1.88480638e+00] [-2.67971606e-05 -1.45422007e-06 1.00000000e+00 3.51043463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76533619499999 meters 0.06114837956601551 Centerline is valid? [True, True] Translation: X:110.19, Y:1.89, Z:0.35 [[ 9.98796113e-01 -4.90541089e-02 -1.41281486e-04 1.10187205e+02] [ 4.90541073e-02 9.98796123e-01 -1.47173094e-05 1.89015240e+00] [ 1.41833345e-04 7.76915427e-06 9.99999990e-01 3.49009342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82533619499999 meters 0.05419389006609981 Centerline is valid? [True, True] Translation: X:110.25, Y:1.89, Z:0.35 [[ 9.98654508e-01 -5.18424420e-02 1.23886185e-03 1.10247631e+02] [ 5.18423233e-02 9.98655274e-01 1.27699474e-04 1.89198879e+00] [-1.24381617e-03 -6.33021789e-05 9.99999224e-01 3.53110369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.885336195 meters 0.050516467112885356 Centerline is valid? [True, True] Translation: X:110.31, Y:1.90, Z:0.35 [[ 9.98634215e-01 -5.22408879e-02 7.70899279e-04 1.10306366e+02] [ 5.22408429e-02 9.98634512e-01 7.83608091e-05 1.89757497e+00] [-7.73940264e-04 -3.79813569e-05 9.99999700e-01 3.53416297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.945336195 meters 0.05513714970506477 Centerline is valid? [True, True] Translation: X:110.36, Y:1.92, Z:0.35 [[ 9.98691218e-01 -5.10867393e-02 2.44884672e-03 1.10362143e+02] [ 5.10862737e-02 9.98694212e-01 2.52371182e-04 1.91725928e+00] [-2.45854187e-03 -1.26938429e-04 9.99996970e-01 3.51857405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.005336195 meters 0.0500820630288262 Centerline is valid? [True, True] Translation: X:110.42, Y:1.92, Z:0.35 [[ 9.98595700e-01 -5.29299277e-02 -2.24755133e-03 1.10420332e+02] [ 5.29295349e-02 9.98598222e-01 -2.33916893e-04 1.92289684e+00] [ 2.25678197e-03 1.14626557e-04 9.99997447e-01 3.45327944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.065336195 meters 0.047930712138616036 Centerline is valid? [True, True] Translation: X:110.48, Y:1.94, Z:0.34 [[ 9.98466401e-01 -5.53408159e-02 -1.49673596e-03 1.10478919e+02] [ 5.53406453e-02 9.98467520e-01 -1.55182913e-04 1.93565333e+00] [ 1.50303019e-03 7.21145912e-05 9.99998868e-01 3.44712792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12533619499999 meters 0.04983401781052302 Centerline is valid? [True, True] Translation: X:110.54, Y:1.95, Z:0.35 [[ 9.98424109e-01 -5.61043723e-02 1.26448029e-03 1.10536107e+02] [ 5.61042518e-02 9.98424907e-01 1.30653904e-04 1.94975741e+00] [-1.26981887e-03 -5.95052871e-05 9.99999192e-01 3.47639942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18533619499999 meters 0.04908890620053683 Centerline is valid? [True, True] Translation: X:110.59, Y:1.96, Z:0.35 [[ 9.98345732e-01 -5.74472317e-02 2.36943659e-03 1.10594826e+02] [ 5.74468124e-02 9.98348538e-01 2.44718700e-04 1.95820170e+00] [-2.37958197e-03 -1.08197291e-04 9.99997163e-01 3.48461706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.245336195 meters 0.04017830761731092 Centerline is valid? [True, True] Translation: X:110.66, Y:1.96, Z:0.35 [[ 9.98075573e-01 -6.17329647e-02 5.84744168e-03 1.10655486e+02] [ 6.17304677e-02 9.98092672e-01 6.06726925e-04 1.95693067e+00] [-5.87374374e-03 -2.44594013e-04 9.99982720e-01 3.52199927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.305336195 meters 0.03917270210310843 Centerline is valid? [True, True] Translation: X:110.71, Y:1.96, Z:0.34 [[ 9.97712187e-01 -6.75798048e-02 1.83330633e-03 1.10714520e+02] [ 6.75795693e-02 9.97713870e-01 1.90146968e-04 1.96485702e+00] [-1.84196525e-03 -6.58178953e-05 9.99998301e-01 3.42989988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.365336195 meters 0.036866883508638065 Centerline is valid? [True, True] Translation: X:110.77, Y:1.96, Z:0.33 [[ 9.97661487e-01 -6.82179798e-02 -4.22660002e-03 1.10773316e+02] [ 6.82167301e-02 9.97670429e-01 -4.39323516e-04 1.96318650e+00] [ 4.24672362e-03 1.49971319e-04 9.99990971e-01 3.33364346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.425336195 meters 0.04107023590599585 Centerline is valid? [True, True] Translation: X:110.83, Y:1.98, Z:0.34 [[ 9.97931221e-01 -6.42379606e-02 -2.60037562e-03 1.10832379e+02] [ 6.42374748e-02 9.97934604e-01 -2.70013465e-04 1.97980302e+00] [ 2.61234993e-03 1.02413303e-04 9.99996583e-01 3.36620019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48533619499999 meters 0.04877334856859019 Centerline is valid? [True, True] Translation: X:110.89, Y:2.00, Z:0.34 [[ 9.98349151e-01 -5.74300429e-02 -8.73300215e-04 1.10889449e+02] [ 5.74299854e-02 9.98349532e-01 -9.08693357e-05 2.00342953e+00] [ 8.77077491e-04 4.05657056e-05 9.99999615e-01 3.35956351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54533619499999 meters 0.053418684401941204 Centerline is valid? [True, True] Translation: X:110.95, Y:2.01, Z:0.34 [[ 9.98676095e-01 -5.14367322e-02 5.66428805e-04 1.10949028e+02] [ 5.14367072e-02 9.98676255e-01 5.87656789e-05 2.01303052e+00] [-5.68701712e-04 -2.95526462e-05 9.99999838e-01 3.39769028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60533619499999 meters 0.05958109390319559 Centerline is valid? [True, True] Translation: X:111.01, Y:2.03, Z:0.34 [[ 9.98595337e-01 -5.29455760e-02 2.02944327e-03 1.11006130e+02] [ 5.29452571e-02 9.98597394e-01 2.10602902e-04 2.03296445e+00] [-2.03774726e-03 -1.02857680e-04 9.99997919e-01 3.39778480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.665336195 meters 0.05050614933846402 Centerline is valid? [True, True] Translation: X:111.07, Y:2.03, Z:0.33 [[ 9.98373603e-01 -5.70095407e-02 2.45672405e-04 1.11066827e+02] [ 5.70095361e-02 9.98373634e-01 2.55120649e-05 2.02976916e+00] [-2.46727283e-04 -1.14649024e-05 9.99999969e-01 3.34532217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.725336195 meters 0.0441691050491631 Centerline is valid? [True, True] Translation: X:111.13, Y:2.02, Z:0.34 [[ 9.98160016e-01 -6.06344253e-02 2.19771634e-04 1.11128319e+02] [ 6.06344217e-02 9.98160040e-01 2.28047097e-05 2.02327193e+00] [-2.20750013e-04 -9.43702344e-06 9.99999976e-01 3.36491243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.785336195 meters 0.04572191294725327 Centerline is valid? [True, True] Translation: X:111.19, Y:2.04, Z:0.34 [[ 9.98016454e-01 -6.29375832e-02 1.42058272e-03 1.11186251e+02] [ 6.29374370e-02 9.98017463e-01 1.47468870e-04 2.03772374e+00] [-1.42704770e-03 -5.77685235e-05 9.99998980e-01 3.35969511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84533619499999 meters 0.03966309915476266 Centerline is valid? [True, True] Translation: X:111.25, Y:2.03, Z:0.34 [[ 9.97816060e-01 -6.60279510e-02 1.84926324e-03 1.11247631e+02] [ 6.60277082e-02 9.97817771e-01 1.92132606e-04 2.03052747e+00] [-1.85791385e-03 -6.96103858e-05 9.99998272e-01 3.38679965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90533619499999 meters 0.03795944152608041 Centerline is valid? [True, True] Translation: X:111.31, Y:2.04, Z:0.33 [[ 9.97643979e-01 -6.86025256e-02 -4.30491804e-04 1.11305399e+02] [ 6.86025125e-02 9.97644071e-01 -4.52110004e-05 2.03571167e+00] [ 4.32579185e-04 1.55716630e-05 9.99999906e-01 3.30539502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96533619499999 meters 0.03401983307848023 Centerline is valid? [True, True] Translation: X:111.37, Y:2.03, Z:0.34 [[ 9.97553193e-01 -6.98897746e-02 1.74522056e-03 1.11365788e+02] [ 6.98895643e-02 9.97554718e-01 1.81228792e-04 2.02615151e+00] [-1.75361904e-03 -5.88126560e-05 9.99998461e-01 3.35557960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.025336195 meters 0.039435889761146856 Centerline is valid? [True, True] Translation: X:111.42, Y:2.04, Z:0.33 [[ 9.97707570e-01 -6.76632336e-02 1.13633527e-03 1.11423052e+02] [ 6.76631432e-02 9.97708216e-01 1.17879862e-04 2.03765567e+00] [-1.14170717e-03 -4.07216141e-05 9.99999347e-01 3.33699253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.085336195 meters 0.04590304201425701 Centerline is valid? [True, True] Translation: X:111.48, Y:2.05, Z:0.33 [[ 9.98096723e-01 -6.16606352e-02 -9.47413995e-04 1.11482427e+02] [ 6.16605693e-02 9.98097172e-01 -9.86258305e-05 2.05241222e+00] [ 9.51692560e-04 4.00200320e-05 9.99999546e-01 3.27253778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.145336195 meters 0.05499307313166379 Centerline is valid? [True, True] Translation: X:111.54, Y:2.06, Z:0.33 [[ 9.98514573e-01 -5.44852826e-02 -4.74680725e-05 1.11540939e+02] [ 5.44852824e-02 9.98514574e-01 -5.08842725e-06 2.05943986e+00] [ 4.76748066e-05 2.49455742e-06 9.99999999e-01 3.31840637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20533619499999 meters 0.05913071281680083 Centerline is valid? [True, True] Translation: X:111.60, Y:2.08, Z:0.33 [[ 9.98695706e-01 -5.10329619e-02 -1.58851274e-03 1.11600048e+02] [ 5.10327632e-02 9.98696966e-01 -1.65412493e-04 2.07769892e+00] [ 1.59488434e-03 8.41305521e-05 9.99998725e-01 3.26163155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26533619499999 meters 0.055500037668670274 Centerline is valid? [True, True] Translation: X:111.66, Y:2.07, Z:0.33 [[ 9.98707591e-01 -5.08081961e-02 -1.29380467e-03 1.11659105e+02] [ 5.08080634e-02 9.98708427e-01 -1.35235635e-04 2.07395404e+00] [ 1.29900471e-03 6.93251456e-05 9.99999154e-01 3.27861171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32533619499999 meters 0.0540777488406721 Centerline is valid? [True, True] Translation: X:111.72, Y:2.07, Z:0.33 [[ 9.98682443e-01 -5.13140281e-02 4.97585617e-04 1.11718019e+02] [ 5.13140092e-02 9.98682567e-01 5.06857973e-05 2.07443372e+00] [-4.99530974e-04 -2.50859030e-05 9.99999875e-01 3.34842364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.385336195 meters 0.05520898793808888 Centerline is valid? [True, True] Translation: X:111.78, Y:2.09, Z:0.33 [[ 9.98656025e-01 -5.18203334e-02 8.92869577e-04 1.11775970e+02] [ 5.18202717e-02 9.98656423e-01 9.20973197e-05 2.08562202e+00] [-8.96442452e-04 -4.57047991e-05 9.99999597e-01 3.31262888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.445336195 meters 0.050470578499141286 Centerline is valid? [True, True] Translation: X:111.84, Y:2.08, Z:0.33 [[ 9.98521459e-01 -5.43330096e-02 1.67955160e-03 1.11836994e+02] [ 5.43327911e-02 9.98522868e-01 1.75469938e-04 2.08197516e+00] [-1.68660449e-03 -8.39557722e-05 9.99998574e-01 3.31545792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.505336195 meters 0.048911616103741035 Centerline is valid? [True, True] Translation: X:111.90, Y:2.08, Z:0.33 [[ 9.98257930e-01 -5.89905540e-02 -1.10477668e-03 1.11896130e+02] [ 5.89904621e-02 9.98258540e-01 -1.15597937e-04 2.08397302e+00] [ 1.10967194e-03 5.02252709e-05 9.99999383e-01 3.27747486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.565336195 meters 0.04097284014929568 Centerline is valid? [True, True] Translation: X:111.96, Y:2.08, Z:0.33 [[ 9.98071906e-01 -6.19631832e-02 -3.61038485e-03 1.11956986e+02] [ 6.19622216e-02 9.98078424e-01 -3.77704830e-04 2.07509477e+00] [ 3.62685102e-03 1.53269113e-04 9.99993411e-01 3.26422253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62533619499999 meters 0.04562231599098459 Centerline is valid? [True, True] Translation: X:112.01, Y:2.09, Z:0.33 [[ 9.98102507e-01 -6.15533012e-02 -1.60548331e-03 1.12012726e+02] [ 6.15531094e-02 9.98103795e-01 -1.68648808e-04 2.08815724e+00] [ 1.61281988e-03 6.95063079e-05 9.99998697e-01 3.28082639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68533619499999 meters 0.04689748550758132 Centerline is valid? [True, True] Translation: X:112.07, Y:2.09, Z:0.33 [[ 9.98223381e-01 -5.94757564e-02 -3.56594232e-03 1.12073067e+02] [ 5.94748020e-02 9.98229737e-01 -3.73176956e-04 2.09381407e+00] [ 3.58182464e-03 1.60430250e-04 9.99993572e-01 3.25137569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.745336195 meters 0.05062182545205743 Centerline is valid? [True, True] Translation: X:112.13, Y:2.10, Z:0.33 [[ 9.98434389e-01 -5.59335933e-02 -4.52163925e-04 1.12132374e+02] [ 5.59335776e-02 9.98434491e-01 -4.74124422e-05 2.10464440e+00] [ 4.54108006e-04 2.20470668e-05 9.99999897e-01 3.31397713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.805336195 meters 0.05544758282918592 Centerline is valid? [True, True] Translation: X:112.19, Y:2.12, Z:0.33 [[ 9.98527431e-01 -5.42395744e-02 1.01880132e-03 1.12190279e+02] [ 5.42394940e-02 9.98527950e-01 1.06405006e-04 2.11685955e+00] [-1.02307296e-03 -5.09890493e-05 9.99999475e-01 3.34521859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.865336195 meters 0.056259721818922984 Centerline is valid? [True, True] Translation: X:112.25, Y:2.13, Z:0.33 [[ 9.98553835e-01 -5.37592538e-02 -4.24723345e-04 1.12248315e+02] [ 5.37592392e-02 9.98553925e-01 -4.57292269e-05 2.12538801e+00] [ 4.26567533e-04 2.28302910e-05 9.99999909e-01 3.30458860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.925336195 meters 0.05149910509448877 Centerline is valid? [True, True] Translation: X:112.31, Y:2.12, Z:0.33 [[ 9.98447804e-01 -5.56795344e-02 -1.33120105e-03 1.12307919e+02] [ 5.56793958e-02 9.98448689e-01 -1.40918873e-04 2.12389647e+00] [ 1.33698224e-03 6.65796697e-05 9.99999104e-01 3.29677071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98533619499999 meters 0.05112698062199717 Centerline is valid? [True, True] Translation: X:112.37, Y:2.13, Z:0.33 [[ 9.98386115e-01 -5.66782887e-02 -3.56884653e-03 1.12366503e+02] [ 5.66773039e-02 9.98392479e-01 -3.76563993e-04 2.13249511e+00] [ 3.58445254e-03 1.73683662e-04 9.99993561e-01 3.25818595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04533619499999 meters 0.05415798364123087 Centerline is valid? [True, True] Translation: X:112.42, Y:2.14, Z:0.32 [[ 9.98365063e-01 -5.70024655e-02 -4.23317393e-03 1.12423742e+02] [ 5.70010861e-02 9.98374017e-01 -4.45887309e-04 2.14320761e+00] [ 4.25170754e-03 2.03862799e-04 9.99990941e-01 3.22879645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10533619499999 meters 0.0492810481067567 Centerline is valid? [True, True] Translation: X:112.48, Y:2.14, Z:0.32 [[ 9.98246958e-01 -5.90257719e-02 -4.35533466e-03 1.12483935e+02] [ 5.90243323e-02 9.98256439e-01 -4.58446649e-04 2.14339393e+00] [ 4.37480104e-03 2.00572253e-04 9.99990410e-01 3.24651525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.165336195 meters 0.04173183946343553 Centerline is valid? [True, True] Translation: X:112.55, Y:2.14, Z:0.33 [[ 9.97780387e-01 -6.65863850e-02 -7.43439544e-04 1.12545181e+02] [ 6.65863451e-02 9.97780664e-01 -7.82806064e-05 2.14118691e+00] [ 7.47002024e-04 2.86039316e-05 9.99999721e-01 3.30111831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.225336195 meters 0.04261682976126961 Centerline is valid? [True, True] Translation: X:112.60, Y:2.15, Z:0.33 [[ 9.97632210e-01 -6.87662424e-02 1.08546973e-03 1.12603292e+02] [ 6.87661590e-02 9.97632799e-01 1.14017170e-04 2.14903332e+00] [-1.09074074e-03 -3.91036170e-05 9.99999404e-01 3.31562360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.285336195 meters 0.03630256903094899 Centerline is valid? [True, True] Translation: X:112.66, Y:2.15, Z:0.33 [[ 9.97261179e-01 -7.39494312e-02 1.27343980e-03 1.12664490e+02] [ 7.39493202e-02 9.97261992e-01 1.34050497e-04 2.14603738e+00] [-1.27986607e-03 -3.95133487e-05 9.99999180e-01 3.30590238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34533619499999 meters 0.030515694485875995 Centerline is valid? [True, True] Translation: X:112.73, Y:2.14, Z:0.33 [[ 9.96931227e-01 -7.82562458e-02 -2.02211142e-03 1.12725182e+02] [ 7.82559744e-02 9.96933276e-01 -2.13115906e-04 2.13970098e+00] [ 2.03258782e-03 5.42196019e-05 9.99997933e-01 3.25980084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40533619499999 meters 0.026632718365076087 Centerline is valid? [True, True] Translation: X:112.79, Y:2.14, Z:0.32 [[ 9.96677054e-01 -8.14330719e-02 -1.87232153e-03 1.12785346e+02] [ 8.14328447e-02 9.96678811e-01 -1.97389090e-04 2.13629071e+00] [ 1.88217720e-03 4.42647083e-05 9.99998228e-01 3.24886561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46533619499999 meters 0.024591264928929595 Centerline is valid? [True, True] Translation: X:112.84, Y:2.14, Z:0.33 [[ 9.96696777e-01 -8.12117591e-02 -4.28850754e-04 1.12844173e+02] [ 8.12117465e-02 9.96696870e-01 -4.67328155e-05 2.13586461e+00] [ 4.31229458e-04 1.17507279e-05 9.99999907e-01 3.27961297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.525336195 meters 0.03261238531424394 Centerline is valid? [True, True] Translation: X:112.90, Y:2.15, Z:0.33 [[ 9.97116075e-01 -7.58892960e-02 -5.89437481e-04 1.12902541e+02] [ 7.58892724e-02 9.97116249e-01 -6.23983319e-05 2.14858817e+00] [ 5.92473055e-04 1.74863983e-05 9.99999824e-01 3.26741474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.585336195 meters 0.03798416978512703 Centerline is valid? [True, True] Translation: X:112.96, Y:2.15, Z:0.33 [[ 9.97456350e-01 -7.12717356e-02 1.08135681e-03 1.12961327e+02] [ 7.12716537e-02 9.97456936e-01 1.14073893e-04 2.15454394e+00] [-1.08673709e-03 -3.67136406e-05 9.99999409e-01 3.30016651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.645336195 meters 0.035703657337519686 Centerline is valid? [True, True] Translation: X:113.02, Y:2.15, Z:0.32 [[ 9.97358232e-01 -7.26276214e-02 -1.33594588e-03 1.13020023e+02] [ 7.26274957e-02 9.97359126e-01 -1.42471090e-04 2.15468989e+00] [ 1.34276515e-03 4.50683113e-05 9.99999097e-01 3.21522949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70533619499999 meters 0.03341893528087711 Centerline is valid? [True, True] Translation: X:113.08, Y:2.14, Z:0.32 [[ 9.97142806e-01 -7.55241259e-02 -1.52696067e-03 1.13080240e+02] [ 7.55239668e-02 9.97143974e-01 -1.61680599e-04 2.14291103e+00] [ 1.53481042e-03 4.58965189e-05 9.99998821e-01 3.21098692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76533619499999 meters 0.029634180062835136 Centerline is valid? [True, True] Translation: X:113.14, Y:2.13, Z:0.32 [[ 9.96924798e-01 -7.82990590e-02 -3.19446178e-03 1.13141162e+02] [ 7.82983729e-02 9.96929912e-01 -3.39463523e-04 2.13115408e+00] [ 3.21123417e-03 8.82984445e-05 9.99994840e-01 3.21394070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82533619499999 meters 0.033416920471875215 Centerline is valid? [True, True] Translation: X:113.20, Y:2.14, Z:0.31 [[ 9.96930703e-01 -7.80137620e-02 -6.55944073e-03 1.13198883e+02] [ 7.80108732e-02 9.96952266e-01 -6.95512996e-04 2.13791196e+00] [ 6.59370888e-03 1.81670562e-04 9.99978245e-01 3.08278940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.885336195 meters 0.032356918538120644 Centerline is valid? [True, True] Translation: X:113.26, Y:2.12, Z:0.32 [[ 9.97080795e-01 -7.62589293e-02 -3.80301858e-03 1.13259571e+02] [ 7.62579394e-02 9.97088042e-01 -4.04842611e-04 2.12481717e+00] [ 3.82281722e-03 1.13650432e-04 9.99992687e-01 3.16959173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.945336195 meters 0.032333077095597865 Centerline is valid? [True, True] Translation: X:113.32, Y:2.11, Z:0.32 [[ 9.97209657e-01 -7.46170808e-02 -2.27826860e-03 1.13319452e+02] [ 7.46167217e-02 9.97212257e-01 -2.42374521e-04 2.11411049e+00] [ 2.29000265e-03 7.17012798e-05 9.99997375e-01 3.22139630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.005336195 meters 0.03471209769861128 Centerline is valid? [True, True] Translation: X:113.38, Y:2.12, Z:0.31 [[ 9.97303550e-01 -7.33461479e-02 -2.44384266e-03 1.13377258e+02] [ 7.33457306e-02 9.97306541e-01 -2.60092944e-04 2.11744889e+00] [ 2.45633708e-03 8.01461915e-05 9.99996980e-01 3.13801603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.065336195 meters 0.033672589590430055 Centerline is valid? [True, True] Translation: X:113.44, Y:2.10, Z:0.31 [[ 9.97244247e-01 -7.40587202e-02 -4.38377574e-03 1.13437323e+02] [ 7.40573808e-02 9.97253872e-01 -4.67296647e-04 2.09668888e+00] [ 4.40634473e-03 1.41357944e-04 9.99990282e-01 3.13439867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12533619499999 meters 0.04019844506036382 Centerline is valid? [True, True] Translation: X:113.50, Y:2.09, Z:0.32 [[ 9.97563243e-01 -6.97222464e-02 -2.52683414e-03 1.13497300e+02] [ 6.97217883e-02 9.97566439e-01 -2.69029782e-04 2.09062682e+00] [ 2.53944229e-03 9.21988272e-05 9.99996771e-01 3.19878695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18533619499999 meters 0.053880758264107854 Centerline is valid? [True, True] Translation: X:113.55, Y:2.11, Z:0.31 [[ 9.98294436e-01 -5.82661042e-02 -3.64420143e-03 1.13554186e+02] [ 5.82650759e-02 9.98301072e-01 -3.87781995e-04 2.11499205e+00] [ 3.66060474e-03 1.74790935e-04 9.99993285e-01 3.07692540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.245336195 meters 0.06348355180912386 Centerline is valid? [True, True] Translation: X:113.62, Y:2.11, Z:0.31 [[ 9.98924021e-01 -4.60969958e-02 -5.08593974e-03 1.13615192e+02] [ 4.60948354e-02 9.98936922e-01 -5.41252080e-04 2.11164237e+00] [ 5.10548308e-03 3.06234150e-04 9.99986920e-01 3.10892521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.305336195 meters 0.06771673680129407 Centerline is valid? [True, True] Translation: X:113.67, Y:2.12, Z:0.31 [[ 9.99376506e-01 -3.50303753e-02 -4.41270076e-03 1.13674484e+02] [ 3.50286416e-02 9.99386199e-01 -4.69571808e-04 2.12085632e+00] [ 4.42644151e-03 3.14708119e-04 9.99990154e-01 3.12764073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.365336195 meters 0.08528886648515267 Centerline is valid? [True, True] Translation: X:113.73, Y:2.15, Z:0.31 [[ 9.99706094e-01 -2.41906086e-02 -1.59356333e-03 1.13730888e+02] [ 2.41903687e-02 9.99707356e-01 -1.69639686e-04 2.15399937e+00] [ 1.59720068e-03 1.31040943e-04 9.99998716e-01 3.11800991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.425336195 meters 0.08755697347994118 Centerline is valid? [True, True] Translation: X:113.79, Y:2.16, Z:0.31 [[ 9.99780373e-01 -2.08224427e-02 -2.37300697e-03 1.13790931e+02] [ 2.08219012e-02 9.99783169e-01 -2.52647746e-04 2.15746072e+00] [ 2.37775318e-03 2.03181741e-04 9.99997152e-01 3.14324923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48533619499999 meters 0.07409191443010324 Centerline is valid? [True, True] Translation: X:113.85, Y:2.15, Z:0.31 [[ 9.99540358e-01 -3.01388011e-02 -3.27509338e-03 1.13852340e+02] [ 3.01378197e-02 9.99545692e-01 -3.48581918e-04 2.15314252e+00] [ 3.28411132e-03 2.49717521e-04 9.99994576e-01 3.10032454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54533619499999 meters 0.07388196471384001 Centerline is valid? [True, True] Translation: X:113.91, Y:2.16, Z:0.31 [[ 9.99239686e-01 -3.88702115e-02 -3.02611929e-03 1.13911054e+02] [ 3.88694129e-02 9.99244247e-01 -3.22298675e-04 2.16034982e+00] [ 3.03636011e-03 2.04430147e-04 9.99995369e-01 3.07648088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60533619499999 meters 0.05856085719275266 Centerline is valid? [True, True] Translation: X:113.97, Y:2.14, Z:0.31 [[ 9.98719817e-01 -5.04285564e-02 -3.96090615e-03 1.13973978e+02] [ 5.04272793e-02 9.98727646e-01 -4.21688032e-04 2.14090675e+00] [ 3.97713160e-03 2.21410473e-04 9.99992067e-01 3.10672423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.665336195 meters 0.0539465461126381 Centerline is valid? [True, True] Translation: X:114.03, Y:2.14, Z:0.31 [[ 9.98116494e-01 -6.12510230e-02 -3.43170612e-03 1.14033818e+02] [ 6.12501280e-02 9.98122381e-01 -3.65382418e-04 2.14395256e+00] [ 3.44764273e-03 1.54501779e-04 9.99994045e-01 3.07925131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.725336195 meters 0.045296506306729344 Centerline is valid? [True, True] Translation: X:114.09, Y:2.15, Z:0.30 [[ 9.97825144e-01 -6.56323362e-02 -6.11386932e-03 1.14094079e+02] [ 6.56295775e-02 9.97843843e-01 -6.50969821e-04 2.14546195e+00] [ 6.14341153e-03 2.48303394e-04 9.99981098e-01 3.01108479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.785336195 meters 0.04550009895926477 Centerline is valid? [True, True] Translation: X:114.15, Y:2.15, Z:0.31 [[ 9.97804167e-01 -6.61900456e-02 -2.39226745e-03 1.14153732e+02] [ 6.61896215e-02 9.97807030e-01 -2.56124333e-04 2.14814049e+00] [ 2.40397416e-03 9.72186494e-05 9.99997106e-01 3.12526979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84533619499999 meters 0.04813211139847108 Centerline is valid? [True, True] Translation: X:114.21, Y:2.16, Z:0.31 [[ 9.97931453e-01 -6.42417966e-02 -2.40965530e-03 1.14212041e+02] [ 6.42413627e-02 9.97934357e-01 -2.57116283e-04 2.16266258e+00] [ 2.42119542e-03 1.01784886e-04 9.99997064e-01 3.12091211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90533619499999 meters 0.04674658882440353 Centerline is valid? [True, True] Translation: X:114.27, Y:2.18, Z:0.31 [[ 9.97972169e-01 -6.35982230e-02 -2.61081250e-03 1.14270053e+02] [ 6.35977077e-02 9.97975577e-01 -2.80003872e-04 2.17630918e+00] [ 2.62333486e-03 1.13394381e-04 9.99996553e-01 3.08228027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96533619499999 meters 0.042355176620987534 Centerline is valid? [True, True] Translation: X:114.33, Y:2.18, Z:0.31 [[ 9.97896655e-01 -6.46167719e-02 -5.19031114e-03 1.14328322e+02] [ 6.46147489e-02 9.97910128e-01 -5.56675304e-04 2.17603780e+00] [ 5.21543462e-03 2.20133773e-04 9.99986375e-01 3.06053466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.025336195 meters 0.03813888560752754 Centerline is valid? [True, True] Translation: X:114.39, Y:2.18, Z:0.31 [[ 9.97618200e-01 -6.88805985e-02 -3.65932048e-03 1.14389248e+02] [ 6.88796251e-02 9.97624901e-01 -3.91529060e-04 2.17613954e+00] [ 3.67759799e-03 1.38543893e-04 9.99993228e-01 3.10926446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.085336195 meters 0.04369624262631758 Centerline is valid? [True, True] Translation: X:114.45, Y:2.19, Z:0.31 [[ 9.97440764e-01 -7.14870116e-02 -1.23684231e-03 1.14446996e+02] [ 7.14869021e-02 9.97441530e-01 -1.32527848e-04 2.19363131e+00] [ 1.24315191e-03 4.37706523e-05 9.99999226e-01 3.10444639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.145336195 meters 0.035897833655619715 Centerline is valid? [True, True] Translation: X:114.51, Y:2.19, Z:0.31 [[ 9.97296090e-01 -7.33923162e-02 -3.75187556e-03 1.14507239e+02] [ 7.33913178e-02 9.97303139e-01 -4.03292291e-04 2.18637486e+00] [ 3.77135583e-03 1.26846733e-04 9.99992880e-01 3.07906611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20533619499999 meters 0.0405274195405162 Centerline is valid? [True, True] Translation: X:114.56, Y:2.20, Z:0.31 [[ 9.97473988e-01 -7.09951867e-02 -2.30784445e-03 1.14564934e+02] [ 7.09948035e-02 9.97476655e-01 -2.47665984e-04 2.19803291e+00] [ 2.31960405e-03 8.31954138e-05 9.99997306e-01 3.11357076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26533619499999 meters 0.0438399095780815 Centerline is valid? [True, True] Translation: X:114.62, Y:2.22, Z:0.31 [[ 9.97912499e-01 -6.45785838e-02 -5.00280490e-04 1.14623626e+02] [ 6.45785650e-02 9.97912624e-01 -5.36302653e-05 2.21770790e+00] [ 5.02699584e-04 2.12109159e-05 9.99999873e-01 3.12854824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32533619499999 meters 0.05463476697514157 Centerline is valid? [True, True] Translation: X:114.68, Y:2.24, Z:0.31 [[ 9.98553598e-01 -5.37470003e-02 -1.40437826e-03 1.14682597e+02] [ 5.37468415e-02 9.98554583e-01 -1.50615608e-04 2.23856343e+00] [ 1.41044348e-03 7.49168617e-05 9.99999003e-01 3.13324989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.385336195 meters 0.05580056198310852 Centerline is valid? [True, True] Translation: X:114.74, Y:2.25, Z:0.30 [[ 9.98736166e-01 -4.98380051e-02 -6.49951260e-03 1.14741116e+02] [ 4.98345213e-02 9.98757245e-01 -6.96968855e-04 2.25330071e+00] [ 6.52617083e-03 3.72187904e-04 9.99978635e-01 3.04624919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.445336195 meters 0.060475370317994805 Centerline is valid? [True, True] Translation: X:114.80, Y:2.28, Z:0.31 [[ 9.98668792e-01 -5.15273983e-02 -2.36033615e-03 1.14798073e+02] [ 5.15269431e-02 9.98671573e-01 -2.53306679e-04 2.27525190e+00] [ 2.37025285e-03 1.31348568e-04 9.99997182e-01 3.07327169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.505336195 meters 0.05332966272361025 Centerline is valid? [True, True] Translation: X:114.86, Y:2.27, Z:0.31 [[ 9.98254515e-01 -5.90565349e-02 -4.99840047e-04 1.14859515e+02] [ 5.90565154e-02 9.98254639e-01 -5.36592377e-05 2.26906512e+00] [ 5.02136574e-04 2.40467648e-05 9.99999874e-01 3.13579979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.565336195 meters 0.042760562577581596 Centerline is valid? [True, True] Translation: X:114.92, Y:2.27, Z:0.31 [[ 9.97701680e-01 -6.77526758e-02 9.65822513e-04 1.14920543e+02] [ 6.77526072e-02 9.97702147e-01 1.03622009e-04 2.26955558e+00] [-9.70623863e-04 -3.79468591e-05 9.99999528e-01 3.12983799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62533619499999 meters 0.03552619355246843 Centerline is valid? [True, True] Translation: X:114.98, Y:2.27, Z:0.31 [[ 9.97366819e-01 -7.25217675e-02 1.46205220e-04 1.14982058e+02] [ 7.25217660e-02 9.97366830e-01 1.56171074e-05 2.26614053e+00] [-1.46952817e-04 -4.97292399e-06 9.99999989e-01 3.10763346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68533619499999 meters 0.04077619144857307 Centerline is valid? [True, True] Translation: X:115.04, Y:2.28, Z:0.31 [[ 9.97248657e-01 -7.40893594e-02 -2.42557232e-03 1.15039205e+02] [ 7.40889441e-02 9.97251603e-01 -2.60730189e-04 2.27542881e+00] [ 2.43822322e-03 8.03047386e-05 9.99997024e-01 3.05921530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.745336195 meters 0.037601007723965296 Centerline is valid? [True, True] Translation: X:115.10, Y:2.28, Z:0.30 [[ 9.97329953e-01 -7.28973528e-02 -4.35217657e-03 1.15098304e+02] [ 7.28960068e-02 9.97339438e-01 -4.67314934e-04 2.28340238e+00] [ 4.37466336e-03 1.48810888e-04 9.99990420e-01 3.00913519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.805336195 meters 0.0389553305466101 Centerline is valid? [True, True] Translation: X:115.16, Y:2.28, Z:0.31 [[ 9.97365339e-01 -7.25343636e-02 -1.07083340e-03 1.15157147e+02] [ 7.25342804e-02 9.97365913e-01 -1.16297950e-04 2.28246474e+00] [ 1.07644833e-03 3.83194142e-05 9.99999420e-01 3.09612752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.865336195 meters 0.03813169740774801 Centerline is valid? [True, True] Translation: X:115.22, Y:2.30, Z:0.31 [[ 9.97693635e-01 -6.78779038e-02 -4.24923380e-05 1.15215877e+02] [ 6.78779037e-02 9.97693635e-01 -4.63567398e-06 2.29601005e+00] [ 4.27089950e-05 1.74069160e-06 9.99999999e-01 3.07721190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.925336195 meters 0.05879858479528546 Centerline is valid? [True, True] Translation: X:115.27, Y:2.33, Z:0.30 [[ 9.98079284e-01 -6.18296476e-02 -3.85204231e-03 1.15271591e+02] [ 6.18285089e-02 9.98086702e-01 -4.14119140e-04 2.33033484e+00] [ 3.87027704e-03 1.75157703e-04 9.99992495e-01 2.95823513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98533619499999 meters 0.05560905979063269 Centerline is valid? [True, True] Translation: X:115.33, Y:2.34, Z:0.30 [[ 9.98444432e-01 -5.55365932e-02 -4.93992106e-03 1.15331321e+02] [ 5.55346432e-02 9.98456620e-01 -5.31158048e-04 2.33739903e+00] [ 4.96179559e-03 2.55995043e-04 9.99987657e-01 3.00120868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04533619499999 meters 0.0520573827164293 Centerline is valid? [True, True] Translation: X:115.39, Y:2.34, Z:0.31 [[ 9.98417819e-01 -5.62213873e-02 -1.00677435e-03 1.15389882e+02] [ 5.62213063e-02 9.98418326e-01 -1.08633325e-04 2.34388322e+00] [ 1.01128947e-03 5.18592786e-05 9.99999487e-01 3.06705927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10533619499999 meters 0.04766042494457901 Centerline is valid? [True, True] Translation: X:115.45, Y:2.35, Z:0.31 [[ 9.98228902e-01 -5.94595352e-02 1.90364498e-03 1.15450627e+02] [ 5.94592527e-02 9.98230712e-01 2.04734887e-04 2.34751952e+00] [-1.91245032e-03 -9.11829739e-05 9.99998167e-01 3.08802251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.165336195 meters 0.043240502934195096 Centerline is valid? [True, True] Translation: X:115.51, Y:2.35, Z:0.30 [[ 9.97837342e-01 -6.57315545e-02 4.96394646e-05 1.15510051e+02] [ 6.57315544e-02 9.97837343e-01 5.19418365e-06 2.34714555e+00] [-4.98735333e-05 -1.92007123e-06 9.99999999e-01 3.04155980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.225336195 meters 0.03538920287475985 Centerline is valid? [True, True] Translation: X:115.57, Y:2.34, Z:0.30 [[ 9.97339099e-01 -7.28254757e-02 -3.34240442e-03 1.15571295e+02] [ 7.28246781e-02 9.97344693e-01 -3.59870975e-04 2.34214785e+00] [ 3.35973709e-03 1.15503868e-04 9.99994349e-01 2.99234714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.285336195 meters 0.028143074030882915 Centerline is valid? [True, True] Translation: X:115.63, Y:2.34, Z:0.30 [[ 9.96731237e-01 -8.06996312e-02 -3.79623230e-03 1.15631903e+02] [ 8.06986595e-02 9.96738461e-01 -4.08702259e-04 2.33721514e+00] [ 3.81683287e-03 1.01015450e-04 9.99992711e-01 2.97102346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34533619499999 meters 0.025544891291379827 Centerline is valid? [True, True] Translation: X:115.69, Y:2.33, Z:0.30 [[ 9.96611971e-01 -8.22006663e-02 -2.76222569e-03 1.15691683e+02] [ 8.22001530e-02 9.96615796e-01 -2.99032412e-04 2.33421949e+00] [ 2.77745842e-03 7.09639071e-05 9.99996140e-01 3.00822055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40533619499999 meters 0.031074213979893045 Centerline is valid? [True, True] Translation: X:115.75, Y:2.35, Z:0.30 [[ 9.96964028e-01 -7.77428321e-02 -4.33355868e-03 1.15749523e+02] [ 7.77415348e-02 9.96973438e-01 -4.67270339e-04 2.34509105e+00] [ 4.35676981e-03 1.28954216e-04 9.99990501e-01 2.95760930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46533619499999 meters 0.03965374441160843 Centerline is valid? [True, True] Translation: X:115.81, Y:2.36, Z:0.30 [[ 9.97559700e-01 -6.97386223e-02 -3.34206784e-03 1.15806573e+02] [ 6.97378063e-02 9.97565290e-01 -3.60202624e-04 2.36498409e+00] [ 3.35905091e-03 1.26255142e-04 9.99994350e-01 2.95092721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.525336195 meters 0.0475140000080864 Centerline is valid? [True, True] Translation: X:115.87, Y:2.38, Z:0.30 [[ 9.98165636e-01 -6.03747000e-02 -4.50087459e-03 1.15865135e+02] [ 6.03731243e-02 9.98175761e-01 -4.85241874e-04 2.38193448e+00] [ 4.52196025e-03 2.12619902e-04 9.99989753e-01 2.95911056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.585336195 meters 0.05436944081647519 Centerline is valid? [True, True] Translation: X:115.92, Y:2.40, Z:0.29 [[ 9.98518824e-01 -5.41577321e-02 -5.20566989e-03 1.15923303e+02] [ 5.41555395e-02 9.98532354e-01 -5.61335207e-04 2.40029763e+00] [ 5.22843045e-03 2.78587909e-04 9.99986293e-01 2.93625202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.645336195 meters 0.05883589319267244 Centerline is valid? [True, True] Translation: X:115.98, Y:2.43, Z:0.30 [[ 9.98736564e-01 -5.02521218e-02 2.64348830e-05 1.15981374e+02] [ 5.02521218e-02 9.98736564e-01 2.80607970e-06 2.42629336e+00] [-2.65424957e-05 -1.47412543e-06 1.00000000e+00 2.99985205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70533619499999 meters 0.0555391699407262 Centerline is valid? [True, True] Translation: X:116.04, Y:2.44, Z:0.30 [[ 9.98638601e-01 -5.20882755e-02 -2.78485445e-03 1.16039364e+02] [ 5.20876387e-02 9.98642472e-01 -3.00736449e-04 2.43544248e+00] [ 2.79673878e-03 1.55270534e-04 9.99996077e-01 2.96800815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76533619499999 meters 0.05277601923723263 Centerline is valid? [True, True] Translation: X:116.10, Y:2.45, Z:0.30 [[ 9.98209058e-01 -5.97953145e-02 -1.78780651e-03 1.16097740e+02] [ 5.97950645e-02 9.98210656e-01 -1.93000314e-04 2.44883183e+00] [ 1.79614803e-03 8.57526562e-05 9.99998383e-01 2.95557853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82533619499999 meters 0.04008252208470761 Centerline is valid? [True, True] Translation: X:116.16, Y:2.44, Z:0.29 [[ 9.97407855e-01 -7.19207999e-02 -2.22910560e-03 1.16158767e+02] [ 7.19204418e-02 9.97410343e-01 -2.40512977e-04 2.44270970e+00] [ 2.24063087e-03 7.95712726e-05 9.99997487e-01 2.93813453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.885336195 meters 0.03307548806942373 Centerline is valid? [True, True] Translation: X:116.22, Y:2.44, Z:0.30 [[ 9.97033962e-01 -7.69304970e-02 -2.23102996e-03 1.16219664e+02] [ 7.69301507e-02 9.97036456e-01 -2.40749483e-04 2.43881776e+00] [ 2.24293918e-03 6.84019402e-05 9.99997482e-01 2.95053774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.945336195 meters 0.017274337977751172 Centerline is valid? [True, True] Translation: X:116.28, Y:2.42, Z:0.30 [[ 9.95610027e-01 -9.35984577e-02 -4.32112953e-05 1.16280514e+02] [ 9.35984575e-02 9.95610028e-01 -4.80007757e-06 2.42382852e+00] [ 4.34708788e-05 7.34494771e-07 9.99999999e-01 2.96846930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.005336195 meters 0.012327662818437612 Centerline is valid? [True, True] Translation: X:116.34, Y:2.42, Z:0.30 [[ 9.95114738e-01 -9.87228067e-02 -6.81785139e-04 1.16339977e+02] [ 9.87227792e-02 9.95114972e-01 -7.39631517e-05 2.42003874e+00] [ 6.85756449e-04 6.29409863e-06 9.99999765e-01 2.95914343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.065336195 meters 0.014601159208601493 Centerline is valid? [True, True] Translation: X:116.40, Y:2.42, Z:0.29 [[ 9.95252856e-01 -9.72001273e-02 -4.88747066e-03 1.16398713e+02] [ 9.71987049e-02 9.95264856e-01 -5.28273649e-04 2.41885515e+00] [ 4.91567604e-03 5.07100392e-05 9.99987917e-01 2.91010061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12533619499999 meters 0.022778265569844025 Centerline is valid? [True, True] Translation: X:116.46, Y:2.44, Z:0.29 [[ 9.96033156e-01 -8.88486273e-02 -4.88602179e-03 1.16456214e+02] [ 8.88471057e-02 9.96045136e-01 -5.28025872e-04 2.43742297e+00] [ 4.91361261e-03 9.18223806e-05 9.99987924e-01 2.87548093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18533619499999 meters 0.031954504262218256 Centerline is valid? [True, True] Translation: X:116.51, Y:2.46, Z:0.29 [[ 9.97006457e-01 -7.72815515e-02 -2.38455872e-03 1.16514872e+02] [ 7.72811562e-02 9.97009306e-01 -2.57609710e-04 2.45826878e+00] [ 2.39733571e-03 7.25570895e-05 9.99997124e-01 2.91591573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.245336195 meters 0.04589395255944813 Centerline is valid? [True, True] Translation: X:116.57, Y:2.48, Z:0.29 [[ 9.97794662e-01 -6.63062739e-02 -3.04815217e-03 1.16572450e+02] [ 6.63055766e-02 9.97799310e-01 -3.29347853e-04 2.47885699e+00] [ 3.06328196e-03 1.26512042e-04 9.99995300e-01 2.91852360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.305336195 meters 0.05219691827330783 Centerline is valid? [True, True] Translation: X:116.63, Y:2.50, Z:0.29 [[ 9.98370274e-01 -5.70541908e-02 -1.27062116e-03 1.16631464e+02] [ 5.70540621e-02 9.98371081e-01 -1.37270538e-04 2.49912275e+00] [ 1.27638328e-03 6.45527256e-05 9.99999183e-01 2.94201505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.365336195 meters 0.06042536726119535 Centerline is valid? [True, True] Translation: X:116.69, Y:2.52, Z:0.29 [[ 9.98604734e-01 -5.27345728e-02 -2.76577001e-03 1.16689388e+02] [ 5.27339465e-02 9.98608553e-01 -2.98916070e-04 2.51691986e+00] [ 2.77768480e-03 1.52649034e-04 9.99996131e-01 2.90931116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.425336195 meters 0.05318620114128955 Centerline is valid? [True, True] Translation: X:116.75, Y:2.51, Z:0.29 [[ 9.98435045e-01 -5.58608681e-02 -2.65022416e-03 1.16749915e+02] [ 5.58603042e-02 9.98438553e-01 -2.86384751e-04 2.51472835e+00] [ 2.66208368e-03 1.37894244e-04 9.99996447e-01 2.91731268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48533619499999 meters 0.0441828639428384 Centerline is valid? [True, True] Translation: X:116.81, Y:2.52, Z:0.29 [[ 9.98040731e-01 -6.25638527e-02 -6.80688032e-04 1.16810974e+02] [ 6.25638170e-02 9.98040963e-01 -7.35746353e-05 2.51617470e+00] [ 6.83957651e-04 3.08440413e-05 9.99999766e-01 2.92952114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54533619499999 meters 0.043606817575024555 Centerline is valid? [True, True] Translation: X:116.87, Y:2.51, Z:0.29 [[ 9.97546428e-01 -6.99993342e-02 -1.10291455e-03 1.16870448e+02] [ 6.99992449e-02 9.97547037e-01 -1.19415809e-04 2.51476936e+00] [ 1.10856817e-03 4.19196273e-05 9.99999385e-01 2.91992221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60533619499999 meters 0.03251836299254422 Centerline is valid? [True, True] Translation: X:116.93, Y:2.51, Z:0.29 [[ 9.96966934e-01 -7.76857422e-02 -4.67514905e-03 1.16931950e+02] [ 7.76842252e-02 9.96977886e-01 -5.05477726e-04 2.50595465e+00] [ 4.70028863e-03 1.40759247e-04 9.99988944e-01 2.86006942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.665336195 meters 0.03090351463484981 Centerline is valid? [True, True] Translation: X:116.99, Y:2.51, Z:0.29 [[ 9.96670116e-01 -8.14855753e-02 -2.96324228e-03 1.16991224e+02] [ 8.14849821e-02 9.96674518e-01 -3.20558585e-04 2.50872764e+00] [ 2.97950897e-03 7.80314177e-05 9.99995558e-01 2.86773399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.725336195 meters 0.027763168530302924 Centerline is valid? [True, True] Translation: X:117.05, Y:2.51, Z:0.29 [[ 9.96671947e-01 -8.14588098e-02 -3.08096931e-03 1.17051053e+02] [ 8.14581635e-02 9.96676706e-01 -3.34891527e-04 2.50599363e+00] [ 3.09801020e-03 8.28068885e-05 9.99995198e-01 2.89713421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.785336195 meters 0.03401850195546678 Centerline is valid? [True, True] Translation: X:117.11, Y:2.52, Z:0.29 [[ 9.96962356e-01 -7.78556878e-02 -2.13371963e-03 1.17107826e+02] [ 7.78553703e-02 9.96964637e-01 -2.31596012e-04 2.52426968e+00] [ 2.14527409e-03 6.47709740e-05 9.99997697e-01 2.87495830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84533619499999 meters 0.03807419826440719 Centerline is valid? [True, True] Translation: X:117.17, Y:2.54, Z:0.29 [[ 9.97460681e-01 -7.11671482e-02 -2.72535996e-03 1.17167448e+02] [ 7.11666067e-02 9.97464399e-01 -2.95280521e-04 2.53625815e+00] [ 2.73946381e-03 1.00576089e-04 9.99996243e-01 2.89300711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90533619499999 meters 0.04546671680319365 Centerline is valid? [True, True] Translation: X:117.23, Y:2.55, Z:0.29 [[ 9.97678388e-01 -6.80621979e-02 -2.31752272e-03 1.17225422e+02] [ 6.80617979e-02 9.97681076e-01 -2.51156737e-04 2.54813142e+00] [ 2.32924284e-03 9.28388857e-05 9.99997283e-01 2.92365743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96533619499999 meters 0.041454029901300364 Centerline is valid? [True, True] Translation: X:117.28, Y:2.56, Z:0.29 [[ 9.97594654e-01 -6.93151135e-02 -5.67487442e-04 1.17283293e+02] [ 6.93150896e-02 9.97594815e-01 -6.18613975e-05 2.56018926e+00] [ 5.70410459e-04 2.23771566e-05 9.99999837e-01 2.88697782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.025336195 meters 0.03946488630644777 Centerline is valid? [True, True] Translation: X:117.34, Y:2.56, Z:0.29 [[ 9.97251411e-01 -7.40891574e-02 -6.48668047e-04 1.17343365e+02] [ 7.40891272e-02 9.97251621e-01 -7.04401710e-05 2.55801264e+00] [ 6.52104115e-04 2.21873104e-05 9.99999787e-01 2.86939599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.085336195 meters 0.03297678493354014 Centerline is valid? [True, True] Translation: X:117.40, Y:2.55, Z:0.29 [[ 9.96842449e-01 -7.93399334e-02 -3.21041833e-03 1.17404376e+02] [ 7.93392228e-02 9.96847614e-01 -3.48293406e-04 2.54839067e+00] [ 3.22793143e-03 9.24815568e-05 9.99994786e-01 2.86457358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.145336195 meters 0.03214776119313094 Centerline is valid? [True, True] Translation: X:117.46, Y:2.56, Z:0.28 [[ 9.96747075e-01 -8.04238926e-02 -5.22162964e-03 1.17461434e+02] [ 8.04220169e-02 9.96760742e-01 -5.68533689e-04 2.55845288e+00] [ 5.25043913e-03 1.46750304e-04 9.99986206e-01 2.79429584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20533619499999 meters 0.0378165406214593 Centerline is valid? [True, True] Translation: X:117.52, Y:2.57, Z:0.28 [[ 9.97287003e-01 -7.33873332e-02 -5.73866758e-03 1.17521133e+02] [ 7.33849598e-02 9.97303494e-01 -6.23336455e-04 2.56885991e+00] [ 5.76893823e-03 2.00513455e-04 9.99983339e-01 2.80932770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26533619499999 meters 0.04929238546347398 Centerline is valid? [True, True] Translation: X:117.58, Y:2.60, Z:0.28 [[ 9.98146732e-01 -6.07430139e-02 -3.65889118e-03 1.17578467e+02] [ 6.07419639e-02 9.98153423e-01 -3.97525589e-04 2.59756296e+00] [ 3.67628166e-03 1.74540632e-04 9.99993227e-01 2.84078508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32533619499999 meters 0.053817754706365524 Centerline is valid? [True, True] Translation: X:117.64, Y:2.61, Z:0.28 [[ 9.98413825e-01 -5.61943442e-02 -3.46849607e-03 1.17637490e+02] [ 5.61933732e-02 9.98419833e-01 -3.76822406e-04 2.61329255e+00] [ 3.48419056e-03 1.81318206e-04 9.99993914e-01 2.84551002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.385336195 meters 0.04892172179127535 Centerline is valid? [True, True] Translation: X:117.70, Y:2.61, Z:0.29 [[ 9.98256954e-01 -5.90098318e-02 -9.45776986e-04 1.17697750e+02] [ 5.90097608e-02 9.98257400e-01 -1.02808173e-04 2.61395409e+00] [ 9.50195569e-04 4.68189002e-05 9.99999547e-01 2.89329963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.445336195 meters 0.04009387798425119 Centerline is valid? [True, True] Translation: X:117.76, Y:2.61, Z:0.28 [[ 9.97771395e-01 -6.66959369e-02 -1.97345622e-03 1.17758455e+02] [ 6.66956430e-02 9.97773344e-01 -2.14428082e-04 2.61368178e+00] [ 1.98336349e-03 8.23292751e-05 9.99998030e-01 2.83016775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.505336195 meters 0.039507611055648865 Centerline is valid? [True, True] Translation: X:117.82, Y:2.61, Z:0.28 [[ 9.97276015e-01 -7.36572317e-02 -3.89383747e-03 1.17818291e+02] [ 7.36561394e-02 9.97283608e-01 -4.23386551e-04 2.60946955e+00] [ 3.91444576e-03 1.35428218e-04 9.99992329e-01 2.79902335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.565336195 meters 0.03592006428980341 Centerline is valid? [True, True] Translation: X:117.88, Y:2.61, Z:0.28 [[ 9.97047817e-01 -7.66573448e-02 -4.39335144e-03 1.17878597e+02] [ 7.66559829e-02 9.97057487e-01 -4.77802815e-04 2.60989090e+00] [ 4.41705104e-03 1.39615581e-04 9.99990235e-01 2.78771688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62533619499999 meters 0.037033672823684874 Centerline is valid? [True, True] Translation: X:117.94, Y:2.62, Z:0.28 [[ 9.97245821e-01 -7.40345806e-02 -4.43315513e-03 1.17937263e+02] [ 7.40331671e-02 9.97255663e-01 -4.82321571e-04 2.61692008e+00] [ 4.45669753e-03 1.52792656e-04 9.99990057e-01 2.76560344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68533619499999 meters 0.045477186541261504 Centerline is valid? [True, True] Translation: X:118.00, Y:2.62, Z:0.28 [[ 9.97781357e-01 -6.64729831e-02 -3.70205335e-03 1.17996714e+02] [ 6.64719457e-02 9.97788213e-01 -4.02677153e-04 2.62087104e+00] [ 3.72063235e-03 1.55701067e-04 9.99993066e-01 2.81700266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.745336195 meters 0.047571350151485656 Centerline is valid? [True, True] Translation: X:118.06, Y:2.63, Z:0.28 [[ 9.97908655e-01 -6.45300756e-02 -3.76631209e-03 1.18055346e+02] [ 6.45289870e-02 9.97915749e-01 -4.09971556e-04 2.62922815e+00] [ 3.78491764e-03 1.66077861e-04 9.99992823e-01 2.81464158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.805336195 meters 0.053595509808332185 Centerline is valid? [True, True] Translation: X:118.11, Y:2.65, Z:0.27 [[ 9.98207731e-01 -5.95481458e-02 -5.94506978e-03 1.18113759e+02] [ 5.95453468e-02 9.98225392e-01 -6.46867836e-04 2.64734355e+00] [ 5.97303939e-03 2.91707234e-04 9.99982119e-01 2.72682322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.865336195 meters 0.05373943752537311 Centerline is valid? [True, True] Translation: X:118.18, Y:2.64, Z:0.28 [[ 9.98477967e-01 -5.50692735e-02 -3.02084420e-03 1.18175056e+02] [ 5.50685304e-02 9.98482523e-01 -3.28701823e-04 2.64353451e+00] [ 3.03436151e-03 1.61848078e-04 9.99995383e-01 2.81341292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.925336195 meters 0.055824659442843136 Centerline is valid? [True, True] Translation: X:118.23, Y:2.65, Z:0.28 [[ 9.98555737e-01 -5.36710958e-02 -2.41938992e-03 1.18234549e+02] [ 5.36706145e-02 9.98558659e-01 -2.63457128e-04 2.64882806e+00] [ 2.43004279e-03 1.33226483e-04 9.99997039e-01 2.82834655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98533619499999 meters 0.06295860865208612 Centerline is valid? [True, True] Translation: X:118.29, Y:2.67, Z:0.28 [[ 9.98718778e-01 -5.05349883e-02 -2.64903370e-03 1.18292271e+02] [ 5.05344005e-02 9.98722279e-01 -2.88411923e-04 2.66550592e+00] [ 2.66022387e-03 1.54175073e-04 9.99996450e-01 2.78294402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04533619499999 meters 0.0689425117942554 Centerline is valid? [True, True] Translation: X:118.35, Y:2.68, Z:0.28 [[ 9.99018847e-01 -4.42034657e-02 -2.71961692e-03 1.18352059e+02] [ 4.42028231e-02 9.99022534e-01 -2.95984648e-04 2.67565380e+00] [ 2.73004214e-03 1.75479496e-04 9.99996258e-01 2.81758160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10533619499999 meters 0.0733979422130241 Centerline is valid? [True, True] Translation: X:118.41, Y:2.69, Z:0.28 [[ 9.99167050e-01 -4.04489563e-02 -5.39330275e-03 1.18411235e+02] [ 4.04463737e-02 9.99181538e-01 -5.87114080e-04 2.68917065e+00] [ 5.41263669e-03 3.68485504e-04 9.99985284e-01 2.77011957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.165336195 meters 0.07465613293461872 Centerline is valid? [True, True] Translation: X:118.47, Y:2.70, Z:0.27 [[ 9.99130881e-01 -4.13777927e-02 -5.03598411e-03 1.18469320e+02] [ 4.13755440e-02 9.99143514e-01 -5.49937263e-04 2.70453616e+00] [ 5.05442605e-03 3.41092721e-04 9.99987168e-01 2.72619919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.225336195 meters 0.0663152563032994 Centerline is valid? [True, True] Translation: X:118.53, Y:2.70, Z:0.28 [[ 9.98862887e-01 -4.75319638e-02 -3.69398426e-03 1.18530899e+02] [ 4.75307984e-02 9.98869692e-01 -4.02686778e-04 2.70108744e+00] [ 3.70894941e-03 2.26650856e-04 9.99993096e-01 2.76081658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.285336195 meters 0.061165995587034776 Centerline is valid? [True, True] Translation: X:118.59, Y:2.71, Z:0.28 [[ 9.98544022e-01 -5.38986417e-02 -2.18449716e-03 1.18590291e+02] [ 5.38982491e-02 9.98546405e-01 -2.38251340e-04 2.70599780e+00] [ 2.19416321e-03 1.20163879e-04 9.99997586e-01 2.78540186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34533619499999 meters 0.052162662988581486 Centerline is valid? [True, True] Translation: X:118.65, Y:2.70, Z:0.28 [[ 9.98232762e-01 -5.93753214e-02 -2.43394219e-03 1.18651494e+02] [ 5.93748504e-02 9.98235722e-01 -2.65367240e-04 2.70193576e+00] [ 2.44540430e-03 1.20383320e-04 9.99997003e-01 2.80117616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40533619499999 meters 0.04059528609129111 Centerline is valid? [True, True] Translation: X:118.71, Y:2.70, Z:0.28 [[ 9.97805676e-01 -6.61257530e-02 -3.34929286e-03 1.18712068e+02] [ 6.61248986e-02 9.97811287e-01 -3.65307248e-04 2.70017567e+00] [ 3.36611844e-03 1.43033994e-04 9.99994324e-01 2.78342825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46533619499999 meters 0.0433150969332679 Centerline is valid? [True, True] Translation: X:118.77, Y:2.71, Z:0.27 [[ 9.97277574e-01 -7.34666356e-02 -6.33197202e-03 1.18769489e+02] [ 7.34637285e-02 9.97297650e-01 -6.90813804e-04 2.71301344e+00] [ 6.36561258e-03 2.23762842e-04 9.99979714e-01 2.66984545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.525336195 meters 0.03630026768018304 Centerline is valid? [True, True] Translation: X:118.83, Y:2.70, Z:0.27 [[ 9.96977763e-01 -7.74564232e-02 -5.98689894e-03 1.18830524e+02] [ 7.74538956e-02 9.96995721e-01 -6.53253543e-04 2.70352954e+00] [ 6.01951131e-03 1.87570610e-04 9.99981865e-01 2.73870329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.585336195 meters 0.038233045900749316 Centerline is valid? [True, True] Translation: X:118.89, Y:2.72, Z:0.27 [[ 9.97078016e-01 -7.62403392e-02 -4.77913552e-03 1.18887123e+02] [ 7.62387060e-02 9.97089457e-01 -5.23257007e-04 2.72455291e+00] [ 4.80511893e-03 1.57372951e-04 9.99988443e-01 2.71402644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.645336195 meters 0.03642229269040921 Centerline is valid? [True, True] Translation: X:118.95, Y:2.73, Z:0.27 [[ 9.97286888e-01 -7.35133135e-02 -3.82838779e-03 1.18946376e+02] [ 7.35122480e-02 9.97294227e-01 -4.18491104e-04 2.73191529e+00] [ 3.84879371e-03 1.35922297e-04 9.99992584e-01 2.73469165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70533619499999 meters 0.04230019884021156 Centerline is valid? [True, True] Translation: X:119.00, Y:2.75, Z:0.27 [[ 9.97353603e-01 -7.26354889e-02 -3.14265462e-03 1.19003304e+02] [ 7.26347650e-02 9.97358548e-01 -3.44008592e-04 2.74715447e+00] [ 3.15934068e-03 1.14832229e-04 9.99995003e-01 2.74169323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76533619499999 meters 0.044382851475327965 Centerline is valid? [True, True] Translation: X:119.06, Y:2.77, Z:0.27 [[ 9.97647539e-01 -6.83710688e-02 -4.97843789e-03 1.19060963e+02] [ 6.83692025e-02 9.97659940e-01 -5.44301804e-04 2.77111444e+00] [ 5.00400254e-03 2.02649527e-04 9.99987459e-01 2.68596345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82533619499999 meters 0.041280560708965734 Centerline is valid? [True, True] Translation: X:119.12, Y:2.77, Z:0.27 [[ 9.97491143e-01 -7.05244435e-02 -6.14193829e-03 1.19119591e+02] [ 7.05216400e-02 9.97510023e-01 -6.72117333e-04 2.77477876e+00] [ 6.17404571e-03 2.37291526e-04 9.99980912e-01 2.67705305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.885336195 meters 0.04071885345299923 Centerline is valid? [True, True] Translation: X:119.18, Y:2.78, Z:0.27 [[ 9.97303787e-01 -7.32672295e-02 -4.13142488e-03 1.19177947e+02] [ 7.32659843e-02 9.97312334e-01 -4.52139450e-04 2.78299970e+00] [ 4.15344799e-03 1.48227476e-04 9.99991363e-01 2.70590441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.945336195 meters 0.040118432875366004 Centerline is valid? [True, True] Translation: X:119.24, Y:2.79, Z:0.27 [[ 9.97101942e-01 -7.60580465e-02 -1.70031861e-03 1.19235774e+02] [ 7.60578393e-02 9.97103390e-01 -1.86319275e-04 2.79268598e+00] [ 1.70956453e-03 5.64567509e-05 9.99998537e-01 2.70844084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.005336195 meters 0.03366032065415315 Centerline is valid? [True, True] Translation: X:119.30, Y:2.79, Z:0.27 [[ 9.97023599e-01 -7.70267353e-02 -3.29003168e-03 1.19295446e+02] [ 7.70259603e-02 9.97029022e-01 -3.61826189e-04 2.79255401e+00] [ 3.30812735e-03 1.07331400e-04 9.99994522e-01 2.68185350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.065336195 meters 0.04075191537003172 Centerline is valid? [True, True] Translation: X:119.35, Y:2.81, Z:0.26 [[ 9.97184614e-01 -7.47772588e-02 -5.58627316e-03 1.19352698e+02] [ 7.47749969e-02 9.97200243e-01 -6.12979387e-04 2.80531361e+00] [ 5.61646987e-03 1.93540055e-04 9.99984209e-01 2.64108851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12533619499999 meters 0.04242046755640352 Centerline is valid? [True, True] Translation: X:119.41, Y:2.82, Z:0.26 [[ 9.97686330e-01 -6.76386919e-02 -6.85528156e-03 1.19412015e+02] [ 6.76351196e-02 9.97709840e-01 -7.51864392e-04 2.81717397e+00] [ 6.89043699e-03 2.86467037e-04 9.99976220e-01 2.64479246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18533619499999 meters 0.05296629189564044 Centerline is valid? [True, True] Translation: X:119.47, Y:2.84, Z:0.27 [[ 9.97946868e-01 -6.40001387e-02 -2.45569019e-03 1.19467874e+02] [ 6.39996682e-02 9.97949883e-01 -2.69772125e-04 2.84394324e+00] [ 2.46792120e-03 1.12054890e-04 9.99996948e-01 2.65411544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.245336195 meters 0.05127740184745721 Centerline is valid? [True, True] Translation: X:119.53, Y:2.84, Z:0.27 [[ 9.98018850e-01 -6.27762088e-02 -4.18610952e-03 1.19528112e+02] [ 6.27748323e-02 9.98027609e-01 -4.59533216e-04 2.84372033e+00] [ 4.20670063e-03 1.95840488e-04 9.99991133e-01 2.66125323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.305336195 meters 0.04965112421714574 Centerline is valid? [True, True] Translation: X:119.59, Y:2.85, Z:0.27 [[ 9.98030567e-01 -6.25258812e-02 -5.04992835e-03 1.19587445e+02] [ 6.25238655e-02 9.98043314e-01 -5.56199069e-04 2.84649240e+00] [ 5.07482406e-03 2.39362631e-04 9.99987094e-01 2.66266424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.365336195 meters 0.05009892092728431 Centerline is valid? [True, True] Translation: X:119.64, Y:2.87, Z:0.26 [[ 9.98139796e-01 -6.07548336e-02 -5.07922281e-03 1.19644325e+02] [ 6.07527756e-02 9.98152688e-01 -5.58644014e-04 2.86895351e+00] [ 5.10378022e-03 2.49027939e-04 9.99986945e-01 2.61428124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.425336195 meters 0.05212669374884039 Centerline is valid? [True, True] Translation: X:119.70, Y:2.87, Z:0.27 [[ 9.98164890e-01 -6.04467625e-02 -3.61113457e-03 1.19701493e+02] [ 6.04457176e-02 9.98171407e-01 -3.97898780e-04 2.87496980e+00] [ 3.62858297e-03 1.78890971e-04 9.99993401e-01 2.65647831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48533619499999 meters 0.051889237961104145 Centerline is valid? [True, True] Translation: X:119.76, Y:2.88, Z:0.26 [[ 9.98072136e-01 -6.18923813e-02 -4.62007064e-03 1.19758733e+02] [ 6.18906868e-02 9.98082804e-01 -5.08977669e-04 2.88444439e+00] [ 4.64271490e-03 2.22057084e-04 9.99989198e-01 2.61655686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54533619499999 meters 0.05131855594398253 Centerline is valid? [True, True] Translation: X:119.82, Y:2.89, Z:0.25 [[ 9.97874087e-01 -6.47176779e-02 -7.67649993e-03 1.19816552e+02] [ 6.47130856e-02 9.97903553e-01 -8.45367036e-04 2.89499351e+00] [ 7.71511674e-03 3.46799862e-04 9.99970178e-01 2.52556955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60533619499999 meters 0.04904161421927354 Centerline is valid? [True, True] Translation: X:119.88, Y:2.90, Z:0.26 [[ 9.97809864e-01 -6.58775080e-02 -5.96894493e-03 1.19876588e+02] [ 6.58747513e-02 9.97827683e-01 -6.57483341e-04 2.89717579e+00] [ 5.99929186e-03 2.62840601e-04 9.99981970e-01 2.58516406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.665336195 meters 0.049247818558547235 Centerline is valid? [True, True] Translation: X:119.93, Y:2.91, Z:0.25 [[ 9.97773577e-01 -6.61857491e-02 -8.20584369e-03 1.19934209e+02] [ 6.61805439e-02 9.97807255e-01 -9.04540369e-04 2.90727454e+00] [ 8.24771805e-03 3.59459281e-04 9.99965922e-01 2.54588170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.725336195 meters 0.04531479947313481 Centerline is valid? [True, True] Translation: X:119.99, Y:2.91, Z:0.26 [[ 9.97749576e-01 -6.68120988e-02 -5.65037527e-03 1.19992578e+02] [ 6.68096391e-02 9.97765545e-01 -6.23175100e-04 2.91235486e+00] [ 5.67938540e-03 2.44273160e-04 9.99983842e-01 2.59335338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.785336195 meters 0.04281438295613385 Centerline is valid? [True, True] Translation: X:120.05, Y:2.92, Z:0.26 [[ 9.97584368e-01 -6.91340591e-02 -6.77579004e-03 1.20051774e+02] [ 6.91305759e-02 9.97607340e-01 -7.47209100e-04 2.92021623e+00] [ 6.81123548e-03 2.76989850e-04 9.99976765e-01 2.55427204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84533619499999 meters 0.0448670214727551 Centerline is valid? [True, True] Translation: X:120.11, Y:2.93, Z:0.26 [[ 9.97543297e-01 -6.98614154e-02 -5.17229280e-03 1.20109028e+02] [ 6.98593924e-02 9.97556685e-01 -5.70986345e-04 2.93193822e+00] [ 5.19954517e-03 2.08250369e-04 9.99986461e-01 2.57304870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90533619499999 meters 0.03808871264789724 Centerline is valid? [True, True] Translation: X:120.17, Y:2.93, Z:0.26 [[ 9.97268305e-01 -7.37064841e-02 -4.82508057e-03 1.20169808e+02] [ 7.37047698e-02 9.97279962e-01 -5.32389172e-04 2.92812020e+00] [ 4.85119671e-03 1.75303394e-04 9.99988218e-01 2.61158613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96533619499999 meters 0.039236510207383876 Centerline is valid? [True, True] Translation: X:120.23, Y:2.94, Z:0.27 [[ 9.97072173e-01 -7.64631950e-02 6.79642854e-04 1.20228001e+02] [ 7.64631618e-02 9.97072404e-01 7.48208659e-05 2.94061450e+00] [-6.83374177e-04 -2.26341618e-05 9.99999766e-01 2.65793451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.025336195 meters 0.03584965113631603 Centerline is valid? [True, True] Translation: X:120.29, Y:2.94, Z:0.26 [[ 9.97028930e-01 -7.69825637e-02 -2.64526863e-03 1.20288088e+02] [ 7.69820555e-02 9.97032435e-01 -2.93557774e-04 2.93553962e+00] [ 2.66001745e-03 8.90473767e-05 9.99996458e-01 2.63030930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.085336195 meters 0.037283245850833376 Centerline is valid? [True, True] Translation: X:120.34, Y:2.94, Z:0.26 [[ 9.97039604e-01 -7.68073582e-02 -3.55787104e-03 1.20344840e+02] [ 7.68064414e-02 9.97045945e-01 -3.93816070e-04 2.94472775e+00] [ 3.57760886e-03 1.19382805e-04 9.99993593e-01 2.59463551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.145336195 meters 0.03958811321803195 Centerline is valid? [True, True] Translation: X:120.40, Y:2.95, Z:0.26 [[ 9.97244597e-01 -7.39551255e-02 -5.81834182e-03 1.20404534e+02] [ 7.39526292e-02 9.97261548e-01 -6.43313678e-04 2.95491765e+00] [ 5.84998492e-03 2.11259414e-04 9.99982866e-01 2.55848321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20533619499999 meters 0.04199637750981855 Centerline is valid? [True, True] Translation: X:120.46, Y:2.96, Z:0.26 [[ 9.97355198e-01 -7.26042244e-02 -3.35198491e-03 1.20462214e+02] [ 7.26033861e-02 9.97360823e-01 -3.71243446e-04 2.95902833e+00] [ 3.37009227e-03 1.26896125e-04 9.99994313e-01 2.61623356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26533619499999 meters 0.04248863785531897 Centerline is valid? [True, True] Translation: X:120.52, Y:2.97, Z:0.26 [[ 9.97434853e-01 -7.15370822e-02 -2.48195503e-03 1.20520025e+02] [ 7.15366161e-02 9.97437936e-01 -2.76182598e-04 2.96910065e+00] [ 2.49535340e-03 9.79234843e-05 9.99996882e-01 2.59563044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32533619499999 meters 0.044775014846921146 Centerline is valid? [True, True] Translation: X:120.58, Y:2.97, Z:0.26 [[ 9.97378090e-01 -7.22910225e-02 -3.30954717e-03 1.20577765e+02] [ 7.22902012e-02 9.97383573e-01 -3.67273004e-04 2.97360159e+00] [ 3.32743852e-03 1.27062217e-04 9.99994456e-01 2.58259206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.385336195 meters 0.04659147635964774 Centerline is valid? [True, True] Translation: X:120.64, Y:2.98, Z:0.26 [[ 9.97464189e-01 -7.11074672e-02 -2.98652667e-03 1.20636194e+02] [ 7.11067894e-02 9.97468653e-01 -3.32680951e-04 2.98136001e+00] [ 3.00262283e-03 1.19475012e-04 9.99995485e-01 2.58516352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.445336195 meters 0.04407089072220978 Centerline is valid? [True, True] Translation: X:120.70, Y:2.98, Z:0.26 [[ 9.97732026e-01 -6.71192618e-02 -5.08031055e-03 1.20697157e+02] [ 6.71172586e-02 9.97744935e-01 -5.63954824e-04 2.98379127e+00] [ 5.10670635e-03 2.21699272e-04 9.99986936e-01 2.56265793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.505336195 meters 0.04897352224413548 Centerline is valid? [True, True] Translation: X:120.75, Y:2.99, Z:0.26 [[ 9.97890963e-01 -6.48879308e-02 -1.78390294e-03 1.20754883e+02] [ 6.48876797e-02 9.97892554e-01 -1.98349374e-04 2.99483959e+00] [ 1.79301394e-03 8.21777257e-05 9.99998389e-01 2.60558107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.565336195 meters 0.047633867431939786 Centerline is valid? [True, True] Translation: X:120.81, Y:3.00, Z:0.25 [[ 9.97769363e-01 -6.65703303e-02 -4.96877702e-03 1.20814375e+02] [ 6.65683964e-02 9.97781711e-01 -5.53759266e-04 2.99503815e+00] [ 4.99461877e-03 2.21760512e-04 9.99987502e-01 2.53634120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62533619499999 meters 0.04512294211881862 Centerline is valid? [True, True] Translation: X:120.87, Y:2.99, Z:0.26 [[ 9.97521466e-01 -7.02646845e-02 -3.71464877e-03 1.20874514e+02] [ 7.02636320e-02 9.97528371e-01 -4.13253393e-04 2.99219852e+00] [ 3.73450466e-03 1.51224416e-04 9.99993015e-01 2.56840971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68533619499999 meters 0.045395462744863585 Centerline is valid? [True, True] Translation: X:120.93, Y:3.00, Z:0.25 [[ 9.97401055e-01 -7.18666491e-02 -5.13041334e-03 1.20931636e+02] [ 7.18646597e-02 9.97414229e-01 -5.71309751e-04 2.99934133e+00] [ 5.15820538e-03 2.01129539e-04 9.99986676e-01 2.51316159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.745336195 meters 0.04207494921390386 Centerline is valid? [True, True] Translation: X:120.99, Y:3.00, Z:0.25 [[ 9.97470820e-01 -7.09913744e-02 -3.49112135e-03 1.20991202e+02] [ 7.09904425e-02 9.97476919e-01 -3.90284693e-04 3.00003142e+00] [ 3.51001982e-03 1.41461343e-04 9.99993830e-01 2.53070221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.805336195 meters 0.049802982379798875 Centerline is valid? [True, True] Translation: X:121.05, Y:3.01, Z:0.25 [[ 9.97606740e-01 -6.90296799e-02 -3.96175756e-03 1.21049206e+02] [ 6.90284678e-02 9.97614593e-01 -4.42031314e-04 3.00552638e+00] [ 3.98282044e-03 1.67499363e-04 9.99992055e-01 2.53782523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.865336195 meters 0.045088736957108445 Centerline is valid? [True, True] Translation: X:121.11, Y:3.01, Z:0.25 [[ 9.97519643e-01 -7.01506368e-02 -5.78360557e-03 1.21108517e+02] [ 7.01480630e-02 9.97536381e-01 -6.46935500e-04 3.00746668e+00] [ 5.81473990e-03 2.39622141e-04 9.99983066e-01 2.50198731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.925336195 meters 0.04259320401770477 Centerline is valid? [True, True] Translation: X:121.17, Y:3.01, Z:0.25 [[ 9.97544866e-01 -6.98736195e-02 -4.68157391e-03 1.21166410e+02] [ 6.98719237e-02 9.97555832e-01 -5.25003602e-04 3.00844396e+00] [ 4.70681526e-03 1.96604072e-04 9.99988904e-01 2.51899378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98533619499999 meters 0.04561932823951016 Centerline is valid? [True, True] Translation: X:121.22, Y:3.01, Z:0.26 [[ 9.97649086e-01 -6.84868187e-02 -2.42004053e-03 1.21223718e+02] [ 6.84863608e-02 9.97652016e-01 -2.71674526e-04 3.01281994e+00] [ 2.43296443e-03 1.05296074e-04 9.99997035e-01 2.56278135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.045336195 meters 0.04430691244389808 Centerline is valid? [True, True] Translation: X:121.28, Y:3.01, Z:0.26 [[ 9.97743406e-01 -6.71140225e-02 -1.95051774e-03 1.21283060e+02] [ 6.71137229e-02 9.97745308e-01 -2.18682449e-04 3.01478433e+00] [ 1.96079658e-03 8.72824645e-05 9.99998074e-01 2.58652540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.105336195 meters 0.05417660735219172 Centerline is valid? [True, True] Translation: X:121.34, Y:3.04, Z:0.25 [[ 9.97983777e-01 -6.34019268e-02 -2.92869563e-03 1.21340748e+02] [ 6.34012367e-02 9.97988064e-01 -3.27960820e-04 3.03576262e+00] [ 2.94359663e-03 1.41616653e-04 9.99995658e-01 2.51641521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.165336195 meters 0.05408900087829932 Centerline is valid? [True, True] Translation: X:121.40, Y:3.04, Z:0.26 [[ 9.98190141e-01 -6.01296470e-02 -9.31332236e-04 1.21401718e+02] [ 6.01295758e-02 9.98190575e-01 -1.04289456e-04 3.03669949e+00] [ 9.35917948e-04 4.81000941e-05 9.99999561e-01 2.58082947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.225336195 meters 0.057584578136968906 Centerline is valid? [True, True] Translation: X:121.46, Y:3.05, Z:0.25 [[ 9.98300712e-01 -5.81307855e-02 -4.06212827e-03 1.21459666e+02] [ 5.81294140e-02 9.98308952e-01 -4.55005279e-04 3.04949182e+00] [ 4.08170883e-03 2.18102958e-04 9.99991646e-01 2.51369120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.285336195 meters 0.05863367046551268 Centerline is valid? [True, True] Translation: X:121.52, Y:3.06, Z:0.25 [[ 9.98311440e-01 -5.80660674e-02 -1.61259926e-03 1.21516374e+02] [ 5.80658500e-02 9.98312739e-01 -1.81359618e-04 3.06132539e+00] [ 1.62040922e-03 8.74164350e-05 9.99998683e-01 2.52393880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34533619500002 meters 0.05852045459195364 Centerline is valid? [True, True] Translation: X:121.58, Y:3.07, Z:0.25 [[ 9.98240605e-01 -5.91738388e-02 -3.76180402e-03 1.21575554e+02] [ 5.91726628e-02 9.98247673e-01 -4.23248445e-04 3.06559541e+00] [ 3.78025735e-03 1.99907823e-04 9.99992835e-01 2.49677133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40533619500002 meters 0.05612526073927022 Centerline is valid? [True, True] Translation: X:121.63, Y:3.07, Z:0.25 [[ 9.98037424e-01 -6.25836420e-02 -2.14194761e-03 1.21634935e+02] [ 6.25832696e-02 9.98039717e-01 -2.40511944e-04 3.07130893e+00] [ 2.15280090e-03 1.05989836e-04 9.99997677e-01 2.52422837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46533619500002 meters 0.053211628573098926 Centerline is valid? [True, True] Translation: X:121.70, Y:3.08, Z:0.25 [[ 9.97817670e-01 -6.59925679e-02 -2.20893923e-03 1.21695155e+02] [ 6.59921804e-02 9.97820109e-01 -2.47957564e-04 3.07603678e+00] [ 2.22048734e-03 1.01643722e-04 9.99997530e-01 2.50943893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.525336195 meters 0.04426304717287883 Centerline is valid? [True, True] Translation: X:121.76, Y:3.07, Z:0.25 [[ 9.97623451e-01 -6.88910557e-02 -1.21331032e-03 1.21756562e+02] [ 6.88909408e-02 9.97624188e-01 -1.36283202e-04 3.06642381e+00] [ 1.21981641e-03 5.23732290e-05 9.99999255e-01 2.54523087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.585336195 meters 0.04368425639338836 Centerline is valid? [True, True] Translation: X:121.82, Y:3.07, Z:0.25 [[ 9.97424298e-01 -7.17158011e-02 -1.27036092e-03 1.21815367e+02] [ 7.17156773e-02 9.97425106e-01 -1.42802175e-04 3.07124876e+00] [ 1.27733105e-03 5.13295654e-05 9.99999183e-01 2.52250571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.645336195 meters 0.03876536510762613 Centerline is valid? [True, True] Translation: X:121.88, Y:3.07, Z:0.25 [[ 9.97173565e-01 -7.50995263e-02 -2.22294357e-03 1.21875957e+02] [ 7.50991560e-02 9.97176040e-01 -2.49693379e-04 3.07137581e+00] [ 2.23541792e-03 8.20464511e-05 9.99997498e-01 2.49822033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.705336195 meters 0.03826435712199541 Centerline is valid? [True, True] Translation: X:121.94, Y:3.07, Z:0.25 [[ 9.97303603e-01 -7.33546818e-02 -2.14795109e-03 1.21935833e+02] [ 7.33543317e-02 9.97305913e-01 -2.41417059e-04 3.07391170e+00] [ 2.15987339e-03 8.32045866e-05 9.99997664e-01 2.52387472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.765336195 meters 0.055613529019247605 Centerline is valid? [True, True] Translation: X:121.99, Y:3.10, Z:0.25 [[ 9.97735722e-01 -6.72299241e-02 -1.88834624e-03 1.21992342e+02] [ 6.72296431e-02 9.97737506e-01 -2.11951341e-04 3.09910584e+00] [ 1.89832334e-03 8.45185813e-05 9.99998195e-01 2.51159536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.825336195 meters 0.06557617259662218 Centerline is valid? [True, True] Translation: X:122.05, Y:3.12, Z:0.25 [[ 9.98180744e-01 -6.02744900e-02 -1.47943829e-03 1.22050070e+02] [ 6.02743098e-02 9.98181837e-01 -1.66151653e-04 3.12146561e+00] [ 1.48676314e-03 7.66772588e-05 9.99998892e-01 2.50219764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.885336195 meters 0.06215110532773445 Centerline is valid? [True, True] Translation: X:122.11, Y:3.12, Z:0.25 [[ 9.98352409e-01 -5.72755608e-02 -3.46095514e-03 1.22110618e+02] [ 5.72745564e-02 9.98358390e-01 -3.88702101e-04 3.11989057e+00] [ 3.47753673e-03 1.89837008e-04 9.99993935e-01 2.47232301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.945336195 meters 0.07218532374454815 Centerline is valid? [True, True] Translation: X:122.17, Y:3.14, Z:0.25 [[ 9.98381545e-01 -5.68420941e-02 -1.80759920e-03 1.22166758e+02] [ 5.68418186e-02 9.98383176e-01 -2.03505378e-04 3.14217676e+00] [ 1.81624431e-03 1.00428788e-04 9.99998346e-01 2.46956928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.005336195 meters 0.07489233507722058 Centerline is valid? [True, True] Translation: X:122.23, Y:3.16, Z:0.25 [[ 9.98448069e-01 -5.56557599e-02 -1.97233365e-03 1.22225135e+02] [ 5.56554300e-02 9.98450011e-01 -2.21798555e-04 3.15654949e+00] [ 1.98162092e-03 1.11683262e-04 9.99998030e-01 2.45699815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06533619500001 meters 0.06306973673746709 Centerline is valid? [True, True] Translation: X:122.29, Y:3.15, Z:0.25 [[ 9.98615111e-01 -5.24603802e-02 -3.97095907e-03 1.22286167e+02] [ 5.24590190e-02 9.98622978e-01 -4.46244598e-04 3.15264154e+00] [ 3.98890113e-03 2.37313982e-04 9.99992016e-01 2.46668952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12533619500002 meters 0.05743702233142701 Centerline is valid? [True, True] Translation: X:122.35, Y:3.16, Z:0.24 [[ 9.98452515e-01 -5.53652297e-02 -5.22170350e-03 1.22345575e+02] [ 5.53629151e-02 9.98466125e-01 -5.86881076e-04 3.16261120e+00] [ 5.24618686e-03 2.96884159e-04 9.99986195e-01 2.43897876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18533619500002 meters 0.0509065323577997 Centerline is valid? [True, True] Translation: X:122.41, Y:3.17, Z:0.24 [[ 9.98022929e-01 -6.27023886e-02 -4.31786604e-03 1.22405218e+02] [ 6.27008743e-02 9.98032246e-01 -4.85314483e-04 3.16991341e+00] [ 4.33979992e-03 2.13621005e-04 9.99990560e-01 2.44151837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24533619500002 meters 0.04314818168108017 Centerline is valid? [True, True] Translation: X:122.46, Y:3.17, Z:0.25 [[ 9.97207912e-01 -7.46413625e-02 -2.24656240e-03 1.22464705e+02] [ 7.46409827e-02 9.97210439e-01 -2.52565283e-04 3.16938463e+00] [ 2.25914730e-03 8.41744732e-05 9.99997445e-01 2.47932559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.305336195 meters 0.02879935367086085 Centerline is valid? [True, True] Translation: X:122.53, Y:3.17, Z:0.25 [[ 9.96335232e-01 -8.55271538e-02 -1.10088545e-03 1.22525980e+02] [ 8.55270692e-02 9.96335840e-01 -1.23772771e-04 3.16584945e+00] [ 1.10743756e-03 2.91636668e-05 9.99999386e-01 2.49294154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.365336195 meters 0.017484577523805403 Centerline is valid? [True, True] Translation: X:122.59, Y:3.16, Z:0.25 [[ 9.95367673e-01 -9.61395810e-02 -6.12825838e-04 1.22587299e+02] [ 9.61395568e-02 9.95367862e-01 -6.89868221e-05 3.15773664e+00] [ 6.16619509e-04 9.75044814e-06 9.99999810e-01 2.49895088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.425336195 meters 0.013467970525801641 Centerline is valid? [True, True] Translation: X:122.65, Y:3.16, Z:0.25 [[ 9.94714772e-01 -1.02655080e-01 -2.11101417e-03 1.22645424e+02] [ 1.02654807e-01 9.94717012e-01 -2.37890183e-04 3.15960808e+00] [ 2.12428234e-03 1.99271274e-05 9.99997744e-01 2.46882654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.485336195 meters 0.014590879934718012 Centerline is valid? [True, True] Translation: X:122.70, Y:3.18, Z:0.24 [[ 9.94950870e-01 -1.00337369e-01 -2.27548949e-03 1.22702611e+02] [ 1.00337042e-01 9.94953472e-01 -2.57609229e-04 3.17821956e+00] [ 2.28985400e-03 2.79926412e-05 9.99997378e-01 2.44507032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.545336195 meters 0.01868063988750404 Centerline is valid? [True, True] Translation: X:122.76, Y:3.19, Z:0.24 [[ 9.95262024e-01 -9.71941537e-02 -2.60776854e-03 1.22759364e+02] [ 9.71937159e-02 9.95265439e-01 -2.94365350e-04 3.18969048e+00] [ 2.62403249e-03 3.95119392e-05 9.99996556e-01 2.43252651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.605336195 meters 0.020130844143613436 Centerline is valid? [True, True] Translation: X:122.82, Y:3.20, Z:0.24 [[ 9.95450717e-01 -9.51673329e-02 -4.58798260e-03 1.22817793e+02] [ 9.51659508e-02 9.95461286e-01 -5.19116116e-04 3.19922697e+00] [ 4.61656195e-03 8.01347835e-05 9.99989340e-01 2.41635688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.665336195 meters 0.01737683821542217 Centerline is valid? [True, True] Translation: X:122.88, Y:3.20, Z:0.24 [[ 9.95228772e-01 -9.75406671e-02 -2.34743157e-03 1.22877092e+02] [ 9.75403123e-02 9.95231539e-01 -2.65440805e-04 3.19947021e+00] [ 2.36212921e-03 3.52051185e-05 9.99997210e-01 2.44428848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.725336195 meters 0.01641129738545912 Centerline is valid? [True, True] Translation: X:122.94, Y:3.20, Z:0.25 [[ 9.95083897e-01 -9.90349359e-02 3.45586134e-04 1.22935110e+02] [ 9.90349285e-02 9.95083957e-01 3.83981055e-05 3.19951504e+00] [-3.47689972e-04 -3.98423831e-06 9.99999940e-01 2.47590234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.785336195 meters 0.017834144821953123 Centerline is valid? [True, True] Translation: X:122.99, Y:3.20, Z:0.24 [[ 9.95212049e-01 -9.77390946e-02 -2.17332336e-04 1.22993998e+02] [ 9.77390913e-02 9.95212073e-01 -2.58405301e-05 3.20385038e+00] [ 2.18817394e-04 4.47494187e-06 9.99999976e-01 2.44711503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84533619500002 meters 0.024821686845472837 Centerline is valid? [True, True] Translation: X:123.05, Y:3.21, Z:0.24 [[ 9.95868207e-01 -9.07964031e-02 -1.58974159e-03 1.23053975e+02] [ 9.07962314e-02 9.95869475e-01 -1.80029185e-04 3.20676933e+00] [ 1.59952112e-03 3.49427965e-05 9.99998720e-01 2.44676068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90533619500002 meters 0.03239080322944837 Centerline is valid? [True, True] Translation: X:123.11, Y:3.22, Z:0.24 [[ 9.96724903e-01 -8.07342267e-02 -4.63164506e-03 1.23113267e+02] [ 8.07326614e-02 9.96735653e-01 -5.24236822e-04 3.22201079e+00] [ 4.65884962e-03 1.48594864e-04 9.99989136e-01 2.39118651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96533619500002 meters 0.04538975277829309 Centerline is valid? [True, True] Translation: X:123.17, Y:3.25, Z:0.23 [[ 9.97481859e-01 -7.05789767e-02 -6.96769379e-03 1.23169890e+02] [ 7.05751860e-02 9.97506151e-01 -7.88724508e-04 3.24709969e+00] [ 7.00598478e-03 2.94992104e-04 9.99975414e-01 2.30053173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.025336195 meters 0.05235537621147781 Centerline is valid? [True, True] Translation: X:123.23, Y:3.26, Z:0.24 [[ 9.98018049e-01 -6.27464310e-02 -4.78119331e-03 1.23229227e+02] [ 6.27445560e-02 9.98029472e-01 -5.41312120e-04 3.25899260e+00] [ 4.80573724e-03 2.40245414e-04 9.99988424e-01 2.37890378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.085336195 meters 0.05746111069440381 Centerline is valid? [True, True] Translation: X:123.29, Y:3.28, Z:0.23 [[ 9.98367041e-01 -5.68042573e-02 -6.04385051e-03 1.23287381e+02] [ 5.68011525e-02 9.98385277e-01 -6.84266725e-04 3.28218197e+00] [ 6.07296063e-03 3.39851671e-04 9.99981502e-01 2.33799419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.145336195 meters 0.06378349216573674 Centerline is valid? [True, True] Translation: X:123.34, Y:3.31, Z:0.23 [[ 9.98453711e-01 -5.52230416e-02 -6.37206621e-03 1.23343460e+02] [ 5.52195538e-02 9.98473975e-01 -7.22138684e-04 3.30624769e+00] [ 6.40222097e-03 3.69159396e-04 9.99979437e-01 2.28147892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.205336195 meters 0.05430320472142385 Centerline is valid? [True, True] Translation: X:123.40, Y:3.31, Z:0.24 [[ 9.97928106e-01 -6.43319552e-02 9.45953464e-04 1.23403832e+02] [ 6.43318825e-02 9.97928553e-01 1.07110236e-04 3.31060423e+00] [-9.50884583e-04 -4.60333474e-05 9.99999547e-01 2.44749155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.265336195 meters 0.04304341908938647 Centerline is valid? [True, True] Translation: X:123.46, Y:3.31, Z:0.24 [[ 9.97116983e-01 -7.58782709e-02 -4.59381627e-04 1.23463386e+02] [ 7.58782550e-02 9.97117088e-01 -5.21402835e-05 3.30893802e+00] [ 4.62013585e-04 1.71328860e-05 9.99999893e-01 2.39107373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.325336195 meters 0.026115947298289525 Centerline is valid? [True, True] Translation: X:123.53, Y:3.30, Z:0.23 [[ 9.95859657e-01 -9.08671766e-02 -2.58834404e-03 1.23525287e+02] [ 9.08667210e-02 9.95863019e-01 -2.93312582e-04 3.29663814e+00] [ 2.60428860e-03 5.69038311e-05 9.99996607e-01 2.32072414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.385336195 meters 0.014964143696603668 Centerline is valid? [True, True] Translation: X:123.59, Y:3.29, Z:0.22 [[ 9.94558770e-01 -1.04016949e-01 -5.77296018e-03 1.23586123e+02] [ 1.04014904e-01 9.94575523e-01 -6.54108337e-04 3.28773100e+00] [ 5.80968325e-03 5.00752841e-05 9.99983122e-01 2.24882862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.445336195 meters 0.01092841175648649 Centerline is valid? [True, True] Translation: X:123.65, Y:3.28, Z:0.23 [[ 9.94054389e-01 -1.08758385e-01 -5.24273156e-03 1.23646065e+02] [ 1.08756754e-01 9.94068214e-01 -5.96131230e-04 3.28322417e+00] [ 5.27646707e-03 2.24044018e-05 9.99986079e-01 2.31407004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.505336195 meters 0.011688203338612332 Centerline is valid? [True, True] Translation: X:123.70, Y:3.29, Z:0.23 [[ 9.94323395e-01 -1.06290881e-01 -4.82031581e-03 1.23703700e+02] [ 1.06289468e-01 9.94335078e-01 -5.49070885e-04 3.29496756e+00] [ 4.85137032e-03 3.36052223e-05 9.99988231e-01 2.32460349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56533619500001 meters 0.01957291884193919 Centerline is valid? [True, True] Translation: X:123.76, Y:3.32, Z:0.23 [[ 9.95093541e-01 -9.88435007e-02 -4.33659460e-03 1.23760122e+02] [ 9.88422896e-02 9.95102989e-01 -4.93241228e-04 3.31649801e+00] [ 4.36411193e-03 6.21822210e-05 9.99990475e-01 2.28413574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62533619500002 meters 0.024448421284758062 Centerline is valid? [True, True] Translation: X:123.82, Y:3.33, Z:0.23 [[ 9.95789811e-01 -9.15401513e-02 -4.80139191e-03 1.23819088e+02] [ 9.15385823e-02 9.95801381e-01 -5.45994954e-04 3.33119869e+00] [ 4.83121315e-03 1.04183604e-04 9.99988324e-01 2.30056002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68533619500002 meters 0.032279363395456964 Centerline is valid? [True, True] Translation: X:123.88, Y:3.35, Z:0.23 [[ 9.96243168e-01 -8.65052411e-02 -4.04888906e-03 1.23876774e+02] [ 8.65040836e-02 9.96251390e-01 -4.60461313e-04 3.35209146e+00] [ 4.07354367e-03 1.08485999e-04 9.99991697e-01 2.28345417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74533619500002 meters 0.034057339477335934 Centerline is valid? [True, True] Translation: X:123.94, Y:3.36, Z:0.23 [[ 9.96490237e-01 -8.36489065e-02 -3.17288256e-03 1.23936208e+02] [ 8.36481807e-02 9.96495284e-01 -3.61012832e-04 3.35729592e+00] [ 3.19196084e-03 9.43399091e-05 9.99994901e-01 2.31556808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.805336195 meters 0.03573365788486053 Centerline is valid? [True, True] Translation: X:123.99, Y:3.37, Z:0.24 [[ 9.96594386e-01 -8.24598698e-02 -2.42439174e-05 1.23993872e+02] [ 8.24598697e-02 9.96594386e-01 -3.95678061e-06 3.37246482e+00] [ 2.44876276e-05 1.94415507e-06 1.00000000e+00 2.35353067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.865336195 meters 0.03589706843107801 Centerline is valid? [True, True] Translation: X:124.05, Y:3.38, Z:0.23 [[ 9.96714555e-01 -8.09238451e-02 -3.38029942e-03 1.24053249e+02] [ 8.09230035e-02 9.96720281e-01 -3.85224660e-04 3.37972598e+00] [ 3.40038685e-03 1.10415044e-04 9.99994213e-01 2.28603266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.925336195 meters 0.03877580178032829 Centerline is valid? [True, True] Translation: X:124.11, Y:3.39, Z:0.23 [[ 9.96770091e-01 -8.03046747e-02 -7.37750651e-04 1.24109267e+02] [ 8.03046337e-02 9.96770364e-01 -8.50832417e-05 3.38777594e+00] [ 7.42200567e-04 2.55636348e-05 9.99999724e-01 2.34210978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.985336195 meters 0.035604542986252694 Centerline is valid? [True, True] Translation: X:124.17, Y:3.40, Z:0.23 [[ 9.96593472e-01 -8.24315572e-02 -2.54771100e-03 1.24167892e+02] [ 8.24310797e-02 9.96596725e-01 -2.92037734e-04 3.39784665e+00] [ 2.56311356e-03 8.10323308e-05 9.99996712e-01 2.29402081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.045336195 meters 0.03125663117879068 Centerline is valid? [True, True] Translation: X:124.23, Y:3.39, Z:0.23 [[ 9.96180496e-01 -8.73179241e-02 2.01460354e-05 1.24228741e+02] [ 8.73179240e-02 9.96180496e-01 2.17703379e-06 3.38985289e+00] [-2.02591816e-05 -4.09608608e-07 1.00000000e+00 2.34086350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.105336195 meters 0.027509748436888522 Centerline is valid? [True, True] Translation: X:124.29, Y:3.39, Z:0.23 [[ 9.95833439e-01 -9.11835213e-02 -1.15234488e-03 1.24288615e+02] [ 9.11834298e-02 9.95834105e-01 -1.31797661e-04 3.38964086e+00] [ 1.15956210e-03 2.61737600e-05 9.99999327e-01 2.30835938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.165336195 meters 0.027687659401842993 Centerline is valid? [True, True] Translation: X:124.35, Y:3.40, Z:0.23 [[ 9.95796788e-01 -9.15605241e-02 -2.32956095e-03 1.24347097e+02] [ 9.15601483e-02 9.95799512e-01 -2.67645113e-04 3.39582935e+00] [ 2.34428138e-03 5.32251977e-05 9.99997251e-01 2.26178208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.225336195 meters 0.028818903714717806 Centerline is valid? [True, True] Translation: X:124.41, Y:3.40, Z:0.23 [[ 9.95877352e-01 -9.06917719e-02 -1.81733763e-03 1.24406283e+02] [ 9.06915408e-02 9.95879009e-01 -2.09334394e-04 3.39718476e+00] [ 1.82883330e-03 4.36542322e-05 9.99998327e-01 2.30365087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.285336195 meters 0.03527954744081454 Centerline is valid? [True, True] Translation: X:124.46, Y:3.41, Z:0.23 [[ 9.96278906e-01 -8.61569783e-02 -2.30584768e-03 1.24463953e+02] [ 8.61565971e-02 9.96281572e-01 -2.64332202e-04 3.41465498e+00] [ 2.32004762e-03 6.46846073e-05 9.99997307e-01 2.26651719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34533619500002 meters 0.033551459988650806 Centerline is valid? [True, True] Translation: X:124.52, Y:3.42, Z:0.23 [[ 9.96613787e-01 -8.22069176e-02 -1.72695058e-03 1.24524375e+02] [ 8.22066979e-02 9.96615282e-01 -1.97956133e-04 3.41588677e+00] [ 1.73737870e-03 5.53189070e-05 9.99998489e-01 2.30164176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40533619500002 meters 0.04129533047877396 Centerline is valid? [True, True] Translation: X:124.58, Y:3.43, Z:0.22 [[ 9.96610235e-01 -8.21882810e-02 -3.62290400e-03 1.24580429e+02] [ 8.21873116e-02 9.96616813e-01 -4.15885470e-04 3.43057559e+00] [ 3.64482795e-03 1.16718977e-04 9.99993351e-01 2.22930309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46533619500002 meters 0.02994168913328537 Centerline is valid? [True, True] Translation: X:124.64, Y:3.42, Z:0.23 [[ 9.96418565e-01 -8.44678175e-02 -3.90282116e-03 1.24640339e+02] [ 8.44667101e-02 9.96426201e-01 -4.48004052e-04 3.42369629e+00] [ 3.92671519e-03 1.16741091e-04 9.99992284e-01 2.26081152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.525336195 meters 0.030453255061082207 Centerline is valid? [True, True] Translation: X:124.70, Y:3.43, Z:0.23 [[ 9.96347599e-01 -8.53288216e-02 -3.23316575e-03 1.24698268e+02] [ 8.53280612e-02 9.96352841e-01 -3.72652404e-04 3.43107721e+00] [ 3.25317187e-03 9.54115627e-05 9.99994704e-01 2.25827152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.585336195 meters 0.033039370883251235 Centerline is valid? [True, True] Translation: X:124.76, Y:3.44, Z:0.23 [[ 9.96238626e-01 -8.66495642e-02 -6.72734508e-04 1.24755848e+02] [ 8.66495314e-02 9.96238853e-01 -7.77595409e-05 3.43746596e+00] [ 6.76942085e-04 1.91749283e-05 9.99999771e-01 2.28067065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.645336195 meters 0.025677517706461397 Centerline is valid? [True, True] Translation: X:124.82, Y:3.43, Z:0.23 [[ 9.95634478e-01 -9.33355026e-02 -6.85860767e-04 1.24817028e+02] [ 9.33354704e-02 9.95634714e-01 -7.89034003e-05 3.43017190e+00] [ 6.90231277e-04 1.45438085e-05 9.99999762e-01 2.28070262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.705336195 meters 0.016896692807811763 Centerline is valid? [True, True] Translation: X:124.88, Y:3.42, Z:0.22 [[ 9.94831740e-01 -1.01472285e-01 -3.63091623e-03 1.24878181e+02] [ 1.01471437e-01 9.94838365e-01 -4.17579316e-04 3.42046621e+00] [ 3.65454750e-03 4.69868696e-05 9.99993321e-01 2.19387974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.765336195 meters 0.015188655099002552 Centerline is valid? [True, True] Translation: X:124.94, Y:3.41, Z:0.23 [[ 9.94711368e-01 -1.02696697e-01 -1.63813998e-03 1.24938615e+02] [ 1.02696524e-01 9.94712716e-01 -1.89830675e-04 3.41133520e+00] [ 1.64897365e-03 2.05954483e-05 9.99998640e-01 2.26435535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.825336195 meters 0.021487142424575494 Centerline is valid? [True, True] Translation: X:125.00, Y:3.42, Z:0.23 [[ 9.95381097e-01 -9.59984440e-02 -8.78204692e-04 1.24997160e+02] [ 9.59983919e-02 9.95381484e-01 -1.01398623e-04 3.42302477e+00] [ 8.83882800e-04 1.66240344e-05 9.99999609e-01 2.27813953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.885336195 meters 0.03281514658853838 Centerline is valid? [True, True] Translation: X:125.06, Y:3.44, Z:0.22 [[ 9.96409366e-01 -8.46164684e-02 -2.90336040e-03 1.25056189e+02] [ 8.46158527e-02 9.96413592e-01 -3.34460556e-04 3.43828736e+00] [ 2.92124863e-03 8.75893143e-05 9.99995729e-01 2.21547487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.945336195 meters 0.04066704274445585 Centerline is valid? [True, True] Translation: X:125.12, Y:3.45, Z:0.22 [[ 9.97104858e-01 -7.58928211e-02 -4.70982787e-03 1.25115255e+02] [ 7.58911036e-02 9.97115964e-01 -5.42563289e-04 3.45290055e+00] [ 4.73742122e-03 1.83558456e-04 9.99988762e-01 2.17913462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.005336195 meters 0.044355907106766075 Centerline is valid? [True, True] Translation: X:125.18, Y:3.46, Z:0.22 [[ 9.97354965e-01 -7.24851599e-02 -5.38296423e-03 1.25175392e+02] [ 7.24828674e-02 9.97369465e-01 -6.20016675e-04 3.45987561e+00] [ 5.41374616e-03 2.28204027e-04 9.99985320e-01 2.16513045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06533619500001 meters 0.050127126685990536 Centerline is valid? [True, True] Translation: X:125.23, Y:3.47, Z:0.22 [[ 9.97551529e-01 -6.97650722e-02 -4.87673170e-03 1.25233280e+02] [ 6.97631568e-02 9.97563425e-01 -5.61996388e-04 3.47074757e+00] [ 4.90405689e-03 2.20404158e-04 9.99987951e-01 2.16183060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12533619500002 meters 0.05368350123575554 Centerline is valid? [True, True] Translation: X:125.29, Y:3.48, Z:0.21 [[ 9.97707857e-01 -6.73220946e-02 -6.83864660e-03 1.25292269e+02] [ 6.73182712e-02 9.97731241e-01 -7.88004530e-04 3.48071375e+00] [ 6.87618148e-03 3.25832444e-04 9.99976306e-01 2.10844783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18533619500002 meters 0.051185683316876014 Centerline is valid? [True, True] Translation: X:125.35, Y:3.48, Z:0.21 [[ 9.97589965e-01 -6.91430326e-02 -5.78812259e-03 1.25352751e+02] [ 6.91403229e-02 9.97606721e-01 -6.67183408e-04 3.47873679e+00] [ 5.82040108e-03 2.65382809e-04 9.99983026e-01 2.14615134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24533619500002 meters 0.042394386984728374 Centerline is valid? [True, True] Translation: X:125.41, Y:3.48, Z:0.21 [[ 9.97154090e-01 -7.52587786e-02 -4.45390425e-03 1.25413473e+02] [ 7.52572353e-02 9.97164021e-01 -5.13328535e-04 3.47769957e+00] [ 4.47990555e-03 1.76679128e-04 9.99989950e-01 2.11991401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.305336195 meters 0.040282559409339024 Centerline is valid? [True, True] Translation: X:125.47, Y:3.48, Z:0.21 [[ 9.96917636e-01 -7.83806005e-02 -3.42180769e-03 1.25473547e+02] [ 7.83797072e-02 9.96923500e-01 -3.94593764e-04 3.47606321e+00] [ 3.44220900e-03 1.25177198e-04 9.99994068e-01 2.13944072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.365336195 meters 0.039397716917830165 Centerline is valid? [True, True] Translation: X:125.53, Y:3.48, Z:0.21 [[ 9.96824979e-01 -7.94050270e-02 -5.89943524e-03 1.25531360e+02] [ 7.94023768e-02 9.96842413e-01 -6.82468649e-04 3.47738689e+00] [ 5.93499870e-03 2.11872617e-04 9.99982365e-01 2.11648996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.425336195 meters 0.0415279808460865 Centerline is valid? [True, True] Translation: X:125.59, Y:3.49, Z:0.21 [[ 9.96842998e-01 -7.91406371e-02 -6.38726946e-03 1.25588361e+02] [ 7.91375295e-02 9.96863434e-01 -7.38200426e-04 3.49102889e+00] [ 6.42565703e-03 2.30397200e-04 9.99979329e-01 2.07204872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.485336195 meters 0.04246811458298881 Centerline is valid? [True, True] Translation: X:125.65, Y:3.50, Z:0.20 [[ 9.96834313e-01 -7.88783527e-02 -9.97784378e-03 1.25647506e+02] [ 7.88707588e-02 9.96884183e-01 -1.15290821e-03 3.50013052e+00] [ 1.00376941e-02 3.62298357e-04 9.99949555e-01 2.00084938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.545336195 meters 0.04447483476400934 Centerline is valid? [True, True] Translation: X:125.71, Y:3.51, Z:0.21 [[ 9.97038963e-01 -7.65344937e-02 -7.46837421e-03 1.25705882e+02] [ 7.65301568e-02 9.97066892e-01 -8.65196344e-04 3.50905224e+00] [ 7.51268603e-03 2.91078617e-04 9.99971737e-01 2.07029898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.605336195 meters 0.04511916310194781 Centerline is valid? [True, True] Translation: X:125.76, Y:3.52, Z:0.21 [[ 9.97203052e-01 -7.46028516e-02 -4.52627184e-03 1.25763236e+02] [ 7.46012333e-02 9.97213307e-01 -5.25567554e-04 3.52378015e+00] [ 4.55286735e-03 1.86432107e-04 9.99989618e-01 2.11625903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.665336195 meters 0.043886764296111616 Centerline is valid? [True, True] Translation: X:125.82, Y:3.53, Z:0.21 [[ 9.97007770e-01 -7.71987519e-02 -3.98245758e-03 1.25821704e+02] [ 7.71975229e-02 9.97015712e-01 -4.61625289e-04 3.53211103e+00] [ 4.00620967e-03 1.52808140e-04 9.99991963e-01 2.10229188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.725336195 meters 0.03956788759447386 Centerline is valid? [True, True] Translation: X:125.88, Y:3.53, Z:0.20 [[ 9.96659524e-01 -8.14399161e-02 -6.11008511e-03 1.25881618e+02] [ 8.14371034e-02 9.96678231e-01 -7.08142331e-04 3.53469843e+00] [ 6.14745987e-03 2.08189166e-04 9.99981083e-01 2.04281905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.785336195 meters 0.03903805882338957 Centerline is valid? [True, True] Translation: X:125.94, Y:3.54, Z:0.20 [[ 9.96351866e-01 -8.49949973e-02 -7.66873709e-03 1.25939585e+02] [ 8.49906686e-02 9.96381350e-01 -8.89187467e-04 3.54157566e+00] [ 7.71656310e-03 2.34172500e-04 9.99970199e-01 2.00054417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84533619500002 meters 0.03446689800841323 Centerline is valid? [True, True] Translation: X:126.00, Y:3.54, Z:0.20 [[ 9.96348040e-01 -8.48481123e-02 -9.55931486e-03 1.25997895e+02] [ 8.48413681e-02 9.96393853e-01 -1.10957884e-03 3.54460871e+00] [ 9.61898824e-03 2.94501353e-04 9.99953693e-01 2.00809429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90533619500002 meters 0.038785905319802194 Centerline is valid? [True, True] Translation: X:126.05, Y:3.56, Z:0.20 [[ 9.96548138e-01 -8.27446776e-02 -6.71770199e-03 1.26054283e+02] [ 8.27412941e-02 9.96570755e-01 -7.80509780e-04 3.56154969e+00] [ 6.75924838e-03 2.21984211e-04 9.99977131e-01 2.03335102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96533619500002 meters 0.039787328023717615 Centerline is valid? [True, True] Translation: X:126.11, Y:3.57, Z:0.21 [[ 9.96825402e-01 -7.94220171e-02 -5.59107960e-03 1.26112443e+02] [ 7.94196216e-02 9.96841061e-01 -6.49530243e-04 3.57336120e+00] [ 5.62500472e-03 2.03426820e-04 9.99984159e-01 2.06332231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.025336195 meters 0.04253063406755345 Centerline is valid? [True, True] Translation: X:126.17, Y:3.59, Z:0.21 [[ 9.97104757e-01 -7.58362590e-02 -5.56469971e-03 1.26171898e+02] [ 7.58338318e-02 9.97120260e-01 -6.46205867e-04 3.58625606e+00] [ 5.59768066e-03 2.22342442e-04 9.99984308e-01 2.06849103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.085336195 meters 0.0429297062056356 Centerline is valid? [True, True] Translation: X:126.23, Y:3.60, Z:0.20 [[ 9.97163051e-01 -7.49908021e-02 -6.49834434e-03 1.26229621e+02] [ 7.49874589e-02 9.97184190e-01 -7.56935574e-04 3.60103147e+00] [ 6.53680944e-03 2.67493857e-04 9.99978599e-01 2.03060255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.145336195 meters 0.03888641872438882 Centerline is valid? [True, True] Translation: X:126.29, Y:3.60, Z:0.20 [[ 9.96787969e-01 -7.98630367e-02 -5.96989319e-03 1.26289538e+02] [ 7.98603080e-02 9.96805823e-01 -6.94465443e-04 3.59669960e+00] [ 6.00628642e-03 2.15477290e-04 9.99981939e-01 2.04954027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.205336195 meters 0.035642432847447475 Centerline is valid? [True, True] Translation: X:126.35, Y:3.60, Z:0.20 [[ 9.96281263e-01 -8.59916569e-02 -5.39264876e-03 1.26348648e+02] [ 8.59895191e-02 9.96295844e-01 -6.27479743e-04 3.60041725e+00] [ 5.42663157e-03 1.61435037e-04 9.99985263e-01 2.02814105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.265336195 meters 0.03328719573728279 Centerline is valid? [True, True] Translation: X:126.41, Y:3.60, Z:0.20 [[ 9.96093721e-01 -8.81680886e-02 -4.86700013e-03 1.26407867e+02] [ 8.81663712e-02 9.96105602e-01 -5.66726670e-04 3.59956096e+00] [ 4.89801330e-03 1.35407137e-04 9.99987995e-01 2.03724180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.325336195 meters 0.034095206833677824 Centerline is valid? [True, True] Translation: X:126.47, Y:3.60, Z:0.20 [[ 9.96257633e-01 -8.61945233e-02 -6.42121152e-03 1.26467006e+02] [ 8.61914926e-02 9.96278308e-01 -7.47741160e-04 3.60434752e+00] [ 6.46176494e-03 1.91489033e-04 9.99979104e-01 2.03814249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.385336195 meters 0.03804471093986235 Centerline is valid? [True, True] Translation: X:126.53, Y:3.61, Z:0.20 [[ 9.96630807e-01 -8.17013845e-02 -7.20546312e-03 1.26526356e+02] [ 8.16974513e-02 9.96656823e-01 -8.39016960e-04 3.61367822e+00] [ 7.24992283e-03 2.47522177e-04 9.99973688e-01 2.01611856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.445336195 meters 0.03855395474289737 Centerline is valid? [True, True] Translation: X:126.59, Y:3.62, Z:0.21 [[ 9.96778070e-01 -8.00958072e-02 -4.25916274e-03 1.26585274e+02] [ 8.00944103e-02 9.96787158e-01 -4.97805893e-04 3.62000608e+00] [ 4.28535089e-03 1.55066869e-04 9.99990806e-01 2.07306995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.505336195 meters 0.041241846912139335 Centerline is valid? [True, True] Translation: X:126.64, Y:3.63, Z:0.20 [[ 9.96832253e-01 -7.92381941e-02 -6.83871667e-03 1.26643391e+02] [ 7.92345828e-02 9.96855679e-01 -7.97820504e-04 3.62830485e+00] [ 6.88043140e-03 2.53430348e-04 9.99976297e-01 2.00164451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56533619500001 meters 0.03944608921344928 Centerline is valid? [True, True] Translation: X:126.70, Y:3.62, Z:0.21 [[ 9.96866860e-01 -7.89292989e-02 -5.16044154e-03 1.26702474e+02] [ 7.89272272e-02 9.96880197e-01 -6.04218405e-04 3.62499722e+00] [ 5.19203252e-03 1.95025963e-04 9.99986502e-01 2.07269011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62533619500002 meters 0.04044664720878707 Centerline is valid? [True, True] Translation: X:126.76, Y:3.63, Z:0.20 [[ 9.96639360e-01 -8.17506137e-02 -5.17903862e-03 1.26761339e+02] [ 8.17485708e-02 9.96652801e-01 -6.05274416e-04 3.63246136e+00] [ 5.21118490e-03 1.79861300e-04 9.99986406e-01 2.03760884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68533619500002 meters 0.0346214928821981 Centerline is valid? [True, True] Translation: X:126.82, Y:3.62, Z:0.21 [[ 9.96366814e-01 -8.50882858e-02 -3.62703808e-03 1.26822356e+02] [ 8.50873055e-02 9.96373409e-01 -4.24027376e-04 3.62307800e+00] [ 3.64996406e-03 1.13871909e-04 9.99993332e-01 2.06655022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74533619500002 meters 0.0309857591089758 Centerline is valid? [True, True] Translation: X:126.88, Y:3.62, Z:0.21 [[ 9.96205001e-01 -8.69478885e-02 -3.95737202e-03 1.26882426e+02] [ 8.69467293e-02 9.96212854e-01 -4.64370171e-04 3.61642744e+00] [ 3.98276088e-03 1.18527333e-04 9.99992062e-01 2.09301542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.805336195 meters 0.03190677353530015 Centerline is valid? [True, True] Translation: X:126.94, Y:3.62, Z:0.21 [[ 9.96244683e-01 -8.65153824e-02 -3.40872666e-03 1.26940548e+02] [ 8.65145172e-02 9.96250510e-01 -4.00721517e-04 3.62306587e+00] [ 3.43061425e-03 1.04312340e-04 9.99994110e-01 2.06136765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.865336195 meters 0.03323042035738889 Centerline is valid? [True, True] Translation: X:127.00, Y:3.62, Z:0.21 [[ 9.96305728e-01 -8.58270532e-02 -2.93468879e-03 1.26998875e+02] [ 8.58264103e-02 9.96310046e-01 -3.44534334e-04 3.62007152e+00] [ 2.95343029e-03 9.13877263e-05 9.99995634e-01 2.08148467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.925336195 meters 0.03598541424926081 Centerline is valid? [True, True] Translation: X:127.06, Y:3.62, Z:0.21 [[ 9.96493639e-01 -8.35956356e-02 -3.49238983e-03 1.27058433e+02] [ 8.35947124e-02 9.96499752e-01 -4.09742742e-04 3.62263685e+00] [ 3.51441831e-03 1.16360712e-04 9.99993818e-01 2.07389302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.985336195 meters 0.039948743546491305 Centerline is valid? [True, True] Translation: X:127.12, Y:3.63, Z:0.20 [[ 9.96863694e-01 -7.89838355e-02 -4.93253931e-03 1.27118466e+02] [ 7.89819384e-02 9.96875879e-01 -5.78525639e-04 3.63236939e+00] [ 4.96282364e-03 1.87129690e-04 9.99987668e-01 2.03242568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.045336195 meters 0.04451049603079996 Centerline is valid? [True, True] Translation: X:127.18, Y:3.64, Z:0.20 [[ 9.97137051e-01 -7.53288827e-02 -6.57723118e-03 1.27178276e+02] [ 7.53254296e-02 9.97158706e-01 -7.71522236e-04 3.63967571e+00] [ 6.61666124e-03 2.73880644e-04 9.99978072e-01 2.01785807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.105336195 meters 0.043251534691896104 Centerline is valid? [True, True] Translation: X:127.24, Y:3.65, Z:0.21 [[ 9.97286276e-01 -7.35499903e-02 -3.23765116e-03 1.27237318e+02] [ 7.35491386e-02 9.97291521e-01 -3.81527271e-04 3.64534187e+00] [ 3.25694338e-03 1.42365457e-04 9.99994686e-01 2.06649559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.165336195 meters 0.04175646791583872 Centerline is valid? [True, True] Translation: X:127.30, Y:3.64, Z:0.21 [[ 9.96853231e-01 -7.92543371e-02 1.54476815e-03 1.27296382e+02] [ 7.92541512e-02 9.96854426e-01 1.81256071e-04 3.64489833e+00] [-1.55427430e-03 -5.82564117e-05 9.99998790e-01 2.13520069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.225336195 meters 0.030327480819452062 Centerline is valid? [True, True] Translation: X:127.36, Y:3.64, Z:0.21 [[ 9.96073797e-01 -8.85028162e-02 2.05975089e-03 1.27358488e+02] [ 8.85025050e-02 9.96075925e-01 2.41966480e-04 3.63634087e+00] [-2.07308298e-03 -5.87233570e-05 9.99997849e-01 2.11879655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.285336195 meters 0.02415895333031253 Centerline is valid? [True, True] Translation: X:127.42, Y:3.62, Z:0.21 [[ 9.95402742e-01 -9.57740084e-02 -8.48762054e-04 1.27419628e+02] [ 9.57739581e-02 9.95403104e-01 -9.98814375e-05 3.62377929e+00] [ 8.54426428e-04 1.81329554e-05 9.99999635e-01 2.09133838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34533619500002 meters 0.02255964864904272 Centerline is valid? [True, True] Translation: X:127.48, Y:3.63, Z:0.21 [[ 9.95166032e-01 -9.81895852e-02 -1.83705634e-03 1.27477563e+02] [ 9.81893529e-02 9.95167727e-01 -2.16408138e-04 3.62669897e+00] [ 1.84942821e-03 3.49826547e-05 9.99998289e-01 2.06004472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40533619500002 meters 0.022429094035352135 Centerline is valid? [True, True] Translation: X:127.54, Y:3.63, Z:0.20 [[ 9.95156229e-01 -9.82347745e-02 -3.74277986e-03 1.27536143e+02] [ 9.82338073e-02 9.95163265e-01 -4.41844795e-04 3.63494566e+00] [ 3.76808155e-03 7.20370855e-05 9.99992898e-01 1.99723465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46533619500002 meters 0.024051329993787743 Centerline is valid? [True, True] Translation: X:127.60, Y:3.63, Z:0.20 [[ 9.95492254e-01 -9.47408070e-02 -4.39914294e-03 1.27596102e+02] [ 9.47394410e-02 9.95501969e-01 -5.18339673e-04 3.63342168e+00] [ 4.42846338e-03 9.92307862e-05 9.99990189e-01 2.03052039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.525336195 meters 0.03003437410931138 Centerline is valid? [True, True] Translation: X:127.65, Y:3.65, Z:0.21 [[ 9.96070982e-01 -8.85583811e-02 -1.07679130e-04 1.27654240e+02] [ 8.85583802e-02 9.96070988e-01 -1.27704692e-05 3.65141956e+00] [ 1.08386990e-04 3.18440444e-06 9.99999994e-01 2.07860361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.585336195 meters 0.03353964730681513 Centerline is valid? [True, True] Translation: X:127.71, Y:3.66, Z:0.20 [[ 9.96372317e-01 -8.50205007e-02 -3.70400895e-03 1.27714708e+02] [ 8.50194658e-02 9.96379195e-01 -4.36252754e-04 3.65621926e+00] [ 3.72768788e-03 1.19757305e-04 9.99993045e-01 2.01381594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.645336195 meters 0.03825217032044082 Centerline is valid? [True, True] Translation: X:127.77, Y:3.67, Z:0.21 [[ 9.96673750e-01 -8.14874470e-02 1.11023387e-03 1.27772145e+02] [ 8.14873522e-02 9.96674367e-01 1.30467088e-04 3.66759329e+00] [-1.11717307e-03 -3.95631043e-05 9.99999375e-01 2.07638392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.705336195 meters 0.04125280471256199 Centerline is valid? [True, True] Translation: X:127.83, Y:3.67, Z:0.20 [[ 9.97069513e-01 -7.63352952e-02 -5.03089602e-03 1.27831775e+02] [ 7.63332739e-02 9.97082183e-01 -5.92860145e-04 3.67304430e+00] [ 5.06147294e-03 2.07098012e-04 9.99987169e-01 1.99472464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.765336195 meters 0.04749957792201488 Centerline is valid? [True, True] Translation: X:127.89, Y:3.69, Z:0.20 [[ 9.97372247e-01 -7.23260370e-02 -4.18864043e-03 1.27890080e+02] [ 7.23245998e-02 9.97381025e-01 -4.93789842e-04 3.68771030e+00] [ 4.21338435e-03 1.89550542e-04 9.99991106e-01 1.99278257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.825336195 meters 0.04596629237393931 Centerline is valid? [True, True] Translation: X:127.95, Y:3.70, Z:0.20 [[ 9.97675601e-01 -6.79172416e-02 -5.53565598e-03 1.27949479e+02] [ 6.79146643e-02 9.97690920e-01 -6.52457048e-04 3.69590704e+00] [ 5.56718679e-03 2.74988260e-04 9.99984465e-01 1.98283814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.885336195 meters 0.05199656603598677 Centerline is valid? [True, True] Translation: X:128.01, Y:3.71, Z:0.21 [[ 9.97799624e-01 -6.62953196e-02 -9.17221107e-04 1.28006544e+02] [ 6.62952477e-02 9.97800044e-01 -1.08600941e-04 3.70856522e+00] [ 9.22402996e-04 4.75545775e-05 9.99999573e-01 2.06454667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.945336195 meters 0.04717283743168506 Centerline is valid? [True, True] Translation: X:128.06, Y:3.72, Z:0.20 [[ 9.97240646e-01 -7.42068819e-02 -2.10542770e-03 1.28064791e+02] [ 7.42065225e-02 9.97242864e-01 -2.48419938e-04 3.71740710e+00] [ 2.11805722e-03 9.14979915e-05 9.99997753e-01 1.99936130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.005336195 meters 0.03213518997726891 Centerline is valid? [True, True] Translation: X:128.13, Y:3.70, Z:0.21 [[ 9.96298451e-01 -8.59582570e-02 -7.58483639e-04 1.28127616e+02] [ 8.59582137e-02 9.96298739e-01 -8.95728088e-05 3.70205111e+00] [ 7.63375816e-04 2.40433518e-05 9.99999708e-01 2.05034043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06533619500001 meters 0.026009081675532453 Centerline is valid? [True, True] Translation: X:128.19, Y:3.70, Z:0.20 [[ 9.95481306e-01 -9.49568204e-02 -4.14141993e-04 1.28186820e+02] [ 9.49568082e-02 9.95481392e-01 -4.90841297e-05 3.70429965e+00] [ 4.16931521e-04 9.53673173e-06 9.99999913e-01 2.04064470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12533619500002 meters 0.021854814264616496 Centerline is valid? [True, True] Translation: X:128.25, Y:3.71, Z:0.20 [[ 9.95262456e-01 -9.72229083e-02 5.91690415e-04 1.28246210e+02] [ 9.72228846e-02 9.95262632e-01 6.87424457e-05 3.70729003e+00] [-5.95570701e-04 -1.08909264e-05 9.99999823e-01 2.04830525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18533619500002 meters 0.024145714721304546 Centerline is valid? [True, True] Translation: X:128.30, Y:3.71, Z:0.20 [[ 9.95276520e-01 -9.70575612e-02 -2.11633329e-03 1.28304057e+02] [ 9.70572477e-02 9.95278769e-01 -2.50574344e-04 3.71397817e+00] [ 2.13066173e-03 4.39852771e-05 9.99997729e-01 2.00664752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24533619500002 meters 0.025905249294425246 Centerline is valid? [True, True] Translation: X:128.36, Y:3.73, Z:0.20 [[ 9.95472598e-01 -9.49668014e-02 -3.95144995e-03 1.28362179e+02] [ 9.49656938e-02 9.95480436e-01 -4.67423293e-04 3.72721012e+00] [ 3.97798081e-03 9.00548938e-05 9.99992084e-01 1.95917716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.305336195 meters 0.027458843478091337 Centerline is valid? [True, True] Translation: X:128.42, Y:3.73, Z:0.20 [[ 9.95845337e-01 -9.10434643e-02 -1.77540255e-03 1.28421581e+02] [ 9.10432341e-02 9.95846919e-01 -2.10231090e-04 3.73013000e+00] [ 1.78716932e-03 4.77192610e-05 9.99998402e-01 2.04147935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.365336195 meters 0.032568762632491054 Centerline is valid? [True, True] Translation: X:128.48, Y:3.75, Z:0.20 [[ 9.96067338e-01 -8.85749406e-02 -2.08277430e-03 1.28478399e+02] [ 8.85746183e-02 9.96069514e-01 -2.46651129e-04 3.74909058e+00] [ 2.09643510e-03 6.12001948e-05 9.99997801e-01 1.97471336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.425336195 meters 0.03222010799806409 Centerline is valid? [True, True] Translation: X:128.54, Y:3.75, Z:0.20 [[ 9.96193279e-01 -8.71393224e-02 -2.38513891e-03 1.28536947e+02] [ 8.71388950e-02 9.96196132e-01 -2.82732147e-04 3.75063792e+00] [ 2.40070325e-03 7.38174957e-05 9.99997116e-01 1.99145324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.485336195 meters 0.03653685834588492 Centerline is valid? [True, True] Translation: X:128.59, Y:3.76, Z:0.19 [[ 9.96334908e-01 -8.53396198e-02 -5.82232052e-03 1.28594904e+02] [ 8.53370457e-02 9.96351902e-01 -6.89568590e-04 3.76092523e+00] [ 5.85992765e-03 1.90181626e-04 9.99982812e-01 1.94078411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.545336195 meters 0.03761566266100228 Centerline is valid? [True, True] Translation: X:128.65, Y:3.77, Z:0.19 [[ 9.96393572e-01 -8.46310441e-02 -6.11844419e-03 1.28652521e+02] [ 8.46281766e-02 9.96412336e-01 -7.26520625e-04 3.77439431e+00] [ 6.15797947e-03 2.06107705e-04 9.99981018e-01 1.89743880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.605336195 meters 0.03829567771324043 Centerline is valid? [True, True] Translation: X:128.71, Y:3.78, Z:0.20 [[ 9.96457483e-01 -8.40486608e-02 -2.88208980e-03 1.28711504e+02] [ 8.40480189e-02 9.96461646e-01 -3.43307919e-04 3.78031462e+00] [ 2.90074651e-03 9.98578072e-05 9.99995788e-01 1.97356738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.665336195 meters 0.03596392227457794 Centerline is valid? [True, True] Translation: X:128.77, Y:3.79, Z:0.20 [[ 9.96385653e-01 -8.49443697e-02 -2.91239230e-04 1.28770126e+02] [ 8.49443628e-02 9.96385695e-01 -3.57903196e-05 3.78554531e+00] [ 2.93226789e-04 1.09218302e-05 9.99999957e-01 2.01014279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.725336195 meters 0.03308033280773597 Centerline is valid? [True, True] Translation: X:128.83, Y:3.79, Z:0.20 [[ 9.96312453e-01 -8.57976030e-02 -5.16733196e-04 1.28829188e+02] [ 8.57975820e-02 9.96312587e-01 -6.27526769e-05 3.78838932e+00] [ 5.20211817e-04 1.81868147e-05 9.99999865e-01 1.99866109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.785336195 meters 0.03603995492625355 Centerline is valid? [True, True] Translation: X:128.89, Y:3.80, Z:0.20 [[ 9.96273054e-01 -8.62488359e-02 -1.06786796e-03 1.28886024e+02] [ 8.62487484e-02 9.96273626e-01 -1.27868463e-04 3.79879283e+00] [ 1.07491719e-03 3.52896291e-05 9.99999422e-01 1.99810066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84533619500002 meters 0.03412519003099555 Centerline is valid? [True, True] Translation: X:128.94, Y:3.81, Z:0.20 [[ 9.96354334e-01 -8.52885690e-02 -1.97522278e-03 1.28944590e+02] [ 8.52882668e-02 9.96356289e-01 -2.36842623e-04 3.80698845e+00] [ 1.98822560e-03 6.75158470e-05 9.99998021e-01 1.98202101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90533619500002 meters 0.03816642246947492 Centerline is valid? [True, True] Translation: X:129.00, Y:3.82, Z:0.20 [[ 9.96516001e-01 -8.33994678e-02 -6.23641317e-04 1.29002101e+02] [ 8.33994373e-02 9.96516196e-01 -7.47679849e-05 3.81686927e+00] [ 6.27704283e-04 2.24961584e-05 9.99999803e-01 2.02019979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96533619500002 meters 0.0435490168156452 Centerline is valid? [True, True] Translation: X:129.06, Y:3.84, Z:0.20 [[ 9.96575081e-01 -8.26923288e-02 2.94382189e-04 1.29058432e+02] [ 8.26923222e-02 9.96575124e-01 3.45185354e-05 3.83586110e+00] [-2.96228384e-04 -1.00571654e-05 9.99999956e-01 2.00720099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.025336195 meters 0.03910104114680764 Centerline is valid? [True, True] Translation: X:129.12, Y:3.84, Z:0.20 [[ 9.96476819e-01 -8.38443060e-02 -2.02009808e-03 1.29117606e+02] [ 8.38439860e-02 9.96478864e-01 -2.42733846e-04 3.83988616e+00] [ 2.03333689e-03 7.25055754e-05 9.99997930e-01 1.95584231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.085336195 meters 0.032925567520518395 Centerline is valid? [True, True] Translation: X:129.18, Y:3.84, Z:0.20 [[ 9.96248706e-01 -8.65357573e-02 2.81390663e-04 1.29177519e+02] [ 8.65357513e-02 9.96248745e-01 3.34774324e-05 3.83983950e+00] [-2.83232090e-04 -9.00149623e-06 9.99999960e-01 2.01046377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.145336195 meters 0.03051331328908769 Centerline is valid? [True, True] Translation: X:129.24, Y:3.85, Z:0.20 [[ 9.96034433e-01 -8.89642680e-02 8.75909917e-04 1.29236661e+02] [ 8.89642104e-02 9.96034818e-01 1.04600799e-04 3.84845783e+00] [-8.81742508e-04 -2.62613636e-05 9.99999611e-01 2.00118996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.205336195 meters 0.029538541256858845 Centerline is valid? [True, True] Translation: X:129.29, Y:3.85, Z:0.20 [[ 9.95783619e-01 -9.17309858e-02 6.40410684e-04 1.29294307e+02] [ 9.17309557e-02 9.95783825e-01 7.62073308e-05 3.85126856e+00] [-6.44701174e-04 -1.71405276e-05 9.99999792e-01 1.99719427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.265336195 meters 0.02676909251001133 Centerline is valid? [True, True] Translation: X:129.35, Y:3.86, Z:0.20 [[ 9.95549062e-01 -9.42444580e-02 2.18956222e-04 1.29352591e+02] [ 9.42444546e-02 9.95549086e-01 2.58661619e-05 3.85692088e+00] [-2.20419409e-04 -5.11562350e-06 9.99999976e-01 1.98892665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.325336195 meters 0.02966105826931159 Centerline is valid? [True, True] Translation: X:129.41, Y:3.87, Z:0.20 [[ 9.95672798e-01 -9.29280934e-02 2.22558825e-04 1.29408308e+02] [ 9.29280899e-02 9.95672822e-01 2.59119770e-05 3.87348383e+00] [-2.24003724e-04 -5.11788421e-06 9.99999975e-01 1.97029698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.385336195 meters 0.0375782590277342 Centerline is valid? [True, True] Translation: X:129.47, Y:3.89, Z:0.20 [[ 9.96301697e-01 -8.59092556e-02 -1.59008996e-03 1.29466845e+02] [ 8.59090607e-02 9.96302964e-01 -1.90552342e-04 3.89166005e+00] [ 1.60058155e-03 5.32444861e-05 9.99998718e-01 1.95959835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.445336195 meters 0.037884544421107405 Centerline is valid? [True, True] Translation: X:129.52, Y:3.91, Z:0.20 [[ 9.96431322e-01 -8.44035306e-02 -8.15064609e-04 1.29524837e+02] [ 8.44034778e-02 9.96431655e-01 -9.90063078e-05 3.90551662e+00] [ 8.20512659e-04 2.98586986e-05 9.99999663e-01 1.95956926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.505336195 meters 0.036480022832361736 Centerline is valid? [True, True] Translation: X:129.58, Y:3.91, Z:0.19 [[ 9.96243793e-01 -8.65843256e-02 -1.20835573e-03 1.29582670e+02] [ 8.65842129e-02 9.96244525e-01 -1.45389275e-04 3.91364389e+00] [ 1.21640621e-03 4.02186331e-05 9.99999259e-01 1.92809169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56533619500001 meters 0.03082834363370497 Centerline is valid? [True, True] Translation: X:129.64, Y:3.91, Z:0.19 [[ 9.95869841e-01 -9.07903661e-02 -6.07195832e-04 1.29642656e+02] [ 9.07903384e-02 9.95870026e-01 -7.30743627e-05 3.91449282e+00] [ 6.11322577e-04 1.76450389e-05 9.99999813e-01 1.92665831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62533619500002 meters 0.030474811938399893 Centerline is valid? [True, True] Translation: X:129.70, Y:3.93, Z:0.19 [[ 9.95750450e-01 -9.20549831e-02 -2.63091802e-03 1.29700538e+02] [ 9.20544653e-02 9.95753923e-01 -3.17509822e-04 3.92935943e+00] [ 2.64897530e-03 7.39727966e-05 9.99996489e-01 1.89338209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68533619500002 meters 0.030935345782873276 Centerline is valid? [True, True] Translation: X:129.76, Y:3.94, Z:0.19 [[ 9.95717907e-01 -9.23120485e-02 -4.93301766e-03 1.29758364e+02] [ 9.23102323e-02 9.95730118e-01 -5.95066934e-04 3.93983050e+00] [ 4.96688611e-03 1.37150795e-04 9.99987656e-01 1.85711896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74533619500002 meters 0.03041144420448673 Centerline is valid? [True, True] Translation: X:129.82, Y:3.95, Z:0.19 [[ 9.95622683e-01 -9.34554251e-02 -1.24799204e-03 1.29815920e+02] [ 9.34553097e-02 9.95623464e-01 -1.50636466e-04 3.94923155e+00] [ 1.25660795e-03 3.33456002e-05 9.99999210e-01 1.93317349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.805336195 meters 0.03163657782023581 Centerline is valid? [True, True] Translation: X:129.87, Y:3.97, Z:0.19 [[ 9.95667735e-01 -9.29824537e-02 1.56262142e-04 1.29873222e+02] [ 9.29824521e-02 9.95667747e-01 1.76659692e-05 3.96955845e+00] [-1.57227800e-04 -3.05979847e-06 9.99999988e-01 1.91945589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.865336195 meters 0.030896593383018447 Centerline is valid? [True, True] Translation: X:129.93, Y:3.98, Z:0.19 [[ 9.95684410e-01 -9.27796658e-02 -2.11893063e-03 1.29931677e+02] [ 9.27793287e-02 9.95686663e-01 -2.57059165e-04 3.97551428e+00] [ 2.13364083e-03 5.93568420e-05 9.99997722e-01 1.89736890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.925336195 meters 0.032491096408436636 Centerline is valid? [True, True] Translation: X:129.99, Y:3.99, Z:0.19 [[ 9.95792966e-01 -9.15890902e-02 -2.79426172e-03 1.29988225e+02] [ 9.15885020e-02 9.95796883e-01 -3.37990447e-04 3.99376443e+00] [ 2.81347335e-03 8.06462637e-05 9.99996039e-01 1.86229751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.985336195 meters 0.033226182224454615 Centerline is valid? [True, True] Translation: X:130.04, Y:4.01, Z:0.19 [[ 9.95771440e-01 -9.18109027e-02 -3.16188162e-03 1.30044494e+02] [ 9.18101481e-02 9.95776456e-01 -3.83293928e-04 4.00693915e+00] [ 3.18371783e-03 9.13803265e-05 9.99994928e-01 1.85289538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.045336195 meters 0.02961144052000643 Centerline is valid? [True, True] Translation: X:130.10, Y:4.01, Z:0.19 [[ 9.95558750e-01 -9.41173241e-02 -2.16901295e-03 1.30103023e+02] [ 9.41169749e-02 9.95561111e-01 -2.62741735e-04 4.01365246e+00] [ 2.18411349e-03 5.74338960e-05 9.99997613e-01 1.86918040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.105336195 meters 0.030685115209076345 Centerline is valid? [True, True] Translation: X:130.16, Y:4.03, Z:0.18 [[ 9.95531153e-01 -9.44066714e-02 -2.25905512e-03 1.30159262e+02] [ 9.44062928e-02 9.95533715e-01 -2.73847272e-04 4.03156606e+00] [ 2.27481855e-03 5.93544708e-05 9.99997411e-01 1.84054843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.165336195 meters 0.02848146773028481 Centerline is valid? [True, True] Translation: X:130.22, Y:4.03, Z:0.19 [[ 9.95335392e-01 -9.64382274e-02 -2.66957257e-03 1.30218764e+02] [ 9.64377034e-02 9.95338969e-01 -3.24609199e-04 4.03497083e+00] [ 2.68843435e-03 6.56475762e-05 9.99996384e-01 1.86016389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.225336195 meters 0.022446159952791773 Centerline is valid? [True, True] Translation: X:130.28, Y:4.04, Z:0.18 [[ 9.94696810e-01 -1.02773588e-01 -3.98075952e-03 1.30278203e+02] [ 1.02772480e-01 9.94704773e-01 -4.82523608e-04 4.04304205e+00] [ 4.00927117e-03 7.08521648e-05 9.99991960e-01 1.80224276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.285336195 meters 0.019235256346442946 Centerline is valid? [True, True] Translation: X:130.34, Y:4.05, Z:0.19 [[ 9.94537226e-01 -1.04382433e-01 1.16389617e-04 1.30336580e+02] [ 1.04382432e-01 9.94537233e-01 1.29821888e-05 4.05424016e+00] [-1.17108920e-04 -7.62238756e-07 9.99999993e-01 1.85719964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34533619500002 meters 0.022637949383001607 Centerline is valid? [True, True] Translation: X:130.40, Y:4.06, Z:0.19 [[ 9.94893610e-01 -1.00919866e-01 1.37289167e-03 1.30395191e+02] [ 1.00919734e-01 9.94894557e-01 1.65594441e-04 4.06001584e+00] [-1.38259422e-03 -2.61969890e-05 9.99999044e-01 1.93780388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40533619500002 meters 0.023829282332833764 Centerline is valid? [True, True] Translation: X:130.45, Y:4.08, Z:0.18 [[ 9.95006449e-01 -9.98105435e-02 1.46172264e-04 1.30452130e+02] [ 9.98105422e-02 9.95006460e-01 1.65512911e-05 4.08116725e+00] [-1.47094340e-04 -1.87910851e-06 9.99999989e-01 1.84859827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46533619500002 meters 0.02218854673297528 Centerline is valid? [True, True] Translation: X:130.51, Y:4.08, Z:0.18 [[ 9.94829684e-01 -1.01557220e-01 1.78266863e-04 1.30511375e+02] [ 1.01557218e-01 9.94829700e-01 2.04835252e-05 4.08314153e+00] [-1.79425420e-04 -2.27333223e-06 9.99999984e-01 1.83778139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.525336195 meters 0.022042900934644213 Centerline is valid? [True, True] Translation: X:130.57, Y:4.08, Z:0.19 [[ 9.94719741e-01 -1.02621090e-01 -1.24406931e-03 1.30570026e+02] [ 1.02620980e-01 9.94720519e-01 -1.52087733e-04 4.08137255e+00] [ 1.25310868e-03 2.36170586e-05 9.99999215e-01 1.85396341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.585336195 meters 0.027747622176176594 Centerline is valid? [True, True] Translation: X:130.63, Y:4.10, Z:0.18 [[ 9.95379642e-01 -9.60168064e-02 -3.75616241e-04 1.30629003e+02] [ 9.60167959e-02 9.95379713e-01 -4.57873074e-05 4.09862962e+00] [ 3.78277138e-04 9.51028561e-06 9.99999928e-01 1.84730369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.645336195 meters 0.03251513804052072 Centerline is valid? [True, True] Translation: X:130.69, Y:4.11, Z:0.18 [[ 9.95839228e-01 -9.11234370e-02 8.66772077e-04 1.30688428e+02] [ 9.11233796e-02 9.95839605e-01 1.05560152e-04 4.10863682e+00] [-8.72784967e-04 -2.61377392e-05 9.99999619e-01 1.84435892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.705336195 meters 0.03979386108371344 Centerline is valid? [True, True] Translation: X:130.75, Y:4.12, Z:0.19 [[ 9.96180980e-01 -8.73032532e-02 1.26405776e-03 1.30747743e+02] [ 8.73031280e-02 9.96181781e-01 1.54034102e-04 4.11571499e+00] [-1.27267899e-03 -4.30896466e-05 9.99999189e-01 1.86911576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.765336195 meters 0.039243648854676474 Centerline is valid? [True, True] Translation: X:130.81, Y:4.12, Z:0.18 [[ 9.96210062e-01 -8.69773608e-02 6.71922255e-04 1.30806501e+02] [ 8.69773260e-02 9.96210288e-01 8.08435821e-05 4.12088548e+00] [-6.76407424e-04 -2.20951889e-05 9.99999771e-01 1.81560284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.825336195 meters 0.042335927074906694 Centerline is valid? [True, True] Translation: X:130.87, Y:4.12, Z:0.19 [[ 9.96488674e-01 -8.36675137e-02 3.17325562e-03 1.30867294e+02] [ 8.36667036e-02 9.96493719e-01 3.87406665e-04 4.12364759e+00] [-3.19454265e-03 -1.20550517e-04 9.99994890e-01 1.86902561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.885336195 meters 0.04185061592705971 Centerline is valid? [True, True] Translation: X:130.93, Y:4.13, Z:0.19 [[ 9.96623980e-01 -8.20470747e-02 2.98667200e-03 1.30927202e+02] [ 8.20463502e-02 9.96628448e-01 3.64523610e-04 4.12524137e+00] [-3.00651038e-03 -1.18247434e-04 9.99995473e-01 1.87941455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.945336195 meters 0.038103111370206486 Centerline is valid? [True, True] Translation: X:130.99, Y:4.13, Z:0.19 [[ 9.96377954e-01 -8.49130409e-02 4.55509800e-03 1.30987760e+02] [ 8.49113843e-02 9.96388352e-01 5.56180602e-04 4.12690625e+00] [-4.58587357e-03 -1.67386414e-04 9.99989471e-01 1.85978714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.005336195 meters 0.03326502595805744 Centerline is valid? [True, True] Translation: X:131.05, Y:4.12, Z:0.18 [[ 9.95811314e-01 -9.13984915e-02 2.47839350e-03 1.31049095e+02] [ 9.13980212e-02 9.95814395e-01 3.02613802e-04 4.11693401e+00] [-2.49567837e-03 -7.48259858e-05 9.99996883e-01 1.82178516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06533619500001 meters 0.02940278296822744 Centerline is valid? [True, True] Translation: X:131.11, Y:4.12, Z:0.18 [[ 9.95489178e-01 -9.48670838e-02 1.23833928e-03 1.31109663e+02] [ 9.48669692e-02 9.95489947e-01 1.51041967e-04 4.11775369e+00] [-1.24708321e-03 -3.28831495e-05 9.99999222e-01 1.77708003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12533619500002 meters 0.029341290169490115 Centerline is valid? [True, True] Translation: X:131.17, Y:4.12, Z:0.18 [[ 9.95488562e-01 -9.48530474e-02 2.32846496e-03 1.31167691e+02] [ 9.48526436e-02 9.95491284e-01 2.83488614e-04 4.12281943e+00] [-2.34485633e-03 -6.13486160e-05 9.99997249e-01 1.78462163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18533619500002 meters 0.031242825789106914 Centerline is valid? [True, True] Translation: X:131.23, Y:4.12, Z:0.18 [[ 9.95607301e-01 -9.35966553e-02 2.40167902e-03 1.31227132e+02] [ 9.35962205e-02 9.95610196e-01 2.93020278e-04 4.12189777e+00] [-2.41856183e-03 -6.69450498e-05 9.99997073e-01 1.80172867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24533619500002 meters 0.03172418200654438 Centerline is valid? [True, True] Translation: X:131.29, Y:4.13, Z:0.18 [[ 9.95700831e-01 -9.26068134e-02 1.95788119e-03 1.31285590e+02] [ 9.26065225e-02 9.95702754e-01 2.38956746e-04 4.12852613e+00] [-1.97159671e-03 -5.66168627e-05 9.99998055e-01 1.77041895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.305336195 meters 0.034698614849615145 Centerline is valid? [True, True] Translation: X:131.34, Y:4.13, Z:0.18 [[ 9.95868603e-01 -9.07874816e-02 1.83251797e-03 1.31344300e+02] [ 9.07872219e-02 9.95870288e-01 2.24539355e-04 4.12917843e+00] [-1.84533556e-03 -5.72424776e-05 9.99998296e-01 1.76568104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.365336195 meters 0.03413277543886051 Centerline is valid? [True, True] Translation: X:131.40, Y:4.13, Z:0.18 [[ 9.95644556e-01 -9.31850279e-02 2.91021285e-03 1.31404152e+02] [ 9.31843821e-02 9.95648805e-01 3.57033885e-04 4.12844936e+00] [-2.93082016e-03 -8.42924575e-05 9.99995702e-01 1.76125414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.425336195 meters 0.031923738081981255 Centerline is valid? [True, True] Translation: X:131.46, Y:4.13, Z:0.18 [[ 9.95411377e-01 -9.55932217e-02 4.25758028e-03 1.31464367e+02] [ 9.55918622e-02 9.95420476e-01 5.22121365e-04 4.12520412e+00] [-4.28799385e-03 -1.12735519e-04 9.99990800e-01 1.77556696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.485336195 meters 0.03117201750361379 Centerline is valid? [True, True] Translation: X:131.52, Y:4.12, Z:0.18 [[ 9.95264482e-01 -9.70369447e-02 5.69584571e-03 1.31524182e+02] [ 9.70345287e-02 9.95280770e-01 6.99662245e-04 4.12294944e+00] [-5.73685879e-03 -1.43655278e-04 9.99983534e-01 1.79861331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.545336195 meters 0.028397065874566675 Centerline is valid? [True, True] Translation: X:131.58, Y:4.13, Z:0.18 [[ 9.95557683e-01 -9.40686709e-02 3.99813346e-03 1.31584156e+02] [ 9.40674536e-02 9.95565705e-01 4.91837460e-04 4.12503779e+00] [-4.02667106e-03 -1.13558327e-04 9.99991886e-01 1.75284600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.605336195 meters 0.02824600877384561 Centerline is valid? [True, True] Translation: X:131.64, Y:4.13, Z:0.18 [[ 9.95527795e-01 -9.43789151e-02 4.12666672e-03 1.31642468e+02] [ 9.43776229e-02 9.95536341e-01 5.07193593e-04 4.12740071e+00] [-4.15611507e-03 -1.15460323e-04 9.99991357e-01 1.76738035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.665336195 meters 0.031936170035543256 Centerline is valid? [True, True] Translation: X:131.70, Y:4.14, Z:0.18 [[ 9.95531056e-01 -9.42846535e-02 5.32166508e-03 1.31698336e+02] [ 9.42824942e-02 9.95545268e-01 6.55736743e-04 4.14362334e+00] [-5.35978440e-03 -1.51066435e-04 9.99985625e-01 1.75208264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.725336195 meters 0.032993422673990164 Centerline is valid? [True, True] Translation: X:131.76, Y:4.15, Z:0.18 [[ 9.95712105e-01 -9.21639718e-02 7.95028536e-03 1.31757974e+02] [ 9.21590774e-02 9.95743814e-01 9.80571919e-04 4.14683059e+00] [-8.00682086e-03 -2.43676365e-04 9.99967915e-01 1.81250990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.785336195 meters 0.02926181837606581 Centerline is valid? [True, True] Translation: X:131.82, Y:4.15, Z:0.18 [[ 9.95478104e-01 -9.47801821e-02 6.32945876e-03 1.31816898e+02] [ 9.47771330e-02 9.95498210e-01 7.80626583e-04 4.15262411e+00] [-6.37495279e-03 -1.77208716e-04 9.99979664e-01 1.76175788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84533619500002 meters 0.024585363858902812 Centerline is valid? [True, True] Translation: X:131.88, Y:4.15, Z:0.17 [[ 9.94956520e-01 -1.00122152e-01 6.08914724e-03 1.31877401e+02] [ 1.00119424e-01 9.94975143e-01 7.52052325e-04 4.14899464e+00] [-6.13384724e-03 -1.38617451e-04 9.99981178e-01 1.72667663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90533619500002 meters 0.02158167669595065 Centerline is valid? [True, True] Translation: X:131.94, Y:4.14, Z:0.16 [[ 9.94530087e-01 -1.04441516e-01 1.36992903e-03 1.31935989e+02] [ 1.04441383e-01 9.94531030e-01 1.68734044e-04 4.14411346e+00] [-1.38005977e-03 -2.47338013e-05 9.99999047e-01 1.63837560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96533619500002 meters 0.02036474486494178 Centerline is valid? [True, True] Translation: X:132.00, Y:4.15, Z:0.17 [[ 9.94599221e-01 -1.03762407e-01 2.39823990e-03 1.31995098e+02] [ 1.03761996e-01 9.94602112e-01 2.95610792e-04 4.14618817e+00] [-2.41596776e-03 -4.51681039e-05 9.99997081e-01 1.65385571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.025336195 meters 0.030163154009717568 Centerline is valid? [True, True] Translation: X:132.05, Y:4.16, Z:0.17 [[ 9.95509937e-01 -9.46255416e-02 2.44383320e-03 1.32052620e+02] [ 9.46250840e-02 9.95512934e-01 3.02432699e-04 4.16208594e+00] [-2.46148541e-03 -6.98268352e-05 9.99996968e-01 1.66254226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.085336195 meters 0.04334294032879413 Centerline is valid? [True, True] Translation: X:132.11, Y:4.19, Z:0.16 [[ 9.96216336e-01 -8.69049606e-02 7.34260523e-04 1.32109237e+02] [ 8.69049173e-02 9.96216607e-01 9.08275527e-05 4.18935118e+00] [-7.39375891e-04 -2.66730417e-05 9.99999726e-01 1.59003971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.145336195 meters 0.03914089031838495 Centerline is valid? [True, True] Translation: X:132.17, Y:4.20, Z:0.16 [[ 9.96494880e-01 -8.36399336e-02 1.52190251e-03 1.32169322e+02] [ 8.36397433e-02 9.96496040e-01 1.88362407e-04 4.19535218e+00] [-1.53232445e-03 -6.04106383e-05 9.99998824e-01 1.61774760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.205336195 meters 0.03930851604881369 Centerline is valid? [True, True] Translation: X:132.23, Y:4.21, Z:0.16 [[ 9.96476932e-01 -8.38567568e-02 1.33002882e-03 1.32226514e+02] [ 8.38566131e-02 9.96477818e-01 1.63531084e-04 4.20583627e+00] [-1.33905741e-03 -5.14232404e-05 9.99999102e-01 1.62797175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.265336195 meters 0.03369704261103465 Centerline is valid? [True, True] Translation: X:132.29, Y:4.22, Z:0.16 [[ 9.96038736e-01 -8.88545551e-02 3.42119169e-03 1.32285546e+02] [ 8.88536214e-02 9.96044604e-01 4.24255508e-04 4.21772672e+00] [-3.44535656e-03 -1.18589649e-04 9.99994058e-01 1.61695016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.325336195 meters 0.035424134900005545 Centerline is valid? [True, True] Translation: X:132.34, Y:4.23, Z:0.16 [[ 9.95731211e-01 -9.22944043e-02 1.04766910e-03 1.32343190e+02] [ 9.22943188e-02 9.95731762e-01 1.29780850e-04 4.23360510e+00] [-1.05517545e-03 -3.25329372e-05 9.99999443e-01 1.56403087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.385336195 meters 0.02726065986719772 Centerline is valid? [True, True] Translation: X:132.40, Y:4.24, Z:0.16 [[ 9.95146590e-01 -9.83199938e-02 4.05493914e-03 1.32403994e+02] [ 9.83187600e-02 9.95154846e-01 5.02971737e-04 4.23500424e+00] [-4.08474451e-03 -1.01854021e-04 9.99991652e-01 1.64634953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.445336195 meters 0.01987302956697931 Centerline is valid? [True, True] Translation: X:132.46, Y:4.24, Z:0.16 [[ 9.94293894e-01 -1.06659193e-01 1.86240722e-03 1.32462109e+02] [ 1.06658947e-01 9.94295638e-01 2.30931992e-04 4.24485956e+00] [-1.87641440e-03 -3.09718758e-05 9.99998239e-01 1.56283408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.505336195 meters 0.014144546293745577 Centerline is valid? [True, True] Translation: X:132.52, Y:4.25, Z:0.16 [[ 9.93745729e-01 -1.11608115e-01 3.61300450e-03 1.32521305e+02] [ 1.11607223e-01 9.93752297e-01 4.48082843e-04 4.24732851e+00] [-3.64044120e-03 -4.20430117e-05 9.99993373e-01 1.58377931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56533619500001 meters 0.012861434678110815 Centerline is valid? [True, True] Translation: X:132.58, Y:4.26, Z:0.15 [[ 9.93463970e-01 -1.14144305e-01 6.46153290e-04 1.32577863e+02] [ 1.14144278e-01 9.93464180e-01 7.97917473e-05 4.25871744e+00] [-6.51037922e-04 -5.51552561e-06 9.99999788e-01 1.51953333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62533619500002 meters 0.012439506596507503 Centerline is valid? [True, True] Translation: X:132.64, Y:4.27, Z:0.16 [[ 9.93398388e-01 -1.14677765e-01 2.94171251e-03 1.32635231e+02] [ 1.14677188e-01 9.93402743e-01 3.64552928e-04 4.27111042e+00] [-2.96411139e-03 -2.47989720e-05 9.99995607e-01 1.58673267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68533619500002 meters 0.013490791395977461 Centerline is valid? [True, True] Translation: X:132.69, Y:4.29, Z:0.16 [[ 9.93539950e-01 -1.13394308e-01 4.48317892e-03 1.32692724e+02] [ 1.13392949e-01 9.93550064e-01 5.56950978e-04 4.28620156e+00] [-4.51741777e-03 -4.49921656e-05 9.99989795e-01 1.58936383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.745336195 meters 0.014181713698119066 Centerline is valid? [True, True] Translation: X:132.75, Y:4.30, Z:0.15 [[ 9.93627946e-01 -1.12648329e-01 3.72271277e-03 1.32750055e+02] [ 1.12647385e-01 9.93634919e-01 4.62874157e-04 4.30215527e+00] [-3.75115940e-03 -4.05708378e-05 9.99992964e-01 1.54365126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.805336195 meters 0.019284214275907544 Centerline is valid? [True, True] Translation: X:132.81, Y:4.32, Z:0.15 [[ 9.94000201e-01 -1.09376726e-01 5.76205868e-04 1.32806200e+02] [ 1.09376703e-01 9.94000368e-01 7.15112116e-05 4.32221359e+00] [-5.80570507e-04 -8.05866061e-06 9.99999831e-01 1.47561487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.865336195 meters 0.019655209233383802 Centerline is valid? [True, True] Translation: X:132.86, Y:4.34, Z:0.15 [[ 9.94186496e-01 -1.07657004e-01 1.78323439e-03 1.32863846e+02] [ 1.07656780e-01 9.94188095e-01 2.21480237e-04 4.33672876e+00] [-1.79671430e-03 -2.82153891e-05 9.99998386e-01 1.50863818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.925336195 meters 0.020073867994171886 Centerline is valid? [True, True] Translation: X:132.92, Y:4.35, Z:0.15 [[ 9.94233081e-01 -1.07190782e-01 3.27370293e-03 1.32920557e+02] [ 1.07190020e-01 9.94238469e-01 4.08041949e-04 4.34860023e+00] [-3.29857973e-03 -5.47805222e-05 9.99994558e-01 1.53306112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.985336195 meters 0.019258123413483444 Centerline is valid? [True, True] Translation: X:132.98, Y:4.36, Z:0.15 [[ 9.94222479e-01 -1.07286743e-01 3.34908469e-03 1.32977831e+02] [ 1.07285943e-01 9.94228118e-01 4.18077236e-04 4.35759153e+00] [-3.37460831e-03 -5.63520766e-05 9.99994304e-01 1.53326573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.045336195 meters 0.02142087116797673 Centerline is valid? [True, True] Translation: X:133.03, Y:4.38, Z:0.15 [[ 9.94177513e-01 -1.07660995e-01 4.49247062e-03 1.33033336e+02] [ 1.07659552e-01 9.94187661e-01 5.62554050e-04 4.37715027e+00] [-4.52692399e-03 -7.56212113e-05 9.99989751e-01 1.50196208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.105336195 meters 0.020536040663678565 Centerline is valid? [True, True] Translation: X:133.09, Y:4.39, Z:0.14 [[ 9.94091392e-01 -1.08541077e-01 1.06705483e-03 1.33089827e+02] [ 1.08540997e-01 9.94091965e-01 1.32563204e-04 4.38943606e+00] [-1.07513919e-03 -1.59607448e-05 9.99999422e-01 1.43776033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.165336195 meters 0.019612957093256212 Centerline is valid? [True, True] Translation: X:133.15, Y:4.40, Z:0.15 [[ 9.94113051e-01 -1.08339924e-01 1.30501359e-03 1.33146341e+02] [ 1.08339804e-01 9.94113907e-01 1.62623617e-04 4.40177856e+00] [-1.31495079e-03 -2.02813438e-05 9.99999135e-01 1.46014112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.225336195 meters 0.02107621863303177 Centerline is valid? [True, True] Translation: X:133.20, Y:4.42, Z:0.14 [[ 9.94262858e-01 -1.06956237e-01 1.31625073e-03 1.33202583e+02] [ 1.06956113e-01 9.94263729e-01 1.64423789e-04 4.42324411e+00] [-1.32628651e-03 -2.26994046e-05 9.99999120e-01 1.43835884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.285336195 meters 0.019383519447688183 Centerline is valid? [True, True] Translation: X:133.26, Y:4.44, Z:0.14 [[ 9.94011315e-01 -1.09261617e-01 1.84513682e-03 1.33259594e+02] [ 1.09261374e-01 9.94013027e-01 2.31889289e-04 4.43513612e+00] [-1.85942664e-03 -2.88983918e-05 9.99998271e-01 1.42970068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34533619500002 meters 0.01792817443539014 Centerline is valid? [True, True] Translation: X:133.32, Y:4.45, Z:0.14 [[ 9.93891869e-01 -1.10357566e-01 -4.00241754e-04 1.33316238e+02] [ 1.10357554e-01 9.93891950e-01 -5.18924083e-05 4.44782312e+00] [ 4.03523777e-04 7.40574194e-06 9.99999919e-01 1.39737457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40533619500002 meters 0.017785527891209758 Centerline is valid? [True, True] Translation: X:133.37, Y:4.47, Z:0.14 [[ 9.93783748e-01 -1.11327690e-01 9.20433252e-05 1.33372534e+02] [ 1.11327690e-01 9.93783752e-01 1.11729085e-05 4.46524369e+00] [-9.27150151e-05 -8.56484182e-07 9.99999996e-01 1.39507253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46533619500002 meters 0.016980346132647484 Centerline is valid? [True, True] Translation: X:133.43, Y:4.48, Z:0.14 [[ 9.93680602e-01 -1.12243542e-01 4.98443265e-04 1.33430006e+02] [ 1.12243525e-01 9.93680727e-01 6.17416068e-05 4.48323658e+00] [-5.02223563e-04 -5.40440797e-06 9.99999874e-01 1.38008672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.525336195 meters 0.013458688380996304 Centerline is valid? [True, True] Translation: X:133.49, Y:4.49, Z:0.14 [[ 9.93273144e-01 -1.15778272e-01 1.96299674e-03 1.33488287e+02] [ 1.15778010e-01 9.93275083e-01 2.47060803e-04 4.49439999e+00] [-1.97840003e-03 -1.81270053e-05 9.99998043e-01 1.40750560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.585336195 meters 0.011114111728812704 Centerline is valid? [True, True] Translation: X:133.55, Y:4.50, Z:0.14 [[ 9.92837243e-01 -1.19473398e-01 5.62348583e-04 1.33545474e+02] [ 1.19473377e-01 9.92837402e-01 7.05274302e-05 4.50465603e+00] [-5.66746858e-04 -2.83657503e-06 9.99999839e-01 1.37341458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.645336195 meters 0.010643499894586475 Centerline is valid? [True, True] Translation: X:133.60, Y:4.52, Z:0.14 [[ 9.92677807e-01 -1.20790526e-01 6.48272610e-04 1.33602342e+02] [ 1.20790498e-01 9.92678019e-01 8.14622742e-05 4.51937330e+00] [-6.53365841e-04 -2.56062012e-06 9.99999787e-01 1.35973242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.705336195 meters 0.011486091266036138 Centerline is valid? [True, True] Translation: X:133.66, Y:4.54, Z:0.13 [[ 9.92751551e-01 -1.20159840e-01 -2.44346358e-03 1.33658298e+02] [ 1.20159440e-01 9.92754558e-01 -3.10381303e-04 4.54148887e+00] [ 2.46305498e-03 1.45263030e-05 9.99996967e-01 1.29612852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.765336195 meters 0.012372817744135073 Centerline is valid? [True, True] Translation: X:133.72, Y:4.56, Z:0.13 [[ 9.92957865e-01 -1.18451106e-01 -2.00320148e-03 1.33715700e+02] [ 1.18450832e-01 9.92959886e-01 -2.55503895e-04 4.55531552e+00] [ 2.01936343e-03 1.64237202e-05 9.99997961e-01 1.31328406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.825336195 meters 0.013009487829044486 Centerline is valid? [True, True] Translation: X:133.77, Y:4.58, Z:0.13 [[ 9.93008613e-01 -1.18004300e-01 -2.98000838e-03 1.33772583e+02] [ 1.18003691e-01 9.93013084e-01 -3.79986578e-04 4.57618212e+00] [ 3.00402736e-03 2.56779562e-05 9.99995488e-01 1.28276597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.885336195 meters 0.015267221866528216 Centerline is valid? [True, True] Translation: X:133.83, Y:4.60, Z:0.13 [[ 9.93391173e-01 -1.14751780e-01 -2.45098881e-03 1.33828386e+02] [ 1.14751359e-01 9.93394196e-01 -3.12102413e-04 4.59975317e+00] [ 2.47061236e-03 2.87854857e-05 9.99996948e-01 1.29022271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.945336195 meters 0.014936377163847582 Centerline is valid? [True, True] Translation: X:133.89, Y:4.62, Z:0.12 [[ 9.93270689e-01 -1.15750122e-01 -3.90477698e-03 1.33885533e+02] [ 1.15749057e-01 9.93278363e-01 -4.98433119e-04 4.61880553e+00] [ 3.93622418e-03 4.31047553e-05 9.99992252e-01 1.24802474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.005336195 meters 0.01385048837309777 Centerline is valid? [True, True] Translation: X:133.94, Y:4.64, Z:0.13 [[ 9.93127181e-01 -1.17025203e-01 -1.87180408e-03 1.33941779e+02] [ 1.17024958e-01 9.93128945e-01 -2.39896352e-04 4.64087598e+00] [ 1.88701673e-03 1.91997936e-05 9.99998219e-01 1.27012424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06533619500001 meters 0.014328972243829098 Centerline is valid? [True, True] Translation: X:134.00, Y:4.66, Z:0.12 [[ 9.93017917e-01 -1.17782916e-01 -6.52698166e-03 1.33998968e+02] [ 1.17779975e-01 9.93039365e-01 -8.34520335e-04 4.65822982e+00] [ 6.57984196e-03 5.99459107e-05 9.99978351e-01 1.18952476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12533619500002 meters 0.01455874460057114 Centerline is valid? [True, True] Translation: X:134.05, Y:4.68, Z:0.12 [[ 9.93029537e-01 -1.17748051e-01 -5.26645028e-03 1.34054328e+02] [ 1.17746130e-01 9.93043501e-01 -6.74487001e-04 4.68497739e+00] [ 5.30923376e-03 4.96813765e-05 9.99985905e-01 1.18678765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18533619500002 meters 0.01465934532899273 Centerline is valid? [True, True] Translation: X:134.11, Y:4.71, Z:0.11 [[ 9.92922042e-01 -1.18579893e-01 -6.68034487e-03 1.34110594e+02] [ 1.18576816e-01 9.92944513e-01 -8.56328674e-04 4.70865696e+00] [ 6.73475514e-03 5.81335937e-05 9.99977320e-01 1.14922153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.245336195 meters 0.011377638373003414 Centerline is valid? [True, True] Translation: X:134.17, Y:4.72, Z:0.12 [[ 9.92351075e-01 -1.23357643e-01 -4.71544126e-03 1.34168706e+02] [ 1.23356159e-01 9.92362278e-01 -6.05473616e-04 4.72227355e+00] [ 4.75411583e-03 1.91636710e-05 9.99988699e-01 1.18017489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.305336195 meters 0.010598316065543597 Centerline is valid? [True, True] Translation: X:134.22, Y:4.74, Z:0.12 [[ 9.91795149e-01 -1.27710314e-01 -5.69718199e-03 1.34224545e+02] [ 1.27708212e-01 9.91811512e-01 -7.32790618e-04 4.74001166e+00] [ 5.74411560e-03 -7.98744683e-07 9.99983502e-01 1.16262019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.365336195 meters 0.01205669860166599 Centerline is valid? [True, True] Translation: X:134.28, Y:4.76, Z:0.11 [[ 9.91882847e-01 -1.26856872e-01 -8.70351109e-03 1.34279891e+02] [ 1.26851937e-01 9.91921032e-01 -1.11894596e-03 4.75979101e+00] [ 8.77514168e-03 5.80606379e-06 9.99961498e-01 1.10453092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.425336195 meters 0.013192288973663244 Centerline is valid? [True, True] Translation: X:134.34, Y:4.78, Z:0.11 [[ 9.92151275e-01 -1.24707589e-01 -9.15782945e-03 1.34335479e+02] [ 1.24702027e-01 9.92193538e-01 -1.17801098e-03 4.77733598e+00] [ 9.23324611e-03 2.67651976e-05 9.99957372e-01 1.08102387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.485336195 meters 0.01368796441612191 Centerline is valid? [True, True] Translation: X:134.39, Y:4.81, Z:0.11 [[ 9.92490871e-01 -1.22059632e-01 -7.95720089e-03 1.34389799e+02] [ 1.22055329e-01 9.92522768e-01 -1.02593406e-03 4.81246754e+00] [ 8.02292818e-03 4.70114173e-05 9.99967815e-01 1.09026220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.545336195 meters 0.014037837483892309 Centerline is valid? [True, True] Translation: X:134.45, Y:4.83, Z:0.12 [[ 9.92839887e-01 -1.19374078e-01 -4.33454833e-03 1.34446625e+02] [ 1.19372770e-01 9.92849348e-01 -5.60096690e-04 4.83453590e+00] [ 4.37041451e-03 3.86592937e-05 9.99990449e-01 1.15256785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.605336195 meters 0.01935594937907842 Centerline is valid? [True, True] Translation: X:134.50, Y:4.86, Z:0.11 [[ 9.93256354e-01 -1.15577380e-01 -9.14789596e-03 1.34502290e+02] [ 1.15571419e-01 9.93298473e-01 -1.17944218e-03 4.86330308e+00] [ 9.22290792e-03 1.14253130e-04 9.99957462e-01 1.05191513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.665336195 meters 0.018884034876125895 Centerline is valid? [True, True] Translation: X:134.56, Y:4.89, Z:0.11 [[ 9.93288609e-01 -1.15372091e-01 -8.18661581e-03 1.34558167e+02] [ 1.15367288e-01 9.93322339e-01 -1.05812522e-03 4.88991817e+00] [ 8.25402649e-03 1.06556070e-04 9.99965929e-01 1.06938769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.725336195 meters 0.01631061298940439 Centerline is valid? [True, True] Translation: X:134.61, Y:4.90, Z:0.10 [[ 9.92847621e-01 -1.18947378e-01 -1.02529232e-02 1.34614688e+02] [ 1.18940014e-01 9.92900555e-01 -1.32711949e-03 4.90206171e+00] [ 1.03379905e-02 9.81445988e-05 9.99946557e-01 1.03522938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.785336195 meters 0.015278060895275726 Centerline is valid? [True, True] Translation: X:134.67, Y:4.92, Z:0.10 [[ 9.92656909e-01 -1.20617040e-01 -9.15376727e-03 1.34670849e+02] [ 1.20611241e-01 9.92699111e-01 -1.18502875e-03 4.91581169e+00] [ 9.22987129e-03 7.22797516e-05 9.99957401e-01 1.03492684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84533619500002 meters 0.016977081460888846 Centerline is valid? [True, True] Translation: X:134.73, Y:4.94, Z:0.10 [[ 9.92876753e-01 -1.18892333e-01 -7.76956865e-03 1.34726099e+02] [ 1.18888099e-01 9.92907149e-01 -1.00618167e-03 4.94137075e+00] [ 7.83408755e-03 7.53051368e-05 9.99969310e-01 1.04939443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90533619500002 meters 0.018766459521524823 Centerline is valid? [True, True] Translation: X:134.78, Y:4.96, Z:0.10 [[ 9.93138267e-01 -1.16706576e-01 -7.48053845e-03 1.34782436e+02] [ 1.16702574e-01 9.93166435e-01 -9.70803433e-04 4.96454777e+00] [ 7.54271885e-03 9.11439443e-05 9.99971549e-01 1.04762239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96533619500002 meters 0.020076884212333473 Centerline is valid? [True, True] Translation: X:134.84, Y:4.98, Z:0.10 [[ 9.93275001e-01 -1.15468473e-01 -8.47373158e-03 1.34838808e+02] [ 1.15463296e-01 9.93311139e-01 -1.09924230e-03 4.98275570e+00] [ 8.54397979e-03 1.13444922e-04 9.99963493e-01 1.02645270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.025336195 meters 0.01783584507576051 Centerline is valid? [True, True] Translation: X:134.90, Y:5.00, Z:0.11 [[ 9.93161430e-01 -1.16517823e-01 -7.34646129e-03 1.34895712e+02] [ 1.16513945e-01 9.93188597e-01 -9.55200945e-04 4.99884701e+00] [ 7.40771951e-03 9.27035515e-05 9.99972558e-01 1.06466344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.085336195 meters 0.018941717733703272 Centerline is valid? [True, True] Translation: X:134.95, Y:5.02, Z:0.10 [[ 9.93112650e-01 -1.16867180e-01 -8.32623074e-03 1.34950899e+02] [ 1.16862215e-01 9.93147548e-01 -1.08209103e-03 5.01950712e+00] [ 8.39563657e-03 1.01616528e-04 9.99964751e-01 1.02345228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.145336195 meters 0.018063095798398723 Centerline is valid? [True, True] Translation: X:135.01, Y:5.04, Z:0.11 [[ 9.93078444e-01 -1.17294571e-01 -6.09814615e-03 1.35008008e+02] [ 1.17291905e-01 9.93097165e-01 -7.94308577e-04 5.04056934e+00] [ 6.14921974e-03 7.35475488e-05 9.99981091e-01 1.06173675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.205336195 meters 0.018190889666590496 Centerline is valid? [True, True] Translation: X:135.06, Y:5.06, Z:0.10 [[ 9.93013095e-01 -1.17701575e-01 -8.44585607e-03 1.35064140e+02] [ 1.17696466e-01 9.93049006e-01 -1.10119435e-03 5.06325730e+00] [ 8.51676129e-03 9.94529996e-05 9.99963727e-01 1.02676246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.265336195 meters 0.017858776347750367 Centerline is valid? [True, True] Translation: X:135.12, Y:5.08, Z:0.10 [[ 9.92862710e-01 -1.18893690e-01 -9.37712621e-03 1.35119799e+02] [ 1.18887428e-01 9.92906985e-01 -1.22445792e-03 5.08248889e+00] [ 9.45619443e-03 1.00896195e-04 9.99955284e-01 9.89904402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.325336195 meters 0.015769789367362567 Centerline is valid? [True, True] Translation: X:135.18, Y:5.10, Z:0.10 [[ 9.92593813e-01 -1.21141631e-01 -9.06789718e-03 1.35176330e+02] [ 1.21135855e-01 9.92635230e-01 -1.18551984e-03 5.10084280e+00] [ 9.14473000e-03 7.82921748e-05 9.99958183e-01 1.01175283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.385336195 meters 0.01727459737154254 Centerline is valid? [True, True] Translation: X:135.23, Y:5.12, Z:0.10 [[ 9.92771495e-01 -1.19642643e-01 -9.50771913e-03 1.35231139e+02] [ 1.19636228e-01 9.92817017e-01 -1.24270963e-03 5.12442656e+00] [ 9.58810641e-03 9.62590505e-05 9.99954028e-01 9.95724292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.445336195 meters 0.01814544683770334 Centerline is valid? [True, True] Translation: X:135.29, Y:5.14, Z:0.10 [[ 9.92900876e-01 -1.18652335e-01 -8.33505006e-03 1.35287359e+02] [ 1.18647347e-01 9.92935856e-01 -1.09207485e-03 5.14381143e+00] [ 8.40574730e-03 9.53904954e-05 9.99964667e-01 1.00537160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.505336195 meters 0.01867225132894562 Centerline is valid? [True, True] Translation: X:135.34, Y:5.17, Z:0.10 [[ 9.92863407e-01 -1.19000735e-01 -7.81538590e-03 1.35342568e+02] [ 1.18996365e-01 9.92894162e-01 -1.02355356e-03 5.16759395e+00] [ 7.88165466e-03 8.62463670e-05 9.99968936e-01 1.00296537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56533619500001 meters 0.01695656118944645 Centerline is valid? [True, True] Translation: X:135.40, Y:5.18, Z:0.10 [[ 9.92646442e-01 -1.20738526e-01 -8.67469201e-03 1.35399255e+02] [ 1.20733185e-01 9.92684341e-01 -1.13865578e-03 5.17717431e+00] [ 8.74871055e-03 8.29594093e-05 9.99961726e-01 9.78467316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62533619500002 meters 0.018530817549991297 Centerline is valid? [True, True] Translation: X:135.46, Y:5.19, Z:0.09 [[ 9.92639560e-01 -1.20471546e-01 -1.23818288e-02 1.35456707e+02] [ 1.20460656e-01 9.92716773e-01 -1.62427292e-03 5.19294161e+00] [ 1.24873278e-02 1.20794331e-04 9.99922023e-01 9.04628864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68533619500002 meters 0.022685491027318268 Centerline is valid? [True, True] Translation: X:135.51, Y:5.22, Z:0.09 [[ 9.93096711e-01 -1.16481753e-01 -1.38174816e-02 1.35513207e+02] [ 1.16467804e-01 9.93192813e-01 -1.81267451e-03 5.22168544e+00] [ 1.39345669e-02 1.90869355e-04 9.99902891e-01 8.70846144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.745336195 meters 0.0240489838018197 Centerline is valid? [True, True] Translation: X:135.57, Y:5.23, Z:0.09 [[ 9.93392951e-01 -1.14010807e-01 -1.31141760e-02 1.35570821e+02] [ 1.13997983e-01 9.93479486e-01 -1.72372482e-03 5.23458422e+00] [ 1.32251880e-02 2.17346472e-04 9.99912520e-01 8.80102372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.805336195 meters 0.028086808526958086 Centerline is valid? [True, True] Translation: X:135.63, Y:5.26, Z:0.09 [[ 9.93847439e-01 -1.10105612e-01 -1.20009282e-02 1.35626640e+02] [ 1.10094563e-01 9.93919862e-01 -1.57951395e-03 5.26181440e+00] [ 1.21018743e-02 2.48558942e-04 9.99926739e-01 9.03887634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.865336195 meters 0.03362430323639412 Centerline is valid? [True, True] Translation: X:135.68, Y:5.28, Z:0.09 [[ 9.94468910e-01 -1.04356390e-01 -1.18882492e-02 1.35684612e+02] [ 1.04345148e-01 9.94539916e-01 -1.56367751e-03 5.28225204e+00] [ 1.19865181e-02 3.14547552e-04 9.99928110e-01 8.88474255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.925336195 meters 0.03619683993713427 Centerline is valid? [True, True] Translation: X:135.74, Y:5.30, Z:0.09 [[ 9.94744759e-01 -1.01740735e-01 -1.14754821e-02 1.35742805e+02] [ 1.01730085e-01 9.94810892e-01 -1.50953005e-03 5.29904534e+00] [ 1.15695153e-02 3.34195332e-04 9.99933015e-01 9.06749065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.985336195 meters 0.03911414618825638 Centerline is valid? [True, True] Translation: X:135.80, Y:5.32, Z:0.09 [[ 9.94737318e-01 -1.01915214e-01 -1.05336563e-02 1.35800999e+02] [ 1.01906260e-01 9.94793042e-01 -1.38471480e-03 5.31923822e+00] [ 1.06199315e-02 3.03981971e-04 9.99943561e-01 8.84450377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.045336195 meters 0.03514261263457226 Centerline is valid? [True, True] Translation: X:135.86, Y:5.32, Z:0.09 [[ 9.94577798e-01 -1.03260207e-01 -1.23423625e-02 1.35862420e+02] [ 1.03248018e-01 9.94654319e-01 -1.62238410e-03 5.32271520e+00] [ 1.24439119e-02 3.39262738e-04 9.99922514e-01 9.08443150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.105336195 meters 0.038429812629339116 Centerline is valid? [True, True] Translation: X:135.92, Y:5.34, Z:0.08 [[ 9.94448310e-01 -1.04211802e-01 -1.45759913e-02 1.35920744e+02] [ 1.04194913e-01 9.94555052e-01 -1.91535359e-03 5.33904306e+00] [ 1.46962283e-02 3.85975985e-04 9.99891930e-01 7.99445624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.165336195 meters 0.03396349643859589 Centerline is valid? [True, True] Translation: X:135.98, Y:5.35, Z:0.09 [[ 9.94390937e-01 -1.05039726e-01 -1.23822276e-02 1.35980565e+02] [ 1.05027597e-01 9.94467976e-01 -1.62756669e-03 5.34516358e+00] [ 1.24846880e-02 3.17961949e-04 9.99922013e-01 8.56921427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.225336195 meters 0.027733102944757133 Centerline is valid? [True, True] Translation: X:136.04, Y:5.35, Z:0.09 [[ 9.94229540e-01 -1.06689909e-01 -1.11751760e-02 1.36041459e+02] [ 1.06680140e-01 9.94292307e-01 -1.46834712e-03 5.35087232e+00] [ 1.12680494e-02 2.67704732e-04 9.99936478e-01 9.19858671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.285336195 meters 0.028842301958542305 Centerline is valid? [True, True] Translation: X:136.10, Y:5.36, Z:0.09 [[ 9.94118449e-01 -1.07471093e-01 -1.33593768e-02 1.36101339e+02] [ 1.07457211e-01 9.94208162e-01 -1.75475716e-03 5.35973811e+00] [ 1.34705871e-02 3.08875092e-04 9.99909220e-01 8.59371053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34533619500002 meters 0.03846811516748955 Centerline is valid? [True, True] Translation: X:136.16, Y:5.38, Z:0.08 [[ 9.94237069e-01 -1.06274274e-01 -1.40864733e-02 1.36158857e+02] [ 1.06258718e-01 9.94336795e-01 -1.85030221e-03 5.38205038e+00] [ 1.42033383e-02 3.42828439e-04 9.99899069e-01 7.60367702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40533619500002 meters 0.03547149070526615 Centerline is valid? [True, True] Translation: X:136.22, Y:5.39, Z:0.09 [[ 9.94681007e-01 -1.02215995e-01 -1.27115744e-02 1.36218658e+02] [ 1.02202996e-01 9.94762162e-01 -1.66978772e-03 5.39002162e+00] [ 1.28156723e-02 3.61745141e-04 9.99917810e-01 8.52434488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46533619500002 meters 0.04170173143803155 Centerline is valid? [True, True] Translation: X:136.28, Y:5.41, Z:0.08 [[ 9.95036021e-01 -9.84995879e-02 -1.41826741e-02 1.36277220e+02] [ 9.84830279e-02 9.95136987e-01 -1.86303682e-03 5.40675175e+00] [ 1.42972119e-02 4.57036058e-04 9.99897685e-01 8.03004129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.525336195 meters 0.03804545641705055 Centerline is valid? [True, True] Translation: X:136.34, Y:5.42, Z:0.09 [[ 9.94995078e-01 -9.91947926e-02 -1.20493631e-02 1.36337705e+02] [ 9.91828995e-02 9.95067962e-01 -1.58209490e-03 5.42147083e+00] [ 1.21468707e-02 3.79085876e-04 9.99926152e-01 8.70896482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.585336195 meters 0.03674713710251138 Centerline is valid? [True, True] Translation: X:136.40, Y:5.42, Z:0.08 [[ 9.94789712e-01 -1.01178467e-01 -1.25038553e-02 1.36397937e+02] [ 1.01165816e-01 9.94868224e-01 -1.64180906e-03 5.42323596e+00] [ 1.26058041e-02 3.68292037e-04 9.99920476e-01 8.35212276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.645336195 meters 0.037473914549432864 Centerline is valid? [True, True] Translation: X:136.46, Y:5.44, Z:0.08 [[ 9.94859467e-01 -1.00461378e-01 -1.27339240e-02 1.36458357e+02] [ 1.00448203e-01 9.94940885e-01 -1.67162114e-03 5.43500455e+00] [ 1.28374350e-02 3.83928333e-04 9.99917523e-01 8.32428331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.705336195 meters 0.03633939530639327 Centerline is valid? [True, True] Translation: X:136.52, Y:5.44, Z:0.08 [[ 9.94792395e-01 -1.00770415e-01 -1.52779253e-02 1.36518585e+02] [ 1.00751487e-01 9.94909602e-01 -2.00551460e-03 5.44427409e+00] [ 1.54022512e-02 4.55796966e-04 9.99881274e-01 7.95416053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.765336195 meters 0.03742124637553331 Centerline is valid? [True, True] Translation: X:136.58, Y:5.45, Z:0.08 [[ 9.94771996e-01 -1.00963409e-01 -1.53318417e-02 1.36578995e+02] [ 1.00944374e-01 9.94890036e-01 -2.01240441e-03 5.45008950e+00] [ 1.54566757e-02 4.54220396e-04 9.99880435e-01 7.80756326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.825336195 meters 0.0343012081912066 Centerline is valid? [True, True] Translation: X:136.64, Y:5.45, Z:0.08 [[ 9.94636863e-01 -1.02380272e-01 -1.46898201e-02 1.36639788e+02] [ 1.02362950e-01 9.94745248e-01 -1.92822282e-03 5.45322146e+00] [ 1.48100407e-02 4.14188173e-04 9.99890240e-01 7.97413706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.885336195 meters 0.035932966563533064 Centerline is valid? [True, True] Translation: X:136.70, Y:5.47, Z:0.08 [[ 9.94768617e-01 -1.01385218e-01 -1.25074189e-02 1.36698809e+02] [ 1.01372594e-01 9.94847177e-01 -1.64083048e-03 5.46860730e+00] [ 1.26093263e-02 3.64337170e-04 9.99920433e-01 8.30138269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.945336195 meters 0.03926249889699464 Centerline is valid? [True, True] Translation: X:136.76, Y:5.47, Z:0.08 [[ 9.94886741e-01 -9.99881367e-02 -1.42388870e-02 1.36758676e+02] [ 9.99716306e-02 9.94988534e-01 -1.86811116e-03 5.47445344e+00] [ 1.43543182e-02 4.35074278e-04 9.99896877e-01 7.69297972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.005336195 meters 0.04057470026059837 Centerline is valid? [True, True] Translation: X:136.82, Y:5.49, Z:0.08 [[ 9.95041277e-01 -9.83578608e-02 -1.47847153e-02 1.36818472e+02] [ 9.83398917e-02 9.95150996e-01 -1.93927823e-03 5.48986795e+00] [ 1.49037674e-02 4.75734579e-04 9.99888820e-01 7.73313712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06533619500001 meters 0.03790759123280323 Centerline is valid? [True, True] Translation: X:136.88, Y:5.49, Z:0.08 [[ 9.95053230e-01 -9.79068938e-02 -1.68318207e-02 1.36879662e+02] [ 9.78835462e-02 9.95195427e-01 -2.20738195e-03 5.49468962e+00] [ 1.69670689e-02 5.48904244e-04 9.99855898e-01 7.59476268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12533619500002 meters 0.038374793046999985 Centerline is valid? [True, True] Translation: X:136.94, Y:5.50, Z:0.07 [[ 9.94987809e-01 -9.85892037e-02 -1.67161347e-02 1.36939843e+02] [ 9.85662740e-02 9.95128074e-01 -2.19209578e-03 5.50188886e+00] [ 1.68508120e-02 5.33461461e-04 9.99857873e-01 7.35700892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18533619500002 meters 0.04054521349670018 Centerline is valid? [True, True] Translation: X:137.00, Y:5.51, Z:0.07 [[ 9.94899081e-01 -9.96497795e-02 -1.56761007e-02 1.36998871e+02] [ 9.96297447e-02 9.95022456e-01 -2.05579680e-03 5.51213460e+00] [ 1.58029319e-02 4.83504440e-04 9.99875009e-01 7.28816374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.245336195 meters 0.034814856851859886 Centerline is valid? [True, True] Translation: X:137.06, Y:5.51, Z:0.08 [[ 9.94654651e-01 -1.02246260e-01 -1.44162058e-02 1.37059889e+02] [ 1.02229589e-01 9.94759035e-01 -1.89057154e-03 5.51276457e+00] [ 1.45339548e-02 4.06702986e-04 9.99894294e-01 7.69145996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.305336195 meters 0.03618734357177732 Centerline is valid? [True, True] Translation: X:137.12, Y:5.52, Z:0.08 [[ 9.94672256e-01 -1.02072480e-01 -1.44330370e-02 1.37119959e+02] [ 1.02055756e-01 9.94776880e-01 -1.89251271e-03 5.51966969e+00] [ 1.45508250e-02 4.09455384e-04 9.99894047e-01 7.53992098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.365336195 meters 0.040788283787862915 Centerline is valid? [True, True] Translation: X:137.18, Y:5.53, Z:0.07 [[ 9.94742658e-01 -1.01063637e-01 -1.65283080e-02 1.37178555e+02] [ 1.01041563e-01 9.94879845e-01 -2.16735611e-03 5.53280544e+00] [ 1.66627213e-02 4.85915514e-04 9.99861049e-01 6.81936653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.425336195 meters 0.03984382938471338 Centerline is valid? [True, True] Translation: X:137.24, Y:5.54, Z:0.07 [[ 9.94875724e-01 -9.95302679e-02 -1.77769582e-02 1.37238283e+02] [ 9.95044874e-02 9.95034383e-01 -2.33109155e-03 5.54437149e+00] [ 1.79206988e-02 5.50259277e-04 9.99839260e-01 6.97300745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.485336195 meters 0.04236605691889769 Centerline is valid? [True, True] Translation: X:137.30, Y:5.55, Z:0.07 [[ 9.95205819e-01 -9.61425547e-02 -1.79439890e-02 1.37297491e+02] [ 9.61157316e-02 9.95367383e-01 -2.35330709e-03 5.55254072e+00] [ 1.80871144e-02 6.17325279e-04 9.99836224e-01 7.01392018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.545336195 meters 0.05112144775874285 Centerline is valid? [True, True] Translation: X:137.35, Y:5.58, Z:0.07 [[ 9.95778846e-01 -9.03640141e-02 -1.60883457e-02 1.37354774e+02] [ 9.03417012e-02 9.95908593e-01 -2.10979872e-03 5.57817156e+00] [ 1.62131716e-02 6.47444418e-04 9.99868348e-01 7.22283934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.605336195 meters 0.049598368260785494 Centerline is valid? [True, True] Translation: X:137.42, Y:5.59, Z:0.07 [[ 9.95747070e-01 -9.05460670e-02 -1.70053402e-02 1.37415497e+02] [ 9.05211741e-02 9.95892036e-01 -2.22947583e-03 5.58829294e+00] [ 1.71373532e-02 6.80650665e-04 9.99852913e-01 6.91675298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.665336195 meters 0.04396604224588742 Centerline is valid? [True, True] Translation: X:137.48, Y:5.59, Z:0.07 [[ 9.95419074e-01 -9.41575093e-02 -1.65900520e-02 1.37476901e+02] [ 9.41343202e-02 9.95557130e-01 -2.17490976e-03 5.58799058e+00] [ 1.67211286e-02 6.03253393e-04 9.99860010e-01 7.01988075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.725336195 meters 0.045183118394330514 Centerline is valid? [True, True] Translation: X:137.54, Y:5.60, Z:0.06 [[ 9.95025167e-01 -9.79044902e-02 -1.84290060e-02 1.37536353e+02] [ 9.78765261e-02 9.95195635e-01 -2.41545983e-03 5.60268945e+00] [ 1.85769507e-02 5.99676233e-04 9.99827254e-01 6.47879368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.785336195 meters 0.039561320183178955 Centerline is valid? [True, True] Translation: X:137.60, Y:5.60, Z:0.07 [[ 9.94681911e-01 -1.01439782e-01 -1.78288254e-02 1.37597399e+02] [ 1.01414174e-01 9.94841547e-01 -2.33697182e-03 5.60145897e+00] [ 1.79739181e-02 5.16448003e-04 9.99838323e-01 6.65249579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84533619500002 meters 0.03196287542225664 Centerline is valid? [True, True] Translation: X:137.66, Y:5.60, Z:0.07 [[ 9.94303549e-01 -1.05157613e-01 -1.73875857e-02 1.37658445e+02] [ 1.05133824e-01 9.94455471e-01 -2.27913488e-03 5.60115588e+00] [ 1.75308481e-02 4.38128525e-04 9.99846227e-01 7.08319644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90533619500002 meters 0.03532859089657556 Centerline is valid? [True, True] Translation: X:137.72, Y:5.61, Z:0.07 [[ 9.94401806e-01 -1.03999348e-01 -1.86864620e-02 1.37717724e+02] [ 1.03971674e-01 9.94577243e-01 -2.44906745e-03 5.61139678e+00] [ 1.88398312e-02 4.92494372e-04 9.99822393e-01 6.59230601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96533619500002 meters 0.03584290555038991 Centerline is valid? [True, True] Translation: X:137.78, Y:5.62, Z:0.07 [[ 9.94646559e-01 -1.01087947e-01 -2.14347598e-02 1.37777676e+02] [ 1.01050860e-01 9.94877295e-01 -2.80912203e-03 5.62353851e+00] [ 2.16089242e-02 6.28082642e-04 9.99766303e-01 6.77822769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.025336195 meters 0.039130968831556305 Centerline is valid? [True, True] Translation: X:137.84, Y:5.64, Z:0.06 [[ 9.94668410e-01 -1.01034989e-01 -2.06563799e-02 1.37835910e+02] [ 1.01000527e-01 9.94882688e-01 -2.70752397e-03 5.63561318e+00] [ 2.08242294e-02 6.06783298e-04 9.99782968e-01 6.27039662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.085336195 meters 0.03853053809400925 Centerline is valid? [True, True] Translation: X:137.90, Y:5.64, Z:0.06 [[ 9.94591168e-01 -1.01476255e-01 -2.21580450e-02 1.37896911e+02] [ 1.01436712e-01 9.94837755e-01 -2.90425405e-03 5.63788875e+00] [ 2.23383725e-02 6.40906210e-04 9.99750262e-01 6.03641107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.145336195 meters 0.038208789140863 Centerline is valid? [True, True] Translation: X:137.96, Y:5.65, Z:0.06 [[ 9.94679772e-01 -1.00844519e-01 -2.10364877e-02 1.37955885e+02] [ 1.00808722e-01 9.94902003e-01 -2.75795076e-03 5.64533394e+00] [ 2.12073679e-02 6.22616398e-04 9.99774905e-01 6.25922219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.205336195 meters 0.038679551946143385 Centerline is valid? [True, True] Translation: X:138.01, Y:5.65, Z:0.07 [[ 9.94729781e-01 -1.00830987e-01 -1.85949968e-02 1.38014671e+02] [ 1.00803007e-01 9.94903417e-01 -2.43833329e-03 5.65159404e+00] [ 1.87460854e-02 5.51051153e-04 9.99824125e-01 6.58101133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.265336195 meters 0.03783297716434978 Centerline is valid? [True, True] Translation: X:138.08, Y:5.66, Z:0.06 [[ 9.94668799e-01 -1.00899807e-01 -2.12887021e-02 1.38075373e+02] [ 1.00863151e-01 9.94896393e-01 -2.79134783e-03 5.65631273e+00] [ 2.14616994e-02 6.29221011e-04 9.99769473e-01 6.25194523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.325336195 meters 0.03895564166851777 Centerline is valid? [True, True] Translation: X:138.13, Y:5.66, Z:0.06 [[ 9.94480795e-01 -1.02430616e-01 -2.27138254e-02 1.38134700e+02] [ 1.02389261e-01 9.94739947e-01 -2.97931705e-03 5.65819886e+00] [ 2.28995228e-02 6.37221787e-04 9.99737568e-01 5.71575783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.385336195 meters 0.03842291689148741 Centerline is valid? [True, True] Translation: X:138.19, Y:5.66, Z:0.06 [[ 9.94617543e-01 -1.01343394e-01 -2.15744957e-02 1.38193331e+02] [ 1.01305711e-01 9.94851302e-01 -2.83530420e-03 5.65571838e+00] [ 2.17507545e-02 6.34423678e-04 9.99763223e-01 6.06391268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.445336195 meters 0.0434056445393747 Centerline is valid? [True, True] Translation: X:138.25, Y:5.67, Z:0.06 [[ 9.95070208e-01 -9.72310444e-02 -1.95295845e-02 1.38250512e+02] [ 9.71993823e-02 9.95261621e-01 -2.56621972e-03 5.66919945e+00] [ 1.96865622e-02 6.55305240e-04 9.99805986e-01 6.38557271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.505336195 meters 0.04635343261014415 Centerline is valid? [True, True] Translation: X:138.31, Y:5.68, Z:0.06 [[ 9.95279676e-01 -9.48079278e-02 -2.07321698e-02 1.38310236e+02] [ 9.47717266e-02 9.95495304e-01 -2.72395434e-03 5.68045327e+00] [ 2.08970301e-02 7.46272868e-04 9.99781355e-01 6.13401553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56533619500001 meters 0.0474972185239738 Centerline is valid? [True, True] Translation: X:138.37, Y:5.68, Z:0.05 [[ 9.95232776e-01 -9.45026994e-02 -2.41031371e-02 1.38371824e+02] [ 9.44536768e-02 9.95524221e-01 -3.16685835e-03 5.67743308e+00] [ 2.42945334e-02 8.75131303e-04 9.99704461e-01 5.45340099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62533619500002 meters 0.04896009932156944 Centerline is valid? [True, True] Translation: X:138.43, Y:5.69, Z:0.06 [[ 9.95257151e-01 -9.44065378e-02 -2.34650514e-02 1.38429041e+02] [ 9.43600063e-02 9.95533361e-01 -3.08487935e-03 5.68725592e+00] [ 2.36514742e-02 8.56085839e-04 9.99719898e-01 5.67563665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68533619500002 meters 0.046920937555835235 Centerline is valid? [True, True] Translation: X:138.49, Y:5.69, Z:0.06 [[ 9.95415119e-01 -9.30830331e-02 -2.20066009e-02 1.38488627e+02] [ 9.30416792e-02 9.95657998e-01 -2.89786665e-03 5.68870503e+00] [ 2.21807904e-02 8.37049169e-04 9.99753626e-01 5.99206473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.745336195 meters 0.053256453555842305 Centerline is valid? [True, True] Translation: X:138.54, Y:5.70, Z:0.06 [[ 9.95570942e-01 -9.18548962e-02 -2.00294097e-02 1.38544847e+02] [ 9.18203819e-02 9.95772092e-01 -2.63801722e-03 5.70381964e+00] [ 2.01870420e-02 7.87225233e-04 9.99795911e-01 5.87195890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.805336195 meters 0.049562917973035116 Centerline is valid? [True, True] Translation: X:138.60, Y:5.71, Z:0.06 [[ 9.95638925e-01 -9.10035640e-02 -2.05300129e-02 1.38603894e+02] [ 9.09670314e-02 9.95850222e-01 -2.70832890e-03 5.70598703e+00] [ 2.06912855e-02 8.28963343e-04 9.99785569e-01 6.27082585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.865336195 meters 0.04392330486841099 Centerline is valid? [True, True] Translation: X:138.66, Y:5.71, Z:0.07 [[ 9.95420759e-01 -9.32953629e-02 -2.08203645e-02 1.38663157e+02] [ 9.32582869e-02 9.95638161e-01 -2.74677343e-03 5.70583316e+00] [ 2.09858106e-02 7.92523770e-04 9.99779460e-01 6.69797659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.925336195 meters 0.041499975555103236 Centerline is valid? [True, True] Translation: X:138.72, Y:5.70, Z:0.07 [[ 9.95224372e-01 -9.58122423e-02 -1.86671640e-02 1.38724293e+02] [ 9.57828815e-02 9.95399204e-01 -2.46269813e-03 5.70227427e+00] [ 1.88172369e-02 6.62942440e-04 9.99822720e-01 6.88168992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.985336195 meters 0.04307010703359414 Centerline is valid? [True, True] Translation: X:138.78, Y:5.70, Z:0.06 [[ 9.95051191e-01 -9.75437794e-02 -1.89298312e-02 1.38781999e+02] [ 9.75138693e-02 9.95231029e-01 -2.49891904e-03 5.70463666e+00] [ 1.90833094e-02 6.40631280e-04 9.99817692e-01 6.46193572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.045336195 meters 0.039509208351338386 Centerline is valid? [True, True] Translation: X:138.84, Y:5.70, Z:0.06 [[ 9.94887728e-01 -9.88432380e-02 -2.06983857e-02 1.38841510e+02] [ 9.88076647e-02 9.95102786e-01 -2.73685857e-03 5.70202531e+00] [ 2.08675412e-02 6.77707849e-04 9.99782019e-01 6.41056059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.105336195 meters 0.045354510397759826 Centerline is valid? [True, True] Translation: X:138.90, Y:5.72, Z:0.06 [[ 9.95108525e-01 -9.64752665e-02 -2.12496322e-02 1.38898542e+02] [ 9.64372317e-02 9.95335102e-01 -2.80982576e-03 5.71506055e+00] [ 2.14215835e-02 7.46825860e-04 9.99770253e-01 6.20465288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.165336195 meters 0.04984491524716675 Centerline is valid? [True, True] Translation: X:138.96, Y:5.72, Z:0.06 [[ 9.95589347e-01 -9.12324145e-02 -2.18746091e-02 1.38958255e+02] [ 9.11908535e-02 9.95829234e-01 -2.89208427e-03 5.72312018e+00] [ 2.20472271e-02 8.84564020e-04 9.99756539e-01 6.17550419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.225336195 meters 0.055355423633811233 Centerline is valid? [True, True] Translation: X:139.02, Y:5.74, Z:0.06 [[ 9.95847587e-01 -8.82793108e-02 -2.22339082e-02 1.39016315e+02] [ 8.82356300e-02 9.96095292e-01 -2.93995055e-03 5.73829313e+00] [ 2.24066281e-02 9.65919761e-04 9.99748473e-01 5.78095683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.285336195 meters 0.04631444938842339 Centerline is valid? [True, True] Translation: X:139.08, Y:5.73, Z:0.07 [[ 9.95685720e-01 -9.03188249e-02 -2.12710458e-02 1.39078315e+02] [ 9.02793045e-02 9.95912514e-01 -2.81291779e-03 5.73039099e+00] [ 2.14381601e-02 8.80446852e-04 9.99769789e-01 6.54580010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34533619500002 meters 0.04407402709479839 Centerline is valid? [True, True] Translation: X:139.14, Y:5.73, Z:0.07 [[ 9.95407015e-01 -9.37945550e-02 -1.91691591e-02 1.39138266e+02] [ 9.37630971e-02 9.95591309e-01 -2.53528357e-03 5.73109333e+00] [ 1.93224439e-02 7.26279325e-04 9.99813040e-01 6.60712965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40533619500002 meters 0.04572788820444909 Centerline is valid? [True, True] Translation: X:139.20, Y:5.74, Z:0.06 [[ 9.95063226e-01 -9.75706964e-02 -1.81421153e-02 1.39197043e+02] [ 9.75431386e-02 9.95228404e-01 -2.39984916e-03 5.73913649e+00] [ 1.82897034e-02 6.18362780e-04 9.99832538e-01 6.39714391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46533619500002 meters 0.04337741353083932 Centerline is valid? [True, True] Translation: X:139.26, Y:5.72, Z:0.07 [[ 9.94523644e-01 -1.02762869e-01 -1.90398133e-02 1.39259222e+02] [ 1.02733456e-01 9.94705731e-01 -2.51910153e-03 5.72276275e+00] [ 1.91978815e-02 5.49280206e-04 9.99815553e-01 6.51409412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.525336195 meters 0.0364963304748091 Centerline is valid? [True, True] Translation: X:139.32, Y:5.73, Z:0.06 [[ 9.94256375e-01 -1.04643368e-01 -2.24505393e-02 1.39318139e+02] [ 1.04602838e-01 9.94509625e-01 -2.97534683e-03 5.72621854e+00] [ 2.26386278e-02 6.09867432e-04 9.99743527e-01 5.85416145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.585336195 meters 0.03582522728186461 Centerline is valid? [True, True] Translation: X:139.38, Y:5.73, Z:0.06 [[ 9.94477306e-01 -1.02585284e-01 -2.21618232e-02 1.39377220e+02] [ 1.02545188e-01 9.94723999e-01 -2.94116778e-03 5.73074101e+00] [ 2.23466179e-02 6.52336287e-04 9.99750070e-01 6.22273447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.645336195 meters 0.0430750619358714 Centerline is valid? [True, True] Translation: X:139.43, Y:5.74, Z:0.06 [[ 9.94787028e-01 -9.95968796e-02 -2.18913430e-02 1.39434575e+02] [ 9.95570278e-02 9.95027616e-01 -2.90552675e-03 5.74128133e+00] [ 2.20718722e-02 7.10943284e-04 9.99756134e-01 5.81364521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.705336195 meters 0.04047700646221492 Centerline is valid? [True, True] Translation: X:139.49, Y:5.75, Z:0.06 [[ 9.94932788e-01 -9.82479615e-02 -2.13561744e-02 1.39493822e+02] [ 9.82096215e-02 9.95161700e-01 -2.83926597e-03 5.74516552e+00] [ 2.15317989e-02 7.27497001e-04 9.99767899e-01 6.31597458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.765336195 meters 0.05097509460830865 Centerline is valid? [True, True] Translation: X:139.55, Y:5.76, Z:0.05 [[ 9.95080031e-01 -9.64240294e-02 -2.27626764e-02 1.39550388e+02] [ 9.63799929e-02 9.95340011e-01 -3.02636417e-03 5.76126672e+00] [ 2.29484168e-02 8.17607962e-04 9.99736316e-01 5.15316428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.825336195 meters 0.04786304057596494 Centerline is valid? [True, True] Translation: X:139.61, Y:5.76, Z:0.06 [[ 9.95413797e-01 -9.27920346e-02 -2.32596311e-02 1.39611293e+02] [ 9.27450601e-02 9.95685086e-01 -3.09258562e-03 5.75756726e+00] [ 2.34462351e-02 9.21186516e-04 9.99724675e-01 5.71589242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.885336195 meters 0.0536951020462238 Centerline is valid? [True, True] Translation: X:139.67, Y:5.77, Z:0.06 [[ 9.95625548e-01 -9.07149830e-02 -2.23732062e-02 1.39668110e+02] [ 9.06709671e-02 9.95876458e-01 -2.97608688e-03 5.77088362e+00] [ 2.25509250e-02 9.34467887e-04 9.99745259e-01 5.74836159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.945336195 meters 0.047963360197207296 Centerline is valid? [True, True] Translation: X:139.73, Y:5.77, Z:0.07 [[ 9.95665590e-01 -9.11926351e-02 -1.82739464e-02 1.39728833e+02] [ 9.11633527e-02 9.95832985e-01 -2.43082142e-03 5.76846714e+00] [ 1.84194716e-02 7.54371015e-04 9.99830063e-01 6.67944820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.005336195 meters 0.045834580826142106 Centerline is valid? [True, True] Translation: X:139.79, Y:5.76, Z:0.07 [[ 9.95467168e-01 -9.34799020e-02 -1.75107158e-02 1.39789288e+02] [ 9.34533587e-02 9.95620933e-01 -2.32982416e-03 5.76464645e+00] [ 1.76518269e-02 6.82828254e-04 9.99843961e-01 6.63865036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06533619500001 meters 0.04335586407935352 Centerline is valid? [True, True] Translation: X:139.85, Y:5.77, Z:0.06 [[ 9.95118837e-01 -9.64183884e-02 -2.10236837e-02 1.39847816e+02] [ 9.63806634e-02 9.95340601e-01 -2.80269880e-03 5.76577227e+00] [ 2.11959577e-02 7.62741792e-04 9.99775050e-01 6.21483007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12533619500002 meters 0.04294872731814643 Centerline is valid? [True, True] Translation: X:139.91, Y:5.76, Z:0.06 [[ 9.94753967e-01 -1.00238121e-01 -2.04172491e-02 1.39908603e+02] [ 1.00203360e-01 9.94963257e-01 -2.72112023e-03 5.76351426e+00] [ 2.05871727e-02 6.60968188e-04 9.99787843e-01 6.46338037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18533619500002 meters 0.038603226018243945 Centerline is valid? [True, True] Translation: X:139.97, Y:5.76, Z:0.07 [[ 9.94521448e-01 -1.03017158e-01 -1.77357128e-02 1.39968348e+02] [ 1.02991362e-01 9.94679441e-01 -2.36418824e-03 5.76232997e+00] [ 1.78849008e-02 5.24610697e-04 9.99839915e-01 6.57533844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.245336195 meters 0.03982702407018221 Centerline is valid? [True, True] Translation: X:140.03, Y:5.77, Z:0.07 [[ 9.94945333e-01 -9.92821820e-02 -1.50609705e-02 1.40026184e+02] [ 9.92631340e-02 9.95059192e-01 -2.00888982e-03 5.77145021e+00] [ 1.51860041e-02 5.03736421e-04 9.99884559e-01 7.24966899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.305336195 meters 0.04815089352737591 Centerline is valid? [True, True] Translation: X:140.08, Y:5.78, Z:0.06 [[ 9.95354530e-01 -9.42784555e-02 -1.95174887e-02 1.40084634e+02] [ 9.42455180e-02 9.95545583e-01 -2.60262515e-03 5.78146013e+00] [ 1.96759212e-02 7.51098899e-04 9.99806128e-01 6.20578456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.365336195 meters 0.047785654889896015 Centerline is valid? [True, True] Translation: X:140.14, Y:5.79, Z:0.06 [[ 9.95448636e-01 -9.29784572e-02 -2.09049981e-02 1.40143666e+02] [ 9.29403679e-02 9.95667772e-01 -2.78836951e-03 5.78894967e+00] [ 2.10736912e-02 8.32760409e-04 9.99777578e-01 6.16467732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.425336195 meters 0.044585460061435406 Centerline is valid? [True, True] Translation: X:140.20, Y:5.79, Z:0.07 [[ 9.95384712e-01 -9.43673114e-02 -1.74380576e-02 1.40204351e+02] [ 9.43410195e-02 9.95537222e-01 -2.32609655e-03 5.78804212e+00] [ 1.75797429e-02 6.70236813e-04 9.99845240e-01 6.77576683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.485336195 meters 0.04846269211667732 Centerline is valid? [True, True] Translation: X:140.26, Y:5.80, Z:0.06 [[ 9.95305187e-01 -9.52811672e-02 -1.70024649e-02 1.40261653e+02] [ 9.52562708e-02 9.95450195e-01 -2.27002629e-03 5.79768331e+00] [ 1.71413978e-02 6.39777538e-04 9.99852871e-01 6.40433341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.545336195 meters 0.04481548945323803 Centerline is valid? [True, True] Translation: X:140.32, Y:5.80, Z:0.06 [[ 9.95271782e-01 -9.51731821e-02 -1.93944842e-02 1.40321644e+02] [ 9.51407677e-02 9.95460461e-01 -2.58931449e-03 5.79811548e+00] [ 1.95528755e-02 7.31865536e-04 9.99808556e-01 6.28691602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.605336195 meters 0.04574241523082532 Centerline is valid? [True, True] Translation: X:140.38, Y:5.80, Z:0.06 [[ 9.94972418e-01 -9.77251474e-02 -2.19016479e-02 1.40379584e+02] [ 9.76843913e-02 9.95213143e-01 -2.92562910e-03 5.79941606e+00] [ 2.20827153e-02 7.71471121e-04 9.99755849e-01 5.51800501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.665336195 meters 0.04130044204442436 Centerline is valid? [True, True] Translation: X:140.44, Y:5.80, Z:0.06 [[ 9.94794956e-01 -9.99503280e-02 -1.98223861e-02 1.40439574e+02] [ 9.99173867e-02 9.94992214e-01 -2.64780176e-03 5.80495009e+00] [ 1.99877685e-02 6.53418817e-04 9.99800011e-01 6.17420205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.725336195 meters 0.041856763655218954 Centerline is valid? [True, True] Translation: X:140.50, Y:5.81, Z:0.06 [[ 9.94559826e-01 -1.02482314e-01 -1.86581591e-02 1.40498931e+02] [ 1.02453564e-01 9.94734665e-01 -2.49283610e-03 5.80886523e+00] [ 1.88153893e-02 5.67679738e-04 9.99822814e-01 5.94936991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.785336195 meters 0.035273955600687544 Centerline is valid? [True, True] Translation: X:140.56, Y:5.80, Z:0.07 [[ 9.94327229e-01 -1.05060349e-01 -1.66037644e-02 1.40560927e+02] [ 1.05037932e-01 9.94465741e-01 -2.21888676e-03 5.79734792e+00] [ 1.67449919e-02 4.62274444e-04 9.99859686e-01 6.54223325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84533619500002 meters 0.031889146740887574 Centerline is valid? [True, True] Translation: X:140.62, Y:5.80, Z:0.07 [[ 9.94106938e-01 -1.07312163e-01 -1.53458684e-02 1.40620925e+02] [ 1.07293273e-01 9.94225299e-01 -2.05140885e-03 5.80174371e+00] [ 1.54773917e-02 3.92811326e-04 9.99880141e-01 6.99438155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90533619500002 meters 0.03578247869641703 Centerline is valid? [True, True] Translation: X:140.68, Y:5.81, Z:0.06 [[ 9.94074037e-01 -1.07016433e-01 -1.90864107e-02 1.40678652e+02] [ 1.06987143e-01 9.94257129e-01 -2.55208145e-03 5.81074791e+00] [ 1.92499146e-02 4.94957353e-04 9.99814581e-01 5.95687112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96533619500002 meters 0.03704061693059857 Centerline is valid? [True, True] Translation: X:140.74, Y:5.81, Z:0.06 [[ 9.94254371e-01 -1.05202618e-01 -1.97649693e-02 1.40738897e+02] [ 1.05170836e-01 9.94450656e-01 -2.64351449e-03 5.80642521e+00] [ 1.99333913e-02 5.49627497e-04 9.99801159e-01 5.95116799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.025336195 meters 0.03925358558870863 Centerline is valid? [True, True] Translation: X:140.80, Y:5.82, Z:0.06 [[ 9.94691599e-01 -1.01148073e-01 -1.89126945e-02 1.40796294e+02] [ 1.01118227e-01 9.94871199e-01 -2.53024108e-03 5.82470854e+00] [ 1.90716240e-02 6.04391415e-04 9.99817937e-01 6.38538379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.085336195 meters 0.041429467037022355 Centerline is valid? [True, True] Translation: X:140.86, Y:5.83, Z:0.07 [[ 9.95127086e-01 -9.69939083e-02 -1.77274982e-02 1.40855353e+02] [ 9.69670212e-02 9.95284768e-01 -2.37203835e-03 5.83372969e+00] [ 1.78739823e-02 6.41496910e-04 9.99840042e-01 6.77403040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.145336195 meters 0.04187229344515367 Centerline is valid? [True, True] Translation: X:140.91, Y:5.84, Z:0.07 [[ 9.95239210e-01 -9.59648524e-02 -1.70194496e-02 1.40913633e+02] [ 9.59398491e-02 9.95384519e-01 -2.28144063e-03 5.83886102e+00] [ 1.71598348e-02 6.37735737e-04 9.99852556e-01 6.86185901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.205336195 meters 0.04545270867638307 Centerline is valid? [True, True] Translation: X:140.97, Y:5.85, Z:0.07 [[ 9.95466364e-01 -9.37218120e-02 -1.62153984e-02 1.40970147e+02] [ 9.36988195e-02 9.95598216e-01 -2.17358387e-03 5.85450831e+00] [ 1.63477340e-02 6.44365941e-04 9.99866159e-01 6.89460334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.265336195 meters 0.04584108059165684 Centerline is valid? [True, True] Translation: X:141.03, Y:5.86, Z:0.07 [[ 9.95543011e-01 -9.27072058e-02 -1.73057162e-02 1.41029243e+02] [ 9.26808601e-02 9.95693164e-01 -2.31995486e-03 5.86413551e+00] [ 1.74462598e-02 7.05706181e-04 9.99847553e-01 6.79219932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.325336195 meters 0.046669254127626056 Centerline is valid? [True, True] Translation: X:141.09, Y:5.88, Z:0.07 [[ 9.95216561e-01 -9.65722651e-02 -1.47578677e-02 1.41087225e+02] [ 9.65535282e-02 9.95325827e-01 -1.97856238e-03 5.87745280e+00] [ 1.48799611e-02 5.44173853e-04 9.99889139e-01 6.89265489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.385336195 meters 0.04210220469661443 Centerline is valid? [True, True] Translation: X:141.15, Y:5.87, Z:0.08 [[ 9.94573885e-01 -1.03354795e-01 -1.18563988e-02 1.41148753e+02] [ 1.03343178e-01 9.94644489e-01 -1.58997161e-03 5.87068056e+00] [ 1.19572329e-02 3.56066304e-04 9.99928446e-01 7.58935710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.445336195 meters 0.032357356569461176 Centerline is valid? [True, True] Translation: X:141.21, Y:5.87, Z:0.07 [[ 9.94008141e-01 -1.08756252e-01 -1.09495748e-02 1.41208545e+02] [ 1.08746669e-01 9.94068411e-01 -1.46849150e-03 5.87324535e+00] [ 1.10443341e-02 2.68962713e-04 9.99938973e-01 7.49594609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.505336195 meters 0.028051704759792594 Centerline is valid? [True, True] Translation: X:141.27, Y:5.87, Z:0.07 [[ 9.93845404e-01 -1.09961404e-01 -1.34090463e-02 1.41267686e+02] [ 1.09947127e-01 9.93935808e-01 -1.79951528e-03 5.87084303e+00] [ 1.35256085e-02 3.14153867e-04 9.99908475e-01 7.39288188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56533619500001 meters 0.03264533778784782 Centerline is valid? [True, True] Translation: X:141.33, Y:5.88, Z:0.07 [[ 9.94164630e-01 -1.06874853e-01 -1.46442422e-02 1.41325380e+02] [ 1.06857486e-01 9.94272404e-01 -1.96559669e-03 5.88094161e+00] [ 1.47704387e-02 3.89279803e-04 9.99890835e-01 7.20306671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62533619500002 meters 0.03996562435572043 Centerline is valid? [True, True] Translation: X:141.38, Y:5.90, Z:0.07 [[ 9.94896038e-01 -9.97799472e-02 -1.50278092e-02 1.41384246e+02] [ 9.97608530e-02 9.95009399e-01 -2.01678782e-03 5.89735962e+00] [ 1.51540464e-02 5.07307146e-04 9.99885042e-01 7.08567859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68533619500002 meters 0.04560251860085204 Centerline is valid? [True, True] Translation: X:141.44, Y:5.91, Z:0.07 [[ 9.95481251e-01 -9.39969138e-02 -1.34780967e-02 1.41444314e+02] [ 9.39810242e-02 9.95572345e-01 -1.80889021e-03 5.90567156e+00] [ 1.35884505e-02 5.34030954e-04 9.99907530e-01 7.30708455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.745336195 meters 0.05001365279998517 Centerline is valid? [True, True] Translation: X:141.50, Y:5.92, Z:0.07 [[ 9.95840330e-01 -8.98279505e-02 -1.52635711e-02 1.41503739e+02] [ 8.98070832e-02 9.95957073e-01 -2.04849637e-03 5.91900859e+00] [ 1.53858738e-02 6.69198502e-04 9.99881406e-01 7.19497667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.805336195 meters 0.05456343737564288 Centerline is valid? [True, True] Translation: X:141.56, Y:5.93, Z:0.07 [[ 9.95965754e-01 -8.86248783e-02 -1.40658631e-02 1.41559697e+02] [ 8.86070043e-02 9.96064871e-01 -1.89011613e-03 5.93242031e+00] [ 1.41780235e-02 6.36156940e-04 9.99899284e-01 6.94298652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.865336195 meters 0.05162596759485303 Centerline is valid? [True, True] Translation: X:141.62, Y:5.93, Z:0.07 [[ 9.95655577e-01 -9.19563872e-02 -1.46285784e-02 1.41620525e+02] [ 9.19374219e-02 9.95762848e-01 -1.96513800e-03 5.92826913e+00] [ 1.47473018e-02 6.11686824e-04 9.99891066e-01 6.75412411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.925336195 meters 0.04585370792611333 Centerline is valid? [True, True] Translation: X:141.68, Y:5.93, Z:0.07 [[ 9.95606222e-01 -9.27532023e-02 -1.28489242e-02 1.41680296e+02] [ 9.27385961e-02 9.95688989e-01 -1.72924373e-03 5.92951987e+00] [ 1.29539252e-02 5.30054627e-04 9.99915954e-01 7.37063632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.985336195 meters 0.056358942831606015 Centerline is valid? [True, True] Translation: X:141.74, Y:5.94, Z:0.07 [[ 9.95771461e-01 -9.09262336e-02 -1.31002750e-02 1.41737376e+02] [ 9.09108931e-02 9.95857470e-01 -1.76302284e-03 5.94308633e+00] [ 1.32063118e-02 5.64610130e-04 9.99912633e-01 6.78588782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.045336195 meters 0.052757931055889926 Centerline is valid? [True, True] Translation: X:141.80, Y:5.95, Z:0.08 [[ 9.95950344e-01 -8.91968755e-02 -1.12618797e-02 1.41796341e+02] [ 8.91853968e-02 9.96013885e-01 -1.51838163e-03 5.94643673e+00] [ 1.13524234e-02 5.07837497e-04 9.99935430e-01 7.54878407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.105336195 meters 0.048866843555095366 Centerline is valid? [True, True] Translation: X:141.86, Y:5.95, Z:0.07 [[ 9.95940568e-01 -8.92460989e-02 -1.17268398e-02 1.41855530e+02] [ 8.92336322e-02 9.96009464e-01 -1.58310462e-03 5.95007853e+00] [ 1.18213293e-02 5.30249612e-04 9.99929985e-01 7.48161505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.165336195 meters 0.0512814293858492 Centerline is valid? [True, True] Translation: X:141.91, Y:5.96, Z:0.07 [[ 9.95759495e-01 -9.12386755e-02 -1.17699826e-02 1.41913477e+02] [ 9.12262656e-02 9.95828924e-01 -1.58809927e-03 5.96238634e+00] [ 1.18657852e-02 5.07633370e-04 9.99929470e-01 7.10883450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.225336195 meters 0.04999767037138468 Centerline is valid? [True, True] Translation: X:141.97, Y:5.97, Z:0.07 [[ 9.95690512e-01 -9.17092272e-02 -1.37776020e-02 1.41971996e+02] [ 9.16922207e-02 9.95785654e-01 -1.86233868e-03 5.96594716e+00] [ 1.38903320e-02 5.91014034e-04 9.99903350e-01 6.96561038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.285336195 meters 0.054024713960419996 Centerline is valid? [True, True] Translation: X:142.03, Y:5.98, Z:0.06 [[ 9.95693912e-01 -9.11785602e-02 -1.67362926e-02 1.42028264e+02] [ 9.11533924e-02 9.95834294e-01 -2.26210755e-03 5.98351292e+00] [ 1.68728299e-02 7.26796868e-04 9.99857380e-01 6.11440671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34533619500002 meters 0.05222727490945121 Centerline is valid? [True, True] Translation: X:142.09, Y:6.00, Z:0.06 [[ 9.95541482e-01 -9.29007859e-02 -1.63279533e-02 1.42087044e+02] [ 9.28770602e-02 9.95675138e-01 -2.20706125e-03 5.99521082e+00] [ 1.64623749e-02 6.80728727e-04 9.99864254e-01 6.14546507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40533619500002 meters 0.04858389170080146 Centerline is valid? [True, True] Translation: X:142.15, Y:6.00, Z:0.06 [[ 9.95286961e-01 -9.59074576e-02 -1.43396203e-02 1.42147383e+02] [ 9.58894715e-02 9.95390101e-01 -1.93821157e-03 5.99963440e+00] [ 1.44594050e-02 5.54058095e-04 9.99895304e-01 6.47971750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46533619500002 meters 0.040833734816512826 Centerline is valid? [True, True] Translation: X:142.21, Y:6.01, Z:0.06 [[ 9.94908344e-01 -9.95169618e-02 -1.59298648e-02 1.42207224e+02] [ 9.94952224e-02 9.95035710e-01 -2.15341919e-03 6.00513687e+00] [ 1.60650861e-02 5.57509275e-04 9.99870793e-01 6.40918779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.525336195 meters 0.040558423468708235 Centerline is valid? [True, True] Translation: X:142.27, Y:6.01, Z:0.06 [[ 9.94828461e-01 -1.00416281e-01 -1.52611963e-02 1.42265883e+02] [ 1.00396379e-01 9.94945374e-01 -2.06656814e-03 6.01313065e+00] [ 1.53915737e-02 5.23711955e-04 9.99881406e-01 6.43566022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.585336195 meters 0.043821446706457504 Centerline is valid? [True, True] Translation: X:142.32, Y:6.03, Z:0.06 [[ 9.94695575e-01 -1.02046641e-01 -1.29304328e-02 1.42323186e+02] [ 1.02032496e-01 9.94779526e-01 -1.75068492e-03 6.02524577e+00] [ 1.30415813e-02 4.22074223e-04 9.99914866e-01 6.43170311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.645336195 meters 0.036100249749176035 Centerline is valid? [True, True] Translation: X:142.38, Y:6.03, Z:0.07 [[ 9.94651344e-01 -1.02561202e-01 -1.22435544e-02 1.42382921e+02] [ 1.02548519e-01 9.94726617e-01 -1.66089934e-03 6.02570753e+00] [ 1.23493333e-02 3.96457393e-04 9.99923665e-01 7.15054455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.705336195 meters 0.04051664496133825 Centerline is valid? [True, True] Translation: X:142.44, Y:6.04, Z:0.07 [[ 9.94944037e-01 -9.97669584e-02 -1.15290169e-02 1.42440051e+02] [ 9.97555314e-02 9.95010748e-01 -1.56343966e-03 6.03967952e+00] [ 1.16274753e-02 4.05451763e-04 9.99932316e-01 7.03290641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.765336195 meters 0.04754414207776133 Centerline is valid? [True, True] Translation: X:142.50, Y:6.06, Z:0.07 [[ 9.95337142e-01 -9.56526751e-02 -1.24314204e-02 1.42496940e+02] [ 9.56390720e-02 9.95414651e-01 -1.68554472e-03 6.05942391e+00] [ 1.25356449e-02 4.88755749e-04 9.99921306e-01 6.69833983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.825336195 meters 0.0562028448622818 Centerline is valid? [True, True] Translation: X:142.55, Y:6.08, Z:0.06 [[ 9.95710307e-01 -9.17184345e-02 -1.21948102e-02 1.42553310e+02] [ 9.17050467e-02 9.95784841e-01 -1.65369624e-03 6.08197344e+00] [ 1.22950816e-02 5.28276752e-04 9.99924273e-01 6.48786679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.885336195 meters 0.05131417629696979 Centerline is valid? [True, True] Translation: X:142.61, Y:6.08, Z:0.06 [[ 9.95805749e-01 -9.04150177e-02 -1.40012726e-02 1.42613283e+02] [ 9.03972350e-02 9.95903978e-01 -1.89907770e-03 6.08449410e+00] [ 1.41156282e-02 6.25436163e-04 9.99900174e-01 6.33540867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.945336195 meters 0.04861459273856048 Centerline is valid? [True, True] Translation: X:142.67, Y:6.08, Z:0.06 [[ 9.95571283e-01 -9.26971903e-02 -1.56540961e-02 1.42672777e+02] [ 9.26752278e-02 9.95694125e-01 -2.12418792e-03 6.08369286e+00] [ 1.57835978e-02 6.64033563e-04 9.99875211e-01 6.14267362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.005336195 meters 0.04458005302216643 Centerline is valid? [True, True] Translation: X:142.73, Y:6.09, Z:0.06 [[ 9.95167319e-01 -9.72357906e-02 -1.36823777e-02 1.42732572e+02] [ 9.72194440e-02 9.95261239e-01 -1.85639471e-03 6.08784018e+00] [ 1.37980481e-02 5.17230202e-04 9.99904669e-01 6.44897678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06533619500001 meters 0.04425353162035338 Centerline is valid? [True, True] Translation: X:142.79, Y:6.10, Z:0.07 [[ 9.94986625e-01 -9.94972059e-02 -1.00956941e-02 1.42791344e+02] [ 9.94884190e-02 9.95037777e-01 -1.37012526e-03 6.09655592e+00] [ 1.01819207e-02 3.58851658e-04 9.99948099e-01 6.83699272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12533619500002 meters 0.03883940673722278 Centerline is valid? [True, True] Translation: X:142.85, Y:6.09, Z:0.07 [[ 9.94819325e-01 -1.01158466e-01 -1.00735392e-02 1.42851880e+02] [ 1.01149795e-01 9.94870267e-01 -1.36781855e-03 6.08912394e+00] [ 1.01602310e-02 3.41795906e-04 9.99948325e-01 7.06834863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18533619500002 meters 0.04216985383690216 Centerline is valid? [True, True] Translation: X:142.91, Y:6.11, Z:0.06 [[ 9.94808597e-01 -1.00837214e-01 -1.37008003e-02 1.42908520e+02] [ 1.00821141e-01 9.94902827e-01 -1.86061083e-03 6.10747192e+00] [ 1.38185838e-02 4.69621327e-04 9.99904409e-01 6.17123561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.245336195 meters 0.04236655405872593 Centerline is valid? [True, True] Translation: X:142.97, Y:6.11, Z:0.06 [[ 9.94916284e-01 -9.98884385e-02 -1.28018427e-02 1.42968060e+02] [ 9.98742856e-02 9.94998539e-01 -1.74172338e-03 6.10819512e+00] [ 1.29117929e-02 4.54294055e-04 9.99916536e-01 6.38317045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.305336195 meters 0.041033088744107014 Centerline is valid? [True, True] Translation: X:143.03, Y:6.12, Z:0.07 [[ 9.94883032e-01 -1.00247113e-01 -1.25805121e-02 1.43025916e+02] [ 1.00233446e-01 9.94962471e-01 -1.71380231e-03 6.11810350e+00] [ 1.26889412e-02 4.44044751e-04 9.99919394e-01 6.59003586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.365336195 meters 0.03866071848588 Centerline is valid? [True, True] Translation: X:143.09, Y:6.12, Z:0.07 [[ 9.94939057e-01 -1.00090206e-01 -8.84442548e-03 1.43085023e+02] [ 1.00083446e-01 9.94978318e-01 -1.20476427e-03 6.12122316e+00] [ 8.92059669e-03 3.13486445e-04 9.99960162e-01 7.20982177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.425336195 meters 0.038433578595164455 Centerline is valid? [True, True] Translation: X:143.14, Y:6.12, Z:0.07 [[ 9.94754461e-01 -1.01822506e-01 -9.78465587e-03 1.43143304e+02] [ 1.01814309e-01 9.94802527e-01 -1.33349072e-03 6.12012306e+00] [ 9.86957976e-03 3.30277861e-04 9.99951240e-01 7.10046669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.485336195 meters 0.04228564321228309 Centerline is valid? [True, True] Translation: X:143.20, Y:6.14, Z:0.07 [[ 9.94919645e-01 -1.00131949e-01 -1.04159937e-02 1.43200122e+02] [ 1.00122566e-01 9.94974098e-01 -1.41969803e-03 6.13742893e+00] [ 1.05058011e-02 3.69609445e-04 9.99944744e-01 6.73286518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.545336195 meters 0.048824585525875416 Centerline is valid? [True, True] Translation: X:143.26, Y:6.15, Z:0.07 [[ 9.95447105e-01 -9.47606111e-02 -1.02707478e-02 1.43260065e+02] [ 9.47512053e-02 9.95500000e-01 -1.39963575e-03 6.14695161e+00] [ 1.03571598e-02 4.20097621e-04 9.99946275e-01 6.80143695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.605336195 meters 0.053553920830426725 Centerline is valid? [True, True] Translation: X:143.32, Y:6.16, Z:0.07 [[ 9.96259562e-01 -8.59233523e-02 -9.16855400e-03 1.43319116e+02] [ 8.59154831e-02 9.96301645e-01 -1.24945496e-03 6.16181263e+00] [ 9.24200279e-03 4.57060710e-04 9.99957187e-01 7.25759752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.665336195 meters 0.060738155835598336 Centerline is valid? [True, True] Translation: X:143.38, Y:6.18, Z:0.07 [[ 9.96769978e-01 -7.99043509e-02 -8.05642114e-03 1.43377078e+02] [ 7.98980776e-02 9.96802434e-01 -1.09806080e-03 6.17904612e+00] [ 8.11840004e-03 4.50821482e-04 9.99966944e-01 7.21300919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.725336195 meters 0.05900213912818874 Centerline is valid? [True, True] Translation: X:143.44, Y:6.18, Z:0.07 [[ 9.96767811e-01 -7.98193632e-02 -9.09947032e-03 1.43436179e+02] [ 7.98113314e-02 9.96809213e-01 -1.24298230e-03 6.18276674e+00] [ 9.16964990e-03 5.12723910e-04 9.99957826e-01 7.15260149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.785336195 meters 0.05695168338385857 Centerline is valid? [True, True] Translation: X:143.50, Y:6.19, Z:0.07 [[ 9.96540865e-01 -8.26094656e-02 -9.05430978e-03 1.43495566e+02] [ 8.26016380e-02 9.96581879e-01 -1.23573359e-03 6.19381936e+00] [ 9.12544435e-03 4.83558204e-04 9.99958245e-01 7.06749652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84533619500002 meters 0.05649053470756543 Centerline is valid? [True, True] Translation: X:143.55, Y:6.20, Z:0.07 [[ 9.96133545e-01 -8.74448993e-02 -8.44694765e-03 1.43553951e+02] [ 8.74382564e-02 9.96169273e-01 -1.15326064e-03 6.20244869e+00] [ 8.51543646e-03 4.10215235e-04 9.99963659e-01 6.91223649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90533619500002 meters 0.047077072752317324 Centerline is valid? [True, True] Translation: X:143.62, Y:6.20, Z:0.07 [[ 9.95696376e-01 -9.23398056e-02 -7.87950694e-03 1.43616030e+02] [ 9.23341796e-02 9.95727494e-01 -1.07560635e-03 6.19559984e+00] [ 7.94516298e-03 3.43429540e-04 9.99968378e-01 7.06840014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96533619500002 meters 0.04718561806399665 Centerline is valid? [True, True] Translation: X:143.67, Y:6.21, Z:0.07 [[ 9.95293602e-01 -9.65725832e-02 -8.02387384e-03 1.43674308e+02] [ 9.65668846e-02 9.95325895e-01 -1.09552986e-03 6.20819545e+00] [ 8.09216755e-03 3.15533360e-04 9.99967208e-01 6.84518381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.025336195 meters 0.03877064091377209 Centerline is valid? [True, True] Translation: X:143.74, Y:6.21, Z:0.07 [[ 9.94804070e-01 -1.01456519e-01 -8.45208074e-03 1.43735175e+02] [ 1.01450372e-01 9.94839932e-01 -1.15391911e-03 6.20555460e+00] [ 8.52554005e-03 2.90456684e-04 9.99963615e-01 6.81945307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.085336195 meters 0.03719790987180197 Centerline is valid? [True, True] Translation: X:143.79, Y:6.21, Z:0.07 [[ 9.94587240e-01 -1.03521784e-01 -8.91416110e-03 1.43793922e+02] [ 1.03515023e-01 9.94627145e-01 -1.21778874e-03 6.21073522e+00] [ 8.99233426e-03 2.88447549e-04 9.99959527e-01 6.76537999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.145336195 meters 0.0349184132469797 Centerline is valid? [True, True] Translation: X:143.85, Y:6.21, Z:0.07 [[ 9.94287032e-01 -1.06492522e-01 -7.25537738e-03 1.43853064e+02] [ 1.06488122e-01 9.94313480e-01 -9.91236973e-04 6.21470938e+00] [ 7.31967886e-03 2.12962558e-04 9.99973188e-01 6.89443054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.205336195 meters 0.03377525263075315 Centerline is valid? [True, True] Translation: X:143.91, Y:6.22, Z:0.07 [[ 9.94038704e-01 -1.08766143e-01 -7.54863995e-03 1.43911406e+02] [ 1.08761440e-01 9.94067344e-01 -1.03200904e-03 6.21668704e+00] [ 7.61610410e-03 2.04855977e-04 9.99970976e-01 6.75703715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.265336195 meters 0.03265881948282918 Centerline is valid? [True, True] Translation: X:143.97, Y:6.22, Z:0.06 [[ 9.94217362e-01 -1.06948764e-01 -9.68500781e-03 1.43971212e+02] [ 1.06940937e-01 9.94264494e-01 -1.32394234e-03 6.21812702e+00] [ 9.77105338e-03 2.80562648e-04 9.99952223e-01 6.45483041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.325336195 meters 0.03849065603945088 Centerline is valid? [True, True] Translation: X:144.03, Y:6.23, Z:0.06 [[ 9.94735250e-01 -1.02052540e-01 -9.33066274e-03 1.44029179e+02] [ 1.02045060e-01 9.94778960e-01 -1.27552132e-03 6.22952893e+00] [ 9.41211717e-03 3.16657987e-04 9.99955655e-01 6.47315425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.385336195 meters 0.04588542686904738 Centerline is valid? [True, True] Translation: X:144.09, Y:6.25, Z:0.06 [[ 9.95373088e-01 -9.56489874e-02 -9.14807412e-03 1.44087237e+02] [ 9.56415277e-02 9.95415056e-01 -1.25046766e-03 6.24978265e+00] [ 9.22573668e-03 3.69746066e-04 9.99957374e-01 6.45202956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.445336195 meters 0.05211469965407629 Centerline is valid? [True, True] Translation: X:144.15, Y:6.26, Z:0.06 [[ 9.95727388e-01 -9.19628867e-02 -8.35444967e-03 1.44145399e+02] [ 9.19565325e-02 9.95762367e-01 -1.14236782e-03 6.26302299e+00] [ 8.42410202e-03 3.69240706e-04 9.99964448e-01 6.41293812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.505336195 meters 0.058187888738455665 Centerline is valid? [True, True] Translation: X:144.20, Y:6.27, Z:0.07 [[ 9.96208534e-01 -8.67191503e-02 -6.95310051e-03 1.44204591e+02] [ 8.67146226e-02 9.96232739e-01 -9.50597338e-04 6.27454930e+00] [ 7.00934136e-03 3.44057694e-04 9.99975375e-01 6.64416832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56533619500001 meters 0.06289141937755563 Centerline is valid? [True, True] Translation: X:144.26, Y:6.29, Z:0.06 [[ 9.96371947e-01 -8.47996306e-02 -7.20872454e-03 1.44260817e+02] [ 8.47947076e-02 9.96397955e-01 -9.86385997e-04 6.29408222e+00] [ 7.26640355e-03 3.71545647e-04 9.99973530e-01 6.32037943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62533619500002 meters 0.0650997183056172 Centerline is valid? [True, True] Translation: X:144.32, Y:6.31, Z:0.06 [[ 9.96460174e-01 -8.36347250e-02 -8.50615038e-03 1.44319711e+02] [ 8.36278293e-02 9.96496378e-01 -1.16377557e-03 6.30551177e+00] [ 8.57368010e-03 4.48305114e-04 9.99963145e-01 5.98651013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68533619500002 meters 0.06107017070784536 Centerline is valid? [True, True] Translation: X:144.38, Y:6.31, Z:0.06 [[ 9.96492700e-01 -8.31498921e-02 -9.40184692e-03 1.44378719e+02] [ 8.31414384e-02 9.96536926e-01 -1.28712689e-03 6.30532476e+00] [ 9.47631209e-03 5.00929469e-04 9.99954973e-01 6.05815477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.745336195 meters 0.059837970393871995 Centerline is valid? [True, True] Translation: X:144.44, Y:6.33, Z:0.07 [[ 9.96330774e-01 -8.53939353e-02 -5.73277195e-03 1.44437147e+02] [ 8.53908307e-02 9.96347224e-01 -7.84585201e-04 6.32599368e+00] [ 5.77883024e-03 2.92180221e-04 9.99983260e-01 6.62347925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.805336195 meters 0.05470239189676337 Centerline is valid? [True, True] Translation: X:144.50, Y:6.33, Z:0.06 [[ 9.95768804e-01 -9.15729718e-02 -7.67328878e-03 1.44496658e+02] [ 9.15675906e-02 9.95798309e-01 -1.05044152e-03 6.32612029e+00] [ 7.73724005e-03 3.43372326e-04 9.99970008e-01 5.90780033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.865336195 meters 0.04430834383495091 Centerline is valid? [True, True] Translation: X:144.56, Y:6.32, Z:0.06 [[ 9.95426132e-01 -9.53410523e-02 -6.07453364e-03 1.44557749e+02] [ 9.53377502e-02 9.95444635e-01 -8.31524530e-04 6.32262024e+00] [ 6.12614035e-03 2.48588876e-04 9.99981204e-01 6.48105554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.925336195 meters 0.04151264527701397 Centerline is valid? [True, True] Translation: X:144.61, Y:6.34, Z:0.06 [[ 9.94787472e-01 -1.01552928e-01 -9.21353856e-03 1.44614536e+02] [ 1.01545595e-01 9.94830086e-01 -1.26140852e-03 6.34360001e+00] [ 9.29400509e-03 3.19239140e-04 9.99956759e-01 5.75964384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.985336195 meters 0.0337962999803111 Centerline is valid? [True, True] Translation: X:144.68, Y:6.34, Z:0.06 [[ 9.94048313e-01 -1.08581032e-01 -8.83803011e-03 1.44677090e+02] [ 1.08574562e-01 9.94087572e-01 -1.21000952e-03 6.33593815e+00] [ 8.91715998e-03 2.43222673e-04 9.99960212e-01 5.80966122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.045336195 meters 0.026357157024918636 Centerline is valid? [True, True] Translation: X:144.74, Y:6.34, Z:0.06 [[ 9.93504789e-01 -1.13530744e-01 -7.68140479e-03 1.44736490e+02] [ 1.13526002e-01 9.93534469e-01 -1.05198948e-03 6.34196757e+00] [ 7.75117357e-03 1.73117414e-04 9.99969944e-01 6.22822919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.105336195 meters 0.030460539270022204 Centerline is valid? [True, True] Translation: X:144.79, Y:6.35, Z:0.05 [[ 9.93591205e-01 -1.12621167e-01 -9.64317338e-03 1.44793025e+02] [ 1.12613643e-01 9.93637973e-01 -1.32148958e-03 6.35362533e+00] [ 9.73065095e-03 2.27067547e-04 9.99952630e-01 5.47515161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.165336195 meters 0.032867050203094834 Centerline is valid? [True, True] Translation: X:144.85, Y:6.36, Z:0.06 [[ 9.93881365e-01 -1.09981963e-01 -1.01882621e-02 1.44851304e+02] [ 1.09973420e-01 9.93933547e-01 -1.39660927e-03 6.36310086e+00] [ 1.02800573e-02 2.67625894e-04 9.99947123e-01 5.50694327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.225336195 meters 0.03661696847442262 Centerline is valid? [True, True] Translation: X:144.91, Y:6.38, Z:0.05 [[ 9.94220673e-01 -1.06848356e-01 -1.04250393e-02 1.44908890e+02] [ 1.06839239e-01 9.94275281e-01 -1.42910186e-03 6.38233630e+00] [ 1.05180560e-02 3.07039344e-04 9.99944637e-01 5.34436168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.285336195 meters 0.03709999558028994 Centerline is valid? [True, True] Translation: X:144.97, Y:6.38, Z:0.06 [[ 9.94594540e-01 -1.03471992e-01 -8.67455541e-03 1.44968597e+02] [ 1.03465548e-01 9.94632327e-01 -1.18959158e-03 6.38145689e+00] [ 8.75108264e-03 2.85643665e-04 9.99961668e-01 5.89004228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34533619500002 meters 0.039656408525639085 Centerline is valid? [True, True] Translation: X:145.03, Y:6.40, Z:0.06 [[ 9.94821628e-01 -1.01325325e-01 -7.94394713e-03 1.45026486e+02] [ 1.01319852e-01 9.94853306e-01 -1.08952508e-03 6.39820412e+00] [ 8.01345855e-03 2.79003566e-04 9.99967853e-01 6.05191244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40533619500002 meters 0.04747744751824827 Centerline is valid? [True, True] Translation: X:145.08, Y:6.42, Z:0.05 [[ 9.95611676e-01 -9.30164288e-02 -1.02632686e-02 1.45084252e+02] [ 9.30068524e-02 9.95664474e-01 -1.40748075e-03 6.42148695e+00] [ 1.03496907e-02 4.46749964e-04 9.99946341e-01 5.47530290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46533619500002 meters 0.0549282361067419 Centerline is valid? [True, True] Translation: X:145.14, Y:6.44, Z:0.05 [[ 9.95961639e-01 -8.88218173e-02 -1.30804223e-02 1.45141249e+02] [ 8.88058950e-02 9.96047335e-01 -1.79425824e-03 6.43916532e+00] [ 1.31880890e-02 6.25393774e-04 9.99912838e-01 4.96686295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.525336195 meters 0.05054833730829081 Centerline is valid? [True, True] Translation: X:145.20, Y:6.45, Z:0.06 [[ 9.95930376e-01 -8.95328545e-02 -1.03225003e-02 1.45200344e+02] [ 8.95229761e-02 9.95983751e-01 -1.41603108e-03 6.45011414e+00] [ 1.04078239e-02 4.86167412e-04 9.99945719e-01 5.63527381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.585336195 meters 0.048997360045884585 Centerline is valid? [True, True] Translation: X:145.26, Y:6.46, Z:0.06 [[ 9.95512307e-01 -9.43380395e-02 -7.45524076e-03 1.45258474e+02] [ 9.43330196e-02 9.95540172e-01 -1.02293077e-03 6.46172419e+00] [ 7.51849295e-03 3.15064797e-04 9.99971686e-01 5.75701449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.645336195 meters 0.04223257334908339 Centerline is valid? [True, True] Translation: X:145.32, Y:6.47, Z:0.06 [[ 9.95003273e-01 -9.95708647e-02 -7.35734384e-03 1.45319464e+02] [ 9.95661207e-02 9.95030436e-01 -1.00920309e-03 6.46510766e+00] [ 7.42126827e-03 2.71618189e-04 9.99972425e-01 5.73261084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.705336195 meters 0.03970438141414653 Centerline is valid? [True, True] Translation: X:145.38, Y:6.47, Z:0.05 [[ 9.94445048e-01 -1.04655828e-01 -1.12340242e-02 1.45378522e+02] [ 1.04645085e-01 9.94508436e-01 -1.54153244e-03 6.46909317e+00] [ 1.13336622e-02 3.57383880e-04 9.99935708e-01 4.84795407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.765336195 meters 0.03258452127747606 Centerline is valid? [True, True] Translation: X:145.44, Y:6.47, Z:0.05 [[ 9.94030038e-01 -1.08671702e-01 -9.73371493e-03 1.45438729e+02] [ 1.08663826e-01 9.94077657e-01 -1.33593670e-03 6.47485611e+00] [ 9.82124704e-03 2.70258503e-04 9.99951734e-01 5.43013592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.825336195 meters 0.03433776294491509 Centerline is valid? [True, True] Translation: X:145.50, Y:6.49, Z:0.05 [[ 9.93924287e-01 -1.09767980e-01 -8.09334970e-03 1.45495280e+02] [ 1.09762562e-01 9.93957214e-01 -1.11203243e-03 6.48535386e+00] [ 8.16650887e-03 2.16929243e-04 9.99966630e-01 5.40954000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.885336195 meters 0.035284846406056086 Centerline is valid? [True, True] Translation: X:145.55, Y:6.50, Z:0.05 [[ 9.94222422e-01 -1.07043296e-01 -7.96923532e-03 1.45554077e+02] [ 1.07037957e-01 9.94254332e-01 -1.09470201e-03 6.49639769e+00] [ 8.04062726e-03 2.35366613e-04 9.99967646e-01 5.49286101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.945336195 meters 0.03902960907070134 Centerline is valid? [True, True] Translation: X:145.61, Y:6.51, Z:0.05 [[ 9.94569852e-01 -1.03558396e-01 -1.03183845e-02 1.45612698e+02] [ 1.03549260e-01 9.94623317e-01 -1.41715836e-03 6.51497977e+00] [ 1.04096644e-02 3.41001905e-04 9.99945760e-01 5.11219350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.005336195 meters 0.03786880315092651 Centerline is valid? [True, True] Translation: X:145.67, Y:6.52, Z:0.05 [[ 9.94489466e-01 -1.04385013e-01 -9.71963090e-03 1.45670423e+02] [ 1.04376918e-01 9.94536912e-01 -1.33788643e-03 6.52404525e+00] [ 9.80618699e-03 3.16008847e-04 9.99951868e-01 5.24109600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06533619500001 meters 0.03301485202724463 Centerline is valid? [True, True] Translation: X:145.73, Y:6.52, Z:0.06 [[ 9.94063520e-01 -1.08612260e-01 -6.41061852e-03 1.45731336e+02] [ 1.08608832e-01 9.94084174e-01 -8.81595028e-04 6.52427920e+00] [ 6.46844644e-03 1.80111669e-04 9.99979063e-01 5.65403585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12533619500002 meters 0.028533403091306277 Centerline is valid? [True, True] Translation: X:145.79, Y:6.52, Z:0.05 [[ 9.93515809e-01 -1.13506417e-01 -6.52920202e-03 1.45792452e+02] [ 1.13502963e-01 9.93537252e-01 -8.98295415e-04 6.51891202e+00] [ 6.58896772e-03 1.51386922e-04 9.99978281e-01 5.38239907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18533619500002 meters 0.028381727207379095 Centerline is valid? [True, True] Translation: X:145.85, Y:6.53, Z:0.05 [[ 9.93351594e-01 -1.14752858e-01 -9.18647954e-03 1.45851014e+02] [ 1.14746050e-01 9.93394051e-01 -1.26642087e-03 6.52531902e+00] [ 9.27111953e-03 2.03888946e-04 9.99957001e-01 4.79866241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.245336195 meters 0.032758866596229015 Centerline is valid? [True, True] Translation: X:145.91, Y:6.54, Z:0.04 [[ 9.93502221e-01 -1.13392584e-01 -9.77026889e-03 1.45908198e+02] [ 1.13384822e-01 9.93550235e-01 -1.34658502e-03 6.53581285e+00] [ 9.85994571e-03 2.30035016e-04 9.99951363e-01 4.49780511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.305336195 meters 0.03850837957649494 Centerline is valid? [True, True] Translation: X:145.97, Y:6.55, Z:0.05 [[ 9.94269688e-01 -1.06591204e-01 -8.13040652e-03 1.45967062e+02] [ 1.06585602e-01 9.94302899e-01 -1.12037929e-03 6.54696672e+00] [ 8.20350935e-03 2.47374890e-04 9.99966320e-01 4.91705215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.365336195 meters 0.04001056826727036 Centerline is valid? [True, True] Translation: X:146.03, Y:6.56, Z:0.05 [[ 9.94762028e-01 -1.01990435e-01 -6.81603466e-03 1.46026224e+02] [ 1.01986389e-01 9.94785351e-01 -9.39360160e-04 6.55761907e+00] [ 6.87629718e-03 2.39297054e-04 9.99976329e-01 5.28130821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.425336195 meters 0.04713582054318919 Centerline is valid? [True, True] Translation: X:146.08, Y:6.57, Z:0.05 [[ 9.95285289e-01 -9.67113033e-02 -7.35642027e-03 1.46084763e+02] [ 9.67064465e-02 9.95312431e-01 -1.01391759e-03 6.56822528e+00] [ 7.41999383e-03 2.97724002e-04 9.99972427e-01 5.05858047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.485336195 meters 0.048877615517637536 Centerline is valid? [True, True] Translation: X:146.14, Y:6.58, Z:0.05 [[ 9.95351591e-01 -9.58826975e-02 -9.03983167e-03 1.46143019e+02] [ 9.58753250e-02 9.95392570e-01 -1.24641556e-03 6.57978387e+00] [ 9.11769096e-03 3.73924911e-04 9.99958363e-01 4.52484271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.545336195 meters 0.047344974986954835 Centerline is valid? [True, True] Translation: X:146.20, Y:6.59, Z:0.05 [[ 9.95235852e-01 -9.71471548e-02 -8.24798450e-03 1.46202031e+02] [ 9.71410424e-02 9.95269973e-01 -1.13943333e-03 6.58550706e+00] [ 8.31966402e-03 3.32787093e-04 9.99965336e-01 4.57941233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.605336195 meters 0.044457107193828935 Centerline is valid? [True, True] Translation: X:146.26, Y:6.58, Z:0.05 [[ 9.94951797e-01 -9.99626389e-02 -8.85393605e-03 1.46262799e+02] [ 9.99557161e-02 9.94991136e-01 -1.22209560e-03 6.58445223e+00] [ 8.93175179e-03 3.30924692e-04 9.99960056e-01 4.53242637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.665336195 meters 0.041244705737765966 Centerline is valid? [True, True] Translation: X:146.32, Y:6.59, Z:0.05 [[ 9.94684010e-01 -1.02669239e-01 -7.92127174e-03 1.46321833e+02] [ 1.02663782e-01 9.94715513e-01 -1.09365173e-03 6.59251036e+00] [ 7.99169628e-03 2.74610175e-04 9.99968028e-01 4.63909107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.725336195 meters 0.035731150007930604 Centerline is valid? [True, True] Translation: X:146.38, Y:6.59, Z:0.05 [[ 9.94188544e-01 -1.07460154e-01 -6.43843362e-03 1.46383860e+02] [ 1.07456650e-01 9.94209374e-01 -8.88810618e-04 6.58656290e+00] [ 6.49666278e-03 1.91792829e-04 9.99978878e-01 4.84306019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.785336195 meters 0.030040339818530187 Centerline is valid? [True, True] Translation: X:146.44, Y:6.59, Z:0.05 [[ 9.93818627e-01 -1.10771417e-01 -7.36404375e-03 1.46442926e+02] [ 1.10766918e-01 9.93845891e-01 -1.01731109e-03 6.58724397e+00] [ 7.43141361e-03 1.95330285e-04 9.99972368e-01 4.84683464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84533619500002 meters 0.02969036947442925 Centerline is valid? [True, True] Translation: X:146.50, Y:6.59, Z:0.04 [[ 9.93705207e-01 -1.11691874e-01 -8.65371870e-03 1.46501612e+02] [ 1.11685671e-01 9.93742862e-01 -1.19828541e-03 6.58867778e+00] [ 8.73340992e-03 2.24246069e-04 9.99961838e-01 4.46530073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90533619500002 meters 0.030639069780671862 Centerline is valid? [True, True] Translation: X:146.56, Y:6.60, Z:0.05 [[ 9.93762499e-01 -1.11252292e-01 -7.68270957e-03 1.46559449e+02] [ 1.11247376e-01 9.93792174e-01 -1.06551876e-03 6.59520369e+00] [ 7.75355805e-03 2.04191300e-04 9.99969920e-01 4.66641063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96533619500002 meters 0.03268668443382299 Centerline is valid? [True, True] Translation: X:146.62, Y:6.60, Z:0.04 [[ 9.93700193e-01 -1.11838923e-01 -7.20977763e-03 1.46617531e+02] [ 1.11834613e-01 9.93726331e-01 -9.99432966e-04 6.60003788e+00] [ 7.27632137e-03 1.86834039e-04 9.99973510e-01 4.48067379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.025336195 meters 0.03477930627552295 Centerline is valid? [True, True] Translation: X:146.68, Y:6.61, Z:0.04 [[ 9.93927449e-01 -1.09772611e-01 -7.62892240e-03 1.46675874e+02] [ 1.09767724e-01 9.93956703e-01 -1.05758780e-03 6.60901781e+00] [ 7.69891273e-03 2.13756101e-04 9.99970340e-01 4.41058368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.085336195 meters 0.035279155471859246 Centerline is valid? [True, True] Translation: X:146.74, Y:6.61, Z:0.04 [[ 9.94264759e-01 -1.06534548e-01 -9.37969952e-03 1.46736215e+02] [ 1.06527019e-01 9.94308958e-01 -1.30017935e-03 6.61037563e+00] [ 9.46483328e-03 2.93531078e-04 9.99955164e-01 4.43832111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.145336195 meters 0.04547489065368646 Centerline is valid? [True, True] Translation: X:146.79, Y:6.64, Z:0.04 [[ 9.94696368e-01 -1.02539078e-01 -8.05437175e-03 1.46792245e+02] [ 1.02533395e-01 9.94728936e-01 -1.11643838e-03 6.63611597e+00] [ 8.12639520e-03 2.84675125e-04 9.99966940e-01 4.26045675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.205336195 meters 0.038447782534468 Centerline is valid? [True, True] Translation: X:146.85, Y:6.63, Z:0.05 [[ 9.94617424e-01 -1.03480447e-01 -5.28940038e-03 1.46852031e+02] [ 1.03478006e-01 9.94631471e-01 -7.33789138e-04 6.63390412e+00] [ 5.33693691e-03 1.82502855e-04 9.99985742e-01 4.95882019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.265336195 meters 0.035790790975495784 Centerline is valid? [True, True] Translation: X:146.91, Y:6.64, Z:0.05 [[ 9.94150763e-01 -1.07867014e-01 -5.38207945e-03 1.46911709e+02] [ 1.07864551e-01 9.94165319e-01 -7.46585122e-04 6.63506237e+00] [ 5.43120864e-03 1.61682583e-04 9.99985238e-01 4.81329322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.325336195 meters 0.030770675406534623 Centerline is valid? [True, True] Translation: X:146.97, Y:6.63, Z:0.05 [[ 9.93558180e-01 -1.13225944e-01 -4.69342621e-03 1.46971094e+02] [ 1.13224130e-01 9.93569259e-01 -6.51270810e-04 6.63451071e+00] [ 4.73698475e-03 1.15666339e-04 9.99988774e-01 4.76101129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.385336195 meters 0.026193986459062443 Centerline is valid? [True, True] Translation: X:147.03, Y:6.63, Z:0.04 [[ 9.93067224e-01 -1.17387381e-01 -6.13929504e-03 1.47030803e+02] [ 1.17384346e-01 9.93086193e-01 -8.53722780e-04 6.63426490e+00] [ 6.19706542e-03 1.27146979e-04 9.99980790e-01 4.48376476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.445336195 meters 0.028485578730301483 Centerline is valid? [True, True] Translation: X:147.09, Y:6.64, Z:0.04 [[ 9.93201162e-01 -1.16118993e-01 -8.23600891e-03 1.47089491e+02] [ 1.16113495e-01 9.93235293e-01 -1.14429106e-03 6.64126660e+00] [ 8.31316865e-03 1.80199432e-04 9.99965429e-01 4.09229666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.505336195 meters 0.0290305879208377 Centerline is valid? [True, True] Translation: X:147.15, Y:6.65, Z:0.05 [[ 9.93635234e-01 -1.12445403e-01 -6.71219546e-03 1.47148064e+02] [ 1.12441665e-01 9.93657890e-01 -9.32895368e-04 6.64892516e+00] [ 6.77452577e-03 1.72227271e-04 9.99977038e-01 4.64585449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56533619500001 meters 0.03511945203844498 Centerline is valid? [True, True] Translation: X:147.20, Y:6.67, Z:0.05 [[ 9.94155981e-01 -1.07864588e-01 -4.37228008e-03 1.47204629e+02] [ 1.07862957e-01 9.94165586e-01 -6.07939165e-04 6.66856898e+00] [ 4.41234550e-03 1.32779299e-04 9.99990257e-01 4.89529651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62533619500002 meters 0.033604438656216734 Centerline is valid? [True, True] Translation: X:147.26, Y:6.67, Z:0.05 [[ 9.94116542e-01 -1.08240464e-01 -4.03772283e-03 1.47263950e+02] [ 1.08239069e-01 9.94124734e-01 -5.63017674e-04 6.67245067e+00] [ 4.07494142e-03 1.22665823e-04 9.99991690e-01 4.88162134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68533619500002 meters 0.02961663376116398 Centerline is valid? [True, True] Translation: X:147.32, Y:6.67, Z:0.05 [[ 9.93670747e-01 -1.12233595e-01 -4.69748457e-03 1.47324368e+02] [ 1.12231758e-01 9.93681843e-01 -6.53766585e-04 6.67498285e+00] [ 4.74117970e-03 1.22421781e-04 9.99988753e-01 4.74880974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.745336195 meters 0.028378990606492523 Centerline is valid? [True, True] Translation: X:147.38, Y:6.68, Z:0.04 [[ 9.93245135e-01 -1.15929993e-01 -4.93350085e-03 1.47383186e+02] [ 1.15928011e-01 9.93257381e-01 -6.86819740e-04 6.68082610e+00] [ 4.97985914e-03 1.10249424e-04 9.99987594e-01 4.43062506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.805336195 meters 0.027558335966430692 Centerline is valid? [True, True] Translation: X:147.44, Y:6.68, Z:0.04 [[ 9.93206591e-01 -1.16223668e-01 -5.72079549e-03 1.47442617e+02] [ 1.16220996e-01 9.93223058e-01 -7.98442854e-04 6.67969127e+00] [ 5.77482395e-03 1.28142157e-04 9.99983317e-01 4.37040837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.865336195 meters 0.03191449094534453 Centerline is valid? [True, True] Translation: X:147.50, Y:6.70, Z:0.04 [[ 9.93582276e-01 -1.12972403e-01 -5.61221813e-03 1.47499341e+02] [ 1.12969784e-01 9.93598116e-01 -7.82517994e-04 6.69788239e+00] [ 5.66469230e-03 1.43484936e-04 9.99983945e-01 4.31785090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.925336195 meters 0.02968983912423298 Centerline is valid? [True, True] Translation: X:147.56, Y:6.70, Z:0.05 [[ 9.93724751e-01 -1.11779013e-01 -4.07089426e-03 1.47558784e+02] [ 1.11777618e-01 9.93733083e-01 -5.69456393e-04 6.70019799e+00] [ 4.10903558e-03 1.10848050e-04 9.99991552e-01 4.70979048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.985336195 meters 0.0290057187871975 Centerline is valid? [True, True] Translation: X:147.62, Y:6.70, Z:0.05 [[ 9.93581751e-01 -1.13046740e-01 -3.96713177e-03 1.47617659e+02] [ 1.13045422e-01 9.93589666e-01 -5.55650439e-04 6.70395800e+00] [ 4.00451560e-03 1.03618053e-04 9.99991977e-01 4.71042688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.045336195 meters 0.02957666664457533 Centerline is valid? [True, True] Translation: X:147.67, Y:6.71, Z:0.05 [[ 9.93421912e-01 -1.14502197e-01 -1.46704349e-03 1.47674671e+02] [ 1.14502018e-01 9.93422994e-01 -2.05546660e-04 6.71289865e+00] [ 1.48093028e-03 3.62151162e-05 9.99998903e-01 4.96352160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.105336195 meters 0.027390714995714327 Centerline is valid? [True, True] Translation: X:147.73, Y:6.71, Z:0.04 [[ 9.93359950e-01 -1.14972779e-01 -4.15575758e-03 1.47734169e+02] [ 1.14971346e-01 9.93368637e-01 -5.82983705e-04 6.71490929e+00] [ 4.19522650e-03 1.01319622e-04 9.99991195e-01 4.44195530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.165336195 meters 0.03265155213925957 Centerline is valid? [True, True] Translation: X:147.79, Y:6.73, Z:0.04 [[ 9.93639973e-01 -1.12525247e-01 -4.20392735e-03 1.47791300e+02] [ 1.12523761e-01 9.93648860e-01 -5.89009054e-04 6.73030084e+00] [ 4.24350601e-03 1.12221223e-04 9.99990990e-01 4.30867928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.225336195 meters 0.03451517024203476 Centerline is valid? [True, True] Translation: X:147.85, Y:6.74, Z:0.04 [[ 9.93768760e-01 -1.11306320e-01 -5.87829754e-03 1.47849251e+02] [ 1.11303394e-01 9.93786132e-01 -8.23559426e-04 6.74261518e+00] [ 5.93343794e-03 1.64153160e-04 9.99982384e-01 4.03965420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.285336195 meters 0.03177684045366916 Centerline is valid? [True, True] Translation: X:147.91, Y:6.75, Z:0.04 [[ 9.93726706e-01 -1.11689232e-01 -5.72261618e-03 1.47908085e+02] [ 1.11686454e-01 9.93743171e-01 -8.03775027e-04 6.74853324e+00] [ 5.77658377e-03 1.59594002e-04 9.99983303e-01 4.13962796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34533619500002 meters 0.030453289208005045 Centerline is valid? [True, True] Translation: X:147.97, Y:6.75, Z:0.04 [[ 9.93323535e-01 -1.15251012e-01 -5.05568504e-03 1.47967796e+02] [ 1.15248894e-01 9.93336393e-01 -7.09265711e-04 6.74757342e+00] [ 5.10373953e-03 1.21868214e-04 9.99986968e-01 3.94634453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40533619500002 meters 0.025264836402593797 Centerline is valid? [True, True] Translation: X:148.03, Y:6.75, Z:0.04 [[ 9.92979562e-01 -1.18150108e-01 -5.66940530e-03 1.48026919e+02] [ 1.18147489e-01 9.92995739e-01 -7.95807573e-04 6.74705614e+00] [ 5.72372006e-03 1.20394654e-04 9.99983612e-01 3.87644283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46533619500002 meters 0.025863615236769336 Centerline is valid? [True, True] Translation: X:148.08, Y:6.76, Z:0.04 [[ 9.92865599e-01 -1.19129530e-01 -5.10471879e-03 1.48084497e+02] [ 1.19127410e-01 9.92878716e-01 -7.18364703e-04 6.75658045e+00] [ 5.15394508e-03 1.05127673e-04 9.99986713e-01 3.93577494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.525336195 meters 0.027515467543837463 Centerline is valid? [True, True] Translation: X:148.14, Y:6.76, Z:0.04 [[ 9.93020530e-01 -1.17803061e-01 -5.71532159e-03 1.48143633e+02] [ 1.17800378e-01 9.93036970e-01 -8.05069239e-04 6.75656776e+00] [ 5.77036525e-03 1.26183240e-04 9.99983343e-01 3.74380175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.585336195 meters 0.028838552739435575 Centerline is valid? [True, True] Translation: X:148.20, Y:6.77, Z:0.04 [[ 9.93355727e-01 -1.14984320e-01 -4.79646729e-03 1.48201723e+02] [ 1.14982392e-01 9.93367299e-01 -6.76704863e-04 6.76677592e+00] [ 4.84246421e-03 1.20699368e-04 9.99988268e-01 4.00754729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.645336195 meters 0.03186406668163694 Centerline is valid? [True, True] Translation: X:148.26, Y:6.78, Z:0.04 [[ 9.93532404e-01 -1.13488663e-01 -3.69932320e-03 1.48258582e+02] [ 1.13487507e-01 9.93539286e-01 -5.21602093e-04 6.77755229e+00] [ 3.73461886e-03 9.84016144e-05 9.99993021e-01 4.07001385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.705336195 meters 0.031700907640303234 Centerline is valid? [True, True] Translation: X:148.32, Y:6.78, Z:0.04 [[ 9.93427073e-01 -1.14397064e-01 -3.99528821e-03 1.48316969e+02] [ 1.14395722e-01 9.93435102e-01 -5.63518798e-04 6.77967876e+00] [ 4.03352445e-03 1.02770949e-04 9.99991860e-01 3.95640652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.765336195 meters 0.031169257876441963 Centerline is valid? [True, True] Translation: X:148.38, Y:6.78, Z:0.04 [[ 9.93412928e-01 -1.14514224e-01 -4.15297972e-03 1.48375641e+02] [ 1.14512768e-01 9.93421603e-01 -5.87517387e-04 6.78102466e+00] [ 4.19293887e-03 1.08078162e-04 9.99991204e-01 4.00295657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.825336195 meters 0.03001622555600246 Centerline is valid? [True, True] Translation: X:148.43, Y:6.79, Z:0.04 [[ 9.93482964e-01 -1.13856290e-01 -5.32412810e-03 1.48434047e+02] [ 1.13853885e-01 9.93497219e-01 -7.53586355e-04 6.78815034e+00] [ 5.37530701e-03 1.42502534e-04 9.99985543e-01 3.74935914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.885336195 meters 0.03302548147366183 Centerline is valid? [True, True] Translation: X:148.49, Y:6.80, Z:0.04 [[ 9.93610599e-01 -1.12779596e-01 -4.32912249e-03 1.48490804e+02] [ 1.12777997e-01 9.93620022e-01 -6.12423959e-04 6.79766211e+00] [ 4.37057171e-03 1.20281173e-04 9.99990442e-01 3.64763231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.945336195 meters 0.032484062687654816 Centerline is valid? [True, True] Translation: X:148.55, Y:6.79, Z:0.03 [[ 9.93672265e-01 -1.12016818e-01 -8.22575138e-03 1.48551530e+02] [ 1.12011024e-01 9.93706283e-01 -1.16318652e-03 6.79364777e+00] [ 8.30427729e-03 2.34451354e-04 9.99965491e-01 3.12032830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.005336195 meters 0.036701344824961304 Centerline is valid? [True, True] Translation: X:148.61, Y:6.80, Z:0.03 [[ 9.93942286e-01 -1.09559043e-01 -8.69179568e-03 1.48609227e+02] [ 1.09552474e-01 9.93980253e-01 -1.22968367e-03 6.80235044e+00] [ 8.77419624e-03 2.70026874e-04 9.99961470e-01 2.98900331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06533619500001 meters 0.037290229529548885 Centerline is valid? [True, True] Translation: X:148.67, Y:6.81, Z:0.03 [[ 9.94205773e-01 -1.07161372e-01 -8.44521159e-03 1.48667369e+02] [ 1.07155083e-01 9.94241601e-01 -1.19503227e-03 6.81354219e+00] [ 8.52464199e-03 2.83160633e-04 9.99963624e-01 3.09114403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12533619500002 meters 0.04323027956174715 Centerline is valid? [True, True] Translation: X:148.73, Y:6.82, Z:0.04 [[ 9.94628883e-01 -1.03413666e-01 -4.35874530e-03 1.48725374e+02] [ 1.03411954e-01 9.94638420e-01 -6.17069059e-04 6.82358997e+00] [ 4.39918892e-03 1.63008341e-04 9.99990310e-01 3.59601511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18533619500002 meters 0.042188230647330356 Centerline is valid? [True, True] Translation: X:148.78, Y:6.83, Z:0.03 [[ 9.94496317e-01 -1.04572964e-01 -6.44757759e-03 1.48784621e+02] [ 1.04569230e-01 9.94517189e-01 -9.14530948e-04 6.82787024e+00] [ 6.50786195e-03 2.35279435e-04 9.99978796e-01 3.13102390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.245336195 meters 0.03747130948270853 Centerline is valid? [True, True] Translation: X:148.85, Y:6.83, Z:0.03 [[ 9.94242736e-01 -1.07011387e-01 -5.47212467e-03 1.48845294e+02] [ 1.07008738e-01 9.94257778e-01 -7.75352437e-04 6.82669814e+00] [ 5.52367405e-03 1.85323373e-04 9.99984727e-01 3.29284904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.305336195 meters 0.037430270214826346 Centerline is valid? [True, True] Translation: X:148.90, Y:6.83, Z:0.03 [[ 9.93978056e-01 -1.09374776e-01 -6.69203905e-03 1.48903777e+02] [ 1.09370864e-01 9.94000560e-01 -9.48774391e-04 6.82861830e+00] [ 6.75566255e-03 2.11146830e-04 9.99977158e-01 3.07593253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.365336195 meters 0.036180178931653616 Centerline is valid? [True, True] Translation: X:148.96, Y:6.83, Z:0.03 [[ 9.93825590e-01 -1.10814692e-01 -5.54991461e-03 1.48962132e+02] [ 1.10812022e-01 9.93841072e-01 -7.87164184e-04 6.83404111e+00] [ 5.60296244e-03 1.67306648e-04 9.99984289e-01 3.15293200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.425336195 meters 0.035024364192912355 Centerline is valid? [True, True] Translation: X:149.02, Y:6.83, Z:0.03 [[ 9.93856214e-01 -1.10406716e-01 -7.75770663e-03 1.49021601e+02] [ 1.10401472e-01 9.93886462e-01 -1.10240846e-03 6.83462254e+00] [ 7.83199290e-03 2.39173272e-04 9.99969301e-01 2.72569447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.485336195 meters 0.03819951503406716 Centerline is valid? [True, True] Translation: X:149.08, Y:6.84, Z:0.03 [[ 9.94204935e-01 -1.07352258e-01 -5.66030313e-03 1.49079940e+02] [ 1.07349419e-01 9.94221030e-01 -8.03906055e-04 6.84442923e+00] [ 5.71389353e-03 1.91617113e-04 9.99983657e-01 3.15363116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.545336195 meters 0.042542141941118355 Centerline is valid? [True, True] Translation: X:149.14, Y:6.86, Z:0.03 [[ 9.94560813e-01 -1.03995368e-01 -5.80964721e-03 1.49139140e+02] [ 1.03992322e-01 9.94577758e-01 -8.24838563e-04 6.85881028e+00] [ 5.86392528e-03 2.16193410e-04 9.99982784e-01 3.10836476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.605336195 meters 0.046090999792947056 Centerline is valid? [True, True] Translation: X:149.20, Y:6.87, Z:0.03 [[ 9.94845863e-01 -1.01176137e-01 -6.71555971e-03 1.49197483e+02] [ 1.01172001e-01 9.94868492e-01 -9.53651283e-04 6.87286660e+00] [ 6.77758552e-03 2.69309418e-04 9.99976996e-01 2.63477713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.665336195 meters 0.04132582054898687 Centerline is valid? [True, True] Translation: X:149.26, Y:6.87, Z:0.03 [[ 9.94738614e-01 -1.02123944e-01 -8.11104807e-03 1.49256982e+02] [ 1.02117921e-01 9.94771631e-01 -1.15441808e-03 6.87082569e+00] [ 8.18653425e-03 3.20060879e-04 9.99966439e-01 2.62237883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.725336195 meters 0.039821009703830006 Centerline is valid? [True, True] Translation: X:149.31, Y:6.88, Z:0.02 [[ 9.94296225e-01 -1.06235975e-01 -9.43046528e-03 1.49314651e+02] [ 1.06228028e-01 9.94340891e-01 -1.34110778e-03 6.88296284e+00] [ 9.51957114e-03 3.31678675e-04 9.99954633e-01 2.19537385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.785336195 meters 0.040159404663967654 Centerline is valid? [True, True] Translation: X:149.37, Y:6.89, Z:0.02 [[ 9.93948173e-01 -1.09478041e-01 -9.03260331e-03 1.49373648e+02] [ 1.09470881e-01 9.93989173e-01 -1.28474478e-03 6.88561647e+00] [ 9.11896124e-03 2.88162679e-04 9.99958380e-01 1.93576633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84533619500002 meters 0.03375764848625329 Centerline is valid? [True, True] Translation: X:149.43, Y:6.88, Z:0.02 [[ 9.93493431e-01 -1.13571886e-01 -8.49877480e-03 1.49434642e+02] [ 1.13565697e-01 9.93529754e-01 -1.20883696e-03 6.88211300e+00] [ 8.58107552e-03 2.35802301e-04 9.99963154e-01 2.24969381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90533619500002 meters 0.030489323484183428 Centerline is valid? [True, True] Translation: X:149.49, Y:6.89, Z:0.02 [[ 9.93257398e-01 -1.15666971e-01 -7.80345134e-03 1.49493373e+02] [ 1.15661800e-01 9.93288030e-01 -1.11225397e-03 6.88973856e+00] [ 7.87972585e-03 2.02193257e-04 9.99968934e-01 2.39244010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96533619500002 meters 0.03317285226122194 Centerline is valid? [True, True] Translation: X:149.55, Y:6.89, Z:0.03 [[ 9.93484725e-01 -1.13820232e-01 -5.74935897e-03 1.49551196e+02] [ 1.13817394e-01 9.93501348e-01 -8.19405729e-04 6.89496872e+00] [ 5.80526083e-03 1.59690020e-04 9.99983137e-01 2.77870920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.025336195 meters 0.038652731005641636 Centerline is valid? [True, True] Translation: X:149.61, Y:6.91, Z:0.03 [[ 9.93756491e-01 -1.11430432e-01 -5.59414543e-03 1.49608305e+02] [ 1.11427708e-01 9.93772223e-01 -7.97307496e-04 6.91009198e+00] [ 5.64815065e-03 1.68986699e-04 9.99984035e-01 2.52488275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.085336195 meters 0.03419678838830443 Centerline is valid? [True, True] Translation: X:149.67, Y:6.91, Z:0.03 [[ 9.93691802e-01 -1.11966302e-01 -6.33632139e-03 1.49666701e+02] [ 1.11962803e-01 9.93711986e-01 -9.05455661e-04 6.91264244e+00] [ 6.39785903e-03 1.90311567e-04 9.99979515e-01 2.61377512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.145336195 meters 0.034323949535344976 Centerline is valid? [True, True] Translation: X:149.72, Y:6.92, Z:0.02 [[ 9.93558991e-01 -1.13128321e-01 -6.52023607e-03 1.49723945e+02] [ 1.13124645e-01 9.93580368e-01 -9.31090234e-04 6.92199664e+00] [ 6.58371123e-03 1.87493686e-04 9.99978310e-01 2.48166552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.205336195 meters 0.03003366479098688 Centerline is valid? [True, True] Translation: X:149.78, Y:6.92, Z:0.03 [[ 9.93285972e-01 -1.15475309e-01 -6.95924930e-03 1.49784164e+02] [ 1.15471166e-01 9.93310333e-01 -9.95609675e-04 6.92078816e+00] [ 7.02766258e-03 1.85332493e-04 9.99975288e-01 2.59095602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.265336195 meters 0.030584448608844732 Centerline is valid? [True, True] Translation: X:149.84, Y:6.93, Z:0.03 [[ 9.93185123e-01 -1.16386400e-01 -6.12506689e-03 1.49840994e+02] [ 1.16383209e-01 9.93203998e-01 -8.76045723e-04 6.93050274e+00] [ 6.18540073e-03 1.57220638e-04 9.99980858e-01 2.51173920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.325336195 meters 0.0318030933545649 Centerline is valid? [True, True] Translation: X:149.90, Y:6.94, Z:0.02 [[ 9.93237574e-01 -1.15893311e-01 -6.91821272e-03 1.49899256e+02] [ 1.15889216e-01 9.93261651e-01 -9.91354865e-04 6.93972420e+00] [ 6.98648678e-03 1.82904655e-04 9.99975577e-01 2.31027528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.385336195 meters 0.03237598827185547 Centerline is valid? [True, True] Translation: X:149.96, Y:6.95, Z:0.02 [[ 9.93321457e-01 -1.15096165e-01 -8.08432901e-03 1.49957456e+02] [ 1.15090550e-01 9.93354330e-01 -1.15794031e-03 6.94556768e+00] [ 8.16387772e-03 2.19777084e-04 9.99966651e-01 2.10592689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.445336195 meters 0.033545270075569095 Centerline is valid? [True, True] Translation: X:150.02, Y:6.96, Z:0.02 [[ 9.93699252e-01 -1.11862583e-01 -6.96845195e-03 1.50015830e+02] [ 1.11858330e-01 9.93723663e-01 -9.98261415e-04 6.95694118e+00] [ 7.03638370e-03 2.12492223e-04 9.99975222e-01 2.40790614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.505336195 meters 0.044660245604072245 Centerline is valid? [True, True] Translation: X:150.07, Y:6.98, Z:0.02 [[ 9.94178447e-01 -1.07493364e-01 -7.37512959e-03 1.50072705e+02] [ 1.07488481e-01 9.94205769e-01 -1.05641633e-03 6.97820474e+00] [ 7.44595413e-03 2.57524863e-04 9.99972245e-01 2.02157312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56533619500001 meters 0.044838554713730085 Centerline is valid? [True, True] Translation: X:150.13, Y:6.99, Z:0.02 [[ 9.94606084e-01 -1.03434012e-01 -7.75524430e-03 1.50131025e+02] [ 1.03428489e-01 9.94636272e-01 -1.11094585e-03 6.99342066e+00] [ 7.82855687e-03 3.02840297e-04 9.99969311e-01 1.95402759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62533619500002 meters 0.04618428035986278 Centerline is valid? [True, True] Translation: X:150.19, Y:7.00, Z:0.02 [[ 9.94766831e-01 -1.01781358e-01 -8.91669297e-03 1.50189489e+02] [ 1.01773987e-01 9.94806726e-01 -1.27780910e-03 7.00302897e+00] [ 9.00044329e-03 3.63634720e-04 9.99959429e-01 1.94783271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68533619500002 meters 0.04530013966602425 Centerline is valid? [True, True] Translation: X:150.25, Y:7.01, Z:0.01 [[ 9.94501068e-01 -1.04180788e-01 -1.06766051e-02 1.50246647e+02] [ 1.04170351e-01 9.94558292e-01 -1.53055191e-03 7.01480270e+00] [ 1.07779602e-02 4.09949802e-04 9.99941832e-01 1.40992624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.745336195 meters 0.04283942122269674 Centerline is valid? [True, True] Translation: X:150.31, Y:7.03, Z:0.02 [[ 9.94347127e-01 -1.05995788e-01 -6.21965838e-03 1.50305555e+02] [ 1.05992280e-01 9.94366553e-01 -8.91740562e-04 7.02583045e+00] [ 6.27914101e-03 2.27463890e-04 9.99980260e-01 2.17882846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.805336195 meters 0.03716480505714955 Centerline is valid? [True, True] Translation: X:150.36, Y:7.03, Z:0.02 [[ 9.94001163e-01 -1.09051008e-01 -8.34065102e-03 1.50364885e+02] [ 1.09044804e-01 9.94036116e-01 -1.19637264e-03 7.02804416e+00] [ 8.42137398e-03 2.79691148e-04 9.99964500e-01 1.99782336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.865336195 meters 0.034478994679148826 Centerline is valid? [True, True] Translation: X:150.42, Y:7.04, Z:0.02 [[ 9.93779666e-01 -1.11131787e-01 -7.19033593e-03 1.50423133e+02] [ 1.11127216e-01 9.93805652e-01 -1.03340992e-03 7.03851465e+00] [ 7.26064118e-03 2.27939752e-04 9.99973615e-01 2.19078711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.925336195 meters 0.032011992153251075 Centerline is valid? [True, True] Translation: X:150.48, Y:7.05, Z:0.02 [[ 9.93400152e-01 -1.14384237e-01 -8.50793305e-03 1.50480744e+02] [ 1.14377946e-01 9.93436554e-01 -1.22392378e-03 7.05299760e+00] [ 8.59208929e-03 2.42726160e-04 9.99963058e-01 1.87247983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.985336195 meters 0.029614292172745527 Centerline is valid? [True, True] Translation: X:150.54, Y:7.06, Z:0.02 [[ 9.93154059e-01 -1.16606986e-01 -6.91567341e-03 1.50540028e+02] [ 1.16602888e-01 9.93178120e-01 -9.94251177e-04 7.06093758e+00] [ 6.98443215e-03 1.81057103e-04 9.99975592e-01 2.12129277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.045336195 meters 0.029086737207360287 Centerline is valid? [True, True] Translation: X:150.60, Y:7.07, Z:0.02 [[ 9.92860516e-01 -1.18969888e-01 -8.61171640e-03 1.50596374e+02] [ 1.18963615e-01 9.92897841e-01 -1.23884336e-03 7.07279730e+00] [ 8.69793968e-03 2.05517742e-04 9.99962151e-01 1.66657136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.105336195 meters 0.02602190302912272 Centerline is valid? [True, True] Translation: X:150.66, Y:7.08, Z:0.02 [[ 9.92533342e-01 -1.21809873e-01 -6.31818437e-03 1.50655930e+02] [ 1.21806554e-01 9.92553443e-01 -9.08901969e-04 7.07879902e+00] [ 6.38184889e-03 1.32519245e-04 9.99979627e-01 2.02331327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.165336195 meters 0.023402186675229694 Centerline is valid? [True, True] Translation: X:150.72, Y:7.08, Z:0.02 [[ 9.92149224e-01 -1.24823215e-01 -7.68644812e-03 1.50715803e+02] [ 1.24818377e-01 9.92178989e-01 -1.10788156e-03 7.07961831e+00] [ 7.76462166e-03 1.39773851e-04 9.99969845e-01 1.71880505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.225336195 meters 0.019850905274061827 Centerline is valid? [True, True] Translation: X:150.78, Y:7.08, Z:0.02 [[ 9.91800790e-01 -1.27533517e-01 -8.14825773e-03 1.50775110e+02] [ 1.27528159e-01 9.91834253e-01 -1.17592229e-03 7.07893951e+00] [ 8.23169063e-03 1.27148353e-04 9.99966111e-01 1.76149728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.285336195 meters 0.022183134214172916 Centerline is valid? [True, True] Translation: X:150.83, Y:7.08, Z:0.02 [[ 9.91992604e-01 -1.26104244e-01 -6.95651070e-03 1.50833129e+02] [ 1.26100305e-01 9.92016989e-01 -1.00371292e-03 7.08451290e+00] [ 7.02754925e-03 1.18457674e-04 9.99975299e-01 1.80821064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34533619500002 meters 0.02650991657976041 Centerline is valid? [True, True] Translation: X:150.89, Y:7.09, Z:0.02 [[ 9.92524446e-01 -1.21781383e-01 -8.03234982e-03 1.50891458e+02] [ 1.21775989e-01 9.92556933e-01 -1.15897458e-03 7.09421256e+00] [ 8.11370602e-03 1.72163254e-04 9.99967069e-01 1.59273623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40533619500002 meters 0.03089346336208944 Centerline is valid? [True, True] Translation: X:150.95, Y:7.10, Z:0.02 [[ 9.93045282e-01 -1.17545280e-01 -6.64649893e-03 1.50950074e+02] [ 1.17541491e-01 9.93067509e-01 -9.59295822e-04 7.10297790e+00] [ 6.71318283e-03 1.71384797e-04 9.99977452e-01 1.87833966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46533619500002 meters 0.03322131364401919 Centerline is valid? [True, True] Translation: X:151.01, Y:7.11, Z:0.02 [[ 9.93410362e-01 -1.14478777e-01 -5.51923776e-03 1.51008817e+02] [ 1.14476115e-01 9.93425681e-01 -7.96844571e-04 7.10931707e+00] [ 5.57417432e-03 1.59772758e-04 9.99984451e-01 2.12413711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.525336195 meters 0.03902488843695785 Centerline is valid? [True, True] Translation: X:151.07, Y:7.12, Z:0.02 [[ 9.93907038e-01 -1.10042195e-01 -6.28603424e-03 1.51067724e+02] [ 1.10038654e-01 9.93926894e-01 -9.07407775e-04 7.11794029e+00] [ 6.34771163e-03 2.10172226e-04 9.99979831e-01 1.79328332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.585336195 meters 0.045486019651407784 Centerline is valid? [True, True] Translation: X:151.13, Y:7.13, Z:0.02 [[ 9.94604968e-01 -1.03552608e-01 -6.14939783e-03 1.51126316e+02] [ 1.03549096e-01 9.94623947e-01 -8.87643620e-04 7.13316594e+00] [ 6.20825615e-03 2.46090169e-04 9.99980698e-01 1.90894288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.645336195 meters 0.047961806091947105 Centerline is valid? [True, True] Translation: X:151.19, Y:7.14, Z:0.02 [[ 9.94991550e-01 -9.97057248e-02 -7.11218837e-03 1.51185633e+02] [ 9.97009285e-02 9.95016920e-01 -1.02665821e-03 7.14284082e+00] [ 7.17911146e-03 3.12424457e-04 9.99974181e-01 1.63100283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.705336195 meters 0.0474370025750208 Centerline is valid? [True, True] Translation: X:151.24, Y:7.15, Z:0.02 [[ 9.94799710e-01 -1.01682098e-01 -5.85559960e-03 1.51244533e+02] [ 1.01678879e-01 9.94816913e-01 -8.45556491e-04 7.14693251e+00] [ 5.91122747e-03 2.45768548e-04 9.99982498e-01 1.61543650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.765336195 meters 0.04168261716290593 Centerline is valid? [True, True] Translation: X:151.31, Y:7.15, Z:0.01 [[ 9.94223279e-01 -1.07105883e-01 -6.95716706e-03 1.51305267e+02] [ 1.07101472e-01 9.94247588e-01 -1.00446420e-03 7.14599327e+00] [ 7.02473060e-03 2.53538857e-04 9.99975294e-01 1.47893606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.825336195 meters 0.036906631518638544 Centerline is valid? [True, True] Translation: X:151.37, Y:7.14, Z:0.01 [[ 9.93744569e-01 -1.11424684e-01 -7.50143369e-03 1.51366556e+02] [ 1.11419679e-01 9.93772852e-01 -1.08319401e-03 7.14190036e+00] [ 7.57541571e-03 2.40610833e-04 9.99971277e-01 1.43811150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.885336195 meters 0.03278558105567716 Centerline is valid? [True, True] Translation: X:151.43, Y:7.14, Z:0.02 [[ 9.93431850e-01 -1.14324131e-01 -4.81176731e-03 1.51427358e+02] [ 1.14322105e-01 9.93443493e-01 -6.95102966e-04 7.14202283e+00] [ 4.85968596e-03 1.40446060e-04 9.99988182e-01 1.93924156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.945336195 meters 0.02980353355167166 Centerline is valid? [True, True] Translation: X:151.49, Y:7.14, Z:0.02 [[ 9.93130817e-01 -1.16952784e-01 -3.63693040e-03 1.51488107e+02] [ 1.16951643e-01 9.93137471e-01 -5.25496568e-04 7.13963760e+00] [ 3.67343014e-03 9.65418502e-05 9.99993248e-01 2.06430546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.005336195 meters 0.03386008346636785 Centerline is valid? [True, True] Translation: X:151.55, Y:7.15, Z:0.02 [[ 9.93259466e-01 -1.15774612e-01 -5.64549208e-03 1.51546659e+02] [ 1.15771843e-01 9.93275498e-01 -8.15902021e-04 7.14662400e+00] [ 5.70198970e-03 1.56813384e-04 9.99983731e-01 1.50591324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06533619500001 meters 0.036214207106422695 Centerline is valid? [True, True] Translation: X:151.61, Y:7.15, Z:0.01 [[ 9.93433313e-01 -1.14171915e-01 -7.41800034e-03 1.51606355e+02] [ 1.14167090e-01 9.93460984e-01 -1.07206188e-03 7.15281572e+00] [ 7.49189327e-03 2.18130474e-04 9.99971912e-01 1.13164191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12533619500002 meters 0.03518184049223603 Centerline is valid? [True, True] Translation: X:151.66, Y:7.16, Z:0.01 [[ 9.93662576e-01 -1.12223542e-01 -6.36881742e-03 1.51664493e+02] [ 1.12219931e-01 9.93682965e-01 -9.22624568e-04 7.16054725e+00] [ 6.43212558e-03 2.02069253e-04 9.99979293e-01 1.42732459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18533619500002 meters 0.03723181074218671 Centerline is valid? [True, True] Translation: X:151.72, Y:7.17, Z:0.01 [[ 9.93727558e-01 -1.11666377e-01 -6.01341226e-03 1.51721979e+02] [ 1.11663150e-01 9.93745733e-01 -8.70751128e-04 7.16967775e+00] [ 6.07303640e-03 1.93812838e-04 9.99981540e-01 1.38296074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.245336195 meters 0.036904765702407444 Centerline is valid? [True, True] Translation: X:151.78, Y:7.17, Z:0.01 [[ 9.93655146e-01 -1.12261642e-01 -6.83921384e-03 1.51779641e+02] [ 1.12257467e-01 9.93678658e-01 -9.92530382e-04 7.17470732e+00] [ 6.90740392e-03 2.18480100e-04 9.99976120e-01 1.26248305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.305336195 meters 0.03826747740013663 Centerline is valid? [True, True] Translation: X:151.84, Y:7.19, Z:0.01 [[ 9.93998506e-01 -1.09158935e-01 -7.16215283e-03 1.51839374e+02] [ 1.09154286e-01 9.94024278e-01 -1.03791890e-03 7.18511185e+00] [ 7.23265191e-03 2.49910159e-04 9.99973813e-01 1.20367879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.365336195 meters 0.04073940358156374 Centerline is valid? [True, True] Translation: X:151.90, Y:7.20, Z:0.01 [[ 9.94165277e-01 -1.07681068e-01 -6.33946192e-03 1.51896555e+02] [ 1.07677391e-01 9.94185463e-01 -9.19520319e-04 7.19549589e+00] [ 6.40161581e-03 2.31538450e-04 9.99979483e-01 1.17950515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.425336195 meters 0.04266466960455543 Centerline is valid? [True, True] Translation: X:151.95, Y:7.21, Z:0.01 [[ 9.94258184e-01 -1.06714496e-01 -7.91708654e-03 1.51954437e+02] [ 1.06708729e-01 9.94289660e-01 -1.14852984e-03 7.20900379e+00] [ 7.99444207e-03 2.97112954e-04 9.99968000e-01 8.15185853e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.485336195 meters 0.04069689172235641 Centerline is valid? [True, True] Translation: X:152.01, Y:7.21, Z:0.01 [[ 9.94259869e-01 -1.06701783e-01 -7.87673852e-03 1.52012657e+02] [ 1.06696057e-01 9.94291024e-01 -1.14492788e-03 7.21477030e+00] [ 7.95393625e-03 2.97938904e-04 9.99968323e-01 9.38131894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.545336195 meters 0.039672969003498114 Centerline is valid? [True, True] Translation: X:152.07, Y:7.23, Z:0.01 [[ 9.93942040e-01 -1.09678322e-01 -7.06307235e-03 1.52070727e+02] [ 1.09673798e-01 9.93967105e-01 -1.02587071e-03 7.22557261e+00] [ 7.13297735e-03 2.45022053e-04 9.99974530e-01 7.99743377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.605336195 meters 0.03471959980037166 Centerline is valid? [True, True] Translation: X:152.13, Y:7.23, Z:0.00 [[ 9.93542274e-01 -1.13085426e-01 -9.24316440e-03 1.52130207e+02] [ 1.13077815e-01 9.93585227e-01 -1.34360652e-03 7.22706641e+00] [ 9.33581391e-03 2.89733049e-04 9.99956378e-01 4.48528918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.665336195 meters 0.03609513845650609 Centerline is valid? [True, True] Translation: X:152.19, Y:7.24, Z:0.00 [[ 9.93596713e-01 -1.12544203e-01 -9.96866207e-03 1.52187820e+02] [ 1.12535319e-01 9.93646668e-01 -1.44947704e-03 7.23668891e+00] [ 1.00684581e-02 3.18369055e-04 9.99949261e-01 3.05220584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.725336195 meters 0.042656156457128266 Centerline is valid? [True, True] Translation: X:152.24, Y:7.26, Z:-0.00 [[ 9.93800278e-01 -1.10672885e-01 -1.06075859e-02 1.52244166e+02] [ 1.10662717e-01 9.93856823e-01 -1.54254689e-03 7.25731190e+00] [ 1.07131397e-02 3.59119254e-04 9.99942548e-01 -1.48164623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.785336195 meters 0.04279291945195079 Centerline is valid? [True, True] Translation: X:152.30, Y:7.27, Z:0.00 [[ 9.94044145e-01 -1.08627260e-01 -8.73824171e-03 1.52302266e+02] [ 1.08620260e-01 9.94082501e-01 -1.27314598e-03 7.26891187e+00] [ 8.82483153e-03 3.16413217e-04 9.99961010e-01 3.02959537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84533619500002 meters 0.04170760731354437 Centerline is valid? [True, True] Translation: X:152.36, Y:7.28, Z:0.01 [[ 9.94216290e-01 -1.07084481e-01 -8.17812781e-03 1.52360880e+02] [ 1.07078284e-01 9.94249877e-01 -1.19304006e-03 7.27572998e+00] [ 8.25885864e-03 3.10439972e-04 9.99965847e-01 5.85225280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90533619500002 meters 0.04499719216686422 Centerline is valid? [True, True] Translation: X:152.42, Y:7.30, Z:0.00 [[ 9.94382121e-01 -1.05471988e-01 -8.93627256e-03 1.52417070e+02] [ 1.05464532e-01 9.94422212e-01 -1.30284926e-03 7.29740027e+00] [ 9.02384202e-03 3.53070204e-04 9.99959222e-01 2.33910444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96533619500002 meters 0.0419665594774039 Centerline is valid? [True, True] Translation: X:152.48, Y:7.30, Z:0.00 [[ 9.94210424e-01 -1.06960453e-01 -1.02515916e-02 1.52475922e+02] [ 1.06950694e-01 9.94263198e-01 -1.49709298e-03 7.30435761e+00] [ 1.03529100e-02 3.92010607e-04 9.99946330e-01 1.81143046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.025336195 meters 0.044650218712857334 Centerline is valid? [True, True] Translation: X:152.53, Y:7.32, Z:0.00 [[ 9.94125197e-01 -1.07983532e-01 -7.39249206e-03 1.52533103e+02] [ 1.07978489e-01 9.94152645e-01 -1.07916685e-03 7.31889179e+00] [ 7.46579779e-03 2.74596841e-04 9.99972093e-01 3.49523941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.085336195 meters 0.04683676206379887 Centerline is valid? [True, True] Translation: X:152.59, Y:7.33, Z:0.00 [[ 9.94018355e-01 -1.08975303e-01 -7.20367592e-03 1.52589131e+02] [ 1.08970536e-01 9.94044423e-01 -1.05222903e-03 7.33322296e+00] [ 7.27544085e-03 2.60946543e-04 9.99973500e-01 1.18130209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.145336195 meters 0.04216126184914705 Centerline is valid? [True, True] Translation: X:152.65, Y:7.34, Z:0.00 [[ 9.93909570e-01 -1.09900977e-01 -8.09585447e-03 1.52648114e+02] [ 1.09894968e-01 9.93942500e-01 -1.18462699e-03 7.33749205e+00] [ 8.17700549e-03 2.87718425e-04 9.99966526e-01 8.87987699e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.205336195 meters 0.04140960628699905 Centerline is valid? [True, True] Translation: X:152.71, Y:7.34, Z:0.00 [[ 9.93861021e-01 -1.10399873e-01 -7.22077987e-03 1.52707106e+02] [ 1.10395097e-01 9.93887219e-01 -1.05789822e-03 7.34316065e+00] [ 7.29343265e-03 2.54265106e-04 9.99973370e-01 2.55056560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.265336195 meters 0.03881231581858613 Centerline is valid? [True, True] Translation: X:152.76, Y:7.35, Z:0.01 [[ 9.94024937e-01 -1.08935144e-01 -6.89636251e-03 1.52764965e+02] [ 1.08930743e-01 9.94048827e-01 -1.01168187e-03 7.35413655e+00] [ 6.96552877e-03 2.54411120e-04 9.99975708e-01 5.25498683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.325336195 meters 0.04222045428593553 Centerline is valid? [True, True] Translation: X:152.82, Y:7.37, Z:0.00 [[ 9.94147254e-01 -1.07843749e-01 -6.40017795e-03 1.52821143e+02] [ 1.07839938e-01 9.94167826e-01 -9.38713540e-04 7.36668216e+00] [ 6.46408538e-03 2.43024698e-04 9.99979078e-01 4.58052060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.385336195 meters 0.04573030679639472 Centerline is valid? [True, True] Translation: X:152.88, Y:7.38, Z:0.00 [[ 9.94241355e-01 -1.06881508e-01 -7.77632109e-03 1.52878219e+02] [ 1.06875850e-01 9.94271719e-01 -1.14062679e-03 7.38069155e+00] [ 7.85368805e-03 3.02957399e-04 9.99969113e-01 7.84332475e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.445336195 meters 0.04370832380688157 Centerline is valid? [True, True] Translation: X:152.94, Y:7.39, Z:-0.00 [[ 9.94317713e-01 -1.06010770e-01 -9.69552384e-03 1.52936416e+02] [ 1.06001933e-01 9.94364906e-01 -1.42230867e-03 7.39111395e+00] [ 9.79166869e-03 3.86482436e-04 9.99951986e-01 -6.25980170e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.505336195 meters 0.04484414448683173 Centerline is valid? [True, True] Translation: X:152.99, Y:7.40, Z:0.00 [[ 9.94286325e-01 -1.06455610e-01 -7.86814148e-03 1.52993305e+02] [ 1.06449799e-01 9.94317407e-01 -1.15493503e-03 7.40321705e+00] [ 7.94637935e-03 3.10774034e-04 9.99968379e-01 8.64307192e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56533619500001 meters 0.04061984210811128 Centerline is valid? [True, True] Translation: X:153.05, Y:7.41, Z:0.00 [[ 9.93912410e-01 -1.09964713e-01 -6.77366839e-03 1.53053011e+02] [ 1.09960489e-01 9.93935462e-01 -9.94062497e-04 7.41155134e+00] [ 6.84190102e-03 2.43175165e-04 9.99976564e-01 1.92320734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62533619500002 meters 0.03852844560441221 Centerline is valid? [True, True] Translation: X:153.11, Y:7.42, Z:0.00 [[ 9.93501084e-01 -1.13627198e-01 -6.66756122e-03 1.53111357e+02] [ 1.13623186e-01 9.93523434e-01 -9.78739249e-04 7.41982214e+00] [ 6.73558972e-03 2.14788957e-04 9.99977293e-01 1.34376721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68533619500002 meters 0.03337242915637928 Centerline is valid? [True, True] Translation: X:153.17, Y:7.42, Z:0.01 [[ 9.93223088e-01 -1.16134778e-01 -4.53982634e-03 1.53171352e+02] [ 1.16132944e-01 9.93233455e-01 -6.66431992e-04 7.42465829e+00] [ 4.58650333e-03 1.34692242e-04 9.99989473e-01 6.02687538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.745336195 meters 0.03718793864756653 Centerline is valid? [True, True] Translation: X:153.23, Y:7.44, Z:-0.00 [[ 9.93264696e-01 -1.15627086e-01 -7.45788132e-03 1.53227859e+02] [ 1.15622118e-01 9.93292669e-01 -1.09536253e-03 7.44023795e+00] [ 7.53451242e-03 2.25688901e-04 9.99971590e-01 -2.37166323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.805336195 meters 0.03931728780301864 Centerline is valid? [True, True] Translation: X:153.29, Y:7.45, Z:-0.01 [[ 9.93406023e-01 -1.14108622e-01 -1.11218891e-02 1.53287576e+02] [ 1.14097481e-01 9.93468217e-01 -1.63318939e-03 7.44819967e+00] [ 1.12356044e-02 3.53440644e-04 9.99936816e-01 -8.12912698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.865336195 meters 0.038694927086426446 Centerline is valid? [True, True] Translation: X:153.35, Y:7.46, Z:0.00 [[ 9.93841786e-01 -1.10556318e-01 -7.47027569e-03 1.53345621e+02] [ 1.10551188e-01 9.93869826e-01 -1.09746116e-03 7.46045484e+00] [ 7.54581286e-03 2.64854911e-04 9.99971495e-01 9.70199356e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.925336195 meters 0.04200304433463237 Centerline is valid? [True, True] Translation: X:153.40, Y:7.47, Z:0.00 [[ 9.94153639e-01 -1.07860613e-01 -4.96292013e-03 1.53404181e+02] [ 1.07858314e-01 9.94166008e-01 -7.29223607e-04 7.47271674e+00] [ 5.01262100e-03 1.89668103e-04 9.99987419e-01 4.53026156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.985336195 meters 0.04567934136752505 Centerline is valid? [True, True] Translation: X:153.46, Y:7.49, Z:-0.00 [[ 9.94312873e-01 -1.06268578e-01 -6.99287468e-03 1.53461275e+02] [ 1.06263974e-01 9.94337423e-01 -1.02775825e-03 7.48626842e+00] [ 7.06249540e-03 2.78822612e-04 9.99975021e-01 -1.40028100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.045336195 meters 0.05188275624086098 Centerline is valid? [True, True] Translation: X:153.52, Y:7.51, Z:-0.00 [[ 9.94574908e-01 -1.03759438e-01 -7.39811990e-03 1.53518385e+02] [ 1.03754215e-01 9.94602373e-01 -1.08738315e-03 7.50521160e+00] [ 7.47101387e-03 3.13897872e-04 9.99972042e-01 -4.84424044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.105336195 meters 0.048396308692284444 Centerline is valid? [True, True] Translation: X:153.58, Y:7.51, Z:-0.01 [[ 9.94621300e-01 -1.02947112e-01 -1.14175728e-02 1.53577654e+02] [ 1.02934613e-01 9.94686708e-01 -1.67857415e-03 7.50711109e+00] [ 1.15297123e-02 4.94282160e-04 9.99933408e-01 -9.44732224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.165336195 meters 0.044982430814112774 Centerline is valid? [True, True] Translation: X:153.64, Y:7.51, Z:-0.01 [[ 9.94422952e-01 -1.04936239e-01 -1.05535530e-02 1.53637140e+02] [ 1.04925670e-01 9.94478856e-01 -1.55174153e-03 7.51339064e+00] [ 1.06581193e-02 4.35748767e-04 9.99943106e-01 -7.34144353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.225336195 meters 0.04757708741489958 Centerline is valid? [True, True] Translation: X:153.69, Y:7.53, Z:-0.01 [[ 9.94063527e-01 -1.08390595e-01 -9.44366554e-03 1.53694661e+02] [ 1.08382284e-01 9.94108320e-01 -1.38895311e-03 7.52510005e+00] [ 9.53857594e-03 3.57181594e-04 9.99954443e-01 -9.97654412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.285336195 meters 0.036728346013585586 Centerline is valid? [True, True] Translation: X:153.76, Y:7.51, Z:-0.00 [[ 9.93551389e-01 -1.13187038e-01 -6.65824199e-03 1.53757067e+02] [ 1.13183015e-01 9.93573674e-01 -9.79176049e-04 7.51480585e+00] [ 6.72628400e-03 2.19261820e-04 9.99977354e-01 -5.07219595e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34533619500002 meters 0.036912638555223726 Centerline is valid? [True, True] Translation: X:153.81, Y:7.52, Z:-0.00 [[ 9.93399588e-01 -1.14475333e-01 -7.25645910e-03 1.53813999e+02] [ 1.14470583e-01 9.93426064e-01 -1.06799670e-03 7.52354900e+00] [ 7.33101488e-03 2.30296377e-04 9.99973101e-01 -3.42178611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40533619500002 meters 0.039823465478275054 Centerline is valid? [True, True] Translation: X:153.87, Y:7.53, Z:-0.01 [[ 9.93589978e-01 -1.12723568e-01 -8.50605440e-03 1.53873028e+02] [ 1.12716977e-01 9.93626346e-01 -1.25176207e-03 7.53362681e+00] [ 8.59294284e-03 2.84961503e-04 9.99963039e-01 -5.82922480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46533619500002 meters 0.04151567112281545 Centerline is valid? [True, True] Translation: X:153.93, Y:7.54, Z:-0.01 [[ 9.93900633e-01 -1.09840258e-01 -9.83109857e-03 1.53932810e+02] [ 1.09831315e-01 9.93949189e-01 -1.44655343e-03 7.54297663e+00] [ 9.93050225e-03 3.57967883e-04 9.99950627e-01 -6.44988090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.525336195 meters 0.0435237677113251 Centerline is valid? [True, True] Translation: X:153.99, Y:7.56, Z:-0.00 [[ 9.94203677e-01 -1.07187188e-01 -8.36391652e-03 1.53990465e+02] [ 1.07180615e-01 9.94238804e-01 -1.23148704e-03 7.55762680e+00] [ 8.44772999e-03 3.27899228e-04 9.99964264e-01 -4.57262935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.585336195 meters 0.04201037107926666 Centerline is valid? [True, True] Translation: X:154.05, Y:7.56, Z:-0.00 [[ 9.94136574e-01 -1.07812783e-01 -8.29916851e-03 1.54049742e+02] [ 1.07806313e-01 9.94171162e-01 -1.22427726e-03 7.56166816e+00] [ 8.38278674e-03 3.22396044e-04 9.99964812e-01 -2.67008626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.645336195 meters 0.03950421712131901 Centerline is valid? [True, True] Translation: X:154.11, Y:7.57, Z:-0.00 [[ 9.93933552e-01 -1.09734584e-01 -7.37671651e-03 1.54109203e+02] [ 1.09729531e-01 9.93960888e-01 -1.08742848e-03 7.56771904e+00] [ 7.45149620e-03 2.71388007e-04 9.99972200e-01 -1.30855670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.705336195 meters 0.043679141843658086 Centerline is valid? [True, True] Translation: X:154.17, Y:7.58, Z:-0.00 [[ 9.94072464e-01 -1.08437442e-01 -7.82673493e-03 1.54166347e+02] [ 1.08431711e-01 9.94103230e-01 -1.15413073e-03 7.58244942e+00] [ 7.90573346e-03 2.98623316e-04 9.99968705e-01 -4.48045297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.765336195 meters 0.044754416819927444 Centerline is valid? [True, True] Translation: X:154.23, Y:7.60, Z:-0.01 [[ 9.94322306e-01 -1.05989354e-01 -9.45558002e-03 1.54225048e+02] [ 1.05980880e-01 9.94367190e-01 -1.39419681e-03 7.59673897e+00] [ 9.55008856e-03 3.84170299e-04 9.99954323e-01 -6.29275598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.825336195 meters 0.04823548722640934 Centerline is valid? [True, True] Translation: X:154.28, Y:7.61, Z:-0.01 [[ 9.94500229e-01 -1.04247740e-01 -1.00847616e-02 1.54281090e+02] [ 1.04238002e-01 9.94551268e-01 -1.48785909e-03 7.61450648e+00] [ 1.01849184e-02 4.28460801e-04 9.99948041e-01 -7.56717293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.885336195 meters 0.0463178209128305 Centerline is valid? [True, True] Translation: X:154.34, Y:7.62, Z:-0.00 [[ 9.94414898e-01 -1.05195391e-01 -8.54056173e-03 1.54338906e+02] [ 1.05188439e-01 9.94451509e-01 -1.26045043e-03 7.62420225e+00] [ 8.62576807e-03 3.55042329e-04 9.99962734e-01 -4.67711009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.945336195 meters 0.04518425773342459 Centerline is valid? [True, True] Translation: X:154.40, Y:7.64, Z:-0.01 [[ 9.94182186e-01 -1.07353975e-01 -8.76955200e-03 1.54396052e+02] [ 1.07346728e-01 9.94220803e-01 -1.29431662e-03 7.63805995e+00] [ 8.85782107e-03 3.45403809e-04 9.99960709e-01 -5.88515838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.005336195 meters 0.04250100759933561 Centerline is valid? [True, True] Translation: X:154.45, Y:7.65, Z:-0.01 [[ 9.93886005e-01 -1.10040651e-01 -9.03687485e-03 1.54454214e+02] [ 1.10033064e-01 9.93927032e-01 -1.33395615e-03 7.65190712e+00] [ 9.12878360e-03 3.31445318e-04 9.99958277e-01 -7.58648929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06533619500001 meters 0.03847004791556085 Centerline is valid? [True, True] Translation: X:154.51, Y:7.66, Z:-0.00 [[ 9.93481225e-01 -1.13737425e-01 -7.67160086e-03 1.54513908e+02] [ 1.13732067e-01 9.93510812e-01 -1.13244728e-03 7.65964411e+00] [ 7.75062004e-03 2.52558082e-04 9.99969932e-01 -4.86345683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12533619500002 meters 0.037519161858704436 Centerline is valid? [True, True] Translation: X:154.57, Y:7.68, Z:-0.01 [[ 9.92949271e-01 -1.18344201e-01 -6.81144904e-03 1.54571759e+02] [ 1.18340084e-01 9.92972614e-01 -1.00566477e-03 7.67530740e+00] [ 6.88259695e-03 1.92506648e-04 9.99976296e-01 -7.24522461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18533619500002 meters 0.029431014783898417 Centerline is valid? [True, True] Translation: X:154.63, Y:7.68, Z:-0.00 [[ 9.92580465e-01 -1.21441038e-01 -6.00784459e-03 1.54631520e+02] [ 1.21437891e-01 9.92598636e-01 -8.87223256e-04 7.67728799e+00] [ 6.07112366e-03 1.51060496e-04 9.99981559e-01 -3.64749854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.245336195 meters 0.02915592951807368 Centerline is valid? [True, True] Translation: X:154.69, Y:7.69, Z:-0.01 [[ 9.92471373e-01 -1.22125687e-01 -9.26765916e-03 1.54689751e+02] [ 1.22118204e-01 9.92514617e-01 -1.37121507e-03 7.68655221e+00] [ 9.36574776e-03 2.29141815e-04 9.99956114e-01 -8.15952680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.305336195 meters 0.03232768917530969 Centerline is valid? [True, True] Translation: X:154.74, Y:7.71, Z:-0.01 [[ 9.92607150e-01 -1.21008165e-01 -9.38455271e-03 1.54744618e+02] [ 1.21000443e-01 9.92651482e-01 -1.38844103e-03 7.70702348e+00] [ 9.48360286e-03 2.42641462e-04 9.99955000e-01 -1.01910869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.365336195 meters 0.03214273051693132 Centerline is valid? [True, True] Translation: X:154.80, Y:7.72, Z:-0.01 [[ 9.92812736e-01 -1.19350747e-01 -8.84710774e-03 1.54802902e+02] [ 1.19343798e-01 9.92852123e-01 -1.31121700e-03 7.71649861e+00] [ 8.94036443e-03 2.45945504e-04 9.99960004e-01 -8.66434515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.425336195 meters 0.03227265412099515 Centerline is valid? [True, True] Translation: X:154.86, Y:7.73, Z:-0.01 [[ 9.92728996e-01 -1.20136894e-01 -7.50111802e-03 1.54859718e+02] [ 1.20131910e-01 9.92757314e-01 -1.11318992e-03 7.73033312e+00] [ 7.58052496e-03 2.03972274e-04 9.99971247e-01 -7.98380627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.485336195 meters 0.03398817945212822 Centerline is valid? [True, True] Translation: X:154.92, Y:7.74, Z:-0.01 [[ 9.92644520e-01 -1.20733527e-01 -8.95950338e-03 1.54916389e+02] [ 1.20726445e-01 9.92684924e-01 -1.32908732e-03 7.74170552e+00] [ 9.05442934e-03 2.37662255e-04 9.99958980e-01 -1.22149440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.545336195 meters 0.03282691666861714 Centerline is valid? [True, True] Translation: X:154.98, Y:7.75, Z:-0.01 [[ 9.92814812e-01 -1.19405232e-01 -7.81913995e-03 1.54975119e+02] [ 1.19399780e-01 9.92845578e-01 -1.16213669e-03 7.74759124e+00] [ 7.90196372e-03 2.20182935e-04 9.99968755e-01 -8.76418136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.605336195 meters 0.04104846011974123 Centerline is valid? [True, True] Translation: X:155.03, Y:7.77, Z:-0.01 [[ 9.93475972e-01 -1.13650818e-01 -9.43318133e-03 1.55031837e+02] [ 1.13642635e-01 9.93520704e-01 -1.40070927e-03 7.77246546e+00] [ 9.53125271e-03 3.19559424e-04 9.99954526e-01 -1.36040813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.665336195 meters 0.046779735120719944 Centerline is valid? [True, True] Translation: X:155.09, Y:7.79, Z:-0.01 [[ 9.94034955e-01 -1.08645513e-01 -9.52155136e-03 1.55090638e+02] [ 1.08636947e-01 9.94080487e-01 -1.41381014e-03 7.78648109e+00] [ 9.61879254e-03 3.70984433e-04 9.99953670e-01 -1.38703467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.725336195 meters 0.04994043113092852 Centerline is valid? [True, True] Translation: X:155.15, Y:7.80, Z:-0.01 [[ 9.94443205e-01 -1.04878713e-01 -9.11960267e-03 1.55148941e+02] [ 1.04870695e-01 9.94484944e-01 -1.35436513e-03 7.80461605e+00] [ 9.21135162e-03 3.90460133e-04 9.99957498e-01 -1.21897988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.785336195 meters 0.05086533623971708 Centerline is valid? [True, True] Translation: X:155.21, Y:7.82, Z:-0.01 [[ 9.94877827e-01 -1.00713545e-01 -8.65400876e-03 1.55208009e+02] [ 1.00706167e-01 9.94915381e-01 -1.28515750e-03 7.82101205e+00] [ 8.73943920e-03 4.07062649e-04 9.99961728e-01 -1.18004623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84533619500002 meters 0.04807072921833987 Centerline is valid? [True, True] Translation: X:155.27, Y:7.83, Z:-0.01 [[ 9.94703553e-01 -1.02469038e-01 -8.05836542e-03 1.55268254e+02] [ 1.02462697e-01 9.94736127e-01 -1.19687110e-03 7.82602969e+00] [ 8.13858944e-03 3.64850081e-04 9.99966815e-01 -1.02216889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90533619500002 meters 0.052610114036384895 Centerline is valid? [True, True] Translation: X:155.32, Y:7.84, Z:-0.01 [[ 9.94588362e-01 -1.03591201e-01 -7.92802795e-03 1.55323596e+02] [ 1.03585092e-01 9.94619897e-01 -1.17837099e-03 7.84426758e+00] [ 8.00744321e-03 3.50768568e-04 9.99967878e-01 -1.32171537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96533619500002 meters 0.04733504048269182 Centerline is valid? [True, True] Translation: X:155.38, Y:7.86, Z:-0.01 [[ 9.94552234e-01 -1.03827670e-01 -9.25570668e-03 1.55380926e+02] [ 1.03819350e-01 9.94595218e-01 -1.37620302e-03 7.85511676e+00] [ 9.34856956e-03 4.07784333e-04 9.99956218e-01 -1.48024089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.025336195 meters 0.04558236485273765 Centerline is valid? [True, True] Translation: X:155.44, Y:7.86, Z:-0.01 [[ 9.94323231e-01 -1.06022655e-01 -8.97269153e-03 1.55440469e+02] [ 1.06014927e-01 9.94363644e-01 -1.33387882e-03 7.86477530e+00] [ 9.06353962e-03 3.75067457e-04 9.99958855e-01 -1.43036475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.085336195 meters 0.0422460092256128 Centerline is valid? [True, True] Translation: X:155.50, Y:7.88, Z:-0.02 [[ 9.93976972e-01 -1.09132436e-01 -9.99455136e-03 1.55499216e+02] [ 1.09123002e-01 9.94027143e-01 -1.48611917e-03 7.87584212e+00] [ 1.00970391e-02 3.86532786e-04 9.99948949e-01 -1.65249240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.145336195 meters 0.03986344803583871 Centerline is valid? [True, True] Translation: X:155.56, Y:7.89, Z:-0.02 [[ 9.93447169e-01 -1.13925562e-01 -9.14817164e-03 1.55557544e+02] [ 1.13917860e-01 9.93489240e-01 -1.36034340e-03 7.88831399e+00] [ 9.24358798e-03 3.09289167e-04 9.99957229e-01 -1.80276751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.205336195 meters 0.028615702547646844 Centerline is valid? [True, True] Translation: X:155.62, Y:7.88, Z:-0.02 [[ 9.92332872e-01 -1.23260378e-01 -9.07475175e-03 1.55618986e+02] [ 1.23253187e-01 9.92374340e-01 -1.34965300e-03 7.88182816e+00] [ 9.17190952e-03 2.20812964e-04 9.99957913e-01 -1.69348065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.265336195 meters 0.025028305112036266 Centerline is valid? [True, True] Translation: X:155.68, Y:7.89, Z:-0.02 [[ 9.91648444e-01 -1.28625103e-01 -9.43109262e-03 1.55678102e+02] [ 1.28617576e-01 9.91693275e-01 -1.40290916e-03 7.88678504e+00] [ 9.53320046e-03 1.78188414e-04 9.99954542e-01 -1.88572693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.325336195 meters 0.021975104850908176 Centerline is valid? [True, True] Translation: X:155.74, Y:7.89, Z:-0.02 [[ 9.91304074e-01 -1.31401016e-01 -7.07143291e-03 1.55737877e+02] [ 1.31396852e-01 9.91329289e-01 -1.05228644e-03 7.88508596e+00] [ 7.14839006e-03 1.13971810e-04 9.99974443e-01 -1.53426961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.385336195 meters 0.02603599263939591 Centerline is valid? [True, True] Translation: X:155.80, Y:7.90, Z:-0.01 [[ 9.91828903e-01 -1.27401496e-01 -6.65480858e-03 1.55796071e+02] [ 1.27397717e-01 9.91851219e-01 -9.90544927e-04 7.89726651e+00] [ 6.72677691e-03 1.34643669e-04 9.99977366e-01 -1.45186110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.445336195 meters 0.0369421538353307 Centerline is valid? [True, True] Translation: X:155.85, Y:7.92, Z:-0.02 [[ 9.93313196e-01 -1.15179555e-01 -7.90975563e-03 1.55853357e+02] [ 1.15173829e-01 9.93344655e-01 -1.17719228e-03 7.91857693e+00] [ 7.99270196e-03 2.58323784e-04 9.99968024e-01 -1.52774901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.505336195 meters 0.05508670357654314 Centerline is valid? [True, True] Translation: X:155.91, Y:7.95, Z:-0.02 [[ 9.94516675e-01 -1.04082646e-01 -1.01678505e-02 1.55908850e+02] [ 1.04072603e-01 9.94568551e-01 -1.51334225e-03 7.95125219e+00] [ 1.02701370e-02 4.46849441e-04 9.99947161e-01 -2.22451147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56533619500001 meters 0.05744931460993784 Centerline is valid? [True, True] Translation: X:155.97, Y:7.97, Z:-0.02 [[ 9.95348246e-01 -9.58441306e-02 -9.78625797e-03 1.55968147e+02] [ 9.58344303e-02 9.95396223e-01 -1.45647923e-03 7.96538673e+00] [ 9.88079920e-03 5.11843593e-04 9.99951053e-01 -1.92872156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62533619500002 meters 0.06468382010809856 Centerline is valid? [True, True] Translation: X:156.02, Y:7.99, Z:-0.01 [[ 9.95844409e-01 -9.08264827e-02 -6.66800170e-03 1.56024451e+02] [ 9.08218661e-02 9.95866659e-01 -9.92554597e-04 7.99368978e+00] [ 6.73059082e-03 3.82829589e-04 9.99977276e-01 -1.43336062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68533619500002 meters 0.060901631674620954 Centerline is valid? [True, True] Translation: X:156.08, Y:8.00, Z:-0.02 [[ 9.95451792e-01 -9.49856626e-02 -7.31120841e-03 1.56084550e+02] [ 9.49802246e-02 9.95478565e-01 -1.08823064e-03 8.00179488e+00] [ 7.38151757e-03 3.88860923e-04 9.99972681e-01 -1.68500357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.745336195 meters 0.051332750337691635 Centerline is valid? [True, True] Translation: X:156.15, Y:8.00, Z:-0.02 [[ 9.94487086e-01 -1.04582628e-01 -7.60986695e-03 1.56145804e+02] [ 1.04577016e-01 9.94516146e-01 -1.13273772e-03 8.00244057e+00] [ 7.68660024e-03 3.30675855e-04 9.99970403e-01 -1.88558923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.805336195 meters 0.037368342605031545 Centerline is valid? [True, True] Translation: X:156.21, Y:8.00, Z:-0.02 [[ 9.93437718e-01 -1.14123451e-01 -7.57223933e-03 1.56208206e+02] [ 1.14118171e-01 9.93466543e-01 -1.12713952e-03 7.99535497e+00] [ 7.65139948e-03 2.55612804e-04 9.99970695e-01 -1.74139233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.865336195 meters 0.02755779417837339 Centerline is valid? [True, True] Translation: X:156.27, Y:7.99, Z:-0.02 [[ 9.92222432e-01 -1.24217202e-01 -8.04558688e-03 1.56269834e+02] [ 1.24211571e-01 9.92255033e-01 -1.19771086e-03 7.99071900e+00] [ 8.13205037e-03 1.89040595e-04 9.99966916e-01 -1.84406482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.925336195 meters 0.023019423667776515 Centerline is valid? [True, True] Translation: X:156.33, Y:7.99, Z:-0.02 [[ 9.91640305e-01 -1.28850325e-01 -6.86282433e-03 1.56329629e+02] [ 1.28846337e-01 9.91664044e-01 -1.02194147e-03 7.99416487e+00] [ 6.93729362e-03 1.29148574e-04 9.99975928e-01 -1.57904643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.985336195 meters 0.022157009598965362 Centerline is valid? [True, True] Translation: X:156.39, Y:8.00, Z:-0.02 [[ 9.91433086e-01 -1.30418402e-01 -7.17468154e-03 1.56387265e+02] [ 1.30414079e-01 9.91459039e-01 -1.06909204e-03 7.99984722e+00] [ 7.25283214e-03 1.24253732e-04 9.99973690e-01 -1.76495599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.045336195 meters 0.02850327864519091 Centerline is valid? [True, True] Translation: X:156.45, Y:8.01, Z:-0.02 [[ 9.92177968e-01 -1.24591101e-01 -7.74185804e-03 1.56446551e+02] [ 1.24585895e-01 9.92208156e-01 -1.15310867e-03 8.01378675e+00] [ 7.82520178e-03 1.79562710e-04 9.99969367e-01 -1.79862588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.105336195 meters 0.035341340354341264 Centerline is valid? [True, True] Translation: X:156.50, Y:8.04, Z:-0.02 [[ 9.93208086e-01 -1.16022199e-01 -8.74914430e-03 1.56504023e+02] [ 1.16015216e-01 9.93246581e-01 -1.30321623e-03 8.03636576e+00] [ 8.84125967e-03 2.79331035e-04 9.99960876e-01 -1.81656142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.165336195 meters 0.044070784024068596 Centerline is valid? [True, True] Translation: X:156.56, Y:8.06, Z:-0.02 [[ 9.94117671e-01 -1.08021950e-01 -7.83032370e-03 1.56560675e+02] [ 1.08016106e-01 9.94148460e-01 -1.16668780e-03 8.05589893e+00] [ 7.91053213e-03 3.14023883e-04 9.99968662e-01 -1.74853688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.225336195 meters 0.05001552277115917 Centerline is valid? [True, True] Translation: X:156.62, Y:8.08, Z:-0.02 [[ 9.94501316e-01 -1.04520248e-01 -6.53070424e-03 1.56617204e+02] [ 1.04516106e-01 9.94522718e-01 -9.73241315e-04 8.07808996e+00] [ 6.59665715e-03 2.85325990e-04 9.99978201e-01 -1.72431838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.285336195 meters 0.05390822315623643 Centerline is valid? [True, True] Translation: X:156.67, Y:8.09, Z:-0.02 [[ 9.94351754e-01 -1.05913861e-01 -6.84420905e-03 1.56674204e+02] [ 1.05909330e-01 9.94375266e-01 -1.02211911e-03 8.09110356e+00] [ 6.91396877e-03 2.91480332e-04 9.99976056e-01 -2.13597118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34533619500002 meters 0.04431896930551184 Centerline is valid? [True, True] Translation: X:156.73, Y:8.09, Z:-0.02 [[ 9.94111280e-01 -1.08096101e-01 -7.61553324e-03 1.56734732e+02] [ 1.08090547e-01 9.94140401e-01 -1.13837331e-03 8.08675144e+00] [ 7.69396299e-03 3.08502593e-04 9.99970353e-01 -1.96704285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40533619500002 meters 0.04586038429475004 Centerline is valid? [True, True] Translation: X:156.79, Y:8.10, Z:-0.02 [[ 9.93869665e-01 -1.10281293e-01 -7.81833609e-03 1.56791977e+02] [ 1.10275512e-01 9.93900371e-01 -1.16802043e-03 8.09922509e+00] [ 7.89945794e-03 2.98689060e-04 9.99968754e-01 -2.21789262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46533619500002 meters 0.043449546121165736 Centerline is valid? [True, True] Translation: X:156.85, Y:8.10, Z:-0.02 [[ 9.93582180e-01 -1.12765604e-01 -8.85269221e-03 1.56851197e+02] [ 1.12758286e-01 9.93621567e-01 -1.32300505e-03 8.10193796e+00] [ 8.94541537e-03 3.16299840e-04 9.99959939e-01 -2.48704795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.525336195 meters 0.036273091190611596 Centerline is valid? [True, True] Translation: X:156.91, Y:8.10, Z:-0.02 [[ 9.93165856e-01 -1.16447800e-01 -7.84170170e-03 1.56911872e+02] [ 1.16442173e-01 9.93196782e-01 -1.17199507e-03 8.10376055e+00] [ 7.92482914e-03 2.50880702e-04 9.99968567e-01 -2.18639280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.585336195 meters 0.0343758708408069 Centerline is valid? [True, True] Translation: X:156.97, Y:8.11, Z:-0.02 [[ 9.93000755e-01 -1.17766019e-01 -8.98135101e-03 1.56970650e+02] [ 1.17758667e-01 9.93041332e-01 -1.34498405e-03 8.10549631e+00] [ 9.07724619e-03 2.77938255e-04 9.99958762e-01 -2.38594516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.645336195 meters 0.03597133786014477 Centerline is valid? [True, True] Translation: X:157.03, Y:8.11, Z:-0.02 [[ 9.93098819e-01 -1.16910702e-01 -9.30716180e-03 1.57028549e+02] [ 1.16902753e-01 9.93142386e-01 -1.39535386e-03 8.11414702e+00] [ 9.40646868e-03 2.97691426e-04 9.99955714e-01 -2.49015575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.705336195 meters 0.04159505594668374 Centerline is valid? [True, True] Translation: X:157.08, Y:8.13, Z:-0.03 [[ 9.93116711e-01 -1.16812936e-01 -8.59862095e-03 1.57084584e+02] [ 1.16806150e-01 9.93153896e-01 -1.28891986e-03 8.13174556e+00] [ 8.69031642e-03 2.75676040e-04 9.99962200e-01 -2.75096858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.765336195 meters 0.03975585204487951 Centerline is valid? [True, True] Translation: X:157.14, Y:8.14, Z:-0.02 [[ 9.93211331e-01 -1.16053267e-01 -7.93042351e-03 1.57143931e+02] [ 1.16047453e-01 9.93242956e-01 -1.19090357e-03 8.13558626e+00] [ 8.01504554e-03 2.62513470e-04 9.99967845e-01 -2.49618258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.825336195 meters 0.041581200455748056 Centerline is valid? [True, True] Translation: X:157.20, Y:8.15, Z:-0.02 [[ 9.93366730e-01 -1.14853142e-01 -5.59418557e-03 1.57201720e+02] [ 1.14850223e-01 9.93382463e-01 -8.41360132e-04 8.14602080e+00] [ 5.65379870e-03 1.93285704e-04 9.99983998e-01 -2.07175028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.885336195 meters 0.038380224004026374 Centerline is valid? [True, True] Translation: X:157.26, Y:8.15, Z:-0.02 [[ 9.93431275e-01 -1.14280683e-01 -5.85038845e-03 1.57259863e+02] [ 1.14277474e-01 9.93448480e-01 -8.80935025e-04 8.15491849e+00] [ 5.91273337e-03 2.06580790e-04 9.99982498e-01 -1.99567153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.945336195 meters 0.04280429827790346 Centerline is valid? [True, True] Translation: X:157.32, Y:8.17, Z:-0.03 [[ 9.93448207e-01 -1.13959469e-01 -8.59648790e-03 1.57316756e+02] [ 1.13952537e-01 9.93485353e-01 -1.29351218e-03 8.16711094e+00] [ 8.68789278e-03 3.05445753e-04 9.99962213e-01 -2.73833943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.005336195 meters 0.03868204659284591 Centerline is valid? [True, True] Translation: X:157.38, Y:8.17, Z:-0.02 [[ 9.93172915e-01 -1.16443993e-01 -6.95394319e-03 1.57376814e+02] [ 1.16439517e-01 9.93197233e-01 -1.04642304e-03 8.17095799e+00] [ 7.02848681e-03 2.29565237e-04 9.99975274e-01 -2.34392370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06533619500001 meters 0.036911068250847515 Centerline is valid? [True, True] Translation: X:157.44, Y:8.18, Z:-0.02 [[ 9.92911433e-01 -1.18735326e-01 -5.36738843e-03 1.57435443e+02] [ 1.18732691e-01 9.92925926e-01 -8.07965991e-04 8.17582452e+00] [ 5.42535323e-03 1.64954197e-04 9.99985269e-01 -2.13388250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12533619500002 meters 0.038718538542909034 Centerline is valid? [True, True] Translation: X:157.49, Y:8.19, Z:-0.02 [[ 9.92766896e-01 -1.20028298e-01 -2.66432764e-03 1.57492134e+02] [ 1.20027653e-01 9.92770468e-01 -4.01531260e-04 8.18685033e+00] [ 2.69326091e-03 7.88339500e-05 9.99996370e-01 -1.83492031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18533619500002 meters 0.03580177026499496 Centerline is valid? [True, True] Translation: X:157.55, Y:8.19, Z:-0.02 [[ 9.93079827e-01 -1.17335548e-01 -4.98254585e-03 1.57552338e+02] [ 1.17333259e-01 9.93092314e-01 -7.50376576e-04 8.18844381e+00] [ 5.03617383e-03 1.60565498e-04 9.99987306e-01 -2.08957611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.245336195 meters 0.041767752310315286 Centerline is valid? [True, True] Translation: X:157.61, Y:8.20, Z:-0.03 [[ 9.93301228e-01 -1.15254314e-01 -8.31348760e-03 1.57609812e+02] [ 1.15247866e-01 9.93335976e-01 -1.25210916e-03 8.20338151e+00] [ 8.40239730e-03 2.85609866e-04 9.99964658e-01 -2.89667646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.305336195 meters 0.04063610663179328 Centerline is valid? [True, True] Translation: X:157.67, Y:8.22, Z:-0.02 [[ 9.93618155e-01 -1.12605620e-01 -6.55263968e-03 1.57668759e+02] [ 1.12601555e-01 9.93639731e-01 -9.87108416e-04 8.21507922e+00] [ 6.62211708e-03 2.42971424e-04 9.99978044e-01 -2.36753054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.365336195 meters 0.04433835134405879 Centerline is valid? [True, True] Translation: X:157.73, Y:8.23, Z:-0.03 [[ 9.93670025e-01 -1.12161964e-01 -6.29090655e-03 1.57725674e+02] [ 1.12158204e-01 9.93689910e-01 -9.48343143e-04 8.22687781e+00] [ 6.35757839e-03 2.36763372e-04 9.99979762e-01 -2.66611809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.425336195 meters 0.03989523542763005 Centerline is valid? [True, True] Translation: X:157.78, Y:8.23, Z:-0.03 [[ 9.93418734e-01 -1.14267911e-01 -7.87798458e-03 1.57784787e+02] [ 1.14262065e-01 9.93449931e-01 -1.18966278e-03 8.23040311e+00] [ 7.96232351e-03 2.81678508e-04 9.99968261e-01 -2.88690794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.485336195 meters 0.03858935831393994 Centerline is valid? [True, True] Translation: X:157.84, Y:8.24, Z:-0.03 [[ 9.93047196e-01 -1.17381148e-01 -8.88435311e-03 1.57843277e+02] [ 1.17373847e-01 9.93086896e-01 -1.34058777e-03 8.23857275e+00] [ 8.98029439e-03 2.88476230e-04 9.99959635e-01 -3.22381358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.545336195 meters 0.036452985099686704 Centerline is valid? [True, True] Translation: X:157.90, Y:8.24, Z:-0.03 [[ 9.92744089e-01 -1.20065418e-01 -6.59317025e-03 1.57901794e+02] [ 1.20061454e-01 9.92765963e-01 -9.95231139e-04 8.24457197e+00] [ 6.66496786e-03 1.96424224e-04 9.99977770e-01 -2.85300951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.605336195 meters 0.03224747718870851 Centerline is valid? [True, True] Translation: X:157.96, Y:8.25, Z:-0.03 [[ 9.92603914e-01 -1.21258461e-01 -5.81846858e-03 1.57960995e+02] [ 1.21255383e-01 9.92620953e-01 -8.80206792e-04 8.24915980e+00] [ 5.88226635e-03 1.68176069e-04 9.99982685e-01 -2.68626651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.665336195 meters 0.032146486536857956 Centerline is valid? [True, True] Translation: X:158.02, Y:8.25, Z:-0.03 [[ 9.92489610e-01 -1.22134022e-01 -6.90319731e-03 1.58018285e+02] [ 1.22129700e-01 9.92513598e-01 -1.04571168e-03 8.25484703e+00] [ 6.97923418e-03 1.94772564e-04 9.99975626e-01 -2.88319584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.725336195 meters 0.03141035240043217 Centerline is valid? [True, True] Translation: X:158.08, Y:8.26, Z:-0.03 [[ 9.92476461e-01 -1.22265772e-01 -6.44630852e-03 1.58076554e+02] [ 1.22261997e-01 9.92497379e-01 -9.77909319e-04 8.26009712e+00] [ 6.51750915e-03 1.82413428e-04 9.99978744e-01 -2.76323163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.785336195 meters 0.03387932090817944 Centerline is valid? [True, True] Translation: X:158.13, Y:8.27, Z:-0.03 [[ 9.92834000e-01 -1.19279554e-01 -7.28266597e-03 1.58134951e+02] [ 1.19274665e-01 9.92860683e-01 -1.10347316e-03 8.27260623e+00] [ 7.36229450e-03 2.26928122e-04 9.99972872e-01 -3.03441120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84533619500002 meters 0.04142944767117324 Centerline is valid? [True, True] Translation: X:158.19, Y:8.29, Z:-0.03 [[ 9.93238102e-01 -1.15837742e-01 -7.72592411e-03 1.58192297e+02] [ 1.15832137e-01 9.93268114e-01 -1.17055161e-03 8.28897700e+00] [ 7.80950812e-03 2.67726162e-04 9.99969469e-01 -3.33970529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90533619500002 meters 0.04464271274961967 Centerline is valid? [True, True] Translation: X:158.25, Y:8.30, Z:-0.04 [[ 9.93542993e-01 -1.13049544e-01 -9.59804013e-03 1.58250619e+02] [ 1.13040762e-01 9.93589287e-01 -1.45438565e-03 8.30367110e+00] [ 9.70092749e-03 3.60024904e-04 9.99952880e-01 -3.72402985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96533619500002 meters 0.04198029599901517 Centerline is valid? [True, True] Translation: X:158.31, Y:8.31, Z:-0.03 [[ 9.93519654e-01 -1.13336480e-01 -8.57549850e-03 1.58309509e+02] [ 1.13329456e-01 9.93556611e-01 -1.30210113e-03 8.30770872e+00] [ 8.66781879e-03 3.21806484e-04 9.99962382e-01 -3.36808971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.025336195 meters 0.04705955225772288 Centerline is valid? [True, True] Translation: X:158.37, Y:8.32, Z:-0.04 [[ 9.93473057e-01 -1.13807371e-01 -7.69196801e-03 1.58365924e+02] [ 1.13801737e-01 9.93502794e-01 -1.16771591e-03 8.32317308e+00] [ 7.77488638e-03 2.84734981e-04 9.99969735e-01 -3.72570018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.085336195 meters 0.039135979643671576 Centerline is valid? [True, True] Translation: X:158.43, Y:8.32, Z:-0.03 [[ 9.93174896e-01 -1.16410507e-01 -7.22634329e-03 1.58427411e+02] [ 1.16405605e-01 9.93201154e-01 -1.09678329e-03 8.31871915e+00] [ 7.30488959e-03 2.48110770e-04 9.99973288e-01 -3.35809716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.145336195 meters 0.03640548447652101 Centerline is valid? [True, True] Translation: X:158.49, Y:8.33, Z:-0.04 [[ 9.92902314e-01 -1.18636261e-01 -8.39240109e-03 1.58486364e+02] [ 1.18629707e-01 9.92937744e-01 -1.27619752e-03 8.32514155e+00] [ 8.48453511e-03 2.71551386e-04 9.99963969e-01 -3.56635317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.205336195 meters 0.03551216384847824 Centerline is valid? [True, True] Translation: X:158.54, Y:8.33, Z:-0.04 [[ 9.92935689e-01 -1.18359166e-01 -8.35620521e-03 1.58544301e+02] [ 1.18352646e-01 9.92970812e-01 -1.27229197e-03 8.33367119e+00] [ 8.44805528e-03 2.74325103e-04 9.99964277e-01 -3.50914843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.265336195 meters 0.04387850028532453 Centerline is valid? [True, True] Translation: X:158.60, Y:8.35, Z:-0.04 [[ 9.93203900e-01 -1.15964874e-01 -9.90758000e-03 1.58601318e+02] [ 1.15955598e-01 9.93253254e-01 -1.50758948e-03 8.34966959e+00] [ 1.00155635e-02 3.48504396e-04 9.99949782e-01 -4.16147860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.325336195 meters 0.047092062039987115 Centerline is valid? [True, True] Translation: X:158.66, Y:8.37, Z:-0.04 [[ 9.93419485e-01 -1.14277261e-01 -7.64428307e-03 1.58656833e+02] [ 1.14271679e-01 9.93448855e-01 -1.16450703e-03 8.36596620e+00] [ 7.72728094e-03 2.83318910e-04 9.99970104e-01 -3.80327355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.385336195 meters 0.04119359285726414 Centerline is valid? [True, True] Translation: X:158.72, Y:8.37, Z:-0.03 [[ 9.93277710e-01 -1.15606218e-01 -5.88163898e-03 1.58716708e+02] [ 1.15602927e-01 9.93295101e-01 -8.97512365e-04 8.36552096e+00] [ 5.94596119e-03 2.11544342e-04 9.99982300e-01 -3.48141951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.445336195 meters 0.03951117412126795 Centerline is valid? [True, True] Translation: X:158.78, Y:8.37, Z:-0.04 [[ 9.93074172e-01 -1.17269533e-01 -7.17946734e-03 1.58776557e+02] [ 1.17264665e-01 9.93100093e-01 -1.09661772e-03 8.36546980e+00] [ 7.25852954e-03 2.47124895e-04 9.99973626e-01 -3.66536863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.505336195 meters 0.042067155392542716 Centerline is valid? [True, True] Translation: X:158.83, Y:8.38, Z:-0.04 [[ 9.93250262e-01 -1.15795015e-01 -6.74036221e-03 1.58833353e+02] [ 1.15790693e-01 9.93273102e-01 -1.02920859e-03 8.37568809e+00] [ 6.81419771e-03 2.41790492e-04 9.99976754e-01 -3.65409495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56533619500001 meters 0.04377656147030362 Centerline is valid? [True, True] Translation: X:158.89, Y:8.38, Z:-0.04 [[ 9.93665294e-01 -1.12127474e-01 -7.53076882e-03 1.58893074e+02] [ 1.12121977e-01 9.93693786e-01 -1.14958280e-03 8.38436759e+00] [ 7.61217800e-03 2.97935844e-04 9.99970983e-01 -3.67281982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62533619500002 meters 0.04949349654391261 Centerline is valid? [True, True] Translation: X:158.95, Y:8.40, Z:-0.04 [[ 9.94318636e-01 -1.06250990e-01 -6.41695738e-03 1.58952069e+02] [ 1.06246876e-01 9.94339299e-01 -9.79641954e-04 8.39639266e+00] [ 6.48472084e-03 2.92294576e-04 9.99978931e-01 -3.58857909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68533619500002 meters 0.05444185994355374 Centerline is valid? [True, True] Translation: X:159.01, Y:8.41, Z:-0.04 [[ 9.94429356e-01 -1.05206915e-01 -6.46224775e-03 1.59008151e+02] [ 1.05202715e-01 9.94450307e-01 -9.87306599e-04 8.41225636e+00] [ 6.53025574e-03 3.01960655e-04 9.99978632e-01 -3.81872448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.745336195 meters 0.05831564219584477 Centerline is valid? [True, True] Translation: X:159.07, Y:8.43, Z:-0.04 [[ 9.94863925e-01 -1.01037403e-01 -6.10037174e-03 1.59066874e+02] [ 1.01033585e-01 9.94882579e-01 -9.31638621e-04 8.42709021e+00] [ 6.16328392e-03 3.10511227e-04 9.99980959e-01 -3.71943097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.805336195 meters 0.059742409309943276 Centerline is valid? [True, True] Translation: X:159.13, Y:8.44, Z:-0.05 [[ 9.94907918e-01 -1.00325399e-01 -9.64616090e-03 1.59125718e+02] [ 1.00315815e-01 9.94954555e-01 -1.47351104e-03 8.43684809e+00] [ 9.74532230e-03 4.98345310e-04 9.99952389e-01 -4.51490990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.865336195 meters 0.06072750998943709 Centerline is valid? [True, True] Translation: X:159.18, Y:8.45, Z:-0.04 [[ 9.94857391e-01 -1.01068834e-01 -6.62287042e-03 1.59182408e+02] [ 1.01064331e-01 9.94879378e-01 -1.01205592e-03 8.45376358e+00] [ 6.69124451e-03 3.37515351e-04 9.99977556e-01 -4.18183943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.925336195 meters 0.05326827519921673 Centerline is valid? [True, True] Translation: X:159.24, Y:8.45, Z:-0.05 [[ 9.94249458e-01 -1.06737666e-01 -8.66522534e-03 1.59243289e+02] [ 1.06730172e-01 9.94287140e-01 -1.32410721e-03 8.45141420e+00] [ 8.75705423e-03 3.91651891e-04 9.99961580e-01 -4.59748345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.985336195 meters 0.04543756194367049 Centerline is valid? [True, True] Translation: X:159.30, Y:8.45, Z:-0.05 [[ 9.93433012e-01 -1.14053427e-01 -9.09216265e-03 1.59304083e+02] [ 1.14045482e-01 9.93474558e-01 -1.38925022e-03 8.45473223e+00] [ 9.19128102e-03 3.43206963e-04 9.99957700e-01 -4.67014522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.045336195 meters 0.038798640857195914 Centerline is valid? [True, True] Translation: X:159.36, Y:8.45, Z:-0.04 [[ 9.92761360e-01 -1.19899262e-01 -7.00356497e-03 1.59364756e+02] [ 1.19894691e-01 9.92786038e-01 -1.07036499e-03 8.45440006e+00] [ 7.08137749e-03 2.22926747e-04 9.99974902e-01 -4.33022386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.105336195 meters 0.03219603675747472 Centerline is valid? [True, True] Translation: X:159.43, Y:8.45, Z:-0.04 [[ 9.92202498e-01 -1.24537334e-01 -4.96547083e-03 1.59425352e+02] [ 1.24535095e-01 9.92214913e-01 -7.58847336e-04 8.45498717e+00] [ 5.02131904e-03 1.34554842e-04 9.99987384e-01 -4.03122934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.165336195 meters 0.033213541951393095 Centerline is valid? [True, True] Translation: X:159.48, Y:8.46, Z:-0.04 [[ 9.92240157e-01 -1.24179620e-01 -6.23639972e-03 1.59482989e+02] [ 1.24176076e-01 9.92259740e-01 -9.53851822e-04 8.46323247e+00] [ 6.30657732e-03 1.72038436e-04 9.99980099e-01 -4.36507927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.225336195 meters 0.03661924630572892 Centerline is valid? [True, True] Translation: X:159.54, Y:8.47, Z:-0.05 [[ 9.92488499e-01 -1.22046321e-01 -8.44239914e-03 1.59542298e+02] [ 1.22039750e-01 9.92524374e-01 -1.29102909e-03 8.47169019e+00] [ 8.53685227e-03 2.51023238e-04 9.99963529e-01 -4.77906400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.285336195 meters 0.0363786715567435 Centerline is valid? [True, True] Translation: X:159.60, Y:8.48, Z:-0.05 [[ 9.92841716e-01 -1.19050632e-01 -9.60596400e-03 1.59601498e+02] [ 1.19041986e-01 9.92888135e-01 -1.46897611e-03 8.48135552e+00] [ 9.71253021e-03 3.14947739e-04 9.99952783e-01 -4.70009639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34533619500002 meters 0.04065268406029931 Centerline is valid? [True, True] Translation: X:159.66, Y:8.49, Z:-0.04 [[ 9.93266401e-01 -1.15636549e-01 -7.07433049e-03 1.59658500e+02] [ 1.15631768e-01 9.93291560e-01 -1.08247717e-03 8.49379028e+00] [ 7.15204669e-03 2.57170862e-04 9.99974391e-01 -4.46559777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40533619500002 meters 0.0480957525607842 Centerline is valid? [True, True] Translation: X:159.72, Y:8.51, Z:-0.04 [[ 9.93763960e-01 -1.11376405e-01 -5.33741500e-03 1.59715133e+02] [ 1.11373622e-01 9.93778270e-01 -8.16736214e-04 8.51235319e+00] [ 5.39517219e-03 2.17195775e-04 9.99985422e-01 -4.42795516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46533619500002 meters 0.0494533603538858 Centerline is valid? [True, True] Translation: X:159.77, Y:8.52, Z:-0.05 [[ 9.94065488e-01 -1.08488044e-01 -8.00940583e-03 1.59774449e+02] [ 1.08481684e-01 9.94097693e-01 -1.22550659e-03 8.52176545e+00] [ 8.09508467e-03 3.49359974e-04 9.99967173e-01 -4.83480044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.525336195 meters 0.054167668508423174 Centerline is valid? [True, True] Translation: X:159.83, Y:8.53, Z:-0.05 [[ 9.94302628e-01 -1.06151390e-01 -9.70389452e-03 1.59832923e+02] [ 1.06141942e-01 9.94349880e-01 -1.48494167e-03 8.53384918e+00] [ 9.80669497e-03 4.46491199e-04 9.99951814e-01 -5.26096761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.585336195 meters 0.05381025768659668 Centerline is valid? [True, True] Translation: X:159.89, Y:8.55, Z:-0.05 [[ 9.94308846e-01 -1.06254592e-01 -7.73830423e-03 1.59890290e+02] [ 1.06248568e-01 9.94338893e-01 -1.18657795e-03 8.54579643e+00] [ 7.82057621e-03 3.57641212e-04 9.99969355e-01 -4.92943109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.645336195 meters 0.051811311303725814 Centerline is valid? [True, True] Translation: X:159.95, Y:8.55, Z:-0.05 [[ 9.94058970e-01 -1.08533008e-01 -8.20668827e-03 1.59950382e+02] [ 1.08526319e-01 9.94092781e-01 -1.25727687e-03 8.55213779e+00] [ 8.29466560e-03 3.59165679e-04 9.99965534e-01 -5.08818404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.705336195 meters 0.0483196166258497 Centerline is valid? [True, True] Translation: X:160.01, Y:8.56, Z:-0.05 [[ 9.93723790e-01 -1.11622338e-01 -7.31318966e-03 1.60010110e+02] [ 1.11617109e-01 9.93750656e-01 -1.12048559e-03 8.55849320e+00] [ 7.39255824e-03 2.97176095e-04 9.99972631e-01 -4.96892897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.765336195 meters 0.04115712807077213 Centerline is valid? [True, True] Translation: X:160.07, Y:8.56, Z:-0.05 [[ 9.93373933e-01 -1.14723793e-01 -6.83225646e-03 1.60070576e+02] [ 1.14719301e-01 9.93397396e-01 -1.04713513e-03 8.56013517e+00] [ 6.90727709e-03 2.56405060e-04 9.99976112e-01 -4.76501109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.825336195 meters 0.03700445384951024 Centerline is valid? [True, True] Translation: X:160.13, Y:8.56, Z:-0.05 [[ 9.92918236e-01 -1.18632468e-01 -6.30194245e-03 1.60130146e+02] [ 1.18628723e-01 9.92938212e-01 -9.65997962e-04 8.56438395e+00] [ 6.37203819e-03 2.11565604e-04 9.99979676e-01 -4.65334447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.885336195 meters 0.03692719638350256 Centerline is valid? [True, True] Translation: X:160.19, Y:8.57, Z:-0.05 [[ 9.92794379e-01 -1.19592102e-01 -7.55317261e-03 1.60187695e+02] [ 1.19586730e-01 9.92823079e-01 -1.16054140e-03 8.57338505e+00] [ 7.63775567e-03 2.48919760e-04 9.99970801e-01 -4.90898739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.945336195 meters 0.04069545066993706 Centerline is valid? [True, True] Translation: X:160.24, Y:8.58, Z:-0.05 [[ 9.92991483e-01 -1.18027397e-01 -6.11943515e-03 1.60244155e+02] [ 1.18023843e-01 9.93010317e-01 -9.39886235e-04 8.58422399e+00] [ 6.18759456e-03 2.11059772e-04 9.99980834e-01 -4.79736483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.005336195 meters 0.042972623490711265 Centerline is valid? [True, True] Translation: X:160.30, Y:8.59, Z:-0.05 [[ 9.93118172e-01 -1.17006864e-01 -5.06847098e-03 1.60300840e+02] [ 1.17004411e-01 9.93131090e-01 -7.78828661e-04 8.59372520e+00] [ 5.12478441e-03 1.80435435e-04 9.99986852e-01 -4.63067557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06533619500001 meters 0.04360121022659651 Centerline is valid? [True, True] Translation: X:160.36, Y:8.60, Z:-0.05 [[ 9.93321177e-01 -1.15189086e-01 -6.67193747e-03 1.60359905e+02] [ 1.15184795e-01 9.93343552e-01 -1.02514789e-03 8.59950790e+00] [ 6.74561191e-03 2.49795359e-04 9.99977217e-01 -4.96811808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12533619500002 meters 0.04782568110860561 Centerline is valid? [True, True] Translation: X:160.42, Y:8.62, Z:-0.05 [[ 9.94074684e-01 -1.08346275e-01 -8.75257786e-03 1.60418433e+02] [ 1.08338627e-01 9.94113139e-01 -1.34466840e-03 8.61508714e+00] [ 8.84674246e-03 3.88458546e-04 9.99960791e-01 -5.21416328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18533619500002 meters 0.06133226003760907 Centerline is valid? [True, True] Translation: X:160.47, Y:8.64, Z:-0.06 [[ 9.94781969e-01 -1.01586458e-01 -9.43532845e-03 1.60473893e+02] [ 1.01577264e-01 9.94826597e-01 -1.44982922e-03 8.64284899e+00] [ 9.53379870e-03 4.83849123e-04 9.99954435e-01 -5.63697094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.245336195 meters 0.05892651064707929 Centerline is valid? [True, True] Translation: X:160.53, Y:8.65, Z:-0.05 [[ 9.95016563e-01 -9.93467067e-02 -8.50128008e-03 1.60532667e+02] [ 9.93391553e-02 9.95052774e-01 -1.30700629e-03 8.64956869e+00] [ 8.58906910e-03 4.55982921e-04 9.99963009e-01 -5.23948938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.305336195 meters 0.05665835704650522 Centerline is valid? [True, True] Translation: X:160.59, Y:8.66, Z:-0.05 [[ 9.94510375e-01 -1.04433091e-01 -6.54556306e-03 1.60591371e+02] [ 1.04428725e-01 9.94531864e-01 -1.00622428e-03 8.65890266e+00] [ 6.61485414e-03 3.17155684e-04 9.99978071e-01 -5.22085840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.365336195 meters 0.05315070214888974 Centerline is valid? [True, True] Translation: X:160.65, Y:8.66, Z:-0.06 [[ 9.93780355e-01 -1.11137758e-01 -7.00028186e-03 1.60651157e+02] [ 1.11132929e-01 9.93804968e-01 -1.07621433e-03 8.65965619e+00] [ 7.07652294e-03 2.91558825e-04 9.99974919e-01 -5.59341509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.425336195 meters 0.048651505793895045 Centerline is valid? [True, True] Translation: X:160.71, Y:8.66, Z:-0.06 [[ 9.93365816e-01 -1.14752378e-01 -7.49975746e-03 1.60711359e+02] [ 1.14746937e-01 9.93394086e-01 -1.15323184e-03 8.66059209e+00] [ 7.58255080e-03 2.85006888e-04 9.99971211e-01 -5.66499595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.485336195 meters 0.04399568349738545 Centerline is valid? [True, True] Translation: X:160.77, Y:8.66, Z:-0.05 [[ 9.93207672e-01 -1.16153035e-01 -6.85509283e-03 1.60770072e+02] [ 1.16148519e-01 9.93231297e-01 -1.05462136e-03 8.66466441e+00] [ 6.93119021e-03 2.51249148e-04 9.99975947e-01 -5.44713683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.545336195 meters 0.0448944613525704 Centerline is valid? [True, True] Translation: X:160.83, Y:8.67, Z:-0.06 [[ 9.93298427e-01 -1.15364381e-01 -7.02096924e-03 1.60829349e+02] [ 1.15359610e-01 9.93323205e-01 -1.08217269e-03 8.66819589e+00] [ 7.09893585e-03 2.64984154e-04 9.99974767e-01 -5.63876215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.605336195 meters 0.04296500406018731 Centerline is valid? [True, True] Translation: X:160.89, Y:8.67, Z:-0.06 [[ 9.93443133e-01 -1.14116502e-01 -6.94018937e-03 1.60888205e+02] [ 1.14111801e-01 9.93467337e-01 -1.07098111e-03 8.67474219e+00] [ 7.01706807e-03 2.72001322e-04 9.99975343e-01 -5.50103111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.665336195 meters 0.050791142562087076 Centerline is valid? [True, True] Translation: X:160.95, Y:8.69, Z:-0.05 [[ 9.93751556e-01 -1.11511920e-01 -4.78927244e-03 1.60945057e+02] [ 1.11509653e-01 9.93763076e-01 -7.38624099e-04 8.69244317e+00] [ 4.84176751e-03 1.99958741e-04 9.99988259e-01 -5.38210852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.725336195 meters 0.05284443681315093 Centerline is valid? [True, True] Translation: X:161.00, Y:8.70, Z:-0.06 [[ 9.93865900e-01 -1.10350888e-01 -7.29762171e-03 1.61003518e+02] [ 1.10345592e-01 9.93892642e-01 -1.12556703e-03 8.70149320e+00] [ 7.37725984e-03 3.13402300e-04 9.99972739e-01 -5.94197306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.785336195 meters 0.048834839021637266 Centerline is valid? [True, True] Translation: X:161.06, Y:8.70, Z:-0.06 [[ 9.93866990e-01 -1.10274180e-01 -8.24687012e-03 1.61063180e+02] [ 1.10267395e-01 9.93901141e-01 -1.27433185e-03 8.70264537e+00] [ 8.33709952e-03 3.57155469e-04 9.99965182e-01 -6.08237278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84533619500002 meters 0.051037380364392905 Centerline is valid? [True, True] Translation: X:161.12, Y:8.72, Z:-0.06 [[ 9.93843046e-01 -1.10553419e-01 -7.34442257e-03 1.61119755e+02] [ 1.10548035e-01 9.93870133e-01 -1.13624291e-03 8.71859700e+00] [ 7.42501777e-03 3.17335629e-04 9.99972384e-01 -6.12573938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90533619500002 meters 0.050433002196745 Centerline is valid? [True, True] Translation: X:161.18, Y:8.72, Z:-0.06 [[ 9.93989616e-01 -1.09211801e-01 -7.57792035e-03 1.61179481e+02] [ 1.09206038e-01 9.94018445e-01 -1.17144187e-03 8.72221893e+00] [ 7.66052788e-03 3.36846406e-04 9.99970601e-01 -6.26853350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.965336195 meters 0.05124039712034057 Centerline is valid? [True, True] Translation: X:161.24, Y:8.73, Z:-0.06 [[ 9.94288659e-01 -1.06398392e-01 -8.33339869e-03 1.61238835e+02] [ 1.06391323e-01 9.94323502e-01 -1.28822583e-03 8.72972997e+00] [ 8.42315932e-03 3.94267019e-04 9.99964447e-01 -6.32216798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.025336195 meters 0.05214342805143938 Centerline is valid? [True, True] Translation: X:161.30, Y:8.74, Z:-0.06 [[ 9.94495674e-01 -1.04466716e-01 -8.06598847e-03 1.61296762e+02] [ 1.04460026e-01 9.94528304e-01 -1.24737468e-03 8.74217714e+00] [ 8.15216297e-03 3.97935356e-04 9.99966691e-01 -6.43393044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.085336195 meters 0.056215232762477564 Centerline is valid? [True, True] Translation: X:161.35, Y:8.75, Z:-0.07 [[ 9.94459559e-01 -1.04868937e-01 -7.25895285e-03 1.61353567e+02] [ 1.04863526e-01 9.94485988e-01 -1.12321945e-03 8.75402806e+00] [ 7.33671772e-03 3.55796926e-04 9.99973023e-01 -6.55472199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.145336195 meters 0.05665571405167914 Centerline is valid? [True, True] Translation: X:161.41, Y:8.77, Z:-0.07 [[ 9.94424101e-01 -1.05113712e-01 -8.47435434e-03 1.61411185e+02] [ 1.05106327e-01 9.94460122e-01 -1.31337011e-03 8.76514429e+00] [ 8.56546067e-03 4.15338633e-04 9.99963230e-01 -6.94608082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.205336195 meters 0.05619564367619352 Centerline is valid? [True, True] Translation: X:161.47, Y:8.77, Z:-0.07 [[ 9.94397852e-01 -1.05448322e-01 -7.31875824e-03 1.61469266e+02] [ 1.05442813e-01 9.94424720e-01 -1.13565156e-03 8.77417774e+00] [ 7.39770666e-03 3.57579013e-04 9.99972573e-01 -6.76912907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.265336195 meters 0.0544528136422022 Centerline is valid? [True, True] Translation: X:161.53, Y:8.78, Z:-0.07 [[ 9.94178851e-01 -1.07449834e-01 -7.93380468e-03 1.61528425e+02] [ 1.07443431e-01 9.94210438e-01 -1.23012074e-03 8.78319789e+00] [ 8.02004770e-03 3.70524822e-04 9.99967770e-01 -6.97917276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.325336195 meters 0.04911454445320468 Centerline is valid? [True, True] Translation: X:161.59, Y:8.79, Z:-0.07 [[ 9.93630367e-01 -1.12388271e-01 -8.22012031e-03 1.61589503e+02] [ 1.12381567e-01 9.93664309e-01 -1.27439214e-03 8.78538648e+00] [ 8.31126689e-03 3.42484728e-04 9.99965402e-01 -7.18093311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.385336195 meters 0.04658176156224171 Centerline is valid? [True, True] Translation: X:161.65, Y:8.79, Z:-0.08 [[ 9.92925341e-01 -1.18407755e-01 -8.88087306e-03 1.61648851e+02] [ 1.18400170e-01 9.92965006e-01 -1.37692785e-03 8.79140264e+00] [ 8.98143511e-03 3.15689678e-04 9.99959616e-01 -7.61707585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.445336195 meters 0.04116683086150041 Centerline is valid? [True, True] Translation: X:161.71, Y:8.80, Z:-0.08 [[ 9.92536229e-01 -1.21461371e-01 -1.09073491e-02 1.61707570e+02] [ 1.21450105e-01 9.92596096e-01 -1.69190568e-03 8.79750127e+00] [ 1.10320933e-02 3.54578991e-04 9.99939082e-01 -8.01047204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.505336195 meters 0.03956010119403513 Centerline is valid? [True, True] Translation: X:161.77, Y:8.81, Z:-0.08 [[ 9.92512011e-01 -1.21695464e-01 -1.04939392e-02 1.61765684e+02] [ 1.21685020e-01 9.92567427e-01 -1.63042615e-03 8.80517599e+00] [ 1.06143577e-02 3.41262338e-04 9.99943608e-01 -7.77929800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56533619500001 meters 0.04112027179804161 Centerline is valid? [True, True] Translation: X:161.82, Y:8.82, Z:-0.08 [[ 9.92546942e-01 -1.21185428e-01 -1.28319951e-02 1.61823536e+02] [ 1.21169779e-01 9.92629797e-01 -1.99289151e-03 8.81838185e+00] [ 1.29789301e-02 4.23188358e-04 9.99915681e-01 -8.30196827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62533619500002 meters 0.044841507987079 Centerline is valid? [True, True] Translation: X:161.88, Y:8.84, Z:-0.09 [[ 9.92559355e-01 -1.21083836e-01 -1.28308693e-02 1.61879150e+02] [ 1.21068169e-01 9.92642193e-01 -1.99363827e-03 8.83571162e+00] [ 1.29778596e-02 4.25394458e-04 9.99915694e-01 -8.62938629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68533619500002 meters 0.04118200356606477 Centerline is valid? [True, True] Translation: X:161.94, Y:8.84, Z:-0.08 [[ 9.92700242e-01 -1.19872815e-01 -1.32942912e-02 1.61937490e+02] [ 1.19855869e-01 9.92789151e-01 -2.06708356e-03 8.84036322e+00] [ 1.34462152e-02 4.58595531e-04 9.99909490e-01 -8.30961052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.745336195 meters 0.042981081859851354 Centerline is valid? [True, True] Translation: X:162.00, Y:8.85, Z:-0.08 [[ 9.92825589e-01 -1.18884300e-01 -1.28012728e-02 1.61995185e+02] [ 1.18868469e-01 9.92908009e-01 -1.99317377e-03 8.85421547e+00] [ 1.29474433e-02 4.57206219e-04 9.99916074e-01 -8.27364557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.805336195 meters 0.04206256563679676 Centerline is valid? [True, True] Translation: X:162.05, Y:8.86, Z:-0.08 [[ 9.92820313e-01 -1.19208462e-01 -9.85743313e-03 1.62053639e+02] [ 1.19199093e-01 9.92869186e-01 -1.53468485e-03 8.86019550e+00] [ 9.97008904e-03 3.48669209e-04 9.99950237e-01 -7.77053395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.865336195 meters 0.03808121389804484 Centerline is valid? [True, True] Translation: X:162.11, Y:8.86, Z:-0.08 [[ 9.92393839e-01 -1.22667745e-01 -1.03485654e-02 1.62114274e+02] [ 1.22657607e-01 9.92447739e-01 -1.61120097e-03 8.85897751e+00] [ 1.04680528e-02 3.29615646e-04 9.99945154e-01 -7.75393997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.925336195 meters 0.040634062536107955 Centerline is valid? [True, True] Translation: X:162.17, Y:8.87, Z:-0.08 [[ 9.92500392e-01 -1.21690750e-01 -1.15902200e-02 1.62171864e+02] [ 1.21677960e-01 9.92567991e-01 -1.80499645e-03 8.87022432e+00] [ 1.17237328e-02 3.81185350e-04 9.99931202e-01 -8.11087885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.985336195 meters 0.04523535578978971 Centerline is valid? [True, True] Translation: X:162.23, Y:8.88, Z:-0.08 [[ 9.93147333e-01 -1.16408123e-01 -1.03693639e-02 1.62230751e+02] [ 1.16397599e-01 9.93201385e-01 -1.61480352e-03 8.88193498e+00] [ 1.04868428e-02 3.96768754e-04 9.99944933e-01 -7.73498580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.045336195 meters 0.05209111600018094 Centerline is valid? [True, True] Translation: X:162.29, Y:8.90, Z:-0.08 [[ 9.93909379e-01 -1.09476520e-01 -1.26110179e-02 1.62289104e+02] [ 1.09460394e-01 9.93989218e-01 -1.96400281e-03 8.90037475e+00] [ 1.27502281e-02 5.71633813e-04 9.99918549e-01 -8.15676023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.105336195 meters 0.055602449242692094 Centerline is valid? [True, True] Translation: X:162.35, Y:8.92, Z:-0.08 [[ 9.94432773e-01 -1.04576617e-01 -1.29302637e-02 1.62347578e+02] [ 1.04559250e-01 9.94516620e-01 -2.01374446e-03 8.91948236e+00] [ 1.30699528e-02 6.50554806e-04 9.99914373e-01 -8.21478627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.165336195 meters 0.055344671052827664 Centerline is valid? [True, True] Translation: X:162.41, Y:8.93, Z:-0.08 [[ 9.94605765e-01 -1.02959158e-01 -1.26009322e-02 1.62405460e+02] [ 1.02942526e-01 9.94685368e-01 -1.96316583e-03 8.93218382e+00] [ 1.27360888e-02 6.55404254e-04 9.99918678e-01 -8.10926510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.225336195 meters 0.05388359739677512 Centerline is valid? [True, True] Translation: X:162.46, Y:8.94, Z:-0.08 [[ 9.94489914e-01 -1.04220605e-01 -1.13082716e-02 1.62464728e+02] [ 1.04207290e-01 9.94554039e-01 -1.76199149e-03 8.93906112e+00] [ 1.14303230e-02 5.73878420e-04 9.99934507e-01 -7.89982506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.285336195 meters 0.05528389733498461 Centerline is valid? [True, True] Translation: X:162.52, Y:8.95, Z:-0.08 [[ 9.94164648e-01 -1.07309606e-01 -1.10136688e-02 1.62522931e+02] [ 1.07297163e-01 9.94225514e-01 -1.71627933e-03 8.95231761e+00] [ 1.11342438e-02 5.24528813e-04 9.99937875e-01 -8.16207753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34533619500002 meters 0.048986388604203526 Centerline is valid? [True, True] Translation: X:162.58, Y:8.95, Z:-0.08 [[ 9.93488184e-01 -1.13441275e-01 -1.05974707e-02 1.62583115e+02] [ 1.13430099e-01 9.93544606e-01 -1.65164209e-03 8.95353802e+00] [ 1.07164243e-02 4.38814743e-04 9.99942481e-01 -8.16135172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40533619500002 meters 0.04608289757127393 Centerline is valid? [True, True] Translation: X:162.64, Y:8.96, Z:-0.08 [[ 9.92812478e-01 -1.19373686e-01 -8.56191153e-03 1.62642037e+02] [ 1.19366610e-01 9.92849350e-01 -1.33461854e-03 8.95973262e+00] [ 8.66000662e-03 3.03019585e-04 9.99962456e-01 -8.00111078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.465336195 meters 0.03640150596509929 Centerline is valid? [True, True] Translation: X:162.70, Y:8.96, Z:-0.08 [[ 9.92392451e-01 -1.22756416e-01 -9.38540025e-03 1.62703703e+02] [ 1.22748064e-01 9.92436785e-01 -1.46301508e-03 8.95509245e+00] [ 9.49401094e-03 2.99845405e-04 9.99954886e-01 -7.86019312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.525336195 meters 0.03508009871609272 Centerline is valid? [True, True] Translation: X:162.76, Y:8.96, Z:-0.08 [[ 9.92050536e-01 -1.25573379e-01 -8.18910557e-03 1.62762792e+02] [ 1.25567113e-01 9.92084306e-01 -1.27683641e-03 8.95818398e+00] [ 8.28461978e-03 2.38403896e-04 9.99965654e-01 -7.85798136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.585336195 meters 0.036054082738670785 Centerline is valid? [True, True] Translation: X:162.82, Y:8.97, Z:-0.08 [[ 9.92385169e-01 -1.22885522e-01 -8.41573497e-03 1.62820765e+02] [ 1.22878805e-01 9.92420816e-01 -1.31257403e-03 8.97031520e+00] [ 8.51324691e-03 2.68463550e-04 9.99963726e-01 -7.72330047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.645336195 meters 0.045412081991056154 Centerline is valid? [True, True] Translation: X:162.88, Y:8.99, Z:-0.08 [[ 9.93066751e-01 -1.17162494e-01 -9.55913501e-03 1.62877991e+02] [ 1.17153566e-01 9.93112693e-01 -1.49061058e-03 8.98769343e+00] [ 9.66794197e-03 3.60389051e-04 9.99953199e-01 -8.26599316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.705336195 meters 0.04619070601332027 Centerline is valid? [True, True] Translation: X:162.94, Y:9.00, Z:-0.08 [[ 9.93371509e-01 -1.14578494e-01 -9.20942961e-03 1.62935999e+02] [ 1.14570091e-01 9.93414128e-01 -1.43667699e-03 8.99928788e+00] [ 9.31338978e-03 3.72028803e-04 9.99956560e-01 -8.16363878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.765336195 meters 0.04802726085141125 Centerline is valid? [True, True] Translation: X:162.99, Y:9.01, Z:-0.09 [[ 9.93362380e-01 -1.14582380e-01 -1.01024474e-02 1.62993217e+02] [ 1.14572261e-01 9.93413666e-01 -1.57674300e-03 9.00788036e+00] [ 1.02165762e-02 4.08816945e-04 9.99947726e-01 -8.50953736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.825336195 meters 0.04415238142665445 Centerline is valid? [True, True] Translation: X:163.05, Y:9.01, Z:-0.08 [[ 9.93220893e-01 -1.15846663e-01 -9.58172621e-03 1.63052727e+02] [ 1.15837614e-01 9.93267038e-01 -1.49588115e-03 9.00967038e+00] [ 9.69050566e-03 3.75816108e-04 9.99952975e-01 -8.42666510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.885336195 meters 0.04572317330984591 Centerline is valid? [True, True] Translation: X:163.11, Y:9.02, Z:-0.09 [[ 9.93218207e-01 -1.15836435e-01 -9.97560924e-03 1.63109884e+02] [ 1.15826615e-01 9.93268225e-01 -1.55856713e-03 9.01781208e+00] [ 1.00889945e-02 3.92556205e-04 9.99949028e-01 -8.62788852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.945336195 meters 0.04834952909162343 Centerline is valid? [True, True] Translation: X:163.17, Y:9.03, Z:-0.09 [[ 9.93420016e-01 -1.14017405e-01 -1.08029267e-02 1.63169136e+02] [ 1.14005784e-01 9.93478653e-01 -1.68753342e-03 9.02623526e+00] [ 1.09248852e-02 4.44833355e-04 9.99940223e-01 -8.87887730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.005336195 meters 0.053475537157145356 Centerline is valid? [True, True] Translation: X:163.23, Y:9.04, Z:-0.09 [[ 9.93724231e-01 -1.11314674e-01 -1.10088730e-02 1.63227080e+02] [ 1.11302440e-01 9.93785092e-01 -1.71964650e-03 9.03968147e+00] [ 1.11318758e-02 4.83539971e-04 9.99937922e-01 -9.22145161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06533619500001 meters 0.05194819208598768 Centerline is valid? [True, True] Translation: X:163.29, Y:9.04, Z:-0.09 [[ 9.93856500e-01 -1.10219438e-01 -1.00465802e-02 1.63285855e+02] [ 1.10209165e-01 9.93907173e-01 -1.57221514e-03 9.04281928e+00] [ 1.01586568e-02 4.55331029e-04 9.99948296e-01 -8.93115157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12533619500002 meters 0.04646344025548223 Centerline is valid? [True, True] Translation: X:163.35, Y:9.05, Z:-0.09 [[ 9.93556725e-01 -1.12861669e-01 -1.03575231e-02 1.63345239e+02] [ 1.12850902e-01 9.93610613e-01 -1.62003028e-03 9.04899943e+00] [ 1.04741842e-02 4.40736160e-04 9.99945047e-01 -8.99244278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18533619500002 meters 0.04713956263884074 Centerline is valid? [True, True] Translation: X:163.40, Y:9.05, Z:-0.09 [[ 9.93071948e-01 -1.17041801e-01 -1.04557801e-02 1.63404073e+02] [ 1.17031059e-01 9.93126908e-01 -1.63551823e-03 9.05459857e+00] [ 1.05753406e-02 4.00536253e-04 9.99943999e-01 -9.40265391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.245336195 meters 0.046958563511022504 Centerline is valid? [True, True] Translation: X:163.46, Y:9.06, Z:-0.10 [[ 9.92781036e-01 -1.19349294e-01 -1.18979310e-02 1.63462007e+02] [ 1.19335540e-01 9.92852236e-01 -1.86185321e-03 9.06158545e+00] [ 1.20350983e-02 4.28566528e-04 9.99927484e-01 -9.82905798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.305336195 meters 0.04664053117990768 Centerline is valid? [True, True] Translation: X:163.52, Y:9.08, Z:-0.10 [[ 9.92696966e-01 -1.20205195e-01 -1.01707902e-02 1.63519547e+02] [ 1.20195166e-01 9.92749002e-01 -1.59388255e-03 9.07684672e+00] [ 1.02886348e-02 3.59762552e-04 9.99947006e-01 -9.68404666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.365336195 meters 0.043563541680744756 Centerline is valid? [True, True] Translation: X:163.58, Y:9.08, Z:-0.10 [[ 9.92664456e-01 -1.20389386e-01 -1.11208548e-02 1.63578045e+02] [ 1.20377408e-01 9.92726671e-01 -1.74266128e-03 9.08012662e+00] [ 1.12497671e-02 3.91178232e-04 9.99936643e-01 -9.72207005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.425336195 meters 0.043152180761584724 Centerline is valid? [True, True] Translation: X:163.64, Y:9.09, Z:-0.10 [[ 9.92709877e-01 -1.20004458e-01 -1.12262866e-02 1.63635368e+02] [ 1.19992220e-01 9.92773272e-01 -1.75984778e-03 9.09085945e+00] [ 1.13563469e-02 3.99951219e-04 9.99935435e-01 -9.70074112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.485336195 meters 0.045377040320368586 Centerline is valid? [True, True] Translation: X:163.69, Y:9.11, Z:-0.10 [[ 9.92845056e-01 -1.18558299e-01 -1.42345948e-02 1.63692670e+02] [ 1.18538478e-01 9.92946953e-01 -2.23113255e-03 9.11361077e+00] [ 1.43987168e-02 5.27821723e-04 9.99896194e-01 -1.04337018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.545336195 meters 0.0448477266749283 Centerline is valid? [True, True] Translation: X:163.75, Y:9.12, Z:-0.10 [[ 9.92800523e-01 -1.19042519e-01 -1.32665420e-02 1.63751459e+02] [ 1.19025301e-01 9.92889037e-01 -2.08276901e-03 9.11733059e+00] [ 1.34201422e-02 4.88720005e-04 9.99909826e-01 -1.02006303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.605336195 meters 0.04005502376099912 Centerline is valid? [True, True] Translation: X:163.81, Y:9.13, Z:-0.10 [[ 9.92334290e-01 -1.23028275e-01 -1.16919068e-02 1.63810710e+02] [ 1.23015190e-01 9.92403092e-01 -1.83455161e-03 9.12946433e+00] [ 1.18287862e-02 3.82206329e-04 9.99929964e-01 -9.99581405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.665336195 meters 0.034802230758623584 Centerline is valid? [True, True] Translation: X:163.87, Y:9.13, Z:-0.10 [[ 9.91848030e-01 -1.26915004e-01 -1.14046591e-02 1.63871082e+02] [ 1.26902808e-01 9.91913542e-01 -1.78967849e-03 9.13304372e+00] [ 1.15395729e-02 3.27805815e-04 9.99933363e-01 -1.00436919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.725336195 meters 0.029788237313932233 Centerline is valid? [True, True] Translation: X:163.93, Y:9.13, Z:-0.10 [[ 9.91007985e-01 -1.33127515e-01 -1.34252547e-02 1.63930329e+02] [ 1.33111175e-01 9.91098872e-01 -2.10740896e-03 9.13414834e+00] [ 1.35863089e-02 3.01407668e-04 9.99907656e-01 -1.04335206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.785336195 meters 0.02705901693634411 Centerline is valid? [True, True] Translation: X:163.99, Y:9.14, Z:-0.10 [[ 9.90635113e-01 -1.36013236e-01 -1.19361726e-02 1.63989563e+02] [ 1.36000529e-01 9.90706993e-01 -1.87365516e-03 9.14348296e+00] [ 1.20800916e-02 2.32782793e-04 9.99927006e-01 -1.02856448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84533619500002 meters 0.0244457594471255 Centerline is valid? [True, True] Translation: X:164.05, Y:9.14, Z:-0.10 [[ 9.90357689e-01 -1.38264455e-01 -8.63647784e-03 1.64049885e+02] [ 1.38257885e-01 9.90395334e-01 -1.35601022e-03 9.14466168e+00] [ 8.74101538e-03 1.48873979e-04 9.99961786e-01 -9.72481523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90533619500002 meters 0.020689894712707872 Centerline is valid? [True, True] Translation: X:164.11, Y:9.15, Z:-0.09 [[ 9.90140941e-01 -1.39801853e-01 -8.73841487e-03 1.64108908e+02] [ 1.39795163e-01 9.90179490e-01 -1.37471860e-03 9.15054170e+00] [ 8.84478739e-03 1.39577037e-04 9.99960874e-01 -9.44105898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.965336195 meters 0.025287778496865837 Centerline is valid? [True, True] Translation: X:164.17, Y:9.16, Z:-0.10 [[ 9.90373254e-01 -1.37991392e-01 -1.09175274e-02 1.64167175e+02] [ 1.37980851e-01 9.90433409e-01 -1.71656999e-03 9.15834673e+00] [ 1.10499558e-02 1.93635286e-04 9.99938929e-01 -1.02434978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.025336195 meters 0.026739125767680064 Centerline is valid? [True, True] Translation: X:164.23, Y:9.17, Z:-0.10 [[ 9.90800872e-01 -1.34834363e-01 -1.15467238e-02 1.64226366e+02] [ 1.34822355e-01 9.90868122e-01 -1.81567676e-03 9.16789287e+00] [ 1.16860962e-02 2.42217623e-04 9.99931686e-01 -1.01905175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.085336195 meters 0.031965706423475945 Centerline is valid? [True, True] Translation: X:164.28, Y:9.18, Z:-0.10 [[ 9.91424174e-01 -1.30099547e-01 -1.23375262e-02 1.64284513e+02] [ 1.30085471e-01 9.91500886e-01 -1.94007224e-03 9.18079896e+00] [ 1.24850707e-02 3.18501610e-04 9.99922008e-01 -1.04548805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.145336195 meters 0.03667552006501415 Centerline is valid? [True, True] Translation: X:164.34, Y:9.19, Z:-0.11 [[ 9.91928974e-01 -1.26149972e-01 -1.27708861e-02 1.64343512e+02] [ 1.26134563e-01 9.92011109e-01 -2.00812346e-03 9.19465527e+00] [ 1.29221856e-02 3.81065702e-04 9.99916432e-01 -1.06388015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.205336195 meters 0.039662929325494506 Centerline is valid? [True, True] Translation: X:164.40, Y:9.21, Z:-0.11 [[ 9.92268407e-01 -1.23524308e-01 -1.20479844e-02 1.64401465e+02] [ 1.23510395e-01 9.92341469e-01 -1.89492098e-03 9.20942987e+00] [ 1.21897833e-02 3.92218913e-04 9.99925625e-01 -1.05593534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.265336195 meters 0.04100264475832791 Centerline is valid? [True, True] Translation: X:164.46, Y:9.22, Z:-0.11 [[ 9.92325829e-01 -1.22987734e-01 -1.27853973e-02 1.64459106e+02] [ 1.22971980e-01 9.92408099e-01 -2.01409262e-03 9.22158102e+00] [ 1.29360406e-02 4.26390498e-04 9.99916235e-01 -1.07916991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.325336195 meters 0.03975748831702918 Centerline is valid? [True, True] Translation: X:164.52, Y:9.23, Z:-0.11 [[ 9.92064903e-01 -1.25082196e-01 -1.27150232e-02 1.64516503e+02] [ 1.25066788e-01 9.92146303e-01 -2.00296158e-03 9.22813976e+00] [ 1.28656981e-02 3.96840780e-04 9.99917155e-01 -1.08603463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.385336195 meters 0.034678794917490104 Centerline is valid? [True, True] Translation: X:164.58, Y:9.23, Z:-0.11 [[ 9.91590113e-01 -1.28911621e-01 -1.14385863e-02 1.64576406e+02] [ 1.28899405e-01 9.91656037e-01 -1.80195354e-03 9.23292407e+00] [ 1.15754359e-02 3.12372353e-04 9.99932954e-01 -1.05875267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.445336195 meters 0.03221595227162553 Centerline is valid? [True, True] Translation: X:164.63, Y:9.24, Z:-0.10 [[ 9.91257624e-01 -1.31618278e-01 -9.21693337e-03 1.64634924e+02] [ 1.31610461e-01 9.91300448e-01 -1.45221729e-03 9.24147406e+00] [ 9.32788852e-03 2.26476614e-04 9.99956469e-01 -1.03254954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.505336195 meters 0.024588440882738514 Centerline is valid? [True, True] Translation: X:164.70, Y:9.24, Z:-0.10 [[ 9.90405594e-01 -1.37916073e-01 -8.71295690e-03 1.64696427e+02] [ 1.37909331e-01 9.90443906e-01 -1.37283871e-03 9.23906536e+00] [ 8.81903159e-03 1.58069086e-04 9.99961099e-01 -1.02076324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56533619500001 meters 0.02036740516803427 Centerline is valid? [True, True] Translation: X:164.76, Y:9.24, Z:-0.10 [[ 9.89710565e-01 -1.42705122e-01 -1.04041170e-02 1.64755449e+02] [ 1.42695742e-01 9.89765239e-01 -1.64222608e-03 9.24057760e+00] [ 1.05319874e-02 1.40705310e-04 9.99944527e-01 -1.04554622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62533619500002 meters 0.018991011017896995 Centerline is valid? [True, True] Translation: X:164.81, Y:9.25, Z:-0.10 [[ 9.89504097e-01 -1.44244427e-01 -8.67108669e-03 1.64814625e+02] [ 1.44237958e-01 9.89542083e-01 -1.37014618e-03 9.24692971e+00] [ 8.77804113e-03 1.05065420e-04 9.99961467e-01 -1.02901397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68533619500002 meters 0.018938089032718375 Centerline is valid? [True, True] Translation: X:164.87, Y:9.25, Z:-0.10 [[ 9.89497171e-01 -1.44252259e-01 -9.30776884e-03 1.64873517e+02] [ 1.44244790e-01 9.89540940e-01 -1.47236535e-03 9.25184280e+00] [ 9.42281036e-03 1.14304181e-04 9.99955598e-01 -1.03657003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.745336195 meters 0.018723754939890404 Centerline is valid? [True, True] Translation: X:164.93, Y:9.27, Z:-0.10 [[ 9.89586349e-01 -1.43657075e-01 -9.02788172e-03 1.64929685e+02] [ 1.43650005e-01 9.89627521e-01 -1.43017432e-03 9.26631324e+00] [ 9.13969486e-03 1.18425730e-04 9.99958225e-01 -1.04142143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.805336195 meters 0.022405339806612558 Centerline is valid? [True, True] Translation: X:164.99, Y:9.27, Z:-0.11 [[ 9.89862357e-01 -1.41580630e-01 -1.12889288e-02 1.64988610e+02] [ 1.41569453e-01 9.89926712e-01 -1.78718838e-03 9.27088948e+00] [ 1.14282435e-02 1.70903014e-04 9.99934681e-01 -1.09485237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.865336195 meters 0.02410134405451717 Centerline is valid? [True, True] Translation: X:165.05, Y:9.28, Z:-0.11 [[ 9.90346097e-01 -1.38271642e-01 -9.77553369e-03 1.65045960e+02] [ 1.38263073e-01 9.90394325e-01 -1.55035048e-03 9.28336886e+00] [ 9.89600260e-03 1.83788218e-04 9.99951016e-01 -1.05101802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.925336195 meters 0.0292568679261357 Centerline is valid? [True, True] Translation: X:165.10, Y:9.30, Z:-0.11 [[ 9.90852648e-01 -1.34517194e-01 -1.07774490e-02 1.65102848e+02] [ 1.34506561e-01 9.90911230e-01 -1.70878879e-03 9.29920432e+00] [ 1.09093568e-02 2.43520290e-04 9.99940462e-01 -1.08946863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.985336195 meters 0.03010724300307415 Centerline is valid? [True, True] Translation: X:165.16, Y:9.30, Z:-0.10 [[ 9.91294800e-01 -1.31314793e-01 -9.54168570e-03 1.65161802e+02] [ 1.31306285e-01 9.91340690e-01 -1.51545848e-03 9.30420887e+00] [ 9.65806340e-03 2.49382811e-04 9.99953329e-01 -1.04957864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.045336195 meters 0.03504626556161124 Centerline is valid? [True, True] Translation: X:165.22, Y:9.32, Z:-0.11 [[ 9.91632284e-01 -1.28857732e-01 -7.81655985e-03 1.65218128e+02] [ 1.28851947e-01 9.91663065e-01 -1.24134126e-03 9.32005162e+00] [ 7.91135012e-03 2.23775107e-04 9.99968680e-01 -1.05669852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.105336195 meters 0.034665671338987535 Centerline is valid? [True, True] Translation: X:165.28, Y:9.32, Z:-0.11 [[ 9.91474014e-01 -1.30113937e-01 -7.04584263e-03 1.65276603e+02] [ 1.30109254e-01 9.91499030e-01 -1.12092550e-03 9.32358502e+00] [ 7.13179416e-03 1.94639181e-04 9.99974549e-01 -1.05240009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.165336195 meters 0.03139668103636649 Centerline is valid? [True, True] Translation: X:165.34, Y:9.33, Z:-0.11 [[ 9.91203562e-01 -1.32114904e-01 -7.81990155e-03 1.65335405e+02] [ 1.32109188e-01 9.91234388e-01 -1.24527136e-03 9.32623146e+00] [ 7.91587423e-03 2.01236563e-04 9.99968649e-01 -1.06326454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.225336195 meters 0.03205648839734364 Centerline is valid? [True, True] Translation: X:165.39, Y:9.33, Z:-0.11 [[ 9.91135345e-01 -1.32412668e-01 -1.08449860e-02 1.65393448e+02] [ 1.32401678e-01 9.91194637e-01 -1.72832968e-03 9.33408562e+00] [ 1.09783447e-02 2.77114295e-04 9.99939698e-01 -1.12555364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.285336195 meters 0.030146547612859495 Centerline is valid? [True, True] Translation: X:165.45, Y:9.34, Z:-0.11 [[ 9.91188219e-01 -1.32151133e-01 -9.05493740e-03 1.65452463e+02] [ 1.32143456e-01 9.91229551e-01 -1.44355794e-03 9.34051377e+00] [ 9.16628936e-03 2.34286906e-04 9.99957961e-01 -1.08728355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34533619500002 meters 0.031617823276880695 Centerline is valid? [True, True] Translation: X:165.51, Y:9.36, Z:-0.11 [[ 9.91076556e-01 -1.32931094e-01 -9.82774885e-03 1.65508189e+02] [ 1.32922086e-01 9.91125251e-01 -1.56706779e-03 9.35533562e+00] [ 9.94884208e-03 2.46759268e-04 9.99950479e-01 -1.12337374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40533619500002 meters 0.03191210258559785 Centerline is valid? [True, True] Translation: X:165.56, Y:9.37, Z:-0.11 [[ 9.91003054e-01 -1.33468330e-01 -9.95747544e-03 1.65564754e+02] [ 1.33459081e-01 9.91053048e-01 -1.59058710e-03 9.36704358e+00] [ 1.00806794e-02 2.47361150e-04 9.99949158e-01 -1.14159189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.465336195 meters 0.03111594930952209 Centerline is valid? [True, True] Translation: X:165.62, Y:9.38, Z:-0.12 [[ 9.90801609e-01 -1.34819717e-01 -1.16539574e-02 1.65621832e+02] [ 1.34807118e-01 9.90870107e-01 -1.86356188e-03 9.37690014e+00] [ 1.17988029e-02 2.75383699e-04 9.99930354e-01 -1.17255958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.525336195 meters 0.030042641484346898 Centerline is valid? [True, True] Translation: X:165.68, Y:9.39, Z:-0.12 [[ 9.90530255e-01 -1.36853386e-01 -1.09983572e-02 1.65678278e+02] [ 1.36842293e-01 9.90591285e-01 -1.75847773e-03 9.39145517e+00] [ 1.11355304e-02 2.36784987e-04 9.99937970e-01 -1.18450793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.585336195 meters 0.023330936110293007 Centerline is valid? [True, True] Translation: X:165.74, Y:9.39, Z:-0.11 [[ 9.89797031e-01 -1.42221919e-01 -8.64662445e-03 1.65738255e+02] [ 1.42215267e-01 9.89834788e-01 -1.38250815e-03 9.39431408e+00] [ 8.75535264e-03 1.38720458e-04 9.99961662e-01 -1.14115140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.645336195 meters 0.018883379207005654 Centerline is valid? [True, True] Translation: X:165.80, Y:9.40, Z:-0.12 [[ 9.88987405e-01 -1.47651708e-01 -1.01433133e-02 1.65797746e+02] [ 1.47642811e-01 9.89039413e-01 -1.62456286e-03 9.39626861e+00] [ 1.02720061e-02 1.09084918e-04 9.99947236e-01 -1.17918773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.705336195 meters 0.016357817170157444 Centerline is valid? [True, True] Translation: X:165.86, Y:9.40, Z:-0.11 [[ 9.88674563e-01 -1.49803297e-01 -9.03224620e-03 1.65856876e+02] [ 1.49796316e-01 9.88715817e-01 -1.44838196e-03 9.40014941e+00] [ 9.14729707e-03 7.89811969e-05 9.99958159e-01 -1.13825744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.765336195 meters 0.01845385056071404 Centerline is valid? [True, True] Translation: X:165.91, Y:9.42, Z:-0.12 [[ 9.88943582e-01 -1.47991885e-01 -9.43359860e-03 1.65912846e+02] [ 1.47984185e-01 9.88988570e-01 -1.51295078e-03 9.41662414e+00] [ 9.55362562e-03 1.00199561e-04 9.99954358e-01 -1.16081997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.825336195 meters 0.024532585680619442 Centerline is valid? [True, True] Translation: X:165.97, Y:9.44, Z:-0.12 [[ 9.89930405e-01 -1.41271431e-01 -8.95410526e-03 1.65969942e+02] [ 1.41264219e-01 9.89970888e-01 -1.43598615e-03 9.43530385e+00] [ 9.06716735e-03 1.56631659e-04 9.99958880e-01 -1.16679513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.885336195 meters 0.02712813808623891 Centerline is valid? [True, True] Translation: X:166.03, Y:9.45, Z:-0.11 [[ 9.90594796e-01 -1.36634319e-01 -7.28098039e-03 1.66028156e+02] [ 1.36629425e-01 9.90621540e-01 -1.16781450e-03 9.45065136e+00] [ 7.37225954e-03 1.62034800e-04 9.99972811e-01 -1.12977800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.945336195 meters 0.033562001430143776 Centerline is valid? [True, True] Translation: X:166.08, Y:9.47, Z:-0.12 [[ 9.90865995e-01 -1.34684503e-01 -6.68317727e-03 1.66083309e+02] [ 1.34680327e-01 9.90888519e-01 -1.07307453e-03 9.47015452e+00] [ 6.76681014e-03 1.63180557e-04 9.99977092e-01 -1.16432515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.005336195 meters 0.030205624399868826 Centerline is valid? [True, True] Translation: X:166.14, Y:9.48, Z:-0.12 [[ 9.90757931e-01 -1.35468048e-01 -6.86518266e-03 1.66142331e+02] [ 1.35463656e-01 9.90781702e-01 -1.10286900e-03 9.47694507e+00] [ 6.95130088e-03 1.62693470e-04 9.99975826e-01 -1.15874082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06533619500001 meters 0.029164463294647943 Centerline is valid? [True, True] Translation: X:166.20, Y:9.48, Z:-0.11 [[ 9.90396771e-01 -1.38195966e-01 -4.01374151e-03 1.66201570e+02] [ 1.38194488e-01 9.90404901e-01 -6.44672603e-04 9.48204332e+00] [ 4.06432042e-03 8.38047120e-05 9.99991737e-01 -1.12532682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12533619500002 meters 0.028125289102005516 Centerline is valid? [True, True] Translation: X:166.26, Y:9.47, Z:-0.11 [[ 9.90234455e-01 -1.39066428e-01 -9.81083853e-03 1.66258291e+02] [ 1.39270188e-01 9.89948240e-01 2.46231043e-02 9.47493785e+00] [ 6.28797519e-03 -2.57490036e-02 9.99648663e-01 -1.14262119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18533619500002 meters 0.03105050955270435 Centerline is valid? [True, True] Translation: X:166.31, Y:9.52, Z:-0.12 [[ 9.90377158e-01 -1.38378669e-01 -2.10449615e-03 1.66313987e+02] [ 1.38275960e-01 9.90042934e-01 -2.63580829e-02 9.52211453e+00] [ 5.73093795e-03 2.58134420e-02 9.99650350e-01 -1.19219594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.245336195 meters 0.0332552940787065 Centerline is valid? [True, True] Translation: X:166.37, Y:9.52, Z:-0.12 [[ 9.90570920e-01 -1.36933804e-01 -4.28795879e-03 1.66373287e+02] [ 1.36932092e-01 9.90580196e-01 -6.91588541e-04 9.52209817e+00] [ 4.34226891e-03 9.79083276e-05 9.99990568e-01 -1.16236973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.305336195 meters 0.041185258570068946 Centerline is valid? [True, True] Translation: X:166.43, Y:9.51, Z:-0.14 [[ 9.90598764e-01 -1.36608973e-01 -7.21639367e-03 1.66431922e+02] [ 1.36799236e-01 9.89310073e-01 5.05128557e-02 9.50851450e+00] [ 2.38741581e-04 -5.10251696e-02 9.98697339e-01 -1.35871280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.365336195 meters 0.04315434301005232 Centerline is valid? [True, True] Translation: X:166.49, Y:9.56, Z:-0.13 [[ 9.90454809e-01 -1.37810201e-01 2.76035934e-03 1.66486241e+02] [ 1.37823688e-01 9.90441483e-01 -5.50454191e-03 9.56113624e+00] [-1.97539237e-03 5.83244291e-03 9.99981040e-01 -1.33035965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.425336195 meters 0.041867145966079204 Centerline is valid? [True, True] Translation: X:166.54, Y:9.55, Z:-0.14 [[ 9.89993311e-01 -1.41072752e-01 3.42375771e-03 1.66543601e+02] [ 1.41025880e-01 9.89940522e-01 1.13782619e-02 9.54779750e+00] [-4.99447923e-03 -1.07815648e-02 9.99929404e-01 -1.36029331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.485336195 meters 0.04292929678544458 Centerline is valid? [True, True] Translation: X:166.60, Y:9.57, Z:-0.13 [[ 9.88958358e-01 -1.48127498e-01 4.42842369e-03 1.66602322e+02] [ 1.48189027e-01 9.88722446e-01 -2.16318470e-02 9.56958357e+00] [-1.17421054e-03 2.20492396e-02 9.99756196e-01 -1.26097485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.545336195 meters 0.049799512760589096 Centerline is valid? [True, True] Translation: X:166.66, Y:9.58, Z:-0.12 [[ 9.88489906e-01 -1.51100959e-01 -7.49700565e-03 1.66660557e+02] [ 1.50665672e-01 9.87707828e-01 -4.16305287e-02 9.58437984e+00] [ 1.36952640e-02 4.00218160e-02 9.99104946e-01 -1.19165325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.605336195 meters 0.05373289629753513 Centerline is valid? [True, True] Translation: X:166.73, Y:9.53, Z:-0.13 [[ 9.88311168e-01 -1.52331778e-01 -6.00538808e-03 1.66726670e+02] [ 1.52450062e-01 9.87574111e-01 3.81622110e-02 9.53242596e+00] [ 1.17448361e-04 -3.86316611e-02 9.99253512e-01 -1.28084181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.665336195 meters 0.0617597024563545 Centerline is valid? [True, True] Translation: X:166.78, Y:9.57, Z:-0.13 [[ 9.88774651e-01 -1.49407335e-01 -1.46185623e-03 1.66779495e+02] [ 1.49400885e-01 9.88769331e-01 -3.81907575e-03 9.56904803e+00] [ 2.01603654e-03 3.55780268e-03 9.99991639e-01 -1.29746581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.725336195 meters 0.07386621696578323 Centerline is valid? [True, True] Translation: X:166.83, Y:9.61, Z:-0.12 [[ 9.89570272e-01 -1.43867601e-01 -7.26564930e-03 1.66834834e+02] [ 1.43491113e-01 9.88912249e-01 -3.82474117e-02 9.60805258e+00] [ 1.26876529e-02 3.68059455e-02 9.99241886e-01 -1.20329372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.785336195 meters 0.08445720567527339 Centerline is valid? [True, True] Translation: X:166.90, Y:9.58, Z:-0.13 [[ 9.90495793e-01 -1.37276717e-01 -8.55491655e-03 1.66897460e+02] [ 1.37485732e-01 9.89961284e-01 3.27769824e-02 9.58254144e+00] [ 3.96951964e-03 -3.36416422e-02 9.99426077e-01 -1.31682585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84533619500002 meters 0.0907640687439337 Centerline is valid? [True, True] Translation: X:166.95, Y:9.63, Z:-0.13 [[ 9.91508094e-01 -1.29314695e-01 1.37626350e-02 1.66951292e+02] [ 1.29508915e-01 9.91475106e-01 -1.43022457e-02 9.62660458e+00] [-1.17958195e-02 1.59631763e-02 9.99802998e-01 -1.27153767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90533619500002 meters 0.11143549599103852 Centerline is valid? [True, False] Translation: X:166.97, Y:9.61, Z:-0.12 [[ 9.92884256e-01 -1.18856626e-01 7.34547196e-03 1.66968491e+02] [ 1.18892909e-01 9.92895883e-01 -4.71617191e-03 9.61064422e+00] [-6.73274059e-03 5.55593737e-03 9.99961900e-01 -1.24742081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.965336195 meters 0.10672177135610221 Centerline is valid? [False, False] Translation: X:166.97, Y:9.60, Z:-0.12 [[ 9.94343824e-01 -1.05996560e-01 6.71480287e-03 1.66969464e+02] [ 1.06059767e-01 9.94310636e-01 -9.88360157e-03 9.60385111e+00] [-5.62897214e-03 1.05398686e-02 9.99928610e-01 -1.24112181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.025336195 meters 0.6181290553424683 Centerline is valid? [False, False] Translation: X:166.97, Y:9.59, Z:-0.13 [[ 9.95726064e-01 -9.20495703e-02 7.51541119e-03 1.66971868e+02] [ 9.21428199e-02 9.95658548e-01 -1.31817057e-02 9.59468318e+00] [-6.26941305e-03 1.38178591e-02 9.99884874e-01 -1.25561963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.085336195 meters 0.6238392359133189 Centerline is valid? [False, False] Translation: X:166.98, Y:9.57, Z:-0.13 [[ 9.96660953e-01 -8.14498418e-02 5.73299143e-03 1.66976965e+02] [ 8.14486021e-02 9.96677442e-01 4.49760868e-04 9.57339120e+00] [-5.75057618e-03 1.86850421e-05 9.99983465e-01 -1.28588880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.145336195 meters 0.6287184898007286 Centerline is valid? [False, False] Translation: X:166.98, Y:9.57, Z:-0.13 [[ 9.97578171e-01 -6.90686619e-02 8.20440019e-03 1.66979666e+02] [ 6.91160199e-02 9.97592709e-01 -5.63590296e-03 9.56981170e+00] [-7.79538553e-03 6.18930925e-03 9.99950461e-01 -1.32859361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.205336195 meters 0.6251901663232519 Centerline is valid? [False, False] Translation: X:166.98, Y:9.56, Z:-0.14 [[ 9.98425650e-01 -5.51853505e-02 1.00398546e-02 1.66983140e+02] [ 5.52836558e-02 9.98422668e-01 -9.79248257e-03 9.56433087e+00] [-9.48361683e-03 1.03321056e-02 9.99901649e-01 -1.36851844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.265336195 meters 0.6241830464197218 Centerline is valid? [False, False] Translation: X:166.99, Y:9.56, Z:-0.14 [[ 9.99109989e-01 -4.11566011e-02 9.23926829e-03 1.66985611e+02] [ 4.12796591e-02 9.99055765e-01 -1.35487007e-02 9.55656705e+00] [-8.67292578e-03 1.39180361e-02 9.99865525e-01 -1.38535725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.325336195 meters 0.7296172782269175 Centerline is valid? [False, False] Translation: X:166.99, Y:9.55, Z:-0.14 [[ 9.99560544e-01 -2.83697690e-02 8.59504057e-03 1.66988099e+02] [ 2.85297666e-02 9.99410399e-01 -1.91025136e-02 9.55394104e+00] [-8.04803903e-03 1.93393334e-02 9.99780586e-01 -1.40634498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.385336195 meters 0.7109675922874228 Centerline is valid? [False, False] Translation: X:166.99, Y:9.54, Z:-0.14 [[ 9.99704233e-01 -2.27758351e-02 8.52683738e-03 1.66988435e+02] [ 2.28782318e-02 9.99664908e-01 -1.21102506e-02 9.54190007e+00] [-8.24815903e-03 1.23017477e-02 9.99890311e-01 -1.41053201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.445336195 meters 0.6954794582685584 Centerline is valid? [False, False] Translation: X:166.99, Y:9.54, Z:-0.14 [[ 9.99803461e-01 -1.78825297e-02 8.55885332e-03 1.66988225e+02] [ 1.79380656e-02 9.99818253e-01 -6.45653465e-03 9.53573691e+00] [-8.44183860e-03 6.60879496e-03 9.99942528e-01 -1.41310892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.505336195 meters 0.6812056156965063 Centerline is valid? [False, False] Translation: X:166.99, Y:9.52, Z:-0.14 [[ 9.99888945e-01 -1.22347245e-02 8.50931062e-03 1.66989753e+02] [ 1.22322514e-02 9.99925125e-01 3.42619586e-04 9.52458430e+00] [-8.51286534e-03 -2.38493510e-04 9.99963736e-01 -1.43309798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56533619500001 meters 0.6720362488127237 Centerline is valid? [False, False] Translation: X:166.99, Y:9.52, Z:-0.14 [[ 9.99890918e-01 -1.20207333e-02 8.58220245e-03 1.66990365e+02] [ 1.20148062e-02 9.99927544e-01 7.41855446e-04 9.52259165e+00] [-8.59049827e-03 -6.38661024e-04 9.99962897e-01 -1.44759110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62533619500002 meters 0.6246284361251484 Centerline is valid? [False, False] Translation: X:166.99, Y:9.52, Z:-0.15 [[ 9.99889843e-01 -1.20754973e-02 8.63048064e-03 1.66990859e+02] [ 1.20703430e-02 9.99926940e-01 6.49065292e-04 9.52305808e+00] [-8.63768789e-03 -5.44820931e-04 9.99962546e-01 -1.45905211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68533619500002 meters 0.6365691772510017 Centerline is valid? [False, False] Translation: X:166.97, Y:9.52, Z:-0.16 [[ 9.99861853e-01 -1.12139120e-02 1.22687965e-02 1.66972571e+02] [ 1.13043672e-02 9.99909248e-01 -7.32844613e-03 9.52432881e+00] [-1.21855025e-02 7.46612471e-03 9.99897880e-01 -1.56138682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.745336195 meters 0.6836187236853398 Centerline is valid? [False, False] Translation: X:166.97, Y:9.52, Z:-0.16 [[ 9.99902386e-01 -6.80381607e-03 1.22035398e-02 1.66973046e+02] [ 6.83781505e-03 9.99972850e-01 -2.74643613e-03 9.52305538e+00] [-1.21845222e-02 2.82961359e-03 9.99921762e-01 -1.56859662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.805336195 meters 0.7190994453587038 Centerline is valid? [False, False] Translation: X:166.97, Y:9.52, Z:-0.16 [[ 9.99904829e-01 -6.04951415e-03 1.23990705e-02 1.66971876e+02] [ 6.06839445e-03 9.99980484e-01 -1.48566232e-03 9.51638246e+00] [-1.23898410e-02 1.56076338e-03 9.99922025e-01 -1.56105559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.865336195 meters 0.7550783083456083 Centerline is valid? [False, False] Translation: X:166.97, Y:9.52, Z:-0.16 [[ 9.99903918e-01 -6.04165991e-03 1.24761119e-02 1.66971824e+02] [ 6.06062931e-03 9.99980534e-01 -1.48320910e-03 9.51643996e+00] [-1.24669080e-02 1.55867968e-03 9.99921070e-01 -1.56541951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.925336195 meters 0.7794467822431457 Centerline is valid? [False, False] Translation: X:166.97, Y:9.51, Z:-0.16 [[ 9.99911149e-01 -5.20191875e-03 1.22732867e-02 1.66972991e+02] [ 5.19835187e-03 9.99986436e-01 3.22505777e-04 9.50687735e+00] [-1.22747979e-02 -2.58676259e-04 9.99924628e-01 -1.57241716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.985336195 meters 0.796268706855959 Centerline is valid? [False, False] Translation: X:166.97, Y:9.50, Z:-0.16 [[ 9.99915262e-01 -4.74018082e-03 1.21243133e-02 1.66974413e+02] [ 4.72612980e-03 9.99988127e-01 1.18730222e-03 9.50220433e+00] [-1.21297974e-02 -1.12990053e-03 9.99925793e-01 -1.58769975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.045336195 meters 0.8259190456348703 Centerline is valid? [False, False] Translation: X:166.98, Y:9.50, Z:-0.16 [[ 9.99930929e-01 -2.78945961e-03 1.14173746e-02 1.66981239e+02] [ 2.75641247e-03 9.99991969e-01 2.90917361e-03 9.49953604e+00] [-1.14253980e-02 -2.87750168e-03 9.99930588e-01 -1.64236410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.105336195 meters 0.8565223679517485 Centerline is valid? [False, False] Translation: X:167.00, Y:9.50, Z:-0.16 [[ 9.99940589e-01 2.34313456e-03 1.06455305e-02 1.67001717e+02] [-2.31751743e-03 9.99994391e-01 -2.41807313e-03 9.49926903e+00] [-1.06511367e-02 2.39325827e-03 9.99940411e-01 -1.60543679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.165336195 meters 0.8719628378859234 Centerline is valid? [False, False] Translation: X:167.00, Y:9.50, Z:-0.16 [[ 9.99941296e-01 2.35191858e-03 1.05769582e-02 1.67002436e+02] [-2.32504914e-03 9.99994041e-01 -2.55195394e-03 9.49999726e+00] [-1.05828972e-02 2.52721218e-03 9.99940806e-01 -1.61370446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.225336195 meters 0.8844155511101753 Centerline is valid? [False, False] Translation: X:167.00, Y:9.50, Z:-0.16 [[ 9.99921281e-01 6.79286448e-03 1.05493850e-02 1.67003006e+02] [-6.81488795e-03 9.99974671e-01 2.05311129e-03 9.49847777e+00] [-1.05351713e-02 -2.12484255e-03 9.99942246e-01 -1.62034849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.285336195 meters 0.8922864020520199 Centerline is valid? [False, False] Translation: X:167.01, Y:9.50, Z:-0.17 [[ 9.99944546e-01 4.15148899e-03 9.67835410e-03 1.67009921e+02] [-4.13675516e-03 9.99990255e-01 -1.54187131e-03 9.49975423e+00] [-9.68466084e-03 1.50174883e-03 9.99951975e-01 -1.67618960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34533619500002 meters 0.9214817470228908 Centerline is valid? [False, False] Translation: X:167.01, Y:9.50, Z:-0.17 [[ 9.99943491e-01 4.25168072e-03 9.74360824e-03 1.67009433e+02] [-4.23854443e-03 9.99990081e-01 -1.36844886e-03 9.49884608e+00] [-9.74932980e-03 1.32707282e-03 9.99951594e-01 -1.67266802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40533619500002 meters 0.935079659173465 Centerline is valid? [False, False] Translation: X:167.03, Y:9.50, Z:-0.16 [[ 9.99983395e-01 -5.37025755e-04 5.73764388e-03 1.67028839e+02] [ 5.40103042e-04 9.99999711e-01 -5.34796942e-04 9.50206090e+00] [-5.73735502e-03 5.37886981e-04 9.99983397e-01 -1.61166797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.465336195 meters 0.9718226112337134 Centerline is valid? [False, False] Translation: X:167.02, Y:9.50, Z:-0.15 [[ 9.99977825e-01 -1.97951669e-03 6.35857959e-03 1.67021761e+02] [ 1.98531395e-03 9.99997619e-01 -9.05539738e-04 9.49640015e+00] [-6.35677192e-03 9.18143435e-04 9.99979374e-01 -1.54921951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.525336195 meters 0.9690178699602019 Centerline is valid? [False, False] Translation: X:167.02, Y:9.50, Z:-0.16 [[ 9.99978867e-01 -1.86414785e-03 6.22824680e-03 1.67022843e+02] [ 1.86840951e-03 9.99998024e-01 -6.78498958e-04 9.49505238e+00] [-6.22696967e-03 6.90121535e-04 9.99980374e-01 -1.55922428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.585336195 meters 1.0487711703429918 Centerline is valid? [False, False] Translation: X:167.03, Y:9.49, Z:-0.16 [[ 9.99982831e-01 -2.42810986e-03 5.33308337e-03 1.67031916e+02] [ 2.43037646e-03 9.99996959e-01 -4.18568867e-04 9.49043912e+00] [-5.33205082e-03 4.31523081e-04 9.99985691e-01 -1.63267387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.645336195 meters 1.1772373525257953 Centerline is valid? [False, False] Translation: X:167.03, Y:9.49, Z:-0.16 [[ 9.99984608e-01 -2.21500462e-03 5.08707311e-03 1.67033784e+02] [ 2.21515226e-03 9.99997546e-01 -2.33885465e-05 9.48799804e+00] [-5.08700883e-03 3.46568280e-05 9.99987060e-01 -1.64684790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.705336195 meters 1.2735723293694605 Centerline is valid? [False, False] Translation: X:167.04, Y:9.49, Z:-0.17 [[ 9.99990808e-01 -1.01151298e-03 4.16662801e-03 1.67042495e+02] [ 1.00972220e-03 9.99999397e-01 4.31872458e-04 9.48927149e+00] [-4.16706235e-03 -4.27661352e-04 9.99991226e-01 -1.71557267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.765336195 meters 1.2608364607841607 Centerline is valid? [False, False] Translation: X:167.04, Y:9.49, Z:-0.17 [[ 9.99990954e-01 -9.88209176e-04 4.13697554e-03 1.67042528e+02] [ 9.86574353e-04 9.99999434e-01 3.97195761e-04 9.48935937e+00] [-4.13736571e-03 -3.93110734e-04 9.99991364e-01 -1.71182777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.825336195 meters 1.2521897477558785 Centerline is valid? [False, False] Translation: X:167.05, Y:9.49, Z:-0.18 [[ 9.99993375e-01 -2.25699518e-04 3.63315786e-03 1.67049752e+02] [ 2.23817006e-04 9.99999841e-01 5.18545779e-04 9.49317376e+00] [-3.63327432e-03 -5.17729181e-04 9.99993266e-01 -1.77585633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.885336195 meters 1.3222832058337717 Centerline is valid? [False, False] Translation: X:167.05, Y:9.49, Z:-0.18 [[ 9.99993276e-01 6.60068831e-05 3.66653267e-03 1.67049137e+02] [-6.97346088e-05 9.99999481e-01 1.01657107e-03 9.49016696e+00] [-3.66646366e-03 -1.01681992e-03 9.99992762e-01 -1.76671814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.945336195 meters 0.9807421327353529 Centerline is valid? [False, False] Translation: X:167.05, Y:9.49, Z:-0.18 [[ 9.99993484e-01 9.41997511e-05 3.60881523e-03 1.67049489e+02] [-9.80176827e-05 9.99999436e-01 1.05778375e-03 9.48993095e+00] [-3.60871355e-03 -1.05813058e-03 9.99992929e-01 -1.76838814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.005336195 meters 1.2684043243909786 Centerline is valid? [False, False] Translation: X:167.05, Y:9.49, Z:-0.18 [[ 9.99994003e-01 4.15394281e-04 3.43835761e-03 1.67050574e+02] [-4.20964118e-04 9.99998600e-01 1.61934690e-03 9.48644105e+00] [-3.43768013e-03 -1.62078462e-03 9.99992778e-01 -1.77302373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06533619500001 meters 1.4585325727188603 Centerline is valid? [False, False] Translation: X:167.05, Y:9.49, Z:-0.18 [[ 9.99994754e-01 2.28422867e-04 3.23099032e-03 1.67052064e+02] [-2.32679759e-04 9.99999105e-01 1.31720463e-03 9.48827359e+00] [-3.23068655e-03 -1.31794951e-03 9.99993913e-01 -1.78184796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12533619500002 meters 1.1795919465218132 Centerline is valid? [False, False] Translation: X:167.05, Y:9.49, Z:-0.18 [[ 9.99994807e-01 3.97472385e-04 3.19827664e-03 1.67052022e+02] [-4.02590099e-04 9.99998639e-01 1.59966298e-03 9.48653366e+00] [-3.19763646e-03 -1.60094227e-03 9.99993606e-01 -1.77798497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18533619500002 meters 1.129661142919749 Centerline is valid? [False, False] Translation: X:167.05, Y:9.49, Z:-0.18 [[ 9.99995653e-01 6.52908078e-06 2.94869894e-03 1.67054255e+02] [-9.36864847e-06 9.99999536e-01 9.62977245e-04 9.49093767e+00] [-2.94869129e-03 -9.63000684e-04 9.99995189e-01 -1.79632931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.245336195 meters SLAMing on 177.305336195 meters 1.0131504196744319 Centerline is valid? [False, False] Translation: X:167.06, Y:9.49, Z:-0.18 [[ 9.99996327e-01 -8.19713677e-05 2.70907662e-03 1.67056153e+02] [ 7.98690529e-05 9.99999696e-01 7.76125421e-04 9.49184265e+00] [-2.70913941e-03 -7.75906199e-04 9.99996029e-01 -1.80679867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1615.54 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%| | 0/5910 [00:00